  This letter presents a novel small gripper capable of grasping various types
of small-sized items from flat surfaces for the assembly of small devices.
Using a single actuator, the proposed gripper realizes two grasping modes:
parallel-grip and turn-over modes. The gripper's mode can be switched via
contact with a flat surface, such as a table. Handling thin thicknesses and
light weights are the key challenges faced in attempts to grasp small-sized
items. Although parallel grippers are effective in handling small items, there
is a limit to the thinness of objects that can be grasped by parallel grippers.
Accordingly, the turn-over mode was adopted to grasp items that exceeded this
threshold. In the turn-over mode, one finger lifts the item, while another
finger holds the item from above to keep it from flicking out. The proposed
gripper is capable of picking up several types of items from a table, including
thin (0.05 mm) and lightweight (0.007 g) items.
