Lego self-adaptive hand via hack a day
Now, how cool is this? What got me started in this whole mess is that I wanted to build an articulated hand, but never could figure out how to do this without a whole hell of a lot of pneumatics -- something that's absolutely a pain to use with Mindstorms, because getting the pieces are annoying and expensive. Now, along comes an under-actuated hand, built using Legos. It's not fully articulated, but it's interesting to see how the builder used not pneumatics for the whole thing, but only 3 pneumatics for controlling the grip.