WO2022039832A1

WO2022039832A1 - Robotic hand and related systems

Info

Publication number: WO2022039832A1
Application number: PCT/US2021/038840
Authority: WO
Inventors: Scott A. Ransom
Original assignee: Medtronic, Inc.
Priority date: 2020-08-21
Filing date: 2021-06-24
Publication date: 2022-02-24

Abstract

A robotic hand (300) includes four fingers (304a-304d), each of which has a distal phalanx (340); a middle phalanx (332) moveably secured to the distal phalanx via a first flexible connector; a proximal phalanx (324) moveably secured to the middle phalanx via a second flexible connector; and an extensor hood (344) having a kite-shaped outer perimeter, the extensor hood extending from the proximal phalanx to the distal phalanx and at least partially wrapped around the middle phalanx.

Description

ROBOTIC HAND AND RELATED SYSTEMS

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application 63/068,485, filed 21 August 2020, the entirety of which is incorporated herein by reference.

FIELD

[0002] The present technology relates generally to robotics, and more specifically to a robotic hand.

BACKGROUND

[0003] Robots are useful for a wide variety of tasks, in areas such as order fulfillment, manufacturing, quality assurance, and surgery.

[0004] Prosthetic devices may be fitted to patients with a missing body part, such as a leg, arm, hand, or foot. Prosthetic devices may be passive (such as a hook used to replace a hand) or active (such as a two-pronged grabber to replace a hand).

SUMMARY

[0005] Example aspects of the present disclosure include:

[0006] A robotic hand comprising four fingers, each finger comprising: a distal phalanx; a middle phalanx moveably secured to the distal phalanx via a first flexible connector; a proximal phalanx moveably secured to the middle phalanx via a second flexible connector; and an extensor hood having a kite-shaped outer perimeter, the extensor hood extending from the proximal phalanx to the distal phalanx and at least partially wrapped around the middle phalanx.

[0007] Any of the aspects herein, wherein each extensor hood comprises a long axis and a short axis, the long axis aligned with a length of the corresponding finger and the short axis wrapped at least partially around the finger.

[0008] Any of the aspects herein, wherein each finger comprises a palmar side and a dorsal side, and opposite ends of the long axis of the extensor hood are secured to the proximal phalanx and the distal phalanx on the dorsal side.

[0009] Any of the aspects herein, wherein each finger further comprises a cable attached to the extensor hood at a plurality of points along the long axis. [0010] Any of the aspects herein, further comprising at least one cable sheath positioned between at least two of the plurality of points.

[0011] Any of the aspects herein, wherein the cable is a first cable, and each finger further comprises a second cable attached to the extensor hood proximate at least one end of the short axis.

[0012] Any of the aspects herein, wherein a first end of the first cable and a first end of the second cable are each connected to the distal phalanx of the finger.

[0013] Any of the aspects herein, wherein a second end of the first cable and a second end of the second cable are each connected to a selectively operable motor, such that rotation of the motor in a first direction causes the finger to bend toward a palmar side, and rotation of the finger in a second direction causes the finger to bend toward a dorsal side.

[0014] Any of the aspects herein, wherein adjacent ones of the plurality of fingers are connected by webbing.

[0015] Any of the aspects herein, wherein the extensor hood is fashioned of a rubber sheet. [0016] Any of the aspects herein, further comprising: a base comprising a metacarpus form with four finger pedestals extending therefrom, the proximal phalanx of each finger secured to a corresponding one of the four finger pedestals.

[0017] Any of the aspects herein, wherein the base further comprises a metacarpal form comprising a thumb pedestal, the metacarpus form connected to the metacarpal form with a substantially rigid sheet.

[0018] Any of the aspects herein, further comprising a thumb, the thumb comprising: a thumb distal phalanx; a thumb proximal phalanx secured to the thumb pedestal and movably secured to the thumb distal phalanx; and a thumb extensor hood having a kite-shaped outer perimeter, the extensor hood extending from the thumb proximal phalanx to the thumb distal phalanx.

[0019] A robotic hand system comprising a robotic hand and a plurality of selectively operable motors. The robotic hand comprises: an artificial palm comprising four finger pedestals and one thumb pedestal; four fingers; and a thumb secured to the thumb pedestal. Each finger comprises: a distal phalanx; a middle phalanx secured to the distal phalanx; a proximal phalanx having a first end secured to the middle phalanx, and a second end secured to one of the four finger pedestals; an extensor hood at least partially wrapped around each of the distal phalanx, the middle phalanx, and the proximal phalanx; a first cable having a first end fixedly secured to the distal phalanx and slidably secured to the extensor hood at a plurality of points on a palmar side of the finger; and a second cable having a first end fixedly secured to the distal phalanx and slidably secured to the extensor hood on a dorsal side of the finger. Each of the plurality of selectively operable motors is connected to a second end of the first cable of one of the plurality of fingers and to a second end of the second cable of the one of the plurality of fingers, such that rotation of the motor in a first direction causes the one of the plurality of fingers to bend, and rotation of the motor in a second direction causes the one of the plurality of fingers to straighten.

[0020] Any of the aspects herein, wherein the thumb comprises: a thumb distal phalanx; a thumb proximal phalanx moveably secured to the thumb distal phalanx; a thumb extensor hood at least partially wrapped around the thumb distal phalanx and the thumb proximal phalanx; a third cable having a first end fixedly secured to the thumb distal phalanx and slidably secured to the thumb extensor hood at a plurality of points on a palmar side of the thumb; and a fourth cable having a first end fixedly secured to the thumb distal phalanx and slidably secured to the thumb extensor hood on a dorsal side of the thumb.

[0021] Any of the aspects herein, further comprising a first thumb motor connected to a second end of the third cable and a second end of the fourth cable, such that rotation of the first thumb motor in a first direction causes the thumb to bend, and rotation of the first thumb motor in a second direction causes the thumb to straighten.

[0022] Any of the aspects herein, further comprising a thumb motor connected to a distal end of the thumb via two cables, such that rotation of the thumb motor in a first direction causes the thumb to bend, and rotation of the thumb motor in a second direction causes the thumb to straighten.

[0023] Any of the aspects herein, wherein the thumb is connected to the artificial palm via an artificial trapezium.

[0024] A robotic device comprising at least one finger, a first cable, and a second cable. The at least one finger comprises: a plurality of artificial phalanges, each one of the plurality of phalanges flexibly secured to an adjacent one of the plurality of phalanges; an extensor hood at least partially wrapped around the plurality of phalanges, the extensor hood formed of a sheet of material and comprising: an outer portion having a first outer perimeter and a first inner perimeter; and an inner portion having a second outer perimeter and a second inner perimeter, the second outer perimeter connected to the first inner perimeter at a plurality of discrete points. The first cable is slidingly connected to the extensor hood at a first set of points on a first side of the at least one finger. The second cable is connected to the extensor hood on a second side of the at least one finger.

[0025] Any of the aspects herein, wherein the sheet of material is a rubber sheet. [0026] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the techniques described in this disclosure will be apparent from the description and drawings, and from the claims.

[0027] The phrases “at least one”, “one or more”, and “and/or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions “at least one of A, B and C”, “at least one of A, B, or C”, “one or more of A, B, and C”, “one or more of A, B, or C” and “A, B, and/or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together. When each one of A, B, and C in the above expressions refers to an element, such as X, Y, and Z, or class of elements, such as Xi-Xn, Y i-Y_m, and Zi-Z₀, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., Xi and X2) as well as a combination of elements selected from two or more classes (e.g., Yi and Z_o).

[0028] The term “a” or “an” entity refers to one or more of that entity. As such, the terms “a” (or “an”), “one or more” and “at least one” can be used interchangeably herein. It is also to be noted that the terms “comprising”, “including”, and “having” can be used interchangeably.

[0029] The preceding is a simplified summary of the disclosure to provide an understanding of some aspects of the disclosure. This summary is neither an extensive nor exhaustive overview of the disclosure and its various aspects, embodiments, and configurations. It is intended neither to identify key or critical elements of the disclosure nor to delineate the scope of the disclosure but to present selected concepts of the disclosure in a simplified form as an introduction to the more detailed description presented below. As will be appreciated, other aspects, embodiments, and configurations of the disclosure are possible utilizing, alone or in combination, one or more of the features set forth above or described in detail below.

[0030] Numerous additional features and advantages of the present invention will become apparent to those skilled in the art upon consideration of the embodiment descriptions provided hereinbelow.

BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are incorporated into and form a part of the specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the disclosure. The drawings simply illustrate preferred and alternative examples of how the disclosure can be made and used and are not to be construed as limiting the disclosure to only the illustrated and described examples. Further features and advantages will become apparent from the following, more detailed, description of the various aspects, embodiments, and configurations of the disclosure, as illustrated by the drawings referenced below.

[0032] Fig. l is a block diagram of a system according to at least one embodiment of the present disclosure;

[0033] Fig. 2 is a block diagram depicting elements of a robotic hand according to at least one embodiment of the present disclosure;

[0034] Fig. 3 depicts a dorsal view of a robotic hand according to at least one embodiment of the present disclosure;

[0035] Fig. 4 depicts a palm portion of a robotic hand according to at least one embodiment of the present disclosure;

[0036] Fig. 5 depicts aspects of the structure of a finger of a robotic hand according to at least one embodiment of the present disclosure;

[0037] Fig. 6 depicts a portion of a finger of a robotic hand according to at least one embodiment of the present disclosure;

[0038] Fig. 7 depicts a portion of a finger of a robotic hand according to at least one embodiment of the present disclosure;

[0039] Fig. 8 depicts a dorsal view of a joint between two phalanges of a finger of a robotic hand according to at least one embodiment of the present disclosure;

[0040] Fig. 9 depicts a sagittal view of the joint of Fig. 8;

[0041] Fig. 10 depicts a dorsal view of a joint between two phalanges of a finger of a robotic hand according to at least one embodiment of the present disclosure;

[0042] Fig. 11 depicts a palmar view of the joint of Fig. 10;

[0043] Fig. 12 depicts a dorsal view of an extensor hood according to at least one embodiment of the present disclosure; and

[0044] Fig. 13 depicts an artificial trapezium according to at least one embodiment of the present disclosure.

DETAILED DESCRIPTION

[0045] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example or embodiment, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the techniques). In addition, while certain aspects of this disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that the methods of this disclosure may be performed by a combination of units or modules associated with, for example, a computing device and/or a medical device (including a medical imaging device).

[0046] In one or more examples, one or more steps of the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Computer-readable media may include non-transitory computer-readable media, which corresponds to a tangible medium such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0047] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple Al l, A12, A12X, A12Z, or A13 Bionic processors; or any other general purpose microprocessors), application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0048] Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Further, the present disclosure may use examples to illustrate one or more aspects thereof. Unless explicitly stated otherwise, the use or listing of one or more examples (which may be denoted by “for example,” “by way of example,” “e.g.,” “such as,” or similar language) is not intended to and does not limit the scope of the present disclosure. Also, unless explicitly stated otherwise, terms such as “about” and “approximately” when used in connection with a stated value mean within ten percent of the stated value.

[0049] Existing robotic hands, manipulators, and end-effectors attempt to varying degrees to simulate human hand function. Simulating human hand function may requires complex linkages and mechanical approaches, which complexity has led to increased cost and decreased reliability. Such devices may utilize hinges and gears to simulate tendons and ligaments. Even with their complex linkages and mechanical approaches, the robotic hands, manipulators, and end effectors fall short of emulating human hand movement and function. [0050] Imaging techniques have existed for decades, and cadaver dissection for centuries, yet no one has to date used these methods to create a biologically inspired human hand. This has been in part due to the challenges of constructing anatomically accurate components. Three-dimensional (3D) printing technology may now be used to produce such components. MRI and/or CT scan images may be taken and converted into stereolithography (STL) files or other instructions for printing or otherwise manufacturing components of a robotic hand useful in embodiments of the present disclosure.

[0051] Embodiments of the present disclosure may have multiple uses. One such use may be as a prosthetic device. Many prosthetic hands exist, but embodiments of the present disclosure provide a low-cost alternative to existing prosthetics, while better replicating human hand form and function than many if not all existing prosthetic hands.

[0052] Turning first to Fig. 1, a block diagram of a system 100 according to at least one embodiment of the present disclosure is shown. The system 100 may be used, for example, to control a robot comprising a robotic hand according to embodiments of the present disclosure. The system 100 comprises a computing device 128, a robot 132, a database 148, and a cloud 152. Notwithstanding the foregoing, systems according to other embodiments of the present disclosure may omit any one or more of the robot 132 (or a component thereof), the database 148, and/or the cloud 152.

[0053] The computing device 128 comprises a processor 104, a communication interface 108, a user interface 112, and a memory 116. A computing device according to other embodiments of the present disclosure may omit one or both of the communication interface 108 and/or the user interface 112.

[0054] The processor 104 of the computing device 128 may be any processor described herein or any similar processor. The processor 104 may be configured to execute instructions 120 stored in the memory 116, which instructions 120 may cause the processor 104 to carry out one or more computing steps utilizing or based on data received, for example, from the robot 132, the database 148, and/or the cloud 152.

[0055] The computing device 128 may also comprise a communication interface 108. The communication interface 108 may be used for receiving image or other data or information from an external source (such as the robot 132, the database 148, the cloud 152, and/or a portable storage medium (e.g., a USB drive, a DVD, a CD)), and/or for transmitting instructions, images, or other information to an external system or device (e.g., another computing device 128, the robot 132, the database 148, the cloud 152, and/or a portable storage medium (e.g., a USB drive, a DVD, a CD)). The communication interface 108 may comprise one or more wired interfaces (e.g., a USB port, an ethemet port, a Firewire port) and/or one or more wireless interfaces (configured, for example, to transmit information via one or more wireless communication protocols such as 802.11a/b/g/n, Bluetooth, NFC, ZigBee, RF, GSM, LTE, and so forth). In some embodiments, the communication interface 108 may be useful for enabling the device 128 to communicate with one or more other processors 104 or computing devices 128, whether to reduce the time needed to accomplish a computing-intensive task or for any other reason.

[0056] The user interface 112 may be or comprise a keyboard, mouse, trackball, monitor, television, touchscreen, buttonjoystick, switch, lever, and/or any other device for receiving information from a user and/or for providing information to a user of the computing device 128. The user interface 112 may be used, for example, to receive a user selection or other user input regarding one or more configurable settings of the computing device 128 and/or of another component of the system 100; to receive a user selection or other user input regarding a desired movement of the robot 132; or for any other useful purpose. Notwithstanding the inclusion of the user interface 112 in the system 100, the system 100 may automatically (e.g., without any input via the user interface 112 or otherwise) configure itself, determine a movement trajectory of the robot 132, or otherwise control itself by executing instructions 120 stored in the memory 116.

[0057] Although the user interface 112 is shown as part of the computing device 128, in some embodiments, the computing device 128 may utilize a user interface 112 that is housed separately from one or more remaining components of the computing device 128. In some embodiments, the user interface 112 may be located proximate one or more other components of the system 100, while in other embodiments, the user interface 112 may be located remotely from one or more components of the system 100.

[0058] The memory 116 may be or comprise a hard drive, RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible non-transitory memory for storing computer-readable data and/or instructions. The memory 116 may store the instructions 120, and/or any other information or data, useful for controlling one or more components of the system 100. The memory 116 may also store one or more algorithms 124 useful for controlling any aspect of the system 100, including for determining a needed movement of the robot 132 and/or for making one or more determinations based on information from the sensors 136. The instructions 120 and algorithms 124 may, in some embodiments, be organized into one or more applications, modules, packages, layers, or engines, and may cause the processor 104 to manipulate data stored in the memory 116 and/or received from another component of the system 100.

[0059] The robot 132 may be any robot or robotic system. The robot 132 may comprise one or more sensors 136, one or more robotic arms 140, and/or one or more robotic hands 144.

[0060] The sensors 136 may be secured to any portion of the robot 132, including to the robotic arm 140 and/or to the robotic hand 144. The sensors 136 may be utilized to determine a position and/or orientation of one portion of the robot 132 relative to another portion of the robot 132; to determine a position and/or orientation of any portion of the robot 132 relative to a predetermined coordinate system; to sense one or more potential obstacles to movement of the robot 132 and/or any component thereof; to obtain information about one or more objects proximate to or in contact with the robot 132 and/or any component thereof; to measure a force exerted by the robot 132 and/or any component thereof on another object; and/or to measure a force exerted by another object on the robot 132 and/or any component thereof.

[0061] The sensors 136 may or comprise, for example, a camera (including a visible light/optical camera, an infrared camera, a depth camera, or any other type of camera); a proximity sensor; and Doppler device; one or more lasers; a LIDAR device (e.g., a light detection and ranging device, and/or a laser imaging, detection, and ranging device); a scanner, such as a CT scanner, a magnetic resonance imaging (MRI) scanner, or an optical coherence tomography (OCT) scanner; an X-ray-based imaging device (e.g., a fluoroscope or other X-ray machine); a tracking sensor for tracking one or more objects; an ultrasound probe; one or more linear and/or rotary encoders; one or more accelerometers; one or more pressure transducers; one or more capacitive sensors; one or more current sensors; one or more magnetometers; and/or any other type of sensor. [0062] In some embodiments, one or more of the sensors 136 may be positioned on the robotic arm 140 and/or on the robotic hand 144. The robotic arm 140 may, in some embodiments, hold or otherwise support the robotic hand 144.

[0063] The database 148 may store data generated by the one or more sensors 136 and may be configured to provide such data (e.g., electronically) to the computing device 128 (e.g., for display on or via a user interface 112, or for use by the processor 104) or to any other device, whether directly, via the cloud 152, or otherwise. The database 148 may store any of the same information stored in the memory 116 and/or any similar information. In some embodiments, the database 148 may contain a backup or archival copy of information stored in the memory 116.

[0064] The cloud 152 may be or represent the Internet or any other wide area network. The computing device 128 may be connected to the cloud 152 via the communication interface 108, whether using a wired connection, a wireless connection, or both. In some embodiments, the computing device 128 may communicate with the database 148 and/or an external device (e.g., a computing device) via the cloud 152.

[0065] The present disclosure also encompasses systems like the system 100 but with more or fewer components, and/or with re-arranged components. For example, in some embodiments of the present disclosure, a robotic hand such as the robotic hand 144 may comprise both the sensors 132 and a computing device 128, and may be in wireless communication with one or more of a database 148 and a cloud 152.

[0066] With respect to Fig. 2, a robotic hand 200 according to at least some embodiments of the present disclosure comprises a processor 204, a communication interface 208, a user interface 212, a memory 216, one or more motors 220, and one or more sensors 224. The processor 204 may be the same as or substantially similar to the processor 104; the communication interface 208 may be the same as or substantially similar to the communication interface 108; the user interface 212 may be the same as or substantially similar to the user interface 112; and the memory 216 may be the same as or substantially similar to the memory 216. In particular, the processor 204 may execute instructions stored in the memory 216, which instructions may cause the processor 204 to receive input via the communication interface 208 and/or via the user interface 212, and/or may cause the processor 204 to display or otherwise provide information via the communication interface 208 and/or the user interface 212.

[0067] Robotic hands 200 according to some embodiments of the present disclosure may be used as prosthetics. In such embodiments, the communication interface 208 may be connected to one or more nerves and/or otherwise configured to receive nerve impulses, and to provide the nerve impulses (or corresponding signals) to the processor 204. The processor 204 (executing instructions stored in the memory 216) may be configured to control the robotic hand 200 (e.g., the motors 220 or any other controllable aspect of the robotic hand 200) based on the nerve impulses or corresponding signals. In some embodiments (whether or not the communication interface 208 is configured to receive nerve impulses), a user interface 212 may be positioned proximate the robotic hand 200 (e.g., in a “wrist” area corresponding to the robotic hand 200, or on a back or dorsal side of the robotic hand 200) or remote from the robotic hand 200 but in wireless communication with the robotic hand 200 (whether via the communication interface 208 or otherwise). A user of the robotic hand 200 may control the robotic hand 200 using the user interface 212. Such control may comprise providing a single input that causes movement of multiple components of the robotic hand 200 (e.g., the user may cause the robotic hand 200, through a single input to the user interface 212, to make a fist or give a “thumbs up” gesture). Additionally or alternatively, such control may comprise individually controlling the movement of each controllable aspect of the robotic hand 200 to precisely place each controllable component of the robotic hand 200 (e.g., each finger and the thumb) in a desired position.

[0068] The one or more motors 220 may be electric motors operatively connected to one or more wires or cables so as to cause movement of a thumb or finger of the robotic hand 200. The one or more motors 220 may be brushless motors, brushed motors, or a combination thereof. Each motor 220 may comprise an electronic speed control or other control unit for controlling operation of the motor 220 based on one or more signals received from, for example, the user interface 212, the communication interface 208, and/or the processor 204. In some embodiments, the motors 220 may be sized to generate sufficient torque to enable the robotic hand 200 to grip an object with a gripping force approximately equal to the average gripping force of an adult human hand (or, in some embodiments, approximately equal to the average gripping force of an adult male human hand, or of an adult female human hand). In other embodiments, the motors 220 may simply be sized to fit within an outer covering of the robotic hand 200 and/or of any additional structure associated therewith. For example, the motors 220 may be housed in an artificial wrist or forearm secured to the palm of the robotic hand 200, which artificial wrist or forearm may be sized to match the approximate size of the wrist or forearm of a human having a hand the size of the robotic hand 220.

[0069] The one or more sensors 224 of the robotic hand 200 may be used in a feedback loop to control the robotic hand 200. For example, the one or more sensors 224 may comprise pressure transducers or other force sensors configured to measure a force exerted by the robotic hand or a portion thereof (e.g., a finger, a thumb) on an object or vice versa, and to provide corresponding information to the processor 204. The processor 204 may then utilize the corresponding information to determine whether to increase, decrease, or maintain the same level of force, and also to determine how to do so. For example, if a finger of the robotic hand 200 is pressing against an object with a force of 20-30 Newtons (as measured, for example, by one of the one or more sensors 224), the processor 204 may determine that the force should be maintained by continuing to operate a corresponding motor 220 to generate a constant torque. Alternatively, if the processor 204 determines that the force should be reduced, then the processor 204 may cause the motor 220 to generate less torque, and/or may cause the motor 220 to move the corresponding finger in a direction opposite that of the sensed force (if possible given the mechanical limits of movement of the robotic hand 200 and each individual component thereof).

[0070] In some embodiments, force measurements or other data received from the one or more sensors 224 may be displayed to a user via the user interface 212, and/or transmitted to a remote computing device (whether a device 128, or a remote user interface 112 or 212, or otherwise), whether via a cloud 152 or any other network node or connection.

[0071] The one or more sensors 224 may be positioned anywhere on the robotic hand 200, including on the tips of one or more fingers of the robotic hand 200, on the tip of a thumb of the robotic hand 200, along a length of the fingers and/or of the thumb of the robotic hand 200, on a palm of the robotic hand 200, and/or on a back of the robotic hand 200. In some embodiments, each finger and/or the thumb of the robotic hand 200 may comprise a single sensor 224 or multiple sensors 224. The sensors 224 may be positioned or configured to detect a direction of a force as well as a magnitude of a force.

[0072] While the sensors 224 have been described above as force sensors, other types of sensors may also be used for the sensors 224, whether instead of or in addition to force sensors. For example, the sensors 224 may be or comprise one or more proximity sensors, magnetometers, heat sensors, accelerometers, and/or any other sensors that permit or facilitate replication of the function of a human hand (including the nerves thereof). The sensors 224 may be the same as or similar to the sensors 136, and vice versa. In some embodiments, the robotic hand 200 may comprise sensors 224 that exceed the function of a human hand, including, for example, one or more light sensors, heartbeat sensors, infrared sensors, water and/or humidity sensors, gas sensors, and/or color sensors. Such sensors may be used to protect the robotic hand 200 and/or a user thereof, or to facilitate a particular use of the robotic hand 200.

[0073] With reference now to Fig. 3, a dorsal view of a robotic hand 300 according to embodiments of the present disclosure is shown. The robotic hand 300 comprises a plurality of fingers 304a-304d, a thumb 308, and a base or artificial palm 312. These and other elements of the robotic hand 300 will be described in more detail below.

[0074] Each of the fingers 304a-304d is secured to the base or artificial palm 312 via a pedestal 316, which is fixedly mounted to the base 312. Similarly, the thumb 308 is secured to the base 312 via a pedestal 320, which is also fixedly mounted to the base 312. In some embodiments, each of the pedestals 316 and 320 comprises a rigid post, while in other embodiments each of the pedestals 316 and/or 320 comprises a hinged, jointed, flexible, or otherwise bendable post. Also in some embodiments, the fingers 304a-304d (or more specifically, the proximal phalanges 324 of the fingers 304a-304d) are movably attached to the pedestals 316 and the thumb 308 (or more specifically, the proximal phalanx 328 of the thumb 308) is movably attached to the pedestal 320, while in other embodiments, the attachment is rigid and non-movable. The pedestals 316 and/or 320 may be manufactured separately from the base 312 and then fixedly secured to the base 312, and may in some embodiments be integral with the base 312 (e.g., the pedestals 316 and/or 320, and the base 312, may be manufactured as a single piece from the same piece of material). In some embodiments, the fingers 304a-304d may be removably secured to the pedestals 316, and the thumb 308 may be removably secured to the pedestal 320. In other embodiments, the fingers 304a-304d may be secured to the pedestals 316, and the thumb may be secured to the pedestal 320, in a manner that does not permit routine detachment.

[0075] Each finger 304a-304d comprises a proximal phalanx 324, a middle phalanx 332, and a distal phalanx 340. Although not shown in Fig. 3, these phalanges are held together by flexible connectors such as those described below with respect to Figs. 8-11. Similarly, the thumb 308 comprises a proximal phalanx 328 and a distal phalanx 336. Each of the phalanges 324, 328, 332, 336, and 340 may be made of ABS plastic, any other type of plastic, a metal or metal alloy, a composite, wood, or any other rigid or substantially rigid material. In some embodiments, the material used to manufacture the phalanges 324, 328, 332, 336, and 340 may be selected based on one or more properties thereof, which properties may be compared to corresponding properties of actual human phalanges. Thus, for example, the phalanges 324, 328, 332, 336, and 340 may be manufactured of a material having a strength and/or fracture toughness the same as or greater than a strength and/or fracture toughness of the bone that forms a human phalanx.

[0076] In some embodiments, the phalanges 324, 328, 332, 336, and 340 may be manufactured using 3D printing or additive manufacturing, using a stereolithography file or other instructions generated based on a 3D scan of corresponding human phalanges. Where the robotic hand 300 is being manufactured for a specific individual (e.g., as a prosthetic), the phalanges 324, 328, 332, 336, and 340 may be replicas (whether mirrored or not) of the phalanges of an existing hand of the individual, manufactured based on a 3D scan or other imagery of the phalanges of the individual’s existing hand. Thus, where a robotic hand 300 is intended for use as a prosthetic right hand for the individual, the individual’s left hand, and in particular the phalanges thereof, may be scanned using an MRI imaging device, a CT scanner, or another imaging device capable of taking 3D images. The 3D images may then be used to generate a model of each of the phalanges of the individual’s left hand, which models may then be used to generate a stereolithography file or other instructions for manufacturing (whether by 3D printing or otherwise) replicas of the modeled phalanges. These replicas may then be used for the phalanges 324, 328, 332, 336, and 340 of the robotic hand 300. Where one or more of the modeled phalanges needs to be mirrored to accurately represent the human anatomy (e.g., where a phalanx of the human right hand is a mirror image of a corresponding phalanx of the human left hand), the model of the phalanx may be mirrored, and the mirrored model may then be used to generate the stereolithography file or other instructions for manufacturing that phalanx or those phalanges.

[0077] Each of the fingers 304a-304d is controlled in part by an extensor hood 344, while the thumb 308 is controlled in part by an extensor hood 348. In Fig. 3, the extensor hood 344 of the index finger 304a is shown in a flat state, prior to being wrapped around the phalanges 324, 332, and 340 of the index finger 304a, while the extensor hoods 344 of the fingers 304b-304d, and the extensor hood 348, are each shown in their final installed configuration. The extensor hoods 344 are described more fully below in connection with Fig. 12. A first cable (not shown in Fig. 3) is attached to the extensor hoods 344 and 348 on a dorsal side of the robotic hand 300, and a second cable (also not shown in Fig. 3) may be attached to the extensor hoods 344 and 348 on a palmar side of the robotic hand 300. The first and second cables of each finger 304a-304d and of the thumb 308 are attached to a motor (e.g., a motor 220) corresponding to the finger 304a-304d or thumb 308, such that rotation of each motor in a first direction will draw in the first cable while playing out the second cable (thus causing extension of the corresponding finger 304a-304d or thumb 308), and rotation of each motor in an opposite second direction will play out the first cable while drawing in the second cable (thus causing flexion of the corresponding finger 304a-304d or thumb 308, such that the fingers 304a-304d and thumb 308 collectively make a fist). Thus, operation of the motors (e.g., the motors 220) controls movement of the fingers 304a-304d and of the thumb 308. By operating the motors independently, various gestures and/or finger positions may be achieved (including, for example, making a fist, giving a thumbs up, making a peace sign, pointing the index finger (or any other finger), grabbing an object, releasing an object, and so forth). The first cable may alternatively be referred to as an extensor cable, and the second cable may alternatively be referred to as a flexor cable.

[0078] Silicon rubber capacitive sensors 352 are provided at the tips of each of the fingers 304a-304d and of the thumb 308. The silicon rubber capacitive sensors 352 may be used in the same manner or in a similar manner as any of the sensors 136 and/or 224 described above, including to provide a user of the robotic hand 300 with information about one or more of object proximity, pressure or force, position, displacement, and/or acceleration with respect to the corresponding finger 304a-304d and/or the thumb 308.

[0079] To facilitate movement of the fingers 304a-304d and thumb 308 of the robotic hand 300 in a manner similar to the movement of the fingers and thumb of a human hand, the robotic hand 300 is provided with webbing 356 between each finger 304a-304d and between the thumb 308 and the finger 304a. The webbing is attached only to the proximal phalanx 324 of each finger 304a-304d and to the proximal phalanx 328 of the thumb, as well as to the base or artificial palm 312. When displacement of, for example, the finger 304b reaches a threshold (e.g., as the finger 304b is bent toward the base 312) and the proximal phalanx 324 in particular of the finger 304b rotates past a certain angle, the webbing 356 will pull slightly on the adjacent proximal phalanges 324 of the fingers 304a and 304c, causing them to bend slightly toward the palm in the same or a substantially similar manner as would occur with a human hand. The webbing 356 may be made of rubber, cloth, or any other flexible and/or elastic material.

[0080] The base or artificial palm 312 comprises three separate pieces held together by flexible sheeting. More specifically, the base 312 comprises a metacarpus form 360, a carpus form 362, and a metacarpal form 364. The metacarpus form 360 simulates the individual metacarpals of the fingers in a human hand, while the metacarpal form 364 simulates the metacarpal of the thumb of a human hand, and the carpus form 362 simulates the carpus of a human hand.

[0081] The metacarpus form 360, carpus form 362, and metacarpal form 364 are held together on the dorsal side of the robotic hand 300 by three sheets 368, 372, and 376. The sheet 368 connects the carpus form 362 to the metacarpus form 360; the sheet 376 connects the metacarpal form 364 to the metacarpus form 360, and the sheet 372 connects the metacarpus form 360 to both the carpus form 362 and the metacarpal form 364. In the arrangement shown in Fig. 3, a portion of the sheet 372 extends beneath the sheet 368, and the sheet 372 substantially covers the sheet 376. In other embodiments, however, the sheets 368, 372, and 376 may be layered differently.

[0082] As evident from Fig. 3, the sheet 368 is substantially triangular, with rounded corners, two straight sides, and a concave third side. The sheet 368 is attached to the metacarpus form 380 with a single fastener 380, and to the carpus form with two fasteners 380, with each fastener 380 positioned proximate a comer of the sheet 368. The fasteners 380 may be rivets, bolts, screws, nails, pins, clasps, or any other fasteners suitable for securing the sheet 368 (and/or the sheets 372, 376) to the forms 360, 362, and 364.

[0083] The sheet 372 has four short straight sides alternating with four longer curved sides, so as to provide four extensions or arms extending out of a main portion of the sheet 376. At the end of each extension or arm, a fastener 380 secures the sheet 376 to one of the metacarpus form 360 (attached to the sheet 376 in two locations), the carpus form 362 (attached to the sheet 376 in one location), and the metacarpal form 364 (attached to the sheet 376 in one location).

[0084] The sheet 376 is substantially rectangular, with at least three rounded comers and slightly curved edges. The sheet 376 may be secured to the metacarpus form 360 with one or two fasteners 380, and to the metacarpal form 364 with one or two fasteners 380.

[0085] Just as the sheets 368, 372, and 376 may be layered differently in different embodiments of the present disclosure, each of the sheets 368, 372, and 376 may also have a different shape than shown in Fig. 3, and may be secured to two or more of the forms 360, 362, and/or 364 with more or fewer fasteners 380 than shown in Fig. 3.

[0086] Although not shown in Fig. 3, one or more similar sheets may be used to connect the metacarpus form 360, the carpus form 362, and the metacarpal form 364 on the palmar side. [0087] The sheets 368, 372, and 376 may be made of rubber sheeting, plastic sheeting, or sheeting of another material. The sheets 368, 372, and 376 may have a thickness of 10 mm, or of 20 mm, or of 30 mm, or of 30 mm, or of 40 mm, or of 50 mm. In some embodiments, the sheets 368, 372, and 376 may have a thickness between 1 mm and 80 mm. Also in some embodiments, the sheets 368, 372, and 376 may have a constant thickness, while in other embodiments, they may have a non-constant thickness. The thickness of the sheets 368, 372, and 376 may be selected to achieve a desired level of stiffness, with a greater stiffness providing greater resistance to relative motion between or among any two or more of the sheets 368, 372, and 376, and a lesser stiffness providing lesser resistance to relative motion between or among any two or more of the sheets 368, 372, and 376. In some embodiments, the sheets 368, 372, and 376 may be substantially rigid. In embodiments of the present disclosure in which the sheets 368, 372, and 376 have a non-constant thickness, the thickness of each sheet at any point thereof may be similarly be selected based on a desired stiffness of the sheet at that point.

[0088] In some embodiments, a cable routing sheath 384 may be fixedly secured to the metacarpus form 360. The cable routing sheath 384 may be configured to route a cable extending from a motor (such as a motor 220) to the thumb 308 (and more particularly, to the extensor hood 348). Such a cable — which may constitute a third cable attached to the thumb 308, in addition to first and second cables attached to the dorsal and palmar sides of the thumb 308 to control bending thereof toward or away from a palm of the robotic hand 300 — may be utilized to control movement of the thumb 308 toward or away from the index finger 304a. In such embodiments, the thumb 308 may be biased away from the index finger 304a, and the third cable may be operable to pull the thumb 308 toward the index finger 304a when such movement is indicated (whether via an input to a user interface 212 or otherwise). The cable routing sheath 384 may be made of plastic, composite, metal, or any other suitable material. The cable routing sheath 384 may be provided with a rounded inside corner to reduce bending stresses on the third cable and thus increase a lifespan of the third cable.

[0089] Fig. 4 provides an alternative base or artificial palm 412 for a robotic hand such as the robotic hand 300. Given the substantial similarity of the base or artificial palm 312 and the base or artificial palm 412, only differences therebetween will be described. More particularly, the base 412 comprises a metacarpus form 460 in which the pedestals 316 corresponding to the index, middle, and ring fingers (e.g., the fingers 304a-304c) extend from a single continuous surface 402, while the pedestal 316 corresponding to the little finger (e.g., the finger 304d) extends from a different surface 406 that is separated from the surface 402 by a step. In contrast, the pedestals 316 of the base 312 extend from three stepped surfaces, with each of the fingers 304c and 304d extending from a different stepped surface than each other and than the fingers 304a and 304b.

[0090] Also in the alternative base 412, only two sheets 468 and 472 secure the metacarpus form 460, the carpus form 362, and the metacarpal form 364 to each other. More particularly, a first sheet 468, although a quadrilateral, has a substantially triangular shape, with sharp (as opposed to rounded) corners, and is secured to the metacarpus form 460 with a single fastener 380, and to the carpus form 362 with two fasteners 380. A second sheet 472, although having a shape substantially similar to that of the sheet 372, is secured to the forms 460, 362, and 364 with six fasteners 380 — three connecting the sheet 472 to the metacarpus form 460, one connecting the sheet 472 to the carpus 362, and two connecting the sheet 472 to the metacarpal form 364. The present disclosure encompasses robotic hands using a base 312, a base 412, other variations of the same, and other structures.

[0091] Turning now to Fig. 5, a finger 500 of a robotic hand according to embodiments of the present disclosure may comprise a metacarpal 502, a proximal phalanx 324, a middle phalanx 332, and a distal phalanx 340. The metacarpal 502 may be secured, for example, to a pedestal such as the pedestal 316 that extends from a carpus form such as the carpus form 362. In such embodiments, a metacarpus form such as the metacarpus form 360 or 460 may not be utilized or needed.

[0092] The finger 500 is shown in Fig. 5 with a palmar side of the finger 500 facing left and a dorsal side of the finger 500 facing right. As shown in Fig. 5, an extensor cable 508 extends along the palmar side of the finger 500, passing through a plurality of cable routing sheaths 504 (one attached to each of the metacarpal 502, the proximal phalanx 324, and the middle phalanx 332) and terminating at a point where the extensor cable 508 is secured to the distal phalanx 340. The cable routing sheaths 504 may be made of plastic (e.g., a section of straw or plastic tubing), composite, metal, or any other suitable material. In some embodiments, the cable routing sheets are made of (or internally coated with) a material with a low coefficient of friction, to facilitate movement of the extensor cable 508 therein. The extensor cable 508 may be a heavy-duty fishing line, a wire, a metal cable, a heavy- duty thread, or any other line having sufficient strength to hold the finger 500 in a desired position, including while the finger 500 is being used (together with other components of the robotic hand) to grip an object. [0093] As discussed above, the fingers of a robotic hand according to embodiments of the present disclosure may be controlled by a first cable on a dorsal side of the finger (e.g., an extensor cable) as well as a second cable on the palmar side of the finger (such as the extensor cable 508 of the finger 500). In some embodiments, the first cable may also be routed through cable routing sheaths such as the sheaths 504. In other embodiments, however, the first cable may be routed through one or more holes in an extensor hood such as the extensor hoods 344. An end of the first cable may be secured to the distal phalanx 340. A thumb of the robotic hand may also be controlled by a first cable and a second cable, the use and configuration of which may be substantially the same as the use and configuration of first and second cables for the fingers of the robotic hand.

[0094] Fig. 6 shows a low-cost method of attaching a cable routing sheath 504 for an extensor cable 508 (or a flexor cable) to a phalanx 604 (which may be, for example, a proximal phalanx 324, a middle phalanx 332, or even a metacarpal 502). More specifically, the cable routing sheath 504 of Fig. 6 (which may be, for example, a straw or other plastic tube) is shown being secured to the phalanx 604 with a zip tie 608. The cable routing sheath 504 may additionally or alternative be secured to the phalanx 604 using adhesive; one or more cables, ropes, lines, wires, or threads; or otherwise.

[0095] Fig. 7 shows a phalanx 704 — which, like the phalanx 604, may be, for example, a proximal phalanx 324, a middle phalanx 332, or even a metacarpal 502. Rather than securing a cable routing sheath such as the cable routing sheath 504 to the phalanx 704, the phalanx 704 is manufactured with an integral cable routing sheath 708, through which the extensor cable 508 may be threaded. In embodiments of the present disclosure using phalanges with integral cable routing sheaths, such phalanges may or may not be based on a model of a corresponding human phalanx (created, for example, using a 3D scan of the human phalanx). In the former instance — e.g., where the phalanx 704 is based on a model of a corresponding human phalanx — the model may be modified to incorporate an integral cable routing sheath 708 before being used to generate instructions for manufacturing or printing the phalanx 704.

[0096] Figs. 8-11 illustrate two different embodiments of flexible connectors that may be used to connect, for example, adjacent phalanges to each other. With respect to Figs. 8-9, two adjacent phalanges 804a and 804b (which may represent, for example, a distal phalanx 340 and a middle phalanx 332, or a middle phalanx 332 and a proximal phalanx 324, or a distal phalanx 336 and a proximal phalanx 328, or a proximal phalanx 324 and a metacarpal 502, or a proximal phalanx 324 and a pedestal 316, or a proximal phalanx 328 and a pedestal 320, or a metacarpal 502 and a pedestal 316) may be flexibly secured to each other using a joint capsule 808. The joint capsule 808 may be made of rubber or another flexible material, and may be configured to permit bending (e.g., flexion and extension) between the phalanges 804a and 804b in a sagittal plane (e.g., a plane parallel to the viewing plane of Fig. 9, and perpendicular to the viewing plane of Fig. 8), while limiting or preventing bending (e.g., adduction and abduction) between the phalanges in a dorsal plane (e.g., a plane parallel to the viewing plane of Fig. 8, and perpendicular to the viewing plane of Fig. 9). The joint capsule 808 of Figs. 8-9, for example, has an open dorsal side, a closed palmar side, and partially open sagittal sides.

[0097] Turning now to Figs. 10-11, as an alternative to the joint capsule 808, adjacent phalanges 804a and 804b may be flexibly secured to each other using a plurality of sheets 812, 816, and 820. Each sheet 812, 816, and 820 may be made of rubber or a similar material, and may be attached to the phalanges 804a, 804b and otherwise configured to have sufficient flexibility, elasticity, and/or play to permit bending (e.g., flexion and extension) between the phalanges 804a and 804b in a dorsal/palmar direction (corresponding to the bending direction of an average human finger), while limiting or preventing bending (e.g., adduction and abduction) in a direction perpendicular to the dorsal/palmar direction. The sheets 812, 816, 820 may have any suitable shape, may be fastened to the phalanges 804a, 804b with fasteners the same as or similar to the fasteners 380, and may either extend directly across a gap between the phalanges 804a, 804b, or extend across that gap at an angle and wrap partly around a longitudinal axis of the phalanges 804a, 804b.

[0098] With reference to Fig. 12, an extensor hood 344 comprises an outer sheet or portion 904 and an inner sheet or portion 908. The outer sheet 904 is substantially kite-shaped (e.g., with two opposite corners separated by a first distance along a first dimension (represented by the axis 924), and two additional opposite corners separated by a second distance along a second dimension (represented by the axis 928), the first dimension perpendicular to the second dimension, the first distance longer than the second distance, and straight sides between each pair of adjacent corners), and has a substantially kite-shaped cutout 910 therein. As a result, the outer sheet 904 has an outer perimeter 932 and an inner perimeter 936. The inner sheet 908 extends from one interior corner of the of the kite-shaped cutout 910 along the axis 928 to an opposite interior comer along the axis 928, bridging the shorter dimension of the kite-shaped cutout 910. The inner sheet 908 also extends toward, but does not reach, the remaining two opposite interior corners of the kite-shaped cutout 910 (e.g., along the axis 924 of the kite-shaped cutout 910). The inner sheet 908 has a second cutout 914 therein. The inner sheet 908, therefore, also has an outer perimeter 940 and an inner perimeter 944, and the outer perimeter 940 is connected to or proximate the inner perimeter 936 at a plurality of discrete points.

[0099] The extensor hood 344 may be manufactured of a single sheet of material, or the inner sheet 904 may be manufactured from a first sheet of material, and the outer sheet 908 may be manufactured of a second sheet of material. In some embodiments, the extensor hood 304 or one or more portions thereof may be manufactured from a composite material comprising two or more layers or plies of different materials. The extensor hood 344 may be manufactured of a flexible and/or elastic rubber, plastic, or other material.

[00100] The extensor hood 344 comprises a plurality of holes 916 along a central axis thereof (e.g., along a line extending between opposite comers of the outer sheet 904 in the first dimension). In the embodiment of Fig. 12, the outer sheet 904 comprises two holes 916 at one comer and one hole 916 at an opposite corner in the first dimension, and the inner sheet 908 comprises one hole at each of two opposite corners in the first dimension. These holes 916, all of which are aligned along a straight line, may be configured to have a cable 912 (which may be the same as or similar to, for example, the cable 508) threaded therethrough. The cable 912 corresponds to the first cable discussed above, which extends from a motor such as the motor 220 along a dorsal side of a finger 304a-304d or 500 and operates to pull the finger 304a-304d or 500 into a straight, extended position.

[00101] The outer sheet 904 also comprises a single hole 920 at each of the corners opposite from each other in the second dimension. When the extensor hood 344 is wrapped around the phalanges of a finger as disclosed herein, the holes 920 may align with each other and receive a second cable (e.g., the cable 508). Alternatively, one or more of the holes 916 and/or the holes 920 may simply be used to fasten the extensor hood 344 to one of the phalanges of the finger on which the extensor hood 344 is installed.

[00102] The extensor hood 344 is installed, for example, by placing the extensor hood 344 on a dorsal side of the proximal, middle, and distal phalanges 324, 332, and 340 of a finger 304a-304d, with the longer dimension of the extensor hood 344 extending along a length of the finger 304a-304d, and then wrapping the extensor hood 344 around the finger 304a- 304d. As a result, the extensor hood 344, when installed, is wrapped completely, or at least partially, around the proximal and middle phalanges 324 and 332, and in some embodiments is also wrapped completely, or at least partially, around the distal phalanx 340.

[00103] The extensor hood 348 of Fig. 3 is the same as or similar to the extensor hood 344, except that the extensor hood 348 may be smaller in size and, because the thumb 308 does not comprise a middle phalanx 332, the extensor hood 348 is not wrapped around a middle phalanx 332. Instead, the extensor hood 348 is wrapped completely, or at least partially, around a proximal phalanx 328 and a distal phalanx 336.

[00104] Fig. 13 shows an artificial joint 950, which may be used in a robotic hand according to embodiments of the present disclosure to permit more life-like movement of a thumb such as the thumb 308. More particularly, the joint 950 comprises trapezium 954 and a metacarpal portion 962, each of which comprises a complementary cutout 958, 966, respectively. The cutouts 958, 966 form a saddle joint that permits rotation of the metacarpal portion 962 relative to the trapezium 954 along two perpendicular dimensions — e.g., in a dorsal/palmar direction, and in a direction toward/away from the fingers of the hand. Use of an artificial joint 950 in a robotic hand significantly enhances the usefulness of the robotic hand and enables the same to be significantly more lifelike than other known robotic hands in which the thumb, like the fingers, is movable only in a dorsal/palmar direction.

[00105] In embodiments of the present disclosure in which a joint 950 is used, the joint 950 may replace the pedestal 320 (or at least the base portion 954 may replace the pedestal 320). In such embodiments, the proximal phalanx 328 may comprise the metacarpal portion 962, and one or more flexible sheets, lines, cables, or other connectors may be used to movably secure the metacarpal portion 962 to the trapezium 954 (which may in turn be secured to one or more other components of a base 312 or 412 via one or more sheets such as the sheets 368, 372, 376, 468, and/or 472) to prevent separation of the thumb 308 from the base 312.

[00106] The foregoing discussion has been presented for purposes of illustration and description. The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the disclosure are grouped together in one or more aspects, embodiments, and/or configurations for the purpose of streamlining the disclosure. The features of the aspects, embodiments, and/or configurations of the disclosure may be combined in alternate aspects, embodiments, and/or configurations other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claims require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed aspect, embodiment, and/or configuration. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure.

[00107] Moreover, though the description has included description of one or more aspects, embodiments, and/or configurations and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, embodiments, and/or configurations to the extent permitted, including alternate, interchangeable and/or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and/or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.

Claims

CLAIMS What is claimed is:

1. A robotic hand comprising: four fingers, each finger comprising: a distal phalanx; a middle phalanx moveably secured to the distal phalanx via a first flexible connector; a proximal phalanx moveably secured to the middle phalanx via a second flexible connector; and an extensor hood having a kite-shaped outer perimeter, the extensor hood extending from the proximal phalanx to the distal phalanx and at least partially wrapped around the middle phalanx.

2. The robotic hand of claim 1, wherein each extensor hood comprises a long axis and a short axis, the long axis aligned with a length of the corresponding finger and the short axis wrapped at least partially around the finger.

3. The robotic hand of claim 2, wherein each finger comprises a palmar side and a dorsal side, and opposite ends of the long axis of the extensor hood are secured to the proximal phalanx and the distal phalanx on the dorsal side.

4. The robotic hand of claim 2, wherein each finger further comprises a cable attached to the extensor hood at a plurality of points along the long axis.

5. The robotic hand of claim 4, further comprising at least one cable sheath positioned between at least two of the plurality of points.

6. The robotic hand of claim 5, wherein the cable is a first cable, and each finger further comprises a second cable attached to the extensor hood proximate at least one end of the short axis.

7. The robotic hand of claim 6, wherein a first end of the first cable and a first end of the second cable are each connected to the distal phalanx of the finger.

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8. The robotic hand of claim 6, wherein a second end of the first cable and a second end of the second cable are each connected to a selectively operable motor, such that rotation of the motor in a first direction causes the finger to bend toward a palmar side, and rotation of the finger in a second direction causes the finger to bend toward a dorsal side.

9. The robotic hand of claim 1, wherein adjacent ones of the plurality of fingers are connected by webbing.

10. The robotic hand of claim 1, wherein the extensor hood is fashioned of a rubber sheet.

11. The robotic hand of claim 1, further comprising: a base comprising a metacarpus form with four finger pedestals extending therefrom, the proximal phalanx of each finger secured to a corresponding one of the four finger pedestals.

12. The robotic hand of claim 11, wherein the base further comprises a metacarpal form comprising a thumb pedestal, the metacarpus form connected to the metacarpal form with a substantially rigid sheet.

13. The robotic hand of claim 12, further comprising: a thumb comprising: a thumb distal phalanx; a thumb proximal phalanx secured to the thumb pedestal and movably secured to the thumb distal phalanx; and a thumb extensor hood having a kite-shaped outer perimeter, the extensor hood extending from the thumb proximal phalanx to the thumb distal phalanx.

14. A robotic hand system comprising: a robotic hand comprising: an artificial palm comprising four finger pedestals and one thumb pedestal; four fingers, each finger comprising: a distal phalanx; a middle phalanx secured to the distal phalanx; a proximal phalanx having a first end secured to the middle phalanx, and a second end secured to one of the four finger pedestals; an extensor hood at least partially wrapped around each of the distal phalanx, the middle phalanx, and the proximal phalanx; a first cable having a first end fixedly secured to the distal phalanx and slidably secured to the extensor hood at a plurality of points on a palmar side of the finger; and a second cable having a first end fixedly secured to the distal phalanx and slidably secured to the extensor hood on a dorsal side of the finger; and a thumb secured to the thumb pedestal; and a plurality of selectively operable motors, each motor connected to a second end of the first cable of one of the plurality of fingers and to a second end of the second cable of the one of the plurality of fingers, such that rotation of the motor in a first direction causes the one of the plurality of fingers to bend, and rotation of the motor in a second direction causes the one of the plurality of fingers to straighten.

15. The robotic hand system of claim 14, wherein the thumb comprises: a thumb distal phalanx; a thumb proximal phalanx moveably secured to the thumb distal phalanx; a thumb extensor hood at least partially wrapped around the thumb distal phalanx and the thumb proximal phalanx; a third cable having a first end fixedly secured to the thumb distal phalanx and slidably secured to the thumb extensor hood at a plurality of points on a palmar side of the thumb; and a fourth cable having a first end fixedly secured to the thumb distal phalanx and slidably secured to the thumb extensor hood on a dorsal side of the thumb.

16. The robotic hand system of claim 15, further comprising a first thumb motor connected to a second end of the third cable and a second end of the fourth cable, such that rotation of the first thumb motor in a first direction causes the thumb to bend, and rotation of the first thumb motor in a second direction causes the thumb to straighten.

17. The robotic hand system of claim 14, further comprising a thumb motor connected to a distal end of the thumb via two cables, such that rotation of the thumb motor in a first direction causes the thumb to bend, and rotation of the thumb motor in a second direction causes the thumb to straighten.

18. The robotic hand system of claim 14, wherein the thumb is connected to the artificial palm via an artificial trapezium.

19. A robotic device comprising: at least one finger comprising: a plurality of artificial phalanges, each one of the plurality of phalanges flexibly secured to an adjacent one of the plurality of phalanges; an extensor hood at least partially wrapped around the plurality of phalanges, the extensor hood formed of a sheet of material and comprising: an outer portion having a first outer perimeter and a first inner perimeter; and an inner portion having a second outer perimeter and a second inner perimeter, the second outer perimeter connected to the first inner perimeter at a plurality of discrete points; a first cable slidingly connected to the extensor hood at a first set of points on a first side of the at least one finger; and a second cable connected to the extensor hood on a second side of the at least one finger.

20. The robotic device of claim 19, wherein the sheet of material is a rubber sheet.

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