WO2021116197A1 - Recirculating roller sliders for tendon driven articulated joints - Google Patents

Recirculating roller sliders for tendon driven articulated joints Download PDF

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Publication number
WO2021116197A1
WO2021116197A1 PCT/EP2020/085330 EP2020085330W WO2021116197A1 WO 2021116197 A1 WO2021116197 A1 WO 2021116197A1 EP 2020085330 W EP2020085330 W EP 2020085330W WO 2021116197 A1 WO2021116197 A1 WO 2021116197A1
Authority
WO
WIPO (PCT)
Prior art keywords
tendon
assembly
roller support
needle rollers
roller
Prior art date
Application number
PCT/EP2020/085330
Other languages
French (fr)
Inventor
Andreas Demopoulos
Original Assignee
Tasakos, Charalampos
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 Tasakos, Charalampos filed Critical Tasakos, Charalampos
Publication of WO2021116197A1 publication Critical patent/WO2021116197A1/en

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
    • 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
    • A61F2/586—Fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C29/00—Bearings for parts moving only linearly
    • F16C29/04—Ball or roller bearings
    • F16C29/06—Ball or roller bearings in which the rolling bodies circulate partly without carrying load
    • F16C29/0614—Ball or roller bearings in which the rolling bodies circulate partly without carrying load with a shoe type bearing body, e.g. a body facing one side of the guide rail or track only
    • F16C29/0616—Ball or roller bearings in which the rolling bodies circulate partly without carrying load with a shoe type bearing body, e.g. a body facing one side of the guide rail or track only for supporting load essentially in a single direction
    • F16C29/0619—Ball or roller bearings in which the rolling bodies circulate partly without carrying load with a shoe type bearing body, e.g. a body facing one side of the guide rail or track only for supporting load essentially in a single direction with rollers or needles
    • 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
    • A61F2002/5093—Tendon- or ligament-replacing cables
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/08—Means for varying tension of belts, ropes, or chains
    • F16H2007/0802—Actuators for final output members
    • F16H2007/081—Torsion springs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/08—Means for varying tension of belts, ropes, or chains
    • F16H2007/0863—Finally actuated members, e.g. constructional details thereof
    • F16H2007/0872—Sliding members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/08—Means for varying tension of belts, ropes, or chains
    • F16H2007/0889—Path of movement of the finally actuated member
    • F16H2007/0891—Linear path
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/08—Means for varying tension of belts, ropes, or chains
    • F16H2007/0889—Path of movement of the finally actuated member
    • F16H2007/0897—External to internal direction

Definitions

  • This invention relates to improvements in tendon driven assemblies in which various elements are joined together by pivot pins or elastomeric joints to form a chain like structure.
  • the entire assembly is driven by a tendon that is fixed at the far element of the articulating assembly and is pulled by an actuator at the other end.
  • the tendon is free to slide over the intermediate elements of the assembly so that a contraction of the tendon causes the whole assembly to curve inwards.
  • FIGURES Figure 1 shows an articulated finger from New Dexterity’s patent (please provide ref. no). This figure shows previous art tendon sliders
  • Figure 2 is related to Figure 1 and shows a perspective view of previous art tendon slider.
  • Figure 3 shows a perspective view of the recirculating roller slider assembly
  • Figure 4 shows a perspective view of the roller support, the fixed part of the recirculating roller slider assembly shown in Figure 3.
  • Figure 5 is a side view of the profile of the roller support shown in Figure 4.
  • Figure 6 shows an exploded view of a typical element in an articulated joint and in particular, how the recirculating roller slider is attached to this element.
  • Figure 7 provides further detail of how the recirculating roller slider in Figure 6 is secured to each of the two halves of the articulating joint element
  • Figure 8 is the same as in Figure 7 but in the assembled status of the articulating joint element.
  • Figure 9 shows a perspective view of the application of the recirculating roller slider concept and in particular for a single, tendon driven pivot joint
  • Figure 10 shows the same pivot joint assembly as in Figure 9 but in the closed position.
  • the various elements in the finger assembly of Figure 1 are the finger base 1 and the three phalanges, proximal 2, middle 3 and distal 4. Items 1 , 2 and 3 are pin joined at pivots 5 and 6 whereas items 3 and 4 are joined via an elastomeric type of joint 7.
  • the finger assembly includes tendon 8 that is fixed to distal 4 and pulled at the other end by an actuator 9.
  • Previous art sliders 10 shown in Figure 2 are attached to intermediate phalanges 2 and 3 so that when the tendon 8 is pulled, the tendon slides over the curved surface of sliders 10 causing the finger assembly to bent inwards.
  • Torsion springs 11 and 12 in the pin joint articulations 5 are 6 restore the finger assembly to its original configuration.
  • the sliders 10 change the direction of tendon 8 between elements 2 and 3. Based on this description, is evident that the tendon 8 generates frictional losses as it rubs against the outer surface of sliders 10. This causes wear of the tendon and premature failure.
  • the current invention attempts to solve this problem by using a slider with recirculating needle rollers so the tendon rolls on its outer surface of the needle rollers as shown in Figures 9 and 10.
  • the needle rollers 15 that support the tendon and change its direction recirculate around the fixed part of the slider item 14. In this way we have a rolling motion between the tendon and the needle rollers of the slider instead of rubbing in the previous art sliders. This avoids friction and eliminates the wear problems of the previous art sliders.
  • the recirculating roller slider assembly 13 shown in Figure 3 consists of two parts.
  • the first part item 14 is the roller support. This is the fixed part of the recirculating roller assembly and is made of hardened and polished material such as steel alloy or similar material.
  • the roller support has a constant cross sectional profile that is curved at one side that faces the tendon whereas is flat on the other end that recirculates the needle rollers.
  • the second part of the recirculating roller assembly 13 consists of a number of cylindrical needle rollers item 15 that roll freely on the outside surface of the roller support 14.
  • the needle rollers are made from hard and polished material such as steel alloy or similar material.
  • the needle support 14 is wider than the needle rollers. As it will be explained later this is necessary for the proper installation of the recirculating roller assembly into the articulating elements.
  • the recirculating roller slider concept becomes simply a needle roller bearing.
  • the outer radius of the needle rollers that support the tendon is small in comparison to the radius with a curved roller support 14. The larger this radius the lesser the stresses on the tendon and hence the higher its service life. This is because the change in tendon direction is accomplished over larger radius and over a greater number of needle rollers.
  • the curved surface of the roller support is designed to maximise the support of the tendon over a larger rolling radius and over a greater number of rollers, whereas the opposite face of the roller support is not important as is only required for the recirculation of the needle rollers. Therefore, this surface could be flat as shown in Figures 4 and 5 since this is the simplest form of surface for the recirculation of needle rollers. However, this is not a restriction in the profile of the roller support as other shapes are possible.
  • a typical pin joint or elastomeric articulation includes two elements.
  • Figures 6 to 8 show the installation of an articulating roller slider assembly 13 into one of those elements.
  • the articulating element 16 in Figure 8 is split laterally in two parts, 16a and 16b as shown in Figures 6 and 7.
  • Item 17 is the mating surface between the two halves. Items 16a and 16b are joined together by conventional means such as pins, bolts, nuts or other means. These items are not shown here as they are not relevant in the context of this patent application.
  • the cross sectional view in Figure 7 shows two recesses on each of the two halves of articulating element, items 16a and 16b respectively.
  • the deeper recess 18 houses the roller support 14.
  • the shallower recess 19 nests the needle rollers 15. This is the reason why the roller support has to be made wider than the needle rollers. This is better illustrated in Figure 8 that shows the recirculating roller slider 13 assembled into the articulating element 16.
  • the profile of recess 18 matches the profile of the roller support 14 so when the two halves of the articulating element 16 are assembled together as shown in Figure 8, the roller support is properly nested within the two recesses 18, with very little or no clearance.
  • the profile of recess 19 is the same as the profile of roller support but offset by the thickness of the needle rollers plus a small clearance so that the needle rollers are nested properly within recess 19 but are able to roll freely around the outer surface of roller support 14.
  • FIGS. 9 and 10 show two articulating elements 20 and 21 that are pin joined together at pivot 23. For the sake of simplicity, only a single pivot is shown but clearly, the concept can be extended to a number of pin joined or elastomeric joints.
  • tendon 24 is attached to the furthest element 22 in the articulating assembly whereas the other end of the tendon is pulled by means of a linear actuator 25 so that a contraction of the tendon causes the pin joined assembly to contract and curve inwards.
  • Return of elements 20 and 21 to their original position is achieved by means of torsion spring 26 although other types of spring or elastomeric devices could be used to achieve the same result.
  • Tendon 24 comes into contact with a number of needle rollers 15 in the curved part of needle roller support 14.
  • the flat side of the roller support, opposite to tendon 24, serves no purpose other than the recirculation of needle rollers 15.

Abstract

The invention refers to a tendon driven articulated assembly comprising a plurality of elements (1, 2, 3, 4; 20, 21, 22) joined together by means of joints (5, 6, 7; 23), wherein the assembly is driven by a tendon (8; 24) which is fixed at a far distal element (4; 22) of the assembly and which is pulled by an actuator (9; 25) at an opposite proximal element (1) of the assembly, wherein the tendon (8; 24) is supported in the assembly by means of one or more sliders (10) in such a manner that a contraction of the tendon (8; 24) causes the assembly to curve inwards. The one or more slider (10) is embodied as a roller assembly (13) comprising a roller support (14) with a longitudinal axis and a plurality of cylindrical needle rollers (15) with their cylinder axes extending essentially parallel to the longitudinal axis of the roller support (14), the needle rollers (15) supported by the roller support (14) in order to freely rotate about their cylinder axes and supporting the tendon (8; 24).

Description

Recirculating Roller Sliders for Tendon Driven Articulated Joints A) INTRODUCTION
This invention relates to improvements in tendon driven assemblies in which various elements are joined together by pivot pins or elastomeric joints to form a chain like structure.
The entire assembly is driven by a tendon that is fixed at the far element of the articulating assembly and is pulled by an actuator at the other end. The tendon is free to slide over the intermediate elements of the assembly so that a contraction of the tendon causes the whole assembly to curve inwards.
Return of the various elements to their original position is accomplished by torsion or other types of springs. In the case of elastomeric joints, return function of the articulating assembly is accomplished by the elastic properties of the joints themselves.
B) LIST OF FIGURES Figure 1 shows an articulated finger from New Dexterity’s patent (please provide ref. no). This figure shows previous art tendon sliders
Figure 2 is related to Figure 1 and shows a perspective view of previous art tendon slider.
Figure 3 shows a perspective view of the recirculating roller slider assembly Figure 4 shows a perspective view of the roller support, the fixed part of the recirculating roller slider assembly shown in Figure 3.
Figure 5 is a side view of the profile of the roller support shown in Figure 4. Figure 6 shows an exploded view of a typical element in an articulated joint and in particular, how the recirculating roller slider is attached to this element.
Figure 7 provides further detail of how the recirculating roller slider in Figure 6 is secured to each of the two halves of the articulating joint element Figure 8 is the same as in Figure 7 but in the assembled status of the articulating joint element. Figure 9 shows a perspective view of the application of the recirculating roller slider concept and in particular for a single, tendon driven pivot joint
Figure 10 shows the same pivot joint assembly as in Figure 9 but in the closed position.
The change in tendon direction from one element to another is accomplished by sliders. Previous art sliders are shown in Figure 2. Figure 1 shows how these sliders being used in an articulating finger assembly that is part of a robotic hand, as presented the German patent application DE 10 2019 124 754.3; filed on Sept. 13, 2019 in the name of New Dexterity GmbFI. This application is presented here as an example only to show how previous art sliders are used and what problem the current invention is trying to solve. This application is incorporated herein in its entirety by reference.
The various elements in the finger assembly of Figure 1 are the finger base 1 and the three phalanges, proximal 2, middle 3 and distal 4. Items 1 , 2 and 3 are pin joined at pivots 5 and 6 whereas items 3 and 4 are joined via an elastomeric type of joint 7. The finger assembly includes tendon 8 that is fixed to distal 4 and pulled at the other end by an actuator 9. Previous art sliders 10 shown in Figure 2 are attached to intermediate phalanges 2 and 3 so that when the tendon 8 is pulled, the tendon slides over the curved surface of sliders 10 causing the finger assembly to bent inwards. Torsion springs 11 and 12 in the pin joint articulations 5 are 6 restore the finger assembly to its original configuration.
In this example of application, the sliders 10 change the direction of tendon 8 between elements 2 and 3. Based on this description, is evident that the tendon 8 generates frictional losses as it rubs against the outer surface of sliders 10. This causes wear of the tendon and premature failure.
The current invention attempts to solve this problem by using a slider with recirculating needle rollers so the tendon rolls on its outer surface of the needle rollers as shown in Figures 9 and 10. The needle rollers 15 that support the tendon and change its direction recirculate around the fixed part of the slider item 14. In this way we have a rolling motion between the tendon and the needle rollers of the slider instead of rubbing in the previous art sliders. This avoids friction and eliminates the wear problems of the previous art sliders.
C) DESCRIPTION
C1. Description of the recirculating roller slider as an assembly of its own.
The recirculating roller slider assembly 13 shown in Figure 3 consists of two parts. The first part item 14 is the roller support. This is the fixed part of the recirculating roller assembly and is made of hardened and polished material such as steel alloy or similar material. The roller support has a constant cross sectional profile that is curved at one side that faces the tendon whereas is flat on the other end that recirculates the needle rollers.
The second part of the recirculating roller assembly 13 consists of a number of cylindrical needle rollers item 15 that roll freely on the outside surface of the roller support 14. The needle rollers are made from hard and polished material such as steel alloy or similar material.
The needle support 14 is wider than the needle rollers. As it will be explained later this is necessary for the proper installation of the recirculating roller assembly into the articulating elements.
If the shape of the roller support is cylindrical, then the recirculating roller slider concept becomes simply a needle roller bearing. In this arrangement the outer radius of the needle rollers that support the tendon is small in comparison to the radius with a curved roller support 14. The larger this radius the lesser the stresses on the tendon and hence the higher its service life. This is because the change in tendon direction is accomplished over larger radius and over a greater number of needle rollers.
The curved surface of the roller support is designed to maximise the support of the tendon over a larger rolling radius and over a greater number of rollers, whereas the opposite face of the roller support is not important as is only required for the recirculation of the needle rollers. Therefore, this surface could be flat as shown in Figures 4 and 5 since this is the simplest form of surface for the recirculation of needle rollers. However, this is not a restriction in the profile of the roller support as other shapes are possible.
C2. Installation of the recirculating roller assembly into an articulating element A typical pin joint or elastomeric articulation includes two elements. Figures 6 to 8 show the installation of an articulating roller slider assembly 13 into one of those elements.
The articulating element 16 in Figure 8 is split laterally in two parts, 16a and 16b as shown in Figures 6 and 7. Item 17 is the mating surface between the two halves. Items 16a and 16b are joined together by conventional means such as pins, bolts, nuts or other means. These items are not shown here as they are not relevant in the context of this patent application. The cross sectional view in Figure 7 shows two recesses on each of the two halves of articulating element, items 16a and 16b respectively. The deeper recess 18 houses the roller support 14. The shallower recess 19 nests the needle rollers 15. This is the reason why the roller support has to be made wider than the needle rollers. This is better illustrated in Figure 8 that shows the recirculating roller slider 13 assembled into the articulating element 16.
The profile of recess 18 matches the profile of the roller support 14 so when the two halves of the articulating element 16 are assembled together as shown in Figure 8, the roller support is properly nested within the two recesses 18, with very little or no clearance.
Similarly, the profile of recess 19 is the same as the profile of roller support but offset by the thickness of the needle rollers plus a small clearance so that the needle rollers are nested properly within recess 19 but are able to roll freely around the outer surface of roller support 14.
C3. The recirculating roller sliders incorporated into a tendon driven articulating joint Figures 9 and 10 show two articulating elements 20 and 21 that are pin joined together at pivot 23. For the sake of simplicity, only a single pivot is shown but clearly, the concept can be extended to a number of pin joined or elastomeric joints.
One end of tendon 24 is attached to the furthest element 22 in the articulating assembly whereas the other end of the tendon is pulled by means of a linear actuator 25 so that a contraction of the tendon causes the pin joined assembly to contract and curve inwards. Return of elements 20 and 21 to their original position is achieved by means of torsion spring 26 although other types of spring or elastomeric devices could be used to achieve the same result.
As elements 20 and 21 articulate with respect to each other, the change in tendon direction is accomplished by two recirculating roller slider assemblies13, one at each articulating element. The two recirculating slider assemblies are located close to pivot 23. In general, if an articulating element is pivoted at both ends, then this element could have two roller slider assemblies one at each pivot end.
Tendon 24 comes into contact with a number of needle rollers 15 in the curved part of needle roller support 14. The flat side of the roller support, opposite to tendon 24, serves no purpose other than the recirculation of needle rollers 15.
Although the current invention is presented in Figures 9 and 10 for a single pivot joint 23 and two associated articulating elements 20 and 21, clearly the same concept could be extended to any number of pivot joints and associated articulating elements.
Furthermore, although the current embodiment of this invention is presented for a pin joined articulation 23, clearly the re-circulating roller slider concept is equally applicable to elastomeric or any other type of joints.

Claims

D) Claims
1. Tendon driven articulated assembly comprising a plurality of elements (1 , 2, 3,
4; 20, 21, 22) joined together by means of joints (5, 6, 7; 23), wherein the assembly is driven by a tendon (8; 24) which is fixed at a far distal element (4; 22) of the assembly and which is pulled by an actuator (9; 25) at an opposite proximal element (1) of the assembly, wherein the tendon (8; 24) is supported in the assembly by means of one or more sliders (10) in such a manner that a contraction of the tendon (8; 24) causes the assembly to curve inwards, wherein the one or more slider (10) is embodied as a roller assembly (13) comprising a roller support (14) with a longitudinal axis and a plurality of cylindrical needle rollers (15) with their cylinder axes extending essentially parallel to the longitudinal axis of the roller support
(14), the needle rollers (15) supported by the roller support (14) in order to freely rotate about their cylinder axes and supporting the tendon (8; 24).
2. Tendon driven articulated assembly according to claim 1 , wherein the joints (5,
6, 7; 23) comprise pivot pins (5, 6) and/or elastomeric joints (7).
3. Tendon driven articulated assembly according to claim 1 or 2, wherein the roller support (14) has a constant cross sectional profile that is curved on one side facing the tendon (8; 24), which the roller assembly (13) supports.
4. Tendon driven articulated assembly according to one of the preceding claims, wherein the roller support (14) has a constant cross sectional profile that is flat on one side opposite to the tendon (8; 24), which the roller assembly (13) supports, the flat surface adapted for recirculating the needle rollers
(15).
5. Tendon driven articulated assembly according to one of the preceding claims, wherein the needle rollers (15) are supported by the roller support (14) in a manner to freely roll on the outside surface of the roller support (14).
6. Tendon driven articulated assembly according to one of the preceding claims, wherein the needle rollers (15) are made from hard material and/or polished material, such as steel alloy or similar material.
7. Tendon driven articulated assembly according to one of the preceding claims, wherein the roller support (14) has an extension along its longitudinal axis exceeding the extension of the needle rollers (15) along their cylinder axes.
8. Tendon driven articulated assembly according to one of the preceding claims, wherein the roller assembly (13) is attached to one or more of the elements (1 , 2, 3, 4; 20, 21 , 22) of the tendon driven articulated assembly.
9. Tendon driven articulated assembly according to one of the preceding claims, wherein one or more of the elements (1, 2, 3, 4; 20, 21, 22) of the tendon driven articulated assembly has a deeper recess (18) adapted for receiving the roller support (14), and a shallower recess (19) surrounding the deeper recess (18) adapted for receiving the needle rollers (15).
10. Robotic hand comprising at least one finger assembly with a plurality of finger elements (1 , 2, 3, 4; 20, 21 , 22) joined together by means of joints (5, 6, 7; 23), wherein the finger assemblies are embodied as tendon driven articulated assemblies according to one of the preceding claims.
PCT/EP2020/085330 2019-12-11 2020-12-09 Recirculating roller sliders for tendon driven articulated joints WO2021116197A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019133995 2019-12-11
DE102019133995.2 2019-12-11

Publications (1)

Publication Number Publication Date
WO2021116197A1 true WO2021116197A1 (en) 2021-06-17

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US1822976A (en) * 1929-07-23 1931-09-15 John S Maxwell Airfoil
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FR2670544A1 (en) * 1990-12-12 1992-06-19 Kergreis Yvon Angular transmission with reduced overall size on which there runs a connection such as a cable, braided rope, pulley block element
US5200679A (en) * 1990-02-22 1993-04-06 Graham Douglas F Artificial hand and digit therefor
US20160073584A1 (en) * 2014-09-12 2016-03-17 Washington State University Robotic systems, methods, and end-effectors for harvesting produce
CN109223259A (en) * 2018-08-30 2019-01-18 京东方科技集团股份有限公司 Artificial limb
US20190099899A1 (en) * 2017-10-02 2019-04-04 Squse Inc. Finger Mechanism, Robot Hand and Robot Hand Controlling Method
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US1822976A (en) * 1929-07-23 1931-09-15 John S Maxwell Airfoil
GB529938A (en) * 1939-06-12 1940-12-02 Airspeed 1934 Ltd Improvements relating to means for guiding control cables for aircraft
US5200679A (en) * 1990-02-22 1993-04-06 Graham Douglas F Artificial hand and digit therefor
FR2670544A1 (en) * 1990-12-12 1992-06-19 Kergreis Yvon Angular transmission with reduced overall size on which there runs a connection such as a cable, braided rope, pulley block element
US20160073584A1 (en) * 2014-09-12 2016-03-17 Washington State University Robotic systems, methods, and end-effectors for harvesting produce
US20190269528A1 (en) * 2016-05-16 2019-09-05 Universita' Di Pisa Artificial hand
US20190099899A1 (en) * 2017-10-02 2019-04-04 Squse Inc. Finger Mechanism, Robot Hand and Robot Hand Controlling Method
CN109223259A (en) * 2018-08-30 2019-01-18 京东方科技集团股份有限公司 Artificial limb

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Title
KONTOUDIS GEORGE P ET AL: "An Adaptive, Humanlike Robot Hand with Selective Interdigitation: Towards Robust Grasping and Dexterous, In-Hand Manipulation", 2019 IEEE-RAS 19TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), IEEE, 15 October 2019 (2019-10-15), pages 251 - 258, XP033740756, DOI: 10.1109/HUMANOIDS43949.2019.9035037 *

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