Grasper (1) comprising at least two movable parts (4, 5) defining a jaw (2), and a sheath (8), wherein each of the movable parts is mounted on at least one support. The supports of the movable parts can comprise or be embodied as flexural members (6 and 6 7 and 7). The supports of the two movable parts share a common base or base structure, and the relative position of the movable parts with respect to each other is variable by changing the relative position of the supports with respect to each other. Closing the jaw by movement of the supports only corresponds to fine or delicate grasping. Closing the jaw by movement of the sheath corresponds to coarse or firm grasping.Dispositif de préhension comprenant au moins deux parties mobiles, chacune des parties mobiles étant montée sur un support et les supports des deux parties mobiles partageant une base ou structure de base commune, et une position relative des parties mobiles lune par rapport à lautre étant variable par la modification de la position relative des supports lun par rapport à lautre, les supports des parties mobiles comprenant des éléments de flexion.
