[특허]Robotic hand with extendable palm

[미국특허] Robotic hand with extendable palm 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	B25J-015/10
출원번호	US-0019808 (2004-12-20)
등록번호	US-7370896 (2008-05-13)
발명자 / 주소	Anderson,Perry Alcorta,J. Efra��n DeWinter,Scott Jensen,Joel Salisbury, Jr.,J. Kenneth Wegbreit,Eliot Leonard
출원인 / 주소	Strider Labs, Inc.
대리인 / 주소	Carr & Ferrell LLP
인용정보	피인용 횟수 : 33 인용 특허 : 38

초록 ▼

A robotic hand comprises a base having fingers and a palm. The fingers define a working volume. The hand is able to grasp objects between the fingers and the palm by varying a distance from the palm to the working volume. Varying this distance can be achieved by either moving the palm towards the working volume or by moving the working volume towards the palm. Robotic hands that move the palm comprise an actuator that extends the palm from the base towards the working volume. Robotic hands that move the working volume relative to the palm have the fingers mounted to a common finger support unit that is configured to translate relative to the base.

대표청구항 ▼

What is claimed is: 1. A robotic hand comprising: a base; two or more fingers attached to the base, each of the fingers including an independently actuated joint; and a palm, including a broad contact surface, extendable from the base by an actuator and actuated independently from the two or more fingers, so arranged that the palm can be moved with respect to a working volume of the fingers and wherein the actuator includes a first screw jack with right-hand threads and a second screw jack with left-hand threads. 2. The robotic hand of claim 1, wherein the threads of the screw jacks are triple-helix threads. 3. The robotic hand of claim 1, wherein the threads of the screw jacks have a pitch in the range of 20 to 40 degrees. 4. The robotic hand of claim 1, wherein the palm is a composite palm. 5. The robotic hand of claim 1, further comprising three or more fingers so arranged that the fingers can form an interlaced grasp. 6. A method for grasping an object with a robotic hand including a base, two or more fingers, and a palm, the method comprising: forming a caging configuration by positioning the fingers and palm about the object such that translation of the object is bounded by the fingers; and forming a caging grasp from the caging configuration by actuating the fingers and independently extending the palm from the base such that the two or more fingers and a broad contact surface of the palm contact the object and wherein extending the palm includes actuating a pair of screw jacks. 7. The method of claim 6 wherein the caging grasp comprises an interlaced grasp.

이 특허에 인용된 특허 (38) 인용/피인용 타임라인 분석

Laliberte, Thierry; Gosselin, Clement, Actuation system for highly underactuated gripping mechanism.
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Norkus George E. (Macomb County MI), Adjustable smooth action linkage gripper mechanism.
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Merlet Jean-Pierre (Antibes FRX), Articulated device, for use in particular in robotics.
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Lee Sukhan (La Canada CA), Artificial dexterous hand.
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Horvath Eduard (Vienna ATX), Artificial hand.
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Rennerfelt Gustav (LidingSEX), Artificial hand.
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Buck David A. (1348 Sawmill Hwy. Breaux Bridge LA 70517), Back-up power tongs.
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Henk Bill H. (Hoopeston IL), Bottom support grasping device.
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Lovchik Christopher Scott ; Diftler Myron A., Compact dexterous robotic hand.
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Engler ; Jr. Charles D. (100 9th St. Apt. 106 Laurel MD 20707), Dexterous programmable robot and control system.
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Schulz Gordon R. (Villa Park CA), End effector with load-sensitive digit actuation mechanisms.
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Mimura Nobuharu (Aichi JPX) Kawase Masao (Aichi JPX) Kanamori Akihiko (Aichi JPX) Naruoka Shinji (Aichi JPX) Toyama Osamu (Aichi JPX), Finger module, finger module structure, and robot hand.
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Maruniak Adam (Otsego MI), Floating fish grip.
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Squyres Lee (R.D. 1 Box 104 New Ringgold PA 17960), Grapple device for handling balled trees and shrubs.
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Nusbaumer Kay T. (Ft. Wayne IN) McIntosh Bruce D. (Monroeville IN), Gripper apparatus.
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Coules Russell G. (St. Joseph MI), Gripper force sensor/controller for robotic arm.
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Inaba Hajimu (Hino JPX) Nakajima Seiichiro (Hino JPX) Sakakibara Shinsuke (Kunitachi JPX) Nihei Ryo (Musashino JPX), Hand of an industrial robot.
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Erb Robert A. (Valley Forge PA), Hand with conformable grasp.
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Thomson Robert P. (Nottingham GB2) Robertson James R. (Runcorn GB2), Industrial manipulator for placing articles in close proximity to adjacent articles.
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Wauer Gerd (Kaiserslautern DEX) Becker Dietmar (Kaiserslautern DEX) Schnthaler Rubi (Kaiserslautern DEX), Industrial robot with a gripping mechanism.
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Brcher Eberhard (Lohweg 35 D-5900 Siegen 1 DEX), Mechanically operated collet chuck for gripping round objects.
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Lukach Danil (Rochester NY), Metal extrusion press-billet loader.
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Ulrich Nathan T. (Philadelphia PA), Methods and apparatus for mechanically intelligent grasping.
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Guo Gongliang (Lexington KY) Qian Xikang (Beijing CNX) Gruver William A. (British Columbia CAX), Multi-function mechanical hand with shape adaptation.
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Rovetta Alberto (San Vittore Olona MI) Franchetti Ilario (San Vittore Olona ITX) Vicentini Pietro (Rho ITX), Multi-purpose mechanical hand.
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Matsuda, Hiroshi; Kishimoto, Kazuhiro, Multifinger hand device.
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Myers W. Neill (Huntsville AL) Forbes John C. (Huntsville AL) Barnes Wayne L. (Petersburg TN), Orbital maneuvering vehicle end effectors.
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Charles Steve T. ; Stoughton Robert S., Parallel mechanism.
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Laliberte, Thierry; Gosselin, Clement, Power switching mechanism for robotic applications.
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Bartholet Stephen J. (Orange CA), Reconfigurable end effector.
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Aomori Koukichi (Yokohama JPX), Robot hand.
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Jacobsen Stephen C. (Salt Lake City UT) Potter Dwight (Stansbury Park UT) Smith Fraser (Salt Lake City UT), Robotic grasping apparatus.
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Jacobsen Stephen C. (Salt Lake City UT) Smith Fraser (Salt Lake City UT), Robotic grasping apparatus.
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Yuda Lawrence F (P.O. Box 176 Westminster SC 29693), Robotic gripper.
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Muchalov Ivan (Erin CAX) Pham Thanh (North York CAX), Robotic gripping device.
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Gosselin Clement M.,CAX ; Laliberte Thierry,CAX, Underactuated mechanical finger with return actuation.
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Fassler Georges (Charenton le Pont FRX), Unit for grasping and clamping circular objects.
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Schweizer Anton,DEX, Workpiece gripper.
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이 특허를 인용한 특허 (33) 인용/피인용 타임라인 분석

Bosscher, Paul M.; Summer, Matthew D., Adaptive robotic gripper.
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Maitland, Murray E.; Highsmith, M. Jason; Lusk, Craig, Conforming artificial finger mechanism.
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Yoon, Woo-Keun, Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism.
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Yoon, Woo-Keun, Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism.
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Nakasugi, Mikio; Miyazaki, Yoshiyuki; Yokoi, Akiyoshi, Gripping apparatus, robot system and gripping method.
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McLeary, Gordon, Hand prosthesis.
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Wilkinson, Loran J.; Summer, Matthew D.; Rust, John B.; Bosscher, Paul M., High-force robotic gripper.
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Kawabuchi, Ichiro; Yoon, Woo-Keun; Kotoku, Tetsuo, Linear-motion telescopic mechanism and robot arm having linear-motion telescopic mechanism.
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Salisbury, Curt Michael; Dullea, Kevin J., Mechanisms for employment with robotic extensions.
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Gill, Hugh, Method and apparatus for controlling a prosthetic device.
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Gill, Hugh; Smith, Douglas Derek; Mead, Stuart Edgar; Nolan, Brian, Method of controlling a prosthesis.
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Okuda, Akinobu; Mizuno, Osamu; Nakamura, Tohru, Multi-fingered robot hand.
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Gill, Hugh, Prosthesis or an orthosis and a method for controlling a prosthesis or an orthosis.
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McLeary, Gordon; Gill, Hugh, Prosthetics and orthotics.
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Murakami, Kenjiro; Yoshimura, Kazuto, Robot hand.
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Murakami, Kenjiro; Yoshimura, Kazuto, Robot hand.
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Dan, Yoichiro; Yamaguchi, Go, Robot hand and robot.
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Murakami, Kenjiro; Yoshimura, Kazuto; Goto, Yoshinobu, Robot hand and robot.
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Nammoto, Takashi; Kosuge, Kazuhiro; Yamaguchi, Kengo; Hara, Kosuke, Robot hand and robot device.
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Nammoto, Takashi; Kosuge, Kazuhiro; Hara, Kosuke; Yamaguchi, Kengo, Robot hand, robot device and method of manufacturing robot hand.
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Saka, Yoshihisa; Yoshimura, Kazuto; Goto, Yoshinobu, Robot hand, robot, and holding mechanism.
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Saka, Yoshihisa; Yoshimura, Kazuto; Goto, Yoshinobu, Robot hand, robot, and holding mechanism.
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Ohno, Nobuyuki, Robot, control method therefor and control program therefor.
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Summer, Matthew D.; Bosscher, Paul M.; Wilkinson, Loran J., Robotic grasping device with multi-force sensing at base of fingers.
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De La Rosa Tames, Armando; Lawrence Walker, Graeme Richard; Goldsmith, Jake Benjamin; Elias, John Hugo; Godden, Matthew Paul; Greenhill, Richard Martin, Robotic hand.
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de la Rosa Tames, Armando; Lawrence Walker, Graeme Richard; Goldsmith, Jake Benjamin; Elias, John Hugo; Godden, Matthew Paul; Greenhill, Richard Martin, Robotic hand.
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Salisbury, Curt Michael; Dullea, Kevin J., Robotic hand and fingers.
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Salisbury, Curt Michael; Quigley, Morgan, Robotic hand with modular extensions.
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Rembala, Richard; Turner, Andrew; Charbonneau, Justin, Spacecraft capture mechanism.
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Roberts, Paul; White, Jason; Fisher, Steve; Rembala, Richard, Spacecraft capture mechanism.
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Roberts, Paul; White, Jason; Fisher, Steve; Rembala, Richard, Spacecraft capture mechanism.
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Sun, Yu; Lin, Yun, Systems and methods for planning a robot grasp based upon a demonstrated grasp.
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Tong, Kai Yu; Pang, Peter Man Kit; Chen, Mo; Ho, Sze Kit; Zhou, Hongfu; Chan, David Tai Wai, Wearable power assistive device for helping a user to move their hand.
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[미국특허] Robotic hand with extendable palm 원문보기

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이 특허에 인용된 특허 (38) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (33) 인용/피인용 타임라인 분석

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[미국특허] Robotic hand with extendable palm 원문보기

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이 특허에 인용된 특허 (38) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (33) 인용/피인용 타임라인 분석

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