JP2018167375A - 指機構およびマニピュレータ - Google Patents
指機構およびマニピュレータ Download PDFInfo
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- JP2018167375A JP2018167375A JP2017068115A JP2017068115A JP2018167375A JP 2018167375 A JP2018167375 A JP 2018167375A JP 2017068115 A JP2017068115 A JP 2017068115A JP 2017068115 A JP2017068115 A JP 2017068115A JP 2018167375 A JP2018167375 A JP 2018167375A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 36
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 34
- 238000004904 shortening Methods 0.000 abstract 1
- 241000203475 Neopanax arboreus Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 210000000236 metacarpal bone Anatomy 0.000 description 1
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Claims (3)
- 連結する複数の骨部材を複数のリンク部材からなるリンク機構によって前記連結部を中心として回動せしめるようにした指機構において、前記複数のリンク部材のうち少なくとも1つはロッド状をなすとともに外部からの信号によって自らの長さを可変とされていることを特徴とする指機構。
- 請求項1に記載の指機構において前記可変長とされたロッド状リンク部材は、ステッピングモータまたはシリンダユニットを組み込むことで長さを可変としていることを特徴とする指機構。
- 請求項1または2に記載の指機構を複数本組み合わせて構成され且つ1つの駆動源からの動力によって同時に複数の指機構を開閉することを特徴とするマニピュレータ。
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Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110154073A (zh) * | 2019-06-03 | 2019-08-23 | 骆驼集团(安徽)再生资源有限公司 | 一种用于废旧电池分选的抓取机械手 |
KR20200071184A (ko) * | 2018-12-10 | 2020-06-19 | 한국기계연구원 | 손가락 기구 및 이를 포함하는 로봇 핸드 |
WO2020208557A1 (en) * | 2019-04-10 | 2020-10-15 | Touch Bionics Limited | Prosthetic digit with articulating links |
US10973660B2 (en) | 2017-12-15 | 2021-04-13 | Touch Bionics Limited | Powered prosthetic thumb |
KR20210076300A (ko) * | 2019-12-13 | 2021-06-24 | 한국기계연구원 | 인간의 손가락을 모사하는 손가락 기구 및 이를 포함하는 로봇 핸드 |
US11083600B2 (en) | 2014-02-25 | 2021-08-10 | Touch Bionics Limited | Prosthetic digit for use with touchscreen devices |
KR20210102407A (ko) * | 2018-12-31 | 2021-08-19 | 사르코스 코퍼레이션 | 배측으로 지지되는 액츄에이션 메커니즘을 구비하는 로봇 엔드 이펙터 |
KR20210107810A (ko) * | 2018-12-31 | 2021-09-01 | 사르코스 코퍼레이션 | 하이브리드 로봇 엔드 이펙터 |
US11185426B2 (en) | 2016-09-02 | 2021-11-30 | Touch Bionics Limited | Systems and methods for prosthetic wrist rotation |
US11357646B2 (en) | 2014-10-03 | 2022-06-14 | Touch Bionics Limited | Wrist device for a prosthetic limb |
US11464654B2 (en) | 2014-02-04 | 2022-10-11 | Rehabilitation Institute Of Chicago | Modular and lightweight myoelectric prosthesis components and related methods |
US11717956B1 (en) | 2022-08-29 | 2023-08-08 | Sarcos Corp. | Robotic joint system with integrated safety |
US11759944B2 (en) | 2016-11-11 | 2023-09-19 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi- passive elastic actuators with internal valve arrangements |
US11772283B2 (en) | 2016-11-11 | 2023-10-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
US11826907B1 (en) | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
US11931270B2 (en) | 2019-11-15 | 2024-03-19 | Touch Bionics Limited | Prosthetic digit actuator |
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2017
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Patent Citations (8)
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JPH08197467A (ja) * | 1995-01-24 | 1996-08-06 | Honda Motor Co Ltd | リンク装置における運動制御装置および運動制御方法、ならびに人工ハンドにおける運動制御装置および運動制御方法 |
JP2002103269A (ja) * | 2000-09-25 | 2002-04-09 | Double Giken Kk | 簡潔構造の人間型ハンド |
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JP2012024882A (ja) * | 2010-07-23 | 2012-02-09 | Seiko Epson Corp | ロボットの駆動装置、ロボットの駆動方法、およびロボット |
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Cited By (30)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11464654B2 (en) | 2014-02-04 | 2022-10-11 | Rehabilitation Institute Of Chicago | Modular and lightweight myoelectric prosthesis components and related methods |
US11083600B2 (en) | 2014-02-25 | 2021-08-10 | Touch Bionics Limited | Prosthetic digit for use with touchscreen devices |
US11357646B2 (en) | 2014-10-03 | 2022-06-14 | Touch Bionics Limited | Wrist device for a prosthetic limb |
US12059362B2 (en) | 2016-09-02 | 2024-08-13 | Touch Bionics Limited | Systems and methods for prosthetic wrist rotation |
US11185426B2 (en) | 2016-09-02 | 2021-11-30 | Touch Bionics Limited | Systems and methods for prosthetic wrist rotation |
US11981027B2 (en) | 2016-11-11 | 2024-05-14 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
US11772283B2 (en) | 2016-11-11 | 2023-10-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
US11926044B2 (en) | 2016-11-11 | 2024-03-12 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
US11759944B2 (en) | 2016-11-11 | 2023-09-19 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi- passive elastic actuators with internal valve arrangements |
US11786381B2 (en) | 2017-12-15 | 2023-10-17 | Touch Bionics Limited | Powered prosthetic thumb |
US10973660B2 (en) | 2017-12-15 | 2021-04-13 | Touch Bionics Limited | Powered prosthetic thumb |
KR102246778B1 (ko) * | 2018-12-10 | 2021-05-03 | 한국기계연구원 | 손가락 기구 및 이를 포함하는 로봇 핸드 |
WO2020122557A3 (ko) * | 2018-12-10 | 2020-08-27 | 한국기계연구원 | 손가락 기구 및 이를 포함하는 로봇 핸드 |
KR20200071184A (ko) * | 2018-12-10 | 2020-06-19 | 한국기계연구원 | 손가락 기구 및 이를 포함하는 로봇 핸드 |
KR20210107810A (ko) * | 2018-12-31 | 2021-09-01 | 사르코스 코퍼레이션 | 하이브리드 로봇 엔드 이펙터 |
US11679511B2 (en) | 2018-12-31 | 2023-06-20 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
KR102533863B1 (ko) * | 2018-12-31 | 2023-05-18 | 사르코스 코퍼레이션 | 하이브리드 로봇 엔드 이펙터 |
KR20210102407A (ko) * | 2018-12-31 | 2021-08-19 | 사르코스 코퍼레이션 | 배측으로 지지되는 액츄에이션 메커니즘을 구비하는 로봇 엔드 이펙터 |
KR102618696B1 (ko) * | 2018-12-31 | 2023-12-29 | 사르코스 코퍼레이션 | 배측으로 지지되는 액츄에이션 메커니즘을 구비하는 로봇 엔드 이펙터 |
EP4403142A3 (en) * | 2019-04-10 | 2024-08-07 | Touch Bionics Limited | Prosthetic digit with articulating links |
WO2020208557A1 (en) * | 2019-04-10 | 2020-10-15 | Touch Bionics Limited | Prosthetic digit with articulating links |
CN110154073A (zh) * | 2019-06-03 | 2019-08-23 | 骆驼集团(安徽)再生资源有限公司 | 一种用于废旧电池分选的抓取机械手 |
US11931270B2 (en) | 2019-11-15 | 2024-03-19 | Touch Bionics Limited | Prosthetic digit actuator |
KR102271362B1 (ko) * | 2019-12-13 | 2021-07-01 | 한국기계연구원 | 인간의 손가락을 모사하는 손가락 기구 및 이를 포함하는 로봇 핸드 |
KR20210076300A (ko) * | 2019-12-13 | 2021-06-24 | 한국기계연구원 | 인간의 손가락을 모사하는 손가락 기구 및 이를 포함하는 로봇 핸드 |
US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
US11826907B1 (en) | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
US11717956B1 (en) | 2022-08-29 | 2023-08-08 | Sarcos Corp. | Robotic joint system with integrated safety |
US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
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