The working principle of the DHEF Adaptive Shape Gripper was inspired by the tongue of a chamaeleon. The connection between the piston rod and the elastic silicone cap enables a form fit around the object when the piston rod is retracted. The cap slips over the object to be grasped and encloses it firmly. As a result, the gripper can even handle components that have open and round forms. The shape gripper is suitable for human-machine collaboration. Its sensor slot is integrated into the arrangement as a shaping element.