JP2005537138A - エアマッスル作動によるロボットハンド - Google Patents

エアマッスル作動によるロボットハンド Download PDF

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Publication number
JP2005537138A
JP2005537138A JP2003578109A JP2003578109A JP2005537138A JP 2005537138 A JP2005537138 A JP 2005537138A JP 2003578109 A JP2003578109 A JP 2003578109A JP 2003578109 A JP2003578109 A JP 2003578109A JP 2005537138 A JP2005537138 A JP 2005537138A
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JP
Japan
Prior art keywords
palm
hand
axis
finger
forearm
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2003578109A
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English (en)
Japanese (ja)
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JP2005537138A5 (https=
Inventor
グリーンヒル，リチャード，マーティン
ウオーカー，グレアム，リチャード
エライアス，ジョン，ヒューゴ
ゴッデン，マシュー，ポール
Original Assignee
ザ・シャドー・ロボットカンパニー・リミテッド
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Application filed by ザ・シャドー・ロボットカンパニー・リミテッド filed Critical ザ・シャドー・ロボットカンパニー・リミテッド
Publication of JP2005537138A publication Critical patent/JP2005537138A/ja
Publication of JP2005537138A5 publication Critical patent/JP2005537138A5/ja
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Program-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Program-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A61F2002/587—Thumbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transplantation (AREA)
  • General Health & Medical Sciences (AREA)
  • Cardiology (AREA)
  • Rheumatology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
JP2003578109A 2002-03-25 2003-03-24 エアマッスル作動によるロボットハンド Pending JP2005537138A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0206974A GB2386886A (en) 2002-03-25 2002-03-25 Humanoid type robotic hand
PCT/GB2003/001246 WO2003080297A1 (en) 2002-03-25 2003-03-24 Humanoid robotics hand actuated by air muscles

Publications (2)

Publication Number Publication Date
JP2005537138A true JP2005537138A (ja) 2005-12-08
JP2005537138A5 JP2005537138A5 (https=) 2006-05-18

Family

ID=9933641

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2003578109A Pending JP2005537138A (ja) 2002-03-25 2003-03-24 エアマッスル作動によるロボットハンド

Country Status (5)

Country Link
EP (1) EP1487617A1 (https=)
JP (1) JP2005537138A (https=)
AU (1) AU2003217015A1 (https=)
GB (1) GB2386886A (https=)
WO (1) WO2003080297A1 (https=)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010196804A (ja) * 2009-02-25 2010-09-09 Nsk Ltd 自在継手
CN107030694A (zh) * 2017-04-20 2017-08-11 南京航空航天大学 腱驱动机械手腱张力约束末端力位操作控制方法和装置
JP2019063949A (ja) * 2017-10-02 2019-04-25 スキューズ株式会社 指機構、ロボットハンド及びロボットハンドの制御方法
KR102391108B1 (ko) * 2020-11-24 2022-04-26 박근우 다축 링크 장치

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB0409548D0 (en) * 2004-04-29 2004-06-02 King S College London Robotic hand
GB0421820D0 (en) * 2004-10-01 2004-11-03 Shadow Robot Company The Ltd Artificial hand/forearm arrangements
DE502007001798D1 (de) 2006-02-24 2009-12-03 Ferrobotics Compliant Robot Te Roboterarm
AT503728B1 (de) * 2006-02-24 2008-09-15 Paolo Dipl Ing Ferrara Roboterarm
US20070213842A1 (en) * 2006-03-07 2007-09-13 Simmons Randy S Prosthetic arm
CN100464355C (zh) * 2006-08-18 2009-02-25 浙江大学 气动肌肉运动模拟控制平台装置及位姿控制方法
JP4918004B2 (ja) 2006-11-24 2012-04-18 パナソニック株式会社 多指ロボットハンド
GB0817417D0 (en) * 2008-09-23 2008-10-29 Shadow Robot Company The Ltd Robotic muscles
GB2467762B (en) * 2009-02-13 2013-08-14 Shadow Robot Company Ltd Robotic musculo-skeletal jointed structures
DE102009037898B4 (de) 2009-08-19 2011-09-15 Otto Bock Healthcare Products Gmbh Greifeinrichtung
US8498741B2 (en) * 2009-09-22 2013-07-30 Gm Global Technology Operations Dexterous humanoid robotic wrist
FR2983764A1 (fr) 2011-12-13 2013-06-14 Commissariat Energie Atomique Ensemble mecanique articule et main mecanique comportant un tel ensemble
RU2502592C2 (ru) * 2012-04-04 2013-12-27 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Московский государственный технологический университет "СТАНКИН" (ФГБОУ ВПО МГТУ "СТАНКИН") Захватное устройство
DE102013223603A1 (de) 2013-11-19 2015-05-21 Ferrobotics Compliant Robot Technology Gmbh Roboterarm
CN112068526B (zh) 2014-02-20 2024-05-17 M·奥利尼克 用于在机器人烹饪厨房中制备食物的方法和系统
RU2570597C1 (ru) * 2014-06-09 2015-12-10 Александр Фаритович Пермяков Захват
US10518409B2 (en) 2014-09-02 2019-12-31 Mark Oleynik Robotic manipulation methods and systems for executing a domain-specific application in an instrumented environment with electronic minimanipulation libraries
CN106002995A (zh) * 2016-05-28 2016-10-12 上海大学 一种五指拟人机械手的抓取控制系统
RU173813U1 (ru) * 2016-07-12 2017-09-12 Российская Федерация, от имени которой выступает ФОНД ПЕРСПЕКТИВНЫХ ИССЛЕДОВАНИЙ Антропоморфный робот
RU173229U1 (ru) * 2016-07-12 2017-08-17 Российская Федерация, от имени которой выступает ФОНД ПЕРСПЕКТИВНЫХ ИССЛЕДОВАНИЙ Захват
CN111633669B (zh) * 2019-03-01 2022-05-13 哈尔滨工业大学 模块化三自由度腱绳传动仿人灵巧机械手指及控制方法
CN113427480B (zh) * 2021-04-28 2023-03-28 浙江工业大学 一种具有物理密封结构的人工肌肉
CN114290357B (zh) * 2022-01-14 2023-11-17 吉林大学 仿生拉压体多自由度灵巧手
CN114536381B (zh) * 2022-04-26 2022-09-06 中国科学院自动化研究所 仿人五指灵巧手
CN114536380B (zh) * 2022-04-26 2022-09-06 中国科学院自动化研究所 五自由度全驱动仿人大拇指和仿人灵巧手

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3694021A (en) * 1970-07-31 1972-09-26 James F Mullen Mechanical hand
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
DE19755465A1 (de) * 1997-12-03 1999-06-17 Alexander Dechert Künstliche Hand
US6244644B1 (en) * 1999-01-25 2001-06-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Compact dexterous robotic hand
JP3086452B1 (ja) * 1999-05-19 2000-09-11 原田電子工業株式会社 義肢用可動指、その可動指を用いた義手、およびその可動指用制御装置
AU5146200A (en) * 1999-05-19 2000-12-05 Rutgers, The State University Of New Jersey Dexterous prosthetic hand
JP4323056B2 (ja) * 2000-04-04 2009-09-02 本田技研工業株式会社 多指ハンド装置の制御装置
KR100802429B1 (ko) * 2000-12-06 2008-02-13 혼다 기켄 고교 가부시키가이샤 다지 핸드 장치

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010196804A (ja) * 2009-02-25 2010-09-09 Nsk Ltd 自在継手
CN107030694A (zh) * 2017-04-20 2017-08-11 南京航空航天大学 腱驱动机械手腱张力约束末端力位操作控制方法和装置
JP2019063949A (ja) * 2017-10-02 2019-04-25 スキューズ株式会社 指機構、ロボットハンド及びロボットハンドの制御方法
KR102391108B1 (ko) * 2020-11-24 2022-04-26 박근우 다축 링크 장치

Also Published As

Publication number Publication date
GB2386886A (en) 2003-10-01
AU2003217015A1 (en) 2003-10-08
GB0206974D0 (en) 2002-05-08
EP1487617A1 (en) 2004-12-22
WO2003080297A1 (en) 2003-10-02

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