  Humans use environmental constraints (EC) in manipulation to compensate for
uncertainties in their world model. The same principle was recently applied to
robotics, so that soft underactuated hands improve their grasping capability by
using environmental constraints exploitation (ECE) [1]. Due to orientation of
the robotic hand for example in the EC wall grasp, the length of the robot
wrist plus the hand length gets quite important, if objects are grasp out of a
box [2] . Most of the modern cobots have quite long wrist, so we have
constructed a two degree of freedom wrist for the CLASH [3], to solve this
problem (Fig. 1).
