Mechanical fingers for dexterity and grasping
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United States of America Patent
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-
Sep 12, 1989
Grant Date -
N/A
app pub date -
Sep 25, 1987
filing date -
Sep 25, 1987
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
Improved robotic fingers are disclosed. The present invention provides a novel three joint, two actuator robotic finger. The finger disclosed is self-contained, lighter and requires less computational overhead than designs requiring one actuator for each joint, while providing greater versatility than simple grippers. The fingers of the present invention are constructed using a series of pulleys and tendons to couple the motion of two joints. In a preferred embodiment, a novel tendon configuration is disclosed which provides human-like enclosure and grasping capabilities. Also, other useful tendon configurations are disclosed. Robotic hands comprised of a group of one or more of the fingers of the present invention and methods of utilizing them to manipulate objects are also disclosed.
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