초록 ▼

A robotic hand with finger assemblies to better simulate human hand form factors and gestures. For each finger assembly, the robotic hand includes a finger drive assembly that is operable to selectively apply tension to four elongated and flexible tension elements (e.g., steel cable). Each of the fi

A robotic hand with finger assemblies to better simulate human hand form factors and gestures. For each finger assembly, the robotic hand includes a finger drive assembly that is operable to selectively apply tension to four elongated and flexible tension elements (e.g., steel cable). Each of the finger assemblies includes a set of links or link members that are actuated or moved by the selective tensioning/movement of the tension elements by the drive assembly. The links are interconnected with pivotal joints such that they have three degrees-of-freedom, and the finger assembly includes a set of pulleys that are supported on the links and that are arranged to provide support and to guide the tension elements through the finger assembly. The tension elements preferably extend only partially about any one of the pulleys, whereby the finger assembly utilizes “n+1” actuation with non-helical wrapping of the tension elements.

대표청구항 ▼

I claim: 1. A robotic hand, comprising:at least one finger assembly; andfor each of the finger assemblies included in the robotic hand, a drive assembly selectively applying tension to four elongated and flexible tension elements;wherein each of the finger assemblies comprises a set of links actuate

I claim: 1. A robotic hand, comprising:at least one finger assembly; andfor each of the finger assemblies included in the robotic hand, a drive assembly selectively applying tension to four elongated and flexible tension elements;wherein each of the finger assemblies comprises a set of links actuated by the tension elements;wherein the links are interconnected with pivotal joints to have motion with three degrees-of-freedom;wherein the finger assembly further comprises a set of pulleys supported on the links to support and guide the tension elements in the finger assembly, the tension elements extending only partially about any one of the pulleys, whereby the finger assembly provides n+1 actuation with non-helical wrapping of the tension elements; andwherein the drive assembly consists of three actuators driving the four tension elements.