This is the Koala Gripper: a versatile solution that combines a handheld data collector with a robotic gripper to allow an operator to record demonstrations. It has force-optimized triggers and uses three degrees of freedom to achieve human-like dexterity. It can handle a wide variety of objects.
This system uses a hand-powered gripper for data collection and an actuated gripper for robotic execution. For a variety of tasks, the Koala gripper works like a human hand. As RAI explains:
Our data collection system integrates the Koala handheld gripper with synchronized multimodal sensing. RGB imagery is captured in HD from wide-angle cameras mounted on the gripper, providing an egocentric view of the manipulation workspace. Gripper state, including width, velocity, and torque, is recorded through motor encoders at 100 Hz.