WO2006064603A1 - ロボットハンド装置 - Google Patents
ロボットハンド装置 Download PDFInfo
- Publication number
- WO2006064603A1 WO2006064603A1 PCT/JP2005/017974 JP2005017974W WO2006064603A1 WO 2006064603 A1 WO2006064603 A1 WO 2006064603A1 JP 2005017974 W JP2005017974 W JP 2005017974W WO 2006064603 A1 WO2006064603 A1 WO 2006064603A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- link member
- guide path
- control shaft
- robot hand
- shaft
- Prior art date
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
- B25J15/0009—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
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Definitions
- the present invention relates to a robot hand apparatus that can be operated around two axes intersecting fingers.
- the present invention relates to a robot hand device including a base, a motor, a first link member, a second link member, and a finger link member.
- the motor is fixed to the base, and the first link member is supported by the base so as to be rotatable about the first axis, and the control shaft is movably supported.
- the first axis is an axis parallel to and offset from the drive axis of the motor.
- the second link member is connected to the drive shaft of the motor and supports the control shaft, and the control shaft is movable in the first guide path according to the rotation of the drive shaft of the motor. It is.
- the finger link member is supported by the first link member so as to be rotatable around a second axis that intersects the first axis, and is directly or indirectly linked to the control shaft. It is configured to be rotationally driven by the operation of the control shaft.
- the finger link member can be moved around two axes intersecting with a single motor, so a motor, a speed reduction mechanism, a motor driver, etc. are provided for each axis. There is no need.
- the base has a second guide path within the movable range of the first guide path
- the second link member includes a rotating body fixed to the drive shaft, and a rotating body. It is preferable that the connecting link is supported so as to be rotatable and supports the control shaft.
- the first link member and the finger link member can be operated almost separately.
- the finger link member can be moved after the first link member is moved.
- the second guide route is preferably configured by connecting the first guide route and the second guide route.
- the first guide path is formed to extend in the circumferential direction around the first axis, and it is preferable to guide the control axis in the circumferential direction around the first axis.
- the two guide paths are formed so as to extend in the radial direction of the first shaft, and the control shaft is preferably arranged in the radial direction of the first shaft.
- the first link member can be moved around the first axis by the first guide path, and the finger link member can be moved around the second axis by the second guide path.
- the control shaft is preferably configured to be slidable with respect to the first guide path and the second guide path. According to this configuration, the finger link member can be operated smoothly with a constant trajectory at all times.
- the finger link member can be moved around two axes with a simple mechanism, so the number of parts can be reduced. As a result, the volume and weight of the mechanism part of the robot hand device can be reduced, so it can be applied to humanoid robots. It is suitable for.
- FIG. 1 is an external view showing a humanoid robot on which a robot hand device of the present embodiment is mounted.
- FIG. 2 is a perspective view showing an internal structure and a series of operations of the robot hand device.
- FIG. 3 is a plan view showing an internal structure and a series of operations of the robot hand device.
- FIG. 4 is an exploded perspective view showing the robot hand device.
- FIG. 5 (a) is an explanatory diagram of the operation of the robot hand device with the finger closed and the V direction force in Fig. 3 as well, and (b) is the robot hand device in the middle of opening the finger.
- FIG. 4 is an operation explanatory diagram when viewed from the V direction in FIG. 3
- (c) is an operation explanatory diagram when the robot hand device in a state in which a finger is opened and the force in the V direction in FIG. 3 is also viewed.
- FIG. 6 (a) is an operation explanatory diagram when the robot hand device with the finger closed is viewed from the VI-VI cross section of Fig. 3, and (b) is a diagram of the robot hand device in the middle of opening the finger.
- Fig. 3 is an operation explanatory diagram when viewed from the VI-VI cross section of Fig. 3
- (c) is an operation explanatory diagram when the robot hand device with the finger open is viewed from the VI-VI cross section of Fig. 3;
- FIG. 7 is a perspective view showing a state when the back side force of the hand of the robot hand device is also looked up.
- FIG. 8 (a) is a perspective view showing a mechanism in which the first link member and the finger link member are directly linked, and (b) is a direct link between the first link member and the finger link member. It is a perspective view which shows the mechanism in the case of making it
- FIG. 9 (a) is a plan view showing the movement around the first axis of the robot hand device with the second link member simplified, and (b) is the first view of the robot hand device with the second link member simplified.
- FIG. 6 is a plan view showing an operation around two axes.
- the robot hand device 1 of the present embodiment relates to the structure of a finger corresponding to a human thumb. Further, the robot hand device 1 of the present embodiment will be described below by taking the robot hand device provided on the right hand as an example, the force provided on both arm portions R3, the left hand V, and the right hand The description is omitted as it is provided symmetrically.
- the robot hand device 1 of the present embodiment has a robot scale that is walking independently. It is provided at the tip of arm R3.
- This robot R has two legs Rl (right leg not shown), upper body R2, two arms R3 (right arm not shown), and head R4 like a human.
- the head R4 includes a camera, a microphone, a speaker, and the like (not shown).
- the robot hand device 1 has five fingers Fa, Fb, Fc, Fd, and Fe, similar to a human hand, and is provided on a finger Fa corresponding to a human thumb.
- the finger link member Fl moves between posture A, posture B, and posture C.
- posture A and posture B are indicated by two-dot chain lines, respectively.
- the posture A is a posture approaching the palm with the finger link member F1 bent inward, as shown in FIGS. 3 and 5 (a).
- the posture B is a posture away from the palm in a state where the finger link member F1 is bent inward as shown in FIG. 3 and FIG. 5 (b).
- Posture C is a posture in which finger link member F1 is opened outward from posture B as shown in FIG.
- the remaining fingers Fb to Fe are provided with a first joint and a second joint, respectively, like a human hand, and the fingers Fb to Fe are extended by another motor and link mechanism (not shown). And it is possible to operate in a posture that rolls inward (the palm side).
- FIG. 2 shows a case in which each finger Fb to Fe is in an extended posture.
- the robot node device 1 has a finger link member F 1, a motor M, a first link member 10, and a second link member 20.
- the finger link member F1 of the present embodiment includes a finger base end portion 50, a finger tip end portion 51, a cover 52, and a cover 53.
- the finger tip 51 is rotatably connected to the tip of the finger base end 50 (see FIG. 7).
- the cover 52 and the cover 53 cover the outer sides of the finger base end portion 50 and the finger tip end portion 51, respectively, and have finger shapes (see FIG. 3).
- the motor M is fixed to the plate-like base 2 via the speed reduction mechanism G.
- This base 2 is fixed to a base S provided on the wrist of the arm R3.
- the motor base 5 is fixed to the base S
- the motor M is fixed to the motor base 5
- the speed reduction mechanism G is fixed to the base 2 and the motor base 5 via screws.
- Motor M is fixed to XI side with respect to base 2, and base 2
- the drive shaft g provided via the speed reduction mechanism G protrudes from the output shaft (not shown) of the motor M on the X2 side.
- the base 2 is provided with a rotation hole 2a, and a second guide path 2b is provided at a position of the base 2 near the rotation hole 2a.
- the rotation hole 2a and the second guide path 2b are formed so as to penetrate in a direction (line segment XI-X2 direction) parallel to the line segment connecting XI and X2.
- the line segment connecting XI and X2 is parallel to the drive shaft of the motor M.
- the second guide path 2b is a curved second extending around the rotation hole 2a in the circumferential direction.
- the guide path 2b2 and a linear first guide path 2bl extending in the radial direction are formed, and the first guide path 2bl and the second guide path 2b2 communicate with each other to form the second guide path 2b.
- the first link member 10 is configured by integrally forming a pair of leg portions 11 and 12 and a pair of guide plates 13 and 14.
- Each of the legs 11 and 12 is in the form of a long and narrow plate, and is arranged in parallel to the base 2.
- Circular shaft holes 11a and 12a are formed at the base end, and the longitudinal direction is spaced from the shaft holes 11a and 12a.
- Guide elongated holes (first guide paths) l ib and 12b are formed in a straight line.
- each of the guide plates 13 and 14 has a substantially trapezoidal plate shape, and is arranged in a direction orthogonal to the leg portions 11 and 12 (or the base 2) in a state of being separated in parallel by a predetermined distance. .
- the guide plates 13 and 14 are formed with connecting holes 13a and 14a at the corners on the X2 side.
- a gap 15 having a predetermined interval is formed between the edge portions 13b, 14b facing the XI side of the guide plates 13, 14 and the side surface 12c of the leg portion 12.
- the second link member 20 includes a rotating body 21 and a connecting link 22.
- the rotating body 21 has a substantially disk shape and is arranged in parallel with the base 2.
- a driving hole 21a serving as a rotation center and a connecting hole 21b are formed at a position eccentric to the driving hole 21a.
- the rotating body 21 is formed with a fan-shaped protrusion 21c on the opposite side of the connecting hole 21b across the drive hole 21a.
- the connecting link 22 has a through hole 22al at one end and a connecting hole 22a2 at the other end.
- XI—X is configured to be arranged at predetermined intervals in the two directions.
- the connecting link 22 is provided with an elevating member 30.
- the elevating member 30 has a side plate 30a facing the line XI-X2 direction, a pair of side plates 30b, 30b orthogonal to the side plate 30a, and a bottom plate 30c (see FIG. 7). Is formed.
- the side plate 30a has a connection hole 30al, and the side plates 30b and 30b have pin connection holes 30b1 and 30bl, respectively. It is assumed that the distance between the side plate 30b and the side plate 30b of the elevating member 30 is set to a dimension that allows the elevating member 30 to move while sliding between the guide plate 13 and the guide plate 14.
- the lift member 30 is provided with an arm member 31.
- the arm member 31 has such a thickness that it can be inserted between the side plate 30b and the side plate 30b and is curved toward the one end force 2 side.
- the arm member 31 is formed with pin through holes 3 la and 3 lb parallel to the pin connecting hole 30b 1 at the base end and the tip end, respectively.
- the finger base end portion 50 constituting a part of the finger link member F1 has a pair of connecting pieces 50a, 50a arranged at intervals at which the arm member 31 can be inserted.
- Each connecting piece 50a, 5 Oa is formed with pin connecting holes 50a 1, 50a 1 parallel to the pin insertion hole 3 lb, and the connecting holes 13a, 14a are located near the pin connecting holes 50al, 50al.
- a connecting hole 50a2 (--not shown) is formed in parallel!
- a bearing 60 that is slidable in the second guide path 2b is provided.
- the bearing 60 is configured by sandwiching a plurality of spheres arranged rotatably in the circumferential direction between an inner ring and an outer ring (none of which is shown), and its outer peripheral surface (the outer peripheral surface of the outer ring) is It can move while sliding in the second guide path 2b.
- the control shaft 42 or the base 2 is provided with a retaining means (not shown) so that the bearing 60 does not come out of the second guide path 2b.
- the first link member 10 is connected to the base 2 via a fixed shaft 40.
- the fixed shaft 40 is The first link member 10 is rotatably connected to the base 2 through the shaft hole lla, the rotation hole 2a, and the shaft hole 12a in order from the first side.
- the rotation center of the first link member 10 at this time is the first axis S 1 (see FIGS. 2 and 3).
- the drive hole 21a of the rotating body 21 is fixed to the drive shaft g of the motor M, and the connecting hole 22a2 of the connecting link 22 is connected to the connecting hole 21b of the rotating body 21 via the link shaft 41.
- the connecting link 22 can rotate with respect to the rotating body 21.
- the long link plate 22a is inserted into the gap 15 between the leg 12 and the guide plates 13 and 14, and the short link plate 22b is inserted between the leg 12 and between the leg 11 and the leg 12.
- Control shaft 42 from the XI side, guide long hole l lb of leg 11, second guide path 2b of base 2, bearing 60, through hole 22bl of short link plate 22b, Insert the guide long hole 12b of the leg 12 through the through hole 22al of the long link plate 22a and the connecting hole 30al of the lifting member 30 in this order, and connect the connecting link 22 of the first link member 10 and the second link member 20 Link.
- control shaft 42 is guided by the guide elongated holes l ib, 12b and the second guide path 2b, and the elevating member 30 rotates with respect to the connecting link 22 while rotating between the guide plate 13 and the guide plate 14. To move between.
- the arm member 31 is inserted into the pin connection holes 30bl and 30bl of the elevating member 30 and the pin insertion holes 31a of the arm member 31 in a state where the base end is inserted into the space Q of the elevating member 30.
- the pin 43 is inserted, and the arm member 31 is rotatably connected to the elevating member 30.
- the arm member 31 has its tip inserted between the connecting piece 50a of the finger link member F1 and the connecting piece 50a, and the pin insertion hole 31b of the arm member 31 and the pins of the connecting pieces 50a, 50a.
- the pin 44 is inserted into the connecting holes 50al, 50al, and the arm member 31 is rotatably connected to the finger link member F1.
- the finger link member F1 has the connecting pieces 50a, 50a inserted between the guide plate 13 and the guide plate 14 of the first link member 10, and the connecting holes 50a2 (-) of the connecting pieces 50a, 50a. Is not shown) and the connecting pin 45 is inserted into the connecting holes 13a and 14a of the guide plates 13 and 14, The hook member Fl is pivotally connected to the first link member 10.
- the finger link member F1 is moved from the posture A in which the finger link member F1 is bent inward and close to the palm in the state where the palm is directed upward.
- the finger link member F1 moves from the posture B to the second axis S2 (see Fig. 2 and Fig. 3) through the posture B, which is rotated upward about the axis S1 (see Fig. 2 and Fig. 3). It reaches posture C, which is rotated outward.
- the finger link member F1 rotates slightly outward about the second axis S2 (see FIGS. 2 and 3).
- 5A to 5C the illustration of the arm member 31 connected to the elevating member 30, the finger base end portion 50 and the finger tip end portion 51 connected to the arm member 31 is omitted. Yes.
- Attitude A shown in Fig. 5 (a) shows a state in which the rotating body 21 has been rotated clockwise about the drive shaft g. Further, as shown in FIG. 6 (a), the control shaft 42 is positioned in the first guide path 2bl of the second guide path 2b, and the base end side (fixed shaft 40 Side) It is in the position of heel.
- the control shaft 42 is in the guide elongated hole 12b, and is almost at the same position as the control shaft 42 in the guide elongated hole l ib. positioned.
- the first link member 10 rotates clockwise with the fixed shaft 40 serving as the first shaft S1 (see FIGS. 2 and 3) serving as a fulcrum.
- the finger link member F1 also falls in the same manner. Further, when the first link member 10 falls, the elevating member 30 sandwiched between the guide plates 13 and 14 moves together with the first link member 10 in the clockwise direction with the control shaft 42 as a fulcrum on the connecting link 22. And is located at the end of the guide plates 13 and 14 (on the fixed shaft 40 side).
- the second guide path 2b2 is formed along an arc that is equidistant from the fixed shaft 40, the position of the control shaft 42 in the guide elongated hole ib does not change relatively.
- the rotation fulcrum (fixed shaft 40) of the first link member 10 is fixed to the base 2, and the direction of the guide elongated hole l ib and the direction of the first guide path 2bl intersect with each other.
- the leg 11 (first link member 10) is rotated in the direction in which the leg 11 (first link member 10) rises due to the moving force when the second guide path 2b ascends the first plan inner path 2bl.
- the finger link member F1 supported by the first link member 10 also has a counterclockwise direction in which the palm force is separated from the first axis S1 as a fulcrum. To turn.
- the position of the control shaft 42 in the guide long hole l ib is set to move away from the fixed shaft 40.
- the direction of the second guide path 2b2 and the direction of the guide elongated hole l ib are aligned with each other, so that the first link member 10 (leg part 11) rotates further counterclockwise.
- the elevating member 30 connected to the connecting link 22 is lifted while being guided by the guide plates 13 and 14.
- the arm member 31 provided on the elevating member 30 is pushed up, and the finger link member F1 is pushed up via the fulcrum provided on the inner side of the connecting pin 45, thereby The finger link member F1 rotates outward with the connecting pin 45 as a fulcrum. That is, the finger link member F1 rotates about the second axis S2.
- a protrusion 25 (see FIG. 3) is formed on the turning locus of the protrusion 21c provided on the rotating body 21, and FIG. 5 (c) When the posture C shown in FIG. 6 (c) is reached, the projecting piece 21c of the rotating body 21 comes into contact with the protrusion 25, and the rotating body 21 is It is restricted so that it does not turn further counterclockwise.
- the finger link member F1 rotates inward with the connecting pin 45 serving as the second axis S2 as a fulcrum to reach the posture B.
- the first link member 10 rotates about the first shaft S1 while the control shaft 42 is guided by the guide elongated hole l ib and the first guide path 2bl.
- the finger link member F1 moves so as to fall in a direction approaching the palm.
- the finger link member F1 can be moved around the first axis S1 center and the second axis S2 center by the power of the single motor M, respectively. become. Therefore, the number of parts can be reduced, and the weight of the apparatus can be reduced. As a result, since the weight at the tip of the arm R3 can be reduced, the moment of inertia can be reduced.
- the finger link member F1 can be operated smoothly with a constant movement trajectory at all times. Further, since the bearing 60 is used, the finger link member F1 can be operated more smoothly, and the operation at the inflection points of the first guide path 2bl and the second guide path 2b2 can also be performed smoothly.
- connecting link 22 and the elevating member 30 are connected via the control shaft 42, the number of parts can be reduced.
- the connecting link 22 and the elevating member 30 may be connected using a shaft different from the control shaft 42.
- FIGS. 8 (a) and 8 (b) are perspective views showing mechanisms in the case where the first link member and the finger link member are directly linked, respectively.
- the finger link member F1 is not driven by the moving force of the control shaft 42, but the finger link member F1 is operated indirectly by the moving force of the control shaft 42 via the lifting member 30 and the arm member 31. Is to operate directly.
- Other parts not shown are the same as those in the above-described embodiment. The description is omitted.
- a sphere 42a is provided at the tip of the control shaft 42, and the sphere 42a is rotatable in pin connection holes 50a1, 50a1 provided in the finger link member F1. It is configured to be fitted.
- a coupling body 42b having a pin insertion hole 42bl formed at the tip of the control shaft 42 is provided, and the pin insertion hole 42bl and the pin connection holes 50al and 50al connect the pin 46. It is comprised so that it can rotate freely through.
- the pin connection hole 50al need not have a shape that penetrates, and may have a concave shape that does not penetrate.
- FIGS. 8 (a) and 8 (b) The misalignment embodiment shown in FIGS. 8 (a) and 8 (b) is also not shown!
- the finger link member F1 is moved into the connection hole 50a2 (by the vertical movement of the control shaft 42 based on the operation of the connection link 22 ( It rotates with the second axis S2) as a fulcrum. In this manner, by directly operating the finger link member F1 with the control shaft 42, it is not necessary to provide the elevating member 30 and the arm member 31, so that the number of parts can be further reduced.
- FIG. 9 is a schematic view showing a robot hand device 1A in which the second link member is simplified.
- (A) is an operation explanatory view around the first axis
- (b) is an operation explanatory view around the second axis. It is.
- the robot node device 1A includes a first link member 10A, a second link member 20A, and a finger link member F1.
- the first link member 10A has a guide long hole (first guide path) 11c, and is connected to the rotating body via a fixed shaft 40A provided on a base (not shown). Further, the finger link member F 1 is rotatably connected to the first link member 10A via a connecting pin 45A.
- One end of the second link member 20A is rotatably supported by the drive shaft g, the control shaft 42A is fixed to the other end, and the control shaft 42A is movably inserted into the guide long hole 1lc. It is configured as follows. In addition, as shown in FIG. 9 (b), the control shaft 42A and the finger link member F1 are rotatably connected via the elevating member 30A! Speak.
- the second link member 20A is rotated counterclockwise by the rotational force of the drive shaft g, whereby the control shaft 42A is One end force moves to the other end in the guide slot 11c of the link member 10A.
- the finger link member F1 is indicated by a two-dot chain line around the fixed axis 40A as the first axis. Stand up like this.
- the finger link member F1 is pushed up by the elevating member 30A based on the moving force when the control shaft 42A is raised, so that the finger link member F1 Centering on the connecting pin 45A as an axis, it opens outward as indicated by a two-dot chain line.
- the present invention is not limited to the above-described embodiment, and the shape of the second guide path 2b is appropriately changed. can do.
- the second guide path 2b is not limited to the one constituted by the curved first guide path 2bl and the straight second guide path 2b2, and may be formed in a straight line as a whole. The whole body is formed in a curved shape.
- the coupling mechanism between the base 2 and the first link member 10 the coupling mechanism between the elevating member 30 and the arm member 31, the coupling mechanism between the arm member 31 and the finger link member F1, the first link member 10 and finger link member F1 is connected to the fixed shaft 40, the pins 43 and 44, the force using the connection pin 45, but is not limited thereto.
- a concave portion that fits with the convex portion may be provided and pivotally supported.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05788043A EP1829650B1 (en) | 2004-12-14 | 2005-09-29 | Robot hand device |
US10/576,190 US7735887B2 (en) | 2004-12-14 | 2005-09-29 | Robot hand apparatus |
DE602005010119T DE602005010119D1 (en) | 2004-12-14 | 2005-09-29 | Roboterhandvorrichtung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004-361550 | 2004-12-14 | ||
JP2004361550A JP4456473B2 (ja) | 2004-12-14 | 2004-12-14 | ロボットハンド装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006064603A1 true WO2006064603A1 (ja) | 2006-06-22 |
Family
ID=36587667
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/017974 WO2006064603A1 (ja) | 2004-12-14 | 2005-09-29 | ロボットハンド装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7735887B2 (ja) |
EP (1) | EP1829650B1 (ja) |
JP (1) | JP4456473B2 (ja) |
KR (1) | KR100754475B1 (ja) |
DE (1) | DE602005010119D1 (ja) |
WO (1) | WO2006064603A1 (ja) |
Cited By (1)
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JP2010247321A (ja) * | 2009-03-27 | 2010-11-04 | Honda Motor Co Ltd | ロボットハンド装置 |
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US8504198B2 (en) * | 2009-05-14 | 2013-08-06 | Honda Motor Co., Ltd. | Robot hand and control system, control method and control program for the same |
JP5500921B2 (ja) * | 2009-09-10 | 2014-05-21 | 本田技研工業株式会社 | 多指ハンド装置 |
JP5312207B2 (ja) * | 2009-06-05 | 2013-10-09 | 本田技研工業株式会社 | ロボットハンド装置 |
DE102009037898B4 (de) | 2009-08-19 | 2011-09-15 | Otto Bock Healthcare Products Gmbh | Greifeinrichtung |
US8424941B2 (en) * | 2009-09-22 | 2013-04-23 | GM Global Technology Operations LLC | Robotic thumb assembly |
DE102015218523B4 (de) * | 2015-09-25 | 2021-04-29 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Greifvorrichtung |
USD783448S1 (en) * | 2015-12-15 | 2017-04-11 | Kamal Siegel | Figurine articulated hand |
DE102018100173A1 (de) * | 2018-01-05 | 2019-07-11 | Otto Bock Healthcare Products Gmbh | Greifeinrichtung |
DE102022133976A1 (de) | 2022-12-19 | 2024-06-20 | Otto Bock Healthcare Products Gmbh | Prothesenhand |
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JP2003181787A (ja) * | 2001-12-17 | 2003-07-02 | Honda Motor Co Ltd | 多指ハンド装置 |
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JP2001277175A (ja) | 2000-03-30 | 2001-10-09 | Hiroshima Pref Gov | 多指可動ロボットハンド及びその把持制御方法 |
JP4545331B2 (ja) | 2000-04-04 | 2010-09-15 | 本田技研工業株式会社 | 多指ハンド装置 |
JP3848123B2 (ja) | 2001-10-15 | 2006-11-22 | 独立行政法人科学技術振興機構 | 人型ロボットハンド |
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2004
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2005
- 2005-09-29 WO PCT/JP2005/017974 patent/WO2006064603A1/ja active IP Right Grant
- 2005-09-29 US US10/576,190 patent/US7735887B2/en active Active
- 2005-09-29 DE DE602005010119T patent/DE602005010119D1/de active Active
- 2005-09-29 KR KR1020067008871A patent/KR100754475B1/ko active IP Right Grant
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Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2003181787A (ja) * | 2001-12-17 | 2003-07-02 | Honda Motor Co Ltd | 多指ハンド装置 |
JP2004174625A (ja) * | 2002-11-25 | 2004-06-24 | Sony Corp | ロボット装置の手構造及びロボット装置並びに駆動装置及び駆動方法 |
Non-Patent Citations (1)
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2010247321A (ja) * | 2009-03-27 | 2010-11-04 | Honda Motor Co Ltd | ロボットハンド装置 |
Also Published As
Publication number | Publication date |
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JP4456473B2 (ja) | 2010-04-28 |
JP2006167839A (ja) | 2006-06-29 |
US7735887B2 (en) | 2010-06-15 |
KR100754475B1 (ko) | 2007-09-03 |
DE602005010119D1 (en) | 2008-11-13 |
EP1829650A4 (en) | 2008-01-23 |
EP1829650B1 (en) | 2008-10-01 |
EP1829650A1 (en) | 2007-09-05 |
US20090016851A1 (en) | 2009-01-15 |
KR20060093121A (ko) | 2006-08-23 |
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