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
Prior art date
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)
Other versions
JP2005537138A5 (ko
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
Priority date (The priority date 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 date listed.)
Filing date
Publication date
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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Programme-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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-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 (ko) 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 (ko)
JP (1) JP2005537138A (ko)
AU (1) AU2003217015A1 (ko)
GB (1) GB2386886A (ko)
WO (1) WO2003080297A1 (ko)

Cited By (3)

* 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
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
EP3107429B1 (en) 2014-02-20 2023-11-15 MBL Limited Methods and systems for food preparation in a robotic cooking kitchen
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
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
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

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
WO2000069375A1 (en) * 1999-05-19 2000-11-23 Rutgers, The State University Of New Jersey Dexterous prosthetic 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
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
US6913627B2 (en) * 2000-12-06 2005-07-05 Honda Giken Kogyo Kabushiki Kaisha Multi-finger hand device

Cited By (3)

* 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
KR102391108B1 (ko) * 2020-11-24 2022-04-26 박근우 다축 링크 장치

Also Published As

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

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