JP7087224B2 - ロボットハンド装置 - Google Patents

ロボットハンド装置 Download PDF

Info

Publication number
JP7087224B2
JP7087224B2 JP2020558301A JP2020558301A JP7087224B2 JP 7087224 B2 JP7087224 B2 JP 7087224B2 JP 2020558301 A JP2020558301 A JP 2020558301A JP 2020558301 A JP2020558301 A JP 2020558301A JP 7087224 B2 JP7087224 B2 JP 7087224B2
Authority
JP
Japan
Prior art keywords
finger
wire
finger mechanism
wires
bending
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.)
Active
Application number
JP2020558301A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2020105504A1 (ja
Inventor
達也 關
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MELTIN MMI CO., LTD.
Original Assignee
MELTIN MMI CO., LTD.
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 MELTIN MMI CO., LTD. filed Critical MELTIN MMI CO., LTD.
Publication of JPWO2020105504A1 publication Critical patent/JPWO2020105504A1/ja
Priority to JP2022057136A priority Critical patent/JP7506703B2/ja
Application granted granted Critical
Publication of JP7087224B2 publication Critical patent/JP7087224B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Manipulator (AREA)
JP2020558301A 2018-11-20 2019-11-12 ロボットハンド装置 Active JP7087224B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2022057136A JP7506703B2 (ja) 2018-11-20 2022-03-30 ロボットハンド装置

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018217223 2018-11-20
JP2018217223 2018-11-20
PCT/JP2019/044303 WO2020105504A1 (ja) 2018-11-20 2019-11-12 ロボットハンド装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2022057136A Division JP7506703B2 (ja) 2018-11-20 2022-03-30 ロボットハンド装置

Publications (2)

Publication Number Publication Date
JPWO2020105504A1 JPWO2020105504A1 (ja) 2021-09-27
JP7087224B2 true JP7087224B2 (ja) 2022-06-21

Family

ID=70773306

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2020558301A Active JP7087224B2 (ja) 2018-11-20 2019-11-12 ロボットハンド装置
JP2022057136A Active JP7506703B2 (ja) 2018-11-20 2022-03-30 ロボットハンド装置

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2022057136A Active JP7506703B2 (ja) 2018-11-20 2022-03-30 ロボットハンド装置

Country Status (5)

Country Link
US (1) US12090636B2 (https=)
EP (1) EP3878609B1 (https=)
JP (2) JP7087224B2 (https=)
CN (1) CN112955289B (https=)
WO (1) WO2020105504A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3100148B1 (fr) * 2019-09-04 2023-06-16 Centre Nat Rech Scient main robotique
CN110842962B (zh) * 2019-12-02 2021-03-12 深圳忆海原识科技有限公司 32自由度仿生柔顺内骨骼灵巧手
CN113084851B (zh) * 2021-04-22 2022-06-28 常州工学院 一种拟人手指机构
JPWO2023105926A1 (https=) * 2021-12-06 2023-06-15
JP7831825B2 (ja) * 2022-02-16 2026-03-17 Ｎｅｃプラットフォームズ株式会社 ロボットハンド装置及びロボットハンド動作方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008023276A (ja) 2006-07-16 2008-02-07 Hiroshi Yokoi 全指可動型義手
WO2010064684A1 (ja) 2008-12-03 2010-06-10 国立大学法人奈良先端科学技術大学院大学 ロボットハンド
JP2010240834A (ja) 2009-04-09 2010-10-28 Disney Enterprises Inc 人間のような指を有するロボットハンド
JP2011245575A (ja) 2010-05-25 2011-12-08 Univ Of Tokyo ロボットハンド及びロボットシステム
WO2015063523A2 (en) 2013-11-04 2015-05-07 The Shadow Robot Company Limited Robotic hand
JP2017503668A (ja) 2014-01-22 2017-02-02 ソフトバンク・ロボティクス・ヨーロッパＳｏｆｔｂａｎｋ Ｒｏｂｏｔｉｃｓ Ｅｕｒｏｐｅ ヒューマノイドロボットに設けるように意図された手の作動
WO2017038836A1 (ja) 2015-08-28 2017-03-09 国立大学法人九州大学 ロボットハンド及びこれを操作するためのマスタ
JP2017531566A (ja) 2014-10-16 2017-10-26 セントレ・ナショナル・デ・ラ・レシェルシェ・サイエンティフィーク 把持及び精巧操作用のモジュール式ロボット指

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4921293A (en) * 1982-04-02 1990-05-01 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Multi-fingered robotic hand
JPH02145282A (ja) * 1988-11-25 1990-06-04 Agency Of Ind Science & Technol 人間類似型上肢機構
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
US5200679A (en) * 1990-02-22 1993-04-06 Graham Douglas F Artificial hand and digit therefor
US5080682A (en) * 1990-07-05 1992-01-14 Schectman Leonard A Artificial robotic hand
US7673916B2 (en) 2005-08-08 2010-03-09 The Shadow Robot Company Limited End effectors
JP2008264896A (ja) 2007-04-17 2008-11-06 Toyota Motor Corp ロボットハンド
US8483880B2 (en) * 2009-07-22 2013-07-09 The Shadow Robot Company Limited Robotic hand
KR102369012B1 (ko) * 2009-09-16 2022-02-28 가부시키가이샤 한도오따이 에네루기 켄큐쇼 발광 장치 및 이의 제조 방법
EP2642953B1 (en) * 2010-11-22 2016-03-09 Vanderbilt University Control system for a grasping device
JP5921225B2 (ja) * 2011-07-20 2016-05-24 株式会社岩田鉄工所 多指ハンド装置
WO2014027897A1 (en) * 2012-08-12 2014-02-20 5Th Element Limited A gripping device
CN203077298U (zh) * 2013-03-08 2013-07-24 长春工业大学 欠驱动五指机械手
WO2016182421A1 (es) * 2015-05-08 2016-11-17 Amezcua Peregrina Miguel Mano protésica multiarticulada motorizada y controlable completamente por el usuario
ITUA20164364A1 (it) * 2016-06-14 2017-12-14 Iuvo S R L Catena cinematica per la trasmissione di coppie meccaniche
IT201600120646A1 (it) * 2016-11-29 2018-05-29 Giovanni Antonio Zappatore Mano robotica sottoattuata

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008023276A (ja) 2006-07-16 2008-02-07 Hiroshi Yokoi 全指可動型義手
WO2010064684A1 (ja) 2008-12-03 2010-06-10 国立大学法人奈良先端科学技術大学院大学 ロボットハンド
JP2010240834A (ja) 2009-04-09 2010-10-28 Disney Enterprises Inc 人間のような指を有するロボットハンド
JP2011245575A (ja) 2010-05-25 2011-12-08 Univ Of Tokyo ロボットハンド及びロボットシステム
WO2015063523A2 (en) 2013-11-04 2015-05-07 The Shadow Robot Company Limited Robotic hand
JP2017503668A (ja) 2014-01-22 2017-02-02 ソフトバンク・ロボティクス・ヨーロッパＳｏｆｔｂａｎｋ Ｒｏｂｏｔｉｃｓ Ｅｕｒｏｐｅ ヒューマノイドロボットに設けるように意図された手の作動
JP2017531566A (ja) 2014-10-16 2017-10-26 セントレ・ナショナル・デ・ラ・レシェルシェ・サイエンティフィーク 把持及び精巧操作用のモジュール式ロボット指
WO2017038836A1 (ja) 2015-08-28 2017-03-09 国立大学法人九州大学 ロボットハンド及びこれを操作するためのマスタ

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
關達也 他，五指型筋電義手のためのワイヤ干渉駆動メカニズム，第２８回日本ロボット学会学術講演会予稿集ＤＶＤ-ＲＯＭ，日本，2010年09月24日，pp.2051-2054

Also Published As

Publication number Publication date
JP2022084909A (ja) 2022-06-07
WO2020105504A1 (ja) 2020-05-28
US12090636B2 (en) 2024-09-17
JPWO2020105504A1 (ja) 2021-09-27
US20210268664A1 (en) 2021-09-02
JP7506703B2 (ja) 2024-06-26
EP3878609A1 (en) 2021-09-15
EP3878609B1 (en) 2024-10-30
EP3878609C0 (en) 2024-10-30
CN112955289B (zh) 2024-12-03
EP3878609A4 (en) 2022-01-19
CN112955289A (zh) 2021-06-11

Similar Documents

Publication Publication Date Title
JP7087224B2 (ja) ロボットハンド装置
JP6611785B2 (ja) 装着式手指リハビリテーション装置
JP6691583B2 (ja) 指が改良されたヒューマノイドロボットに設けることが意図された手
US11974930B2 (en) Compliant four-bar linkage mechanism for a robotic finger
CN209548018U (zh) 并联运动机构
EP2239106B1 (en) Robot hand with human-like fingers
EP4233804B1 (en) Prosthetic hand
JP2022084909A5 (https=)
KR20030029833A (ko) 다리식 이동 로봇용 다관절 만곡 기구 및 다리식 이동 로봇
CN104519970B (zh) 人形体的手腕的关节构造及人形体
US20250205908A1 (en) Mechanical end effector
KR20170101548A (ko) 컴플라이언트 핑거유닛을 포함하는 로봇 핸드 어셈블리
CN118593297A (zh) 一种基于气动肌肉的绳驱手部康复装置
CN108406839A (zh) 一种基于激光局域改性的集成式人工关节及其应用
KR102389180B1 (ko) 와이어 구동 스포츠용 의수
KR101392706B1 (ko) 정하중 스프링 및 이를 구비한 수술용 로봇의 컨트롤 암 구조
JP2019195897A (ja) 関節構造体及びロボットハンド
JP6849216B2 (ja) 舌装置
JP6543901B2 (ja) 駆動装置およびその駆動方法
KR20170101549A (ko) 리스트유닛을 포함하는 로봇 핸드 어셈블리
JP4469957B2 (ja) ロボットハンド
KR20230149669A (ko) 로봇 팔
WO2023228540A1 (ja) ロボットハンド
US20250214259A1 (en) Mechanical end effector
WO2022186033A1 (ja) 多関節指を備えたロボットハンド

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20210219

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20211102

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20211221

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220222

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20220301

RD03 Notification of appointment of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7423

Effective date: 20220330

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20220330

R150 Certificate of patent or registration of utility model

Ref document number: 7087224

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313111

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250