CN115922762A - Modularized picking dexterous hand and method - Google Patents
Modularized picking dexterous hand and method Download PDFInfo
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- CN115922762A CN115922762A CN202310072158.9A CN202310072158A CN115922762A CN 115922762 A CN115922762 A CN 115922762A CN 202310072158 A CN202310072158 A CN 202310072158A CN 115922762 A CN115922762 A CN 115922762A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 210000003813 thumb Anatomy 0.000 claims abstract description 218
- 210000002435 tendon Anatomy 0.000 claims abstract description 84
- 210000003811 finger Anatomy 0.000 claims abstract description 42
- 238000005452 bending Methods 0.000 claims abstract description 11
- 238000004804 winding Methods 0.000 claims abstract description 9
- 230000009471 action Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 5
- 210000005224 forefinger Anatomy 0.000 abstract description 2
- 210000001145 finger joint Anatomy 0.000 description 5
- 210000004932 little finger Anatomy 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Abstract
The invention discloses a modularized picking dexterous hand and a method thereof, relating to the technical field of picking manipulators, wherein the modularized picking dexterous hand comprises a palm part, four fingers and a thumb part; the four-finger part comprises four-finger proximal knuckles, four-finger middle knuckles, four-finger distal knuckles a and four-finger distal knuckles b, one ends of the four-finger tendon tightening rope and the four-finger tendon stretching rope are respectively fixed with the four-finger distal knuckles a, and are connected to the four-finger driving reel by sequentially bypassing the four-finger middle knuckles and the four-finger proximal knuckles; the thumb part comprises a thumb proximal knuckle a, a thumb proximal knuckle b, a thumb middle knuckle, a thumb distal knuckle a and a thumb distal knuckle b, one end of each of the thumb stretching tendon rope and the thumb tightening tendon rope is fixed to the thumb distal knuckle a, and the thumb stretching tendon rope and the thumb tightening tendon rope are connected to the thumb driving reel in a bypassing mode of passing through the thumb middle knuckle and the thumb proximal knuckle b. The invention adopts two winding groups with opposite directions to wind on the same driving source, can realize the bending and straightening of the forefinger by the positive and negative rotation of the power source, has simple structure, reduces the redundancy of the structure and improves the reliability.
Description
Technical Field
The invention relates to the technical field of picking manipulators, in particular to a modularized picking dexterous hand and a method.
Background
The main difficult problem that clever hand was picked to crops faced is to accomplish balance between picking clever hand structure type humanized design and the driving source figure, because the joint degree of freedom of staff is more, if every joint degree of freedom of clever hand all is driven by independent driving source, the structure of that clever hand will be too redundant, can't be applicable to crops and picks the lightweight requirement of environment to clever hand. For example:
CN114888832A discloses a tendon rope underactuated humanoid multi-finger dexterous hand device which comprises a thumb, an index finger, a middle finger, a ring finger, a little finger, a palm base, a palm cover plate and a palm thread sorter, wherein the relative positions of the five fingers and a palm imitate the relative positions of fingers and a palm of a human hand; the structure and the size of the middle finger and the index finger are the same, the middle finger is fixedly connected with the palm framework, and the connection mode is the same as that of the index finger; the structure and the size of the little finger are the same as those of the ring finger, the little finger is fixedly connected with the palm framework, and the connection mode is the same as that of the ring finger. According to the scheme, the plurality of winding groups are connected with different driving sources, so that a larger internal space is occupied; moreover, the finger is bent and straightened through the cooperation of the reset spring, the reliability is lower, and meanwhile, the power can be offset to cause that the grabbing action is difficult to smoothly carry out.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a modularized picking dexterous hand and a method thereof.
In order to realize the purpose, the invention is realized by the following technical scheme:
in a first aspect, embodiments of the present invention provide a modular picking dexterous hand comprising a palm portion having a four-finger portion and a thumb portion pivotally connected thereto;
the four-finger part comprises four-finger near knuckles, four-finger middle knuckles, four-finger far knuckles a and four-finger far knuckles b which are sequentially connected, one ends of four-finger tightening tendon ropes and four-finger stretching tendon ropes are respectively fixed with the four-finger far knuckles a, and are sequentially connected to a four-finger driving reel by bypassing the four-finger middle knuckles and the four-finger near knuckles, and the driving reel is connected with a four-finger driving steering engine;
the thumb part comprises a thumb near knuckle a, a thumb near knuckle b, a thumb middle knuckle, a thumb far knuckle a and a thumb far knuckle b which are sequentially connected, one ends of a thumb stretching tendon rope and a thumb tightening tendon rope are respectively fixed on the thumb far knuckle a and are connected to a thumb driving reel by passing through the thumb middle knuckle and the thumb near knuckle b, and the thumb driving reel is connected with a thumb driving steering engine b;
wherein, the winding directions of the four-finger tightening tendon rope, the four-finger stretching tendon rope, the thumb stretching tendon rope and the thumb tightening tendon rope are opposite.
As a further implementation mode, the palm part comprises a palm front part and a palm rear part which are detachably connected, and each four-finger driving steering engine and the thumb driving steering engine b of the four-finger part are both arranged at the rear part of the palm.
As a further implementation mode, the thumb part further comprises a thumb driving steering engine a, and the thumb driving steering engine a is connected with a proximal knuckle a of the thumb through a gear transmission mechanism.
As a further realization mode, the gear transmission mechanism comprises a thumb driving gear connected with a thumb driving steering gear a and a gear part arranged at the proximal knuckle a of the thumb, wherein the gear part is meshed with the thumb driving gear.
As a further realization mode, four-finger guide wheels are arranged on the middle finger knuckle and the near finger knuckle of each of the four fingers, four-finger reels are arranged at joints of adjacent finger knuckles, and the four-finger tendon tightening ropes and the four-finger tendon stretching ropes bypass the four-finger guide wheels and the four-finger reels in a crossing mode.
In a further implementation mode, the thumb middle knuckle is provided with a thumb guide wheel, the joints of the thumb middle knuckle and the thumb far knuckle as well as the joints of the thumb near knuckle and the thumb middle knuckle are provided with thumb reels, and the thumb stretching tendon ropes and the thumb tightening tendon ropes bypass the thumb guide wheel and the thumb reels in an intersecting mode.
In a second aspect, the embodiment of the invention also provides a using method of the modularized picking dexterous hand, wherein picking actions are completed by driving the steering engine by four fingers, driving the steering engine a by a thumb and driving the steering engine b by the thumb to rotate forwards; after the picking action is finished, the corresponding four-finger driving steering engine, the thumb driving steering engine a and the thumb driving steering engine b reversely rotate to enable the dexterous hand to return to the initial position.
As a further implementation mode, the four-finger drive steering engine drives the four-finger drive reel to rotate forward and backward so as to drive the four-finger tendon tightening rope and the four-finger tendon stretching rope to realize the bending and straightening of the four fingers;
when the four fingers drive the steering engine to rotate forwards, the four fingers drive the reel to rotate forwards to drive the four fingers to tighten the tendon ropes to contract, the four fingers stretch the tendon ropes to relax, and then the four fingers are bent; when the four-finger driving steering engine rotates reversely, the four-finger driving reel rotates reversely to drive the four-finger stretching tendon ropes to contract, the four-finger tightening tendon ropes are loosened, and then the four-finger parts stretch.
As a further implementation mode, the rotary motion at the proximal knuckle joint of the thumb drives the steering gear a to rotate forward and backward through the thumb to drive the thumb driving gear to rotate forward and backward, so that the proximal knuckle a of the thumb is driven to rotate forward and backward;
the thumb drives the steering engine b to drive the thumb to drive the reel to rotate forward and backward so as to drive the thumb to tighten the tendon rope and the thumb to stretch the tendon rope, thereby bending and straightening the thumb.
As a further implementation mode, when the thumb drives the steering engine b to rotate forwards, the thumb drives the reel to rotate forwards to drive the thumb to tighten the tendon rope to contract, the thumb stretches the tendon rope to relax, and then the thumb is partially bent; when the thumb drives the steering engine b to rotate reversely, the thumb drives the reel to rotate reversely to drive the thumb to stretch the tendon rope to contract, the thumb tightens the tendon rope to relax, and then the thumb is partially straightened.
The invention has the following beneficial effects:
(1) The invention adopts two winding groups with opposite directions to wind on the same driving source, can realize the bending and straightening of the forefinger through the positive and negative rotation of the power source, has high reliability and flexible state change action; and the occupied internal space is small, and the redundancy of the structure is reduced.
(2) The driving source is connected with the tail ends of the fingers through the rope, so that tendons of a human hand are simulated, the quantity of the driving source is reduced on the basis that the dexterous hand can finish most actions of the human hand, and meanwhile, the four fingers of the dexterous hand are designed in a modularized mode according to the functions of the human hand; the balance of the driving source of the dexterous hand, the degree of freedom of the driving source and the dexterous hand is reduced, and the dexterous hand can realize picking actions.
(3) The thumb drives the steering engine b to drive the thumb to tighten the tendon rope and the thumb to stretch the tendon rope to drive the bending and straightening motion of the thumb middle knuckle joint and the thumb far knuckle a joint, and the thumb drives the steering engine a to drive the gear transmission mechanism to drive the bending and straightening motion of the thumb middle knuckle joint and the thumb far knuckle a joint; flexible and reliable action.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention.
FIG. 1 is a schematic overall structure diagram of the present invention according to one or more embodiments;
FIG. 2 is a schematic illustration of a palm section configuration of the present invention in accordance with one or more embodiments;
FIG. 3 is a schematic illustration of the internal structure of a palm of a hand in accordance with one or more embodiments of the invention;
FIG. 4 (a) is a side view of a finger according to one or more embodiments of the present invention;
FIG. 4 (b) is a schematic illustration of the internal structure of a finger portion according to one or more embodiments of the present invention;
FIG. 4 (c) is a schematic illustration of a distal knuckle removal of a finger portion of the present invention according to one or more embodiments;
FIG. 5 (a) is a schematic illustration of a thumb portion configuration of the present invention according to one or more embodiments;
FIG. 5 (b) is a schematic illustration of a thumb-actuated steering engine b according to one or more embodiments of the present invention;
FIG. 5 (c) is a schematic illustration of the internal structure of the thumb portion of the present invention, according to one or more embodiments;
fig. 5 (d) is a schematic illustration of the removal of the thumb distal knuckle b and the thumb distal knuckle a of the present invention according to one or more embodiments.
The four-finger-joint training device comprises a palm portion 1, a palm portion 2, a four-finger portion 3, a thumb portion 1-1, a palm front portion 1-2, a palm rear portion 2-1, a four-finger-driven steering gear 2-2, a four-finger-driven reel 2-3, a four-finger-tightening tendon rope 2-4, a four-finger-stretching tendon rope 2-5, a four-finger proximal knuckle 2-6, a four-finger middle knuckle 2-7, a four-finger distal knuckle a,2-8, a four-finger distal knuckle b,2-9, a four-finger guide wheel 2-10, a four-finger reel 3-1, a thumb-driven knuckle a,3-2, a thumb-driven gear 3-3, a thumb-3 thumb-driven steering gear b,3-4, a thumb-driven reel 3-5, a thumb-tightening tendon rope 3-6, a thumb-stretching tendon rope 3-7, a thumb proximal knuckle a,3-8, a proximal thumb knuckle b,3-9, a thumb middle thumb knuckle 3-10, a distal thumb knuckle a thumb-3-6, a thumb-finger-extending tendon rope 3-7, a thumb-proximal knuckle a thumb-3-2, a thumb-3-13, a thumb-driven reel 13, a thumb-driven steering gear, a thumb.
Detailed Description
The first embodiment is as follows:
the embodiment provides a modularized picking dexterous hand, which comprises a palm part 1, a four-finger part 2 and a thumb part 3, wherein the palm part 1, the four-finger part 2 and the thumb part 3 are connected into a whole, and the four-finger part 2 and the thumb part 3 move together to complete picking action, as shown in fig. 1 and 2.
The palm part 1 comprises a palm front part 1-1 and a palm back part 1-2, and the palm front part 1-1 is connected with the palm back part 1-2 through a bolt to form a detachable connection.
The four-finger part 2 comprises four finger parts with the same structure, as shown in fig. 3 and 4 (a) -4 (c), each finger part comprises a four-finger drive steering engine 2-1, a four-finger drive reel 2-2, a four-finger tendon tensioning rope 2-3, a four-finger tendon stretching rope 2-4 and a plurality of knuckles, the plurality of knuckles comprise a four-finger proximal knuckle 2-5, a four-finger middle knuckle 2-6, a four-finger distal knuckle a2-7 and a four-finger distal knuckle b2-8 which are arranged in sequence from the side of the palm part 1, and adjacent knuckles are connected in a rotating mode.
In this embodiment, adjacent knuckles form a rotational connection through a rotating buckle and a bolt.
As shown in fig. 4 (a) and 4 (b), four-finger middle finger joints 2-6 and four-finger near finger joints 2-5 are all provided with four-finger guide wheels 2-9 for adjusting the direction of the tendon rope, four-finger reels 2-10 are arranged at joints, one ends of four-finger tendon tightening ropes 2-3 and four-finger tendon stretching ropes 2-4 are respectively fixed with the four-finger far finger joints a2-7, and the four-finger tendon tightening ropes 2-3 and the four-finger tendon stretching ropes 2-4 sequentially pass through the four-finger guide wheels of the four-finger middle finger joints 2-6 and the four-finger near finger joints 2-5 and are connected with the four-finger drive reels 2-2, and the winding directions are opposite.
The four-finger driving reel 2-2 is fixed on the palm portion 1, the four-finger driving reel 2-2 is connected with the four-finger driving steering engine 2-1, and the four-finger driving reel 2-2 is driven to rotate through the four-finger driving steering engine 2-1.
As shown in fig. 5 (a) -5 (d), the thumb part 3 comprises a thumb proximal knuckle a3-7, a thumb proximal knuckle b3-8, a thumb middle knuckle 3-9, a thumb distal knuckle a3-10 and a thumb distal knuckle b3-11 which are connected in sequence, the adjacent knuckles are rotationally connected through rotating buckles and bolts, and the thumb proximal knuckle a3-7 is connected with the back part 1-2 of the palm. The thumb middle knuckle 3-9 is provided with a thumb guide wheel 3-12 for adjusting the direction of tendon rope force, and a thumb reel 3-13 is arranged at the joint of the thumb middle knuckle 3-9 and the thumb far knuckle a3-10 and the thumb near knuckle b3-8 and the thumb middle knuckle 3-9.
As shown in fig. 5 (c), the thumb tendon extension 3-5 and thumb tendon extension 3-6 are fixed at one end to the thumb distal phalanx a3-10, respectively, and are wound around the thumb reel 3-13, the thumb guide wheel 3-12, and the thumb reel 3-13 in turn to be connected to the thumb drive reel 3-4, and the winding directions are opposite.
The thumb-driven reel 3-4 is connected with the thumb-driven steering engine b3-3, and the thumb-driven steering engine b3-3 is arranged at the back part 1-2 of the palm; the gear parts on the proximal knuckle b3-8 and the proximal knuckle a3-7 of the thumb and the thumb driving gear 3-2 connected to the thumb driving steering gear a3-1 form a gear transmission mechanism.
As shown in fig. 3, a four-finger driving steering engine 2-1 for driving the four-finger part 2, a thumb driving steering engine a3-1 for driving the thumb part 3 and a thumb driving steering engine b3-3 are arranged on the back part 1-2 of the palm, and the layout is compact.
The working principle of the embodiment is as follows:
the four-finger part 2 moves in a bending and straightening mode, the four-finger driving steering engine 2-1 drives the four-finger driving reel 2-2 to rotate forward and backward so as to drive the four-finger tightening tendon rope 2-3 and the four-finger stretching tendon rope 2-4, and therefore the four-finger part 2 bends and straightens; when the four-finger driving steering engine 2-1 rotates forwards, the four-finger driving reel 2-2 rotates forwards to drive the four-finger tightening tendon ropes 2-3 to contract, the four-finger stretching tendon ropes 2-4 are loosened, and then the four-finger part 2 bends; when the four-finger driving steering engine 2-1 rotates reversely, the four-finger driving reel 2-2 rotates reversely to drive the four-finger tendon stretching ropes 2-3 to contract, the four-finger tendon tensioning ropes 2-4 to relax, and then the four-finger part 2 straightens.
The motion of the thumb part 3 is the rotary motion of the joint of the proximal knuckle a3-7 of the thumb and the bending and straightening motion of the joint of the middle knuckle 3-9 of the thumb and the joint of the distal knuckle a3-10 of the thumb, the rotary motion of the joint of the proximal knuckle a3-7 of the thumb drives the thumb driving gear a 3-2 to rotate forward and backward by the forward and backward rotation of the thumb driving steering gear a3-1, so that the proximal knuckle a3-7 of the thumb is driven to rotate forward and backward. The bending and straightening movements of the joints 3-9 of the middle knuckle of the thumb and the joints 3-10 of the far knuckle of the thumb are realized by driving the steering engine b3-3 of the thumb to drive the winding wheel 3-4 to rotate forward and backward so as to drive the thumb to tighten the tendon ropes 3-5 and the thumb to stretch the tendon ropes 3-6, so that the thumb part 3 is bent and straightened.
When the thumb drives the steering engine b3-3 to rotate forwards, the thumb drives the reel 3-4 to rotate forwards to drive the thumb to tighten the tendon rope 3-5 to contract, the thumb stretches the tendon rope 3-6 to relax, and then the thumb part 3 bends; when the thumb drives the steering engine b3-3 to rotate reversely, the thumb drives the reel 3-4 to rotate reversely to drive the thumb to stretch the tendon ropes 3-5 to contract, the thumb to tighten the tendon ropes 3-6 to relax, and then the thumb part 3 is straightened.
This embodiment adopts opposite direction's winding group to twine in same driving source, can realize the crooked and straightening of four fingers, thumb through the just reversal of power supply, can save a large amount of inner spaces for dexterous hand's design simultaneously, reduces the redundancy of structure, improves the reliability.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A modularized picking dexterous hand is characterized by comprising a palm part, wherein the palm part is rotatably connected with a four-finger part and a thumb part;
the four-finger part comprises four-finger near knuckles, four-finger middle knuckles, four-finger far knuckles a and four-finger far knuckles b which are sequentially connected, one ends of four-finger tightening tendon ropes and four-finger stretching tendon ropes are respectively fixed with the four-finger far knuckles a, and are sequentially connected to a four-finger driving reel by bypassing the four-finger middle knuckles and the four-finger near knuckles, and the driving reel is connected with a four-finger driving steering engine;
the thumb part comprises a thumb near knuckle a, a thumb near knuckle b, a thumb middle knuckle, a thumb far knuckle a and a thumb far knuckle b which are sequentially connected, one ends of a thumb stretching tendon rope and a thumb tightening tendon rope are respectively fixed on the thumb far knuckle a and are connected to a thumb driving reel by passing through the thumb middle knuckle and the thumb near knuckle b, and the thumb driving reel is connected with a thumb driving steering engine b;
wherein, the winding directions of the four-finger tightening tendon rope, the four-finger stretching tendon rope, the thumb stretching tendon rope and the thumb tightening tendon rope are opposite.
2. The modular picking dexterous hand according to claim 1, wherein the palm part comprises a palm front part and a palm rear part which are detachably connected, and each of the four-finger driving steering engine and the thumb driving steering engine b of the four-finger part are both arranged at the palm rear part.
3. The modular picking dexterous hand of claim 2, wherein the thumb part further comprises a thumb drive steering gear a, and the thumb drive steering gear a is connected with a proximal knuckle a of the thumb through a gear transmission mechanism.
4. A modular picking dexterous hand according to claim 3, wherein the gear transmission comprises a thumb drive gear connected to a thumb drive steering gear a, a gear segment mounted at proximal knuckle a of the thumb, wherein the gear segment meshes with the thumb drive gear.
5. The modular picking dexterous hand according to claim 1, wherein four-finger guide wheels are mounted on the middle finger knuckle and the near finger knuckle of each of the four fingers, four-finger reels are mounted on the joints of the adjacent finger knuckles, and the four-finger tendon tensioning ropes and the four-finger tendon stretching ropes bypass the four-finger guide wheels and the four-finger reels in an intersecting manner.
6. The modular picking dexterous hand of claim 1, wherein the middle thumb knuckle is fitted with a thumb guide wheel, the joints of the middle thumb knuckle and the distal thumb knuckle and the proximal thumb knuckle and the middle thumb knuckle are fitted with thumb reels, and the thumb tendon stretching and tightening ropes pass around the thumb guide wheel and the thumb reels in an intersecting manner.
7. The use method of the modular picking dexterous hand according to any one of claims 1 to 6, characterized in that the picking action is completed by the forward rotation of a four-finger driving steering engine, a thumb driving steering engine a and a thumb driving steering engine b; after the picking action is finished, the corresponding four-finger driving steering engine, the thumb driving steering engine a and the thumb driving steering engine b reversely rotate to enable the dexterous hand to return to the initial position.
8. The using method of the modular picking dexterous hand as claimed in claim 7, wherein the four-finger driving steering engine drives the four-finger driving reel to rotate forward and backward so as to drive the four-finger tendon tightening rope and the four-finger tendon stretching rope to realize the bending and straightening of the four fingers;
when the four fingers drive the steering engine to rotate forwards, the four fingers drive the reel to rotate forwards to drive the four fingers to tighten the tendon ropes to contract, the four fingers stretch the tendon ropes to relax, and then the four fingers are bent; when the four-finger driving steering engine rotates reversely, the four-finger driving reel rotates reversely to drive the four-finger stretching tendon ropes to contract, the four-finger tightening tendon ropes are loosened, and then the four-finger parts stretch.
9. The using method of the modular picking dexterous hand as claimed in claim 7, wherein the rotary motion at the proximal knuckle joint of the thumb drives the thumb driving gear to rotate forward and backward by driving the steering gear a to rotate forward and backward by the thumb, so as to drive the proximal knuckle a of the thumb to rotate forward and backward;
the thumb drives the steering engine b to drive the thumb to drive the reel to rotate forward and backward so as to drive the thumb to tighten the tendon rope and the thumb to stretch the tendon rope, thereby bending and straightening the thumb.
10. The use method of the modular picking dexterous hand as claimed in claim 9, wherein when the thumb drives the steering engine b to rotate forward, the thumb drives the reel to rotate forward to drive the thumb to tighten the tendon rope and contract, the thumb to stretch the tendon rope and relax, and then the thumb is partially bent; when the thumb drives the steering engine b to rotate reversely, the thumb drives the reel to rotate reversely to drive the thumb to stretch the tendon rope to contract, the thumb tightens the tendon rope to relax, and then the thumb is partially straightened.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310072158.9A CN115922762A (en) | 2023-01-28 | 2023-01-28 | Modularized picking dexterous hand and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310072158.9A CN115922762A (en) | 2023-01-28 | 2023-01-28 | Modularized picking dexterous hand and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214660A (en) * | 2008-01-18 | 2008-07-09 | 清华大学 | Chiasma tendon rope under-driven modularization anthropomorphic robot hand device |
| CN103565562A (en) * | 2013-08-02 | 2014-02-12 | 华中科技大学 | Under-actuated artificial limb hand |
| CN113383641A (en) * | 2021-06-02 | 2021-09-14 | 山东大学 | Tendon-driven bionic tea picking manipulator and method |
| CN114536381A (en) * | 2022-04-26 | 2022-05-27 | 中国科学院自动化研究所 | Human-simulated five-finger dexterous hand |
| US20220287853A1 (en) * | 2019-12-02 | 2022-09-15 | Neurocean Technologies Inc. | Dexterous hand |
-
2023
- 2023-01-28 CN CN202310072158.9A patent/CN115922762A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214660A (en) * | 2008-01-18 | 2008-07-09 | 清华大学 | Chiasma tendon rope under-driven modularization anthropomorphic robot hand device |
| CN103565562A (en) * | 2013-08-02 | 2014-02-12 | 华中科技大学 | Under-actuated artificial limb hand |
| US20220287853A1 (en) * | 2019-12-02 | 2022-09-15 | Neurocean Technologies Inc. | Dexterous hand |
| CN113383641A (en) * | 2021-06-02 | 2021-09-14 | 山东大学 | Tendon-driven bionic tea picking manipulator and method |
| CN114536381A (en) * | 2022-04-26 | 2022-05-27 | 中国科学院自动化研究所 | Human-simulated five-finger dexterous hand |
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