  Robotic hands are an important tool for replacing humans in handling toxic or
radioactive materials. However, these are usually highly expensive, and in many
cases, once they are contaminated, they cannot be re-used. Some solutions cope
with this challenge by 3D printing parts of a tendon-based hand. However,
fabrication requires additional assembly steps. Therefore, a novice user may
have difficulties fabricating a hand upon contamination of the previous one. We
propose the Print-N-Grip (PNG) hand which is a tendon-based underactuated
mechanism able to adapt to the shape of objects. The hand is fabricated through
one-shot 3D printing with no additional engineering effort, and can accommodate
a number of fingers as desired by the practitioner. Due to its low cost, the
PNG hand can easily be detached from a universal base for disposing upon
contamination, and replaced by a newly printed one. In addition, the PNG hand
is scalable such that one can effortlessly resize the computerized model and
print. We present the design of the PNG hand along with experiments to show the
capabilities and high durability of the hand.
