The Meka G1 Compliant Gripper is a fully-contained two degree-of-freedom parallel jaw gripper. Each gripper jaw is actuated by a Series Elastic Actuator, allowing for compliant force-controlled grasping across its workspace. The G1 Gripper is compatible with the Meka A2 manipulators and the M3 real-time control system. An integrated 22 taxel tactile sensor by Pressure Profile Systems is also available for each gripper jaw.