Please, for this application you should use the term, "gripping hand".
To be more substantive: now you mention it I haven't heard of such a device and I also wonder why. Makes sense for inspection (but how much happens?) though retrieving lost tools sound quite difficult.
And though difficult, it seems like something worth becoming good at. Seems like a 1U might be big enough to hold a small drone and some things to retrieve. However you'd have to design your experiment carefully so that something you failed to retrieve would rather soon reenter the atmosphere and not become dangerous orbiting junk. I don't know how easy this would be: what if the drone tried to grab it and added a non-normal (i.e. sideways) component that put the target on a potentially destructive trajectory?