A signature transfer device includes a rotating arm rotating about a first axis and a first gripper rotatably mounted on the rotating arm about a second axis, the first and second axes being parallel, the first gripper having a first gripper finger and a second gripper finger. An actuator is connected to the first gripper for opening and closing the first gripper as a function of the angle of the rotating arm about the first axis, and a compression spring connects the first gripper finger and the second gripper finger, the compression spring being compressed when the first gripper and the second gripper finger are apart.