JP6513118B2 - 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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- JP6513118B2 JP6513118B2 JP2017068115A JP2017068115A JP6513118B2 JP 6513118 B2 JP6513118 B2 JP 6513118B2 JP 2017068115 A JP2017068115 A JP 2017068115A JP 2017068115 A JP2017068115 A JP 2017068115A JP 6513118 B2 JP6513118 B2 JP 6513118B2
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- 230000007246 mechanism Effects 0.000 title claims description 35
- 210000000988 bone and bone Anatomy 0.000 claims description 34
- 210000001503 joint Anatomy 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 1
- 210000004227 basal ganglia 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と、この骨部材を回動させる複数のリンク部材と、この複数のリンク部材を駆動する駆動部材からなる指機構において、前記複数のリンク部材は駆動部材からの駆動力を受けて指機構を開閉するとともに複数のリンク部材のうちの1つは指機構の初期位置を決める機能を有し、この初期位置を決める機能を有するリンク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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JP2017068115A JP6513118B2 (ja) | 2017-03-30 | 2017-03-30 | 指機構およびマニピュレータ |
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JP2017068115A JP6513118B2 (ja) | 2017-03-30 | 2017-03-30 | 指機構およびマニピュレータ |
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JP2018167375A JP2018167375A (ja) | 2018-11-01 |
JP6513118B2 true JP6513118B2 (ja) | 2019-05-15 |
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JP2017068115A Active JP6513118B2 (ja) | 2017-03-30 | 2017-03-30 | 指機構およびマニピュレータ |
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Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3102158B1 (en) | 2014-02-04 | 2019-06-12 | Rehabilitation Institute of Chicago | Modular and lightweight prosthesis components |
GB201403265D0 (en) | 2014-02-25 | 2014-04-09 | Touch Emas Ltd | Prosthetic digit for use with touchscreen devices |
GB201417541D0 (en) | 2014-10-03 | 2014-11-19 | Touch Bionics Ltd | Wrist device for a prosthetic limb |
US11185426B2 (en) | 2016-09-02 | 2021-11-30 | Touch Bionics Limited | Systems and methods for prosthetic wrist rotation |
US10828767B2 (en) | 2016-11-11 | 2020-11-10 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
US10821614B2 (en) | 2016-11-11 | 2020-11-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
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 |
US11241801B2 (en) | 2018-12-31 | 2022-02-08 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
US10906191B2 (en) * | 2018-12-31 | 2021-02-02 | Sarcos Corp. | Hybrid robotic end effector |
CN113853181A (zh) * | 2019-04-10 | 2021-12-28 | 塔驰仿生有限公司 | 具有铰接连杆的假肢手指 |
CN110154073B (zh) * | 2019-06-03 | 2020-08-25 | 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 |
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 |
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 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH0546870Y2 (ja) * | 1987-08-04 | 1993-12-08 | ||
JPH077113Y2 (ja) * | 1989-01-30 | 1995-02-22 | 株式会社中村機器エンジニアリング | 把持装置 |
JP3837174B2 (ja) * | 1995-01-24 | 2006-10-25 | 本田技研工業株式会社 | 人工ハンドにおける運動制御装置 |
JP4462742B2 (ja) * | 2000-09-25 | 2010-05-12 | ダブル技研株式会社 | 簡潔構造の人間型ハンド |
JP2004358568A (ja) * | 2003-06-02 | 2004-12-24 | Fuji Heavy Ind Ltd | 把持装置 |
JP5648353B2 (ja) * | 2010-07-23 | 2015-01-07 | セイコーエプソン株式会社 | ロボットハンド、およびロボット |
JP2013169633A (ja) * | 2012-02-22 | 2013-09-02 | Toyota Industries Corp | ロボットハンド用の指機構及びこの指機構を備えるロボットハンド |
WO2014027897A1 (en) * | 2012-08-12 | 2014-02-20 | 5Th Element Limited | A gripping device |
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