US3927424A - Mechanical hand - Google Patents

Mechanical hand Download PDF

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Publication number
US3927424A
US3927424A US435214A US43521474A US3927424A US 3927424 A US3927424 A US 3927424A US 435214 A US435214 A US 435214A US 43521474 A US43521474 A US 43521474A US 3927424 A US3927424 A US 3927424A
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United States
Prior art keywords
rod
joint
finger
finger element
free rotation
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Expired - Lifetime
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US435214A
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English (en)
Inventor
Hideyo Itoh
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National Institute of Advanced Industrial Science and Technology AIST
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Agency of Industrial Science and Technology
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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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links

Definitions

  • a mechanical hand comprises a palm element and at least two finger elements and incorporates a closed link mechanism.
  • the two finger elements are connected at their basal ends, each with a joint, the first one to the palm element and the second one to the forward end of the first finger element, respectively.
  • the closed link mechanism is constructed of the first finger element in combination with a projecting bar which stems at a certain angle from the basal end of the second finger element and constitutes a unitary part in conjunction with the second finger element.
  • Driving this closed link mechanism by an actuator sets the finger elements to movement.
  • the closed link mechanism begins to change its form.
  • the first finger element and/or the second finger element begins to turn round the joint as a pivot and continues, while adapting the form of the mechanical hand to the immediate environment, to converge in the direction of gradually conforming to the exterior contour of an object desired to be gripped and eventually gripping the object 6 Claims, 15 Drawing Figures US. Patent Dec. 23, 1975 Sheet 1 of 4 3,927,424
  • Fig-5(A) 32 231) 2422 25 MECHANICAL HAND BACKGROUND OF THE INVENTION
  • This invention relates to a mechanical hand. More particularly, the present invention relates to an adaptable mechanical hand which is capable of adapting its movement to the immediate environment within a prescribed range so as to provide stable gripping of a desired object.
  • Mechanical hands are generally used as means for loading and unloading in production lines and as prosthetic hands. Particularly, mechanical hands which are easy of control and yet applicable to numerous purposes involving varying working conditions are in demand.
  • the mechanical hands heretofore known are such that some require highly complicated mechanisms in order for them to be adapted to varying working conditions of numerous purposes and others involve complicated controls notwithstanding the simplicity of their own mechanisms.
  • the Belgrade hand which has long been known, can have its finger elements easily moved by an actuator. When any of the finger elements of the Belgrade hand collides with an obstacle en route to the object to be gripped, however, the hand can no longer continue its movement, so that the hand cannot grip the desired object unless the support of the hand is moved to a new position.
  • An object of this invention is to provide a mechanical hand which possesses a mechanism capable of adapting the movement of the mechanical hand itself to the immediate environment without requiring any complicated control system and which, therefore, permits the movement of the mechanical hand to continue until the desired object is gripped thereby.
  • Another object of this invention is to provide a mechanical hand which gradually changes its own form so as to conform to the contour of the object to be gripped and eventually grip the object as desired.
  • the mechanical hand according to this invention comprises a palm element and at least two finger elements connected at their basal ends each with a joint, the first one to the palm element and the second one to the forward end of the first finger element, respectively, and incorporates a closed link mechanism composed of the whole or a part of the first finger element in combination with a projecting bar stemming at a certain angle from the basal end of the second finger element and constituting a unitary part in conjunction with the second finger element, and utilizes an actuator which serves the purpose of driving the closed link mechanism.
  • the mechanical hand according to this invention has a construction as described above.
  • the closed link mechanism When the mechanical hand is set to movement and any portion of the finger elements thereof comes into contact with an obstacle standing in its way, the closed link mechanism begins to change its form. In consequence of the change in the shape of the link, the first finger element and/or the second finger element turns round the joint as a pivot and continues, while adapting the form of the mechanical hand to the immediate environment, to converge in a direction for eventually gripping the object to be gripped.
  • the closed link mechanism functions so as to cause the first and second finger elements to assume an angular relationship conforming to the exterior contour of the object, thus providing stable gripping of the object.
  • basal end of a finger means the extremity of the finger element closer to the palm element and the term forward end of a finger means the extremity of the finger element farther from the palm element.
  • FIG. 1(A) is a schematic drawing of the construction of the known Belgrade hand.
  • FIG. 1(B) and FIG. 1(C) are explanatory diagrams illustrating the modes of movement of the Belgrade hand of FIG. 1(A).
  • FIG. 2(A) is a schematic drawing illustrating one preferred embodiment of the mechanical hand according to the present invention.
  • FIG. 2(B) through (D) are explanatory diagrams illustrating the modes of movement of the mechanical hand of FIG. 2(A).
  • FIG. 3 is a schematic drawing illustrating another embodiment of the mechanical hand according to this invention.
  • FIG. 4(A) through (C) are explanatory diagrams illustrating the modes of movement of the mechanical hand as operated to grip an object laid in a special environment such as, for example, a groove.
  • FIG. 5(A) is a schematic drawing illustrating still another embodiment of the mechanical hand according to the present invention.
  • FIG. 5(B) through (D) are explanatory diagrams illustrating the modes of movement of the mechanical hand of FIG. 5(A).
  • FIG. 1(A) represents a Belgrade hand which has heretofore been known.
  • the first, second and third finger elements 2, 3 and 4 are connected serially each by means of joints.
  • a projecting bar 5 stemming at a certain angle from the basal end of the second finger element 3 has its forward end connected to the forward end of a rod 6 which in turn is connected at its basal end to a palm element 1.
  • Another projecting bar 7 stemming at a certain angle from the basal end of the third finger element 4 is connected via a rod 8 with a joint to the projecting bar 9 which stems from the first finger element 2.
  • the finger elements of this mechanical hand are put to movement when a projecting bar 10 fastened to the basal end of the first finger element 2 is driven by means of an actuator (not illustrated). Since the finger elements are connected each by means of a joint, their movements are obtained only in a prescribed space. When an obstacle occurs in any of such prescribed spaces, therefore, the movements of the finger elements can no longer be obtained beyond that obstacle. Take, for example, a case in which this mechanical hand is operated to grip an object 11 laid on a table. If no obstacle occurs in the spaces for the movements of the finger elements, then the finger elements turn round their respective joints until they take a stable grip of the object as illustrated in FIG. 1(B).
  • the present invention concerns a mechanical hand possessed of a mechanism absolutely free from such complicated control of movement.
  • the preferred embodiment of the invention given in FIG. 2 represents a mechanical hand which possesses two joints.
  • the first finger element 13 is connected at its basal end with a first free rotation joint 15 to a first stationary surface, on palm element, 12 and the second finger element 14 is connected at its basal end with a second free rotation joint 16 to the forward end of said first finger element 13.
  • a projecting bar 17 stems at a certain angle from the basal end of the second finger element 14 and constitutes a unitary part in conjunction with the second finger element 14.
  • the forward end of the projecting bar 17 is connected with a third free rotation joint 23 to the forward end of a first rod 18, whose basal end is connected with a fourth free rotional joint 24 to the forward end of a projecting rod 19 connected at the basal end thereof with a fifth joint 21 to the first finger element.
  • a part of the first finger element 13 goes to make up a closed link mechanism in conjunction with the projecting bar 17 and the rods 18 and 19.
  • the closed link mechanism 20 may be formed by the whole of the first finger element 13 taken in conjunction with the projecting bar 17 and the rods 18 and 19 as illustrated in FIG. 3.
  • One end of a second rod 22 is connected to the joint 24 and the other end of said rod 22 is connected through a sixth joint 38 to one end of a third rod 25 the other end of which is connected to a seventh joint 39 of a second stationary surface, or palm element, 26.
  • the rod 25 is connected via a rod 28 to the piston rod of an actuator 27.
  • two mechanical hands of the construction described above are disposed symmetrically.
  • the rods 28 of the actuator 27 are to be driven downwardly as illustrated in FIG. 2(B). Consequently, the rods 25 are diverged and, as the joints 15 are fastened more loosely than any other joint, the mechanical hands are allowed to turn round the joints 15 as pivots, as illustrated in FIG. 2(B), with the result that the forward ends of the second finger elements 14 collide into an obstacle which, in the illustrated case, is a table top.
  • the movements of the second finger elements 14 are restricted and the closed link mechanisms 20 begin to change their form, as shown in FIG. 2(C), causing the forward ends of the second finger elements 14 to move on the table top toward each other and eventually grip the object 1 1, as if embracing it (FIG. 2(D)).
  • the mechanical hands may be so constructed that they will be first bent round the joints 16 in the initial stage of operation. At which pair of joints the mechanical hands are required to be bent first is a question to be decided at the time of the overall design in accordance with the object to be gripped and the environment in which the gripping is to be made. In any event, the mechanical hands are so designed that the finger elements will eventually assume an angular relationship most suitable for gripping the object, as illustrated in FIG. 2(D).
  • the closed link mechanisms 20 serve to provide necessary allowance for the movements of the first and second finger elements 13 and 14.
  • the motion provided by the actuator 27 is conveyed, in adequate compliance with the immediate environment of the operation, to the first or second finger element by the medium of the closed link mechanisms which function as one kind of idle element. Because of the idling function of the link mechanism, the finger elements of the mechanical hands produce movements well adapted to the environment, including the object to be gripped, without requiring use of any special control system.
  • a piston is employed as the means for driving the mechanical hands.
  • a motor and a cam and other suitable known driving means may be effectively employed as well.
  • FIG. 4 illustrates the mode of movement of the mechanical hand as operated to take a grip of an object which is laid in a special environment, such as, for example, a groove 34.
  • the mechanical hands turn round the joints l5 and cause the forward ends of the second finger elements 14 to come into contact with the table top and then move on the table top toward each other (FIG. 4(B)).
  • the closed link mechanism 20 immediately begin to change their form so as to permit the forward ends of the finger elements to descend slowly toward the bottom of the groove.
  • the forward ends of the second finger elements reach the bottom of the groove, they again begin to move toward each other to continue their movements for gripping the object.
  • the mechanical hands provide the stablest gripping of the object in much the same way as they are operated to take a grip of an object laid on a flat surface.
  • FIG. 5(A) represents a pair of mechanical hands each possessed of three joints.
  • a third finger element 29 is connected at its basal end with an eighth joint 30 to the forward end of the second finger element of the mechanical hand illustrated in FIG. 2.
  • a second projecting bar 31 constituting a unitary part with the third finger element 29 stems at a certain angle from the basal end of the third finger element.
  • the forward end of the projecting bar 31 is connected with a ninth joint 33 to the forward end of a fourth rod 32, whose basal end is connected with a tenth joint 37 to the first finger element.
  • the driving motion of the actuator isnow used in changing the form of the closed link mechanisms 20, so that the second finger elements 14, and consequently the third finger elements 29, are turned further.
  • the forward ends of the third finger elements 29, therefore, move on the table top toward each other and continue their movements for gripping the object, as illustrated in FIG. (C).
  • the first finger elements may be revolved in a reverse direction in consequence of the-movement of theforward ends of finger elements toward each other.
  • first joint 15 and the second joint 16 should produce movements adapted to the environment.
  • the adaptable gripping movements of the finger elements are not particularly affected even if the second joints 16 and the eighth joints 30 are caused by the closed link mechanisms to make a interrelated movement.
  • the second and third finger elements may be fastened immovably toeach other or they may be interlocked to each other so as to produce movements adapted to the environment similarly to the aforementioned relationship between the first and second finger elements.
  • the preferred embodiments so far described each represent a case in which two mechanical fingers of an identical construction are symmetrically disposed. Depending on the purpose of an individual application, however, two mechanical fingers differing in construction may be combined and used as one pair. Alternately, one mechanical finger and a mere rod may be combined so that desired gripping of an object will be obtained by the cooperation of the mechanical finger and the rod, with the rod serving the purpose of holding the gripped object in position in the subsequent process of lifting. .t
  • the mechanical hands according to the present invention have closed link mechanisms which enable the finger elements to produce movements adapted in fixed spaces to the immediate environment without requiring use of any complicated control. Because of the adaptability of movement coupled with the extreme simplicity of construction, the mechanical hands of this invention can be used for a rich variety of purposes.
  • a mechanical hand comprising:
  • said second finger element and said projecting bar being rigidly joined at a predetermined angle; said first joint joining said first finger element to said first stationary surface;
  • first and said fifth joints comprise a single joint joining said first finger element and said projecting rod and connecting the same to said first stationary surface.
  • a mechanical hand comprising: a first free rotation joint; a second free rotation joint; a third free rotation joint; a fourth free rotation joint; a fifth free rotation joint; a sixth free rotation joint;

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Transplantation (AREA)
  • Vascular Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Cardiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
US435214A 1973-01-19 1974-01-21 Mechanical hand Expired - Lifetime US3927424A (en)

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JP843173A JPS5420749B2 (enrdf_load_stackoverflow) 1973-01-19 1973-01-19

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Cited By (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4367891A (en) * 1978-05-30 1983-01-11 Pfaff Industriemaschinen Gmbh Industrial robot with a gripping mechanism
US4377305A (en) * 1979-05-21 1983-03-22 Otto Bock Orthopadische Industrie Kg Artificial hand
US4499364A (en) * 1981-03-02 1985-02-12 Starostin Alexandr M Resistance welding apparatus for joining pipes end to end
US4548544A (en) * 1982-12-30 1985-10-22 Prince Corporation Robot apparatus particularly adapted for removing and handling die cast parts
FR2564023A1 (fr) * 1984-05-11 1985-11-15 Commissariat Energie Atomique Pince porte-outil
US4643473A (en) * 1986-02-03 1987-02-17 General Motors Corporation Robotic mechanical hand
US4687400A (en) * 1984-09-07 1987-08-18 Metals, Ltd. Device for moving objects in a closed container
US4728137A (en) * 1986-07-22 1988-03-01 American Engineering And Trade, Inc. Compound toggle robotic gripper
WO1990002030A1 (en) * 1988-08-31 1990-03-08 The Trustees Of The University Of Pennsylvania Methods and apparatus for mechanically intelligent grasping
US4946380A (en) * 1989-05-30 1990-08-07 University Of Southern California Artificial dexterous hand
US5108140A (en) * 1988-04-18 1992-04-28 Odetics, Inc. Reconfigurable end effector
US5209537A (en) * 1991-07-10 1993-05-11 The Heil Co. Gripping apparatus for omnifarious containers
US5378033A (en) * 1993-05-10 1995-01-03 University Of Kentucky Research Foundation Multi-function mechanical hand with shape adaptation
US5501498A (en) * 1988-08-31 1996-03-26 The Trustees Of The University Of Pennsylvania Methods and apparatus for mechanically intelligent grasping
US5762390A (en) * 1996-07-16 1998-06-09 Universite Laval Underactuated mechanical finger with return actuation
US5800561A (en) * 1996-05-15 1998-09-01 Massachusetts Institute Of Technology Power-assisted upper extremity orthosis
US6260902B1 (en) * 1998-03-20 2001-07-17 Sune Synnelius Gripper with segmented arms
US6467826B2 (en) * 1998-06-18 2002-10-22 C-Power Ab Tool holder
US6505870B1 (en) 2000-05-30 2003-01-14 UNIVERSITé LAVAL Actuation system for highly underactuated gripping mechanism
US6691586B2 (en) * 1997-12-15 2004-02-17 Mitsubishi Denki Kabushiki Kaisha Micro actuator
US20060012198A1 (en) * 2004-04-12 2006-01-19 Strider Labs, Inc. System and method for computing grasps for a robotic hand with a palm
US20080019803A1 (en) * 2004-04-29 2008-01-24 King's College London Robotic Hand With Palm Section Comprising Several Parts Able to Move Relative to Each Other
DE102007026721A1 (de) * 2006-06-09 2008-05-15 Fachhochschule Münster Werkzeug zum Greifen, Halten, Bearbeiten oder Untersuchen von Körperbestandteilen
US20090302626A1 (en) * 2006-11-03 2009-12-10 Aaron Dollar Robust Compliant Adaptive Grasper and Method of Manufacturing Same
US20100181792A1 (en) * 2009-01-20 2010-07-22 Lionel Birglen Self-adaptive mechanical finger and method
US20140097631A1 (en) * 2012-10-09 2014-04-10 Willow Garage, Inc. Kinetic and dimensional optimization for a tendon-driven gripper
US8991885B2 (en) 2012-11-09 2015-03-31 Irobot Corporation Compliant underactuated grasper
US9004559B2 (en) 2012-11-09 2015-04-14 Irobot Corporation Compliant underactuated grasper
CN104589366A (zh) * 2014-11-25 2015-05-06 广西大学 一种变胞式多功能机械手爪
CN104626183A (zh) * 2015-02-17 2015-05-20 哈尔滨工程大学 灵巧机械手指
US9089977B2 (en) 2012-11-09 2015-07-28 Irobot Corporation Compliant underactuated grasper
CN104827476A (zh) * 2015-04-20 2015-08-12 东华大学 一种气动式自适应开门机械手
US20160008146A1 (en) * 2013-04-04 2016-01-14 Thk Co., Ltd. Articulated mechanism, finger, and hand
CN105563503A (zh) * 2014-11-10 2016-05-11 中国科学院沈阳自动化研究所 一种可预紧式夹持装置
US9545727B1 (en) 2015-11-05 2017-01-17 Irobot Corporation Robotic fingers and end effectors including same
US9782902B1 (en) * 2016-06-29 2017-10-10 Robotis Co., Ltd. Gripper for robot hand capabel of adaptive grasp
CN109940650A (zh) * 2019-04-13 2019-06-28 华北理工大学 机械手爪
CN111283714A (zh) * 2020-03-04 2020-06-16 张梅 一种伺服电缸控制的夹爪机构
US11584022B2 (en) * 2019-05-17 2023-02-21 Kinova Inc. Monoblock finger for gripper mechanism

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57205095A (en) * 1981-06-15 1982-12-16 Tokico Ltd Robot arm

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1298502A (en) * 1918-02-01 1919-03-25 Miracle Artificial Arm Co Artificial hand.
US2457305A (en) * 1946-01-30 1948-12-28 Frank L Dale Artificial hand
US3822418A (en) * 1970-09-04 1974-07-09 Y Yakobson Electrically driven artificial hand for upper extremity prosthesis

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1298502A (en) * 1918-02-01 1919-03-25 Miracle Artificial Arm Co Artificial hand.
US2457305A (en) * 1946-01-30 1948-12-28 Frank L Dale Artificial hand
US3822418A (en) * 1970-09-04 1974-07-09 Y Yakobson Electrically driven artificial hand for upper extremity prosthesis

Cited By (59)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4367891A (en) * 1978-05-30 1983-01-11 Pfaff Industriemaschinen Gmbh Industrial robot with a gripping mechanism
US4377305A (en) * 1979-05-21 1983-03-22 Otto Bock Orthopadische Industrie Kg Artificial hand
US4499364A (en) * 1981-03-02 1985-02-12 Starostin Alexandr M Resistance welding apparatus for joining pipes end to end
US4548544A (en) * 1982-12-30 1985-10-22 Prince Corporation Robot apparatus particularly adapted for removing and handling die cast parts
FR2564023A1 (fr) * 1984-05-11 1985-11-15 Commissariat Energie Atomique Pince porte-outil
US4687400A (en) * 1984-09-07 1987-08-18 Metals, Ltd. Device for moving objects in a closed container
US4643473A (en) * 1986-02-03 1987-02-17 General Motors Corporation Robotic mechanical hand
US4728137A (en) * 1986-07-22 1988-03-01 American Engineering And Trade, Inc. Compound toggle robotic gripper
US5108140A (en) * 1988-04-18 1992-04-28 Odetics, Inc. Reconfigurable end effector
US5501498A (en) * 1988-08-31 1996-03-26 The Trustees Of The University Of Pennsylvania Methods and apparatus for mechanically intelligent grasping
WO1990002030A1 (en) * 1988-08-31 1990-03-08 The Trustees Of The University Of Pennsylvania Methods and apparatus for mechanically intelligent grasping
US4957320A (en) * 1988-08-31 1990-09-18 Trustees Of The University Of Pennsylvania Methods and apparatus for mechanically intelligent grasping
US4946380A (en) * 1989-05-30 1990-08-07 University Of Southern California Artificial dexterous hand
US4955918A (en) * 1989-05-30 1990-09-11 University Of Southern California Artificial dexterous hand
US5209537A (en) * 1991-07-10 1993-05-11 The Heil Co. Gripping apparatus for omnifarious containers
US5378033A (en) * 1993-05-10 1995-01-03 University Of Kentucky Research Foundation Multi-function mechanical hand with shape adaptation
US5800561A (en) * 1996-05-15 1998-09-01 Massachusetts Institute Of Technology Power-assisted upper extremity orthosis
US5762390A (en) * 1996-07-16 1998-06-09 Universite Laval Underactuated mechanical finger with return actuation
US6691586B2 (en) * 1997-12-15 2004-02-17 Mitsubishi Denki Kabushiki Kaisha Micro actuator
US6260902B1 (en) * 1998-03-20 2001-07-17 Sune Synnelius Gripper with segmented arms
US7163247B2 (en) 1998-06-18 2007-01-16 C-Power Technologies Ab Tool holder
US6467826B2 (en) * 1998-06-18 2002-10-22 C-Power Ab Tool holder
US6505870B1 (en) 2000-05-30 2003-01-14 UNIVERSITé LAVAL Actuation system for highly underactuated gripping mechanism
US20060012198A1 (en) * 2004-04-12 2006-01-19 Strider Labs, Inc. System and method for computing grasps for a robotic hand with a palm
US10850392B2 (en) 2004-04-12 2020-12-01 Strider Labs, Inc. System and method for computing grasps for a robotic hand with a palm
US20080019803A1 (en) * 2004-04-29 2008-01-24 King's College London Robotic Hand With Palm Section Comprising Several Parts Able to Move Relative to Each Other
DE102007026721A1 (de) * 2006-06-09 2008-05-15 Fachhochschule Münster Werkzeug zum Greifen, Halten, Bearbeiten oder Untersuchen von Körperbestandteilen
US20090302626A1 (en) * 2006-11-03 2009-12-10 Aaron Dollar Robust Compliant Adaptive Grasper and Method of Manufacturing Same
US8231158B2 (en) * 2006-11-03 2012-07-31 President And Fellows Of Harvard College Robust compliant adaptive grasper and method of manufacturing same
US20100181792A1 (en) * 2009-01-20 2010-07-22 Lionel Birglen Self-adaptive mechanical finger and method
US9126342B2 (en) 2009-01-20 2015-09-08 Polyvalor, Limited Partnership Self-adaptive mechanical finger and method
US8720964B2 (en) 2009-01-20 2014-05-13 Polyvalor, Limited Partnership Self-adaptive mechanical finger and method
US8833827B2 (en) * 2012-10-09 2014-09-16 Willow Garage, Inc. Kinetic and dimensional optimization for a tendon-driven gripper
US8979152B2 (en) 2012-10-09 2015-03-17 Willow Garage, Inc. Kinetic and dimensional optimization for a tendon-driven gripper
US11911899B2 (en) 2012-10-09 2024-02-27 Willow Garage, Llc Kinetic and dimensional optimization for a tendon-driven gripper
US11613005B2 (en) 2012-10-09 2023-03-28 Willow Garage, Llc Kinetic and dimensional optimization for a tendon-driven gripper
US10987801B2 (en) 2012-10-09 2021-04-27 Willow Garage, Llc Kinetic and dimensional optimization for a tendon-driven gripper
US20140097631A1 (en) * 2012-10-09 2014-04-10 Willow Garage, Inc. Kinetic and dimensional optimization for a tendon-driven gripper
US9314932B2 (en) 2012-10-09 2016-04-19 Willow Garage, Inc. Kinetic and dimensional optimization for a tendon-driven gripper
US9327412B2 (en) 2012-11-09 2016-05-03 Irobot Corporation Compliant underactuated grasper
US9114540B2 (en) 2012-11-09 2015-08-25 Irobot Corporation Compliant underactuated grasper
US9004559B2 (en) 2012-11-09 2015-04-14 Irobot Corporation Compliant underactuated grasper
US8991885B2 (en) 2012-11-09 2015-03-31 Irobot Corporation Compliant underactuated grasper
US9089977B2 (en) 2012-11-09 2015-07-28 Irobot Corporation Compliant underactuated grasper
US20160008146A1 (en) * 2013-04-04 2016-01-14 Thk Co., Ltd. Articulated mechanism, finger, and hand
US9468540B2 (en) * 2013-04-04 2016-10-18 Thk Co., Ltd. Articulated mechanism, finger, and hand
CN105563503A (zh) * 2014-11-10 2016-05-11 中国科学院沈阳自动化研究所 一种可预紧式夹持装置
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