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

CLASH WRIST -- A hardware to increase the capability of CLASH fruit gripper to use environment constraints exploration