JPS622956B2 - - Google Patents

Info

Publication number
JPS622956B2
JPS622956B2 JP58182755A JP18275583A JPS622956B2 JP S622956 B2 JPS622956 B2 JP S622956B2 JP 58182755 A JP58182755 A JP 58182755A JP 18275583 A JP18275583 A JP 18275583A JP S622956 B2 JPS622956 B2 JP S622956B2
Authority
JP
Japan
Prior art keywords
fingers
robot
finger
robot arm
attached
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.)
Expired
Application number
JP58182755A
Other languages
English (en)
Japanese (ja)
Other versions
JPS6076986A (ja
Inventor
Kokichi Aomori
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.)
Toshiba Corp
Original Assignee
Tokyo Shibaura Electric 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 Tokyo Shibaura Electric Co Ltd filed Critical Tokyo Shibaura Electric Co Ltd
Priority to JP58182755A priority Critical patent/JPS6076986A/ja
Priority to EP84306444A priority patent/EP0140569B1/en
Priority to DE8484306444T priority patent/DE3468640D1/de
Priority to US06/654,028 priority patent/US4623183A/en
Publication of JPS6076986A publication Critical patent/JPS6076986A/ja
Publication of JPS622956B2 publication Critical patent/JPS622956B2/ja
Granted legal-status Critical Current

Links

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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP58182755A 1983-09-30 1983-09-30 ロボツト Granted JPS6076986A (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP58182755A JPS6076986A (ja) 1983-09-30 1983-09-30 ロボツト
EP84306444A EP0140569B1 (en) 1983-09-30 1984-09-20 Robot hand
DE8484306444T DE3468640D1 (en) 1983-09-30 1984-09-20 Robot hand
US06/654,028 US4623183A (en) 1983-09-30 1984-09-25 Robot hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP58182755A JPS6076986A (ja) 1983-09-30 1983-09-30 ロボツト

Publications (2)

Publication Number Publication Date
JPS6076986A JPS6076986A (ja) 1985-05-01
JPS622956B2 true JPS622956B2 (en:Method) 1987-01-22

Family

ID=16123864

Family Applications (1)

Application Number Title Priority Date Filing Date
JP58182755A Granted JPS6076986A (ja) 1983-09-30 1983-09-30 ロボツト

Country Status (4)

Country Link
US (1) US4623183A (en:Method)
EP (1) EP0140569B1 (en:Method)
JP (1) JPS6076986A (en:Method)
DE (1) DE3468640D1 (en:Method)

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US6273483B1 (en) * 1996-03-28 2001-08-14 Mcmaster University Three orthogonal directions movable fingers for holding and/or manipulating a three-dimensional object
US6505870B1 (en) * 2000-05-30 2003-01-14 UNIVERSITé LAVAL Actuation system for highly underactuated gripping mechanism
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JP4030011B2 (ja) * 2002-10-07 2008-01-09 株式会社ハーモニック・ドライブ・システムズ ロボットハンド用掌機構
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US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
JP4876796B2 (ja) * 2006-08-30 2012-02-15 株式会社不二越 産業用ロボットのハンド装置
JP4845765B2 (ja) * 2007-02-20 2011-12-28 本田技研工業株式会社 チャック装置
US8343171B2 (en) 2007-07-12 2013-01-01 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices
CA2695619C (en) 2007-08-15 2015-11-24 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
JP2010536435A (ja) 2007-08-15 2010-12-02 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 医療用膨張、取り付けおよび送達装置、ならびに関連する方法
CN102793571B (zh) 2007-09-21 2014-12-17 柯惠Lp公司 手术器械
AU2008302043B2 (en) 2007-09-21 2013-06-27 Covidien Lp Surgical device
JP5348128B2 (ja) * 2008-03-19 2013-11-20 株式会社安川電機 形状計測装置とこれを備えたロボット装置
DE102008023926B4 (de) * 2008-05-16 2010-09-23 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboterfinger sowie Roboterhand
JP4592794B2 (ja) * 2008-09-26 2010-12-08 株式会社東芝 ロボットハンド
CN101844358B (zh) * 2009-03-24 2011-07-27 中国科学院合肥物质科学研究院 变构型机械手爪的手指旋转移动装置及其工作方法
WO2011075693A1 (en) 2009-12-17 2011-06-23 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
JP2011131341A (ja) * 2009-12-25 2011-07-07 Sony Corp 把持装置
US8936289B1 (en) * 2010-03-15 2015-01-20 Telefactor Robotics LLC Robotic finger assemblies
JP5679711B2 (ja) * 2010-07-06 2015-03-04 キヤノン株式会社 ロボットシステム及び把持方法
TWI478793B (zh) * 2010-08-04 2015-04-01 Hon Hai Prec Ind Co Ltd 夾持裝置
CN102343591B (zh) * 2010-08-04 2015-03-25 鸿富锦精密工业（深圳）有限公司 夹持装置
EP2600758A1 (en) 2010-08-06 2013-06-12 Board of Regents of the University of Nebraska Methods and systems for handling or delivering materials for natural orifice surgery
KR101778031B1 (ko) * 2010-09-17 2017-09-26 삼성전자주식회사 로봇 핸드
JP5993539B2 (ja) * 2011-01-06 2016-09-14 セイコーエプソン株式会社 ロボットハンド及びロボット
JP5834480B2 (ja) * 2011-05-11 2015-12-24 セイコーエプソン株式会社 ロボットハンド及びロボット
JP6174017B2 (ja) 2011-06-10 2017-08-02 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 生体内血管シールエンドエフェクタおよび生体内ロボット装置
WO2013009887A1 (en) 2011-07-11 2013-01-17 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
WO2013052137A2 (en) 2011-10-03 2013-04-11 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
JP5892173B2 (ja) * 2011-11-09 2016-03-23 株式会社安川電機 ロボットハンド及びロボット
KR101896473B1 (ko) * 2012-01-04 2018-10-24 삼성전자주식회사 로봇 핸드의 제어 방법
WO2013106569A2 (en) 2012-01-10 2013-07-18 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical access and insertion
EP2844181B1 (en) 2012-05-01 2021-03-10 Board of Regents of the University of Nebraska Single site robotic device and related systems
EP2660015B1 (de) * 2012-05-02 2015-03-11 GLP systems GmbH Greifer
JP2013240843A (ja) * 2012-05-18 2013-12-05 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
EP3189948B1 (en) * 2012-06-22 2018-10-17 Board of Regents of the University of Nebraska Local control robotic surgical devices
US12295680B2 (en) 2012-08-08 2025-05-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
EP2882331A4 (en) 2012-08-08 2016-03-23 Univ Nebraska ROBOTIC SURGICAL DEVICES, SYSTEMS AND CORRESPONDING METHODS
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
CA2906672C (en) 2013-03-14 2022-03-15 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
CA2905948C (en) 2013-03-14 2022-01-11 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
CA2906772C (en) 2013-03-15 2021-09-21 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US10966700B2 (en) 2013-07-17 2021-04-06 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US9321176B1 (en) 2014-04-01 2016-04-26 University Of South Florida Systems and methods for planning a robot grasp based upon a demonstrated grasp
US9862504B1 (en) * 2014-04-04 2018-01-09 Olaeris, Inc. Positioning hovering objects for docking
CN104308854A (zh) * 2014-09-01 2015-01-28 沈阳精锐数控机床有限公司 托辊轴和托辊筒在抓取手指中的定位方法
CA2961213A1 (en) 2014-09-12 2016-03-17 Board Of Regents Of The University Of Nebraska Quick-release end effectors and related systems and methods
EP3217890B1 (en) 2014-11-11 2020-04-08 Board of Regents of the University of Nebraska Robotic device with compact joint design
WO2017024081A1 (en) 2015-08-03 2017-02-09 Board Of Regents Of The University Of Nebraska Robotic surgical devices systems and related methods
DE102015216550A1 (de) * 2015-08-28 2017-03-02 Kuka Roboter Gmbh Robotergreifer
CN105082115B (zh) * 2015-09-22 2017-02-01 哈尔滨工业大学 一种柔顺自适应阀门旋拧机械手机构
US9844885B2 (en) * 2015-11-27 2017-12-19 Tamkang University Gripping device having opened and closed gripping modes
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DE102016208331B3 (de) 2016-05-13 2017-07-06 Kuka Roboter Gmbh Robotergreifer mit einer Antriebsvorrichtung
CA3024623A1 (en) 2016-05-18 2017-11-23 Virtual Incision Corporation Robotic surgical devices, systems and related methods
JP6514156B2 (ja) * 2016-08-17 2019-05-15 ファナック株式会社 ロボット制御装置
WO2018045036A1 (en) 2016-08-30 2018-03-08 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and an additional degree of freedom and related systems and methods
CN115337111B (zh) 2016-11-22 2025-04-25 内布拉斯加大学董事会 改进的粗定位装置及相关系统和方法
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
JP6808181B2 (ja) * 2017-05-18 2021-01-06 Smc株式会社 ワーク保持装置
CN117017492A (zh) 2017-09-27 2023-11-10 虚拟切割有限公司 具有跟踪相机技术的机器人手术设备及相关系统和方法
CA3087672A1 (en) 2018-01-05 2019-07-11 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
CN108818508B (zh) * 2018-07-18 2020-10-02 武汉市弘润创思机械有限公司 一种柔性驱动式机械臂
DE102018128155B3 (de) * 2018-11-12 2020-03-12 Schaeffler Technologies AG & Co. KG Greifwerkzeug mit zwei Arten von Greifelementen zum Aufnehmen/Ablegen eines Umschlingungsmittels sowie entsprechendes Verfahren
WO2020146348A1 (en) 2019-01-07 2020-07-16 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
JP7085736B2 (ja) * 2019-02-28 2022-06-17 国立大学法人東北大学 ロボットハンド
JP6858301B1 (ja) * 2019-11-29 2021-04-14 シナノケンシ株式会社 ロボットハンド
JP6858302B1 (ja) * 2019-11-29 2021-04-14 シナノケンシ株式会社 ロボットハンド
US20230226701A1 (en) * 2020-06-29 2023-07-20 Sony Group Corporation Robot hand and manipulator
JP2023532977A (ja) 2020-07-06 2023-08-01 バーチャル インシジョン コーポレイション 外科用ロボット位置決めシステム並びに関連する装置及び方法
TWI736467B (zh) * 2020-11-11 2021-08-11 財團法人工業技術研究院 機械手掌及其手指裝置

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Also Published As

Publication number Publication date
EP0140569B1 (en) 1988-01-13
EP0140569A2 (en) 1985-05-08
US4623183A (en) 1986-11-18
EP0140569A3 (en) 1985-06-12
JPS6076986A (ja) 1985-05-01
DE3468640D1 (en) 1988-02-18

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