Throughout the history of chemistry, various liquid-transferring instruments have been developed to improve accuracy and safety, such as the Pasteur pipette, volumetric pipette, and the micropipette. These pipettes are widely available, but they are mainly designed for humans. Their actuation mechanisms are designed to harness the human finger shape, such as pushing a spring or rotating gears . Typical robotic hands are not dexterous as human hands, so it is difficult to handle common pipettes found in labs. It would require laborious engineering to make robots use pipettes designed for humans. For example, when using a robot with a two-finger gripper, the gripper is used to hold the pipette, and it cannot push a button or rubber bulbs to dispense liquids. On the other hand, using an anthropomorphic hand imposes many technical challenges on how the robot should manipulate the objects and labware. In addition, controlling the amount of transferred liquid requires visual perception skills, such as detecting the surface of liquids or reading the numbers on a scale. Solving these technical difficulties requires additional development time. Hence, human-centric pipettes cannot be used effectively by robots in an autonomous chemistry lab at least for the foreseeable future.