Robotic multiple-jointed digit control system

• US 4,834,761 A
• Filed: 01/12/1987
• Issued: 05/30/1989
• Est. Priority Date: 05/09/1985
• Status: Expired due to Fees

• Current Assignee: David A. Walters
• Original Assignee: David A. Walters
• Inventors: Walters, David A.
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): HIENZ III, WILLIAM
• Application Number:
  US07/002,752
• Time in Patent Office: 869 Days
• Field of Search: 414/730, 414/744 A, 414/751, 414/1, 414/4, 414/7, 901/39, 901/31, 901/36, 901/37, 294/88, 294/115, 294/111, 623/63, 623/64, 623/57, 623/26, 92/137, 92/146, 92/76, 92/51-53, 254/264, 254/386, 254/390, 254/392, 254/393, 254/396, 254/397, 254/228
• US Class Current: 623/26
• CPC Class Codes: B25J 15/0009 comprising multi-articulated fingers, e.g. resembling a human hand
• CPC Class Codes: B25J 17/0275 Universal joints, e.g. Hooke, Cardan, ball joints
• CPC Class Codes: B25J 9/104 with cables, chains or ribbons

Abstract

This disclosure describes a mechanical hand constructed to simulate the range of motion of a human band. The mechanical hand provides a remote manipulator device capable of reproducing all of the motions of the human wrist, hand, fingers, and thumb in a compact in-line package. The configuration of the hand allows the motion of each finger or digit to be independent of the motion the wrist and of the motion of each other digit. Also the motion of each joint of each digit is independent of the motion of each other joint on the same digit and other joints of other digits. Also, the hand allows the amount of pressure applied to an object by the digits and the resistance to motion of the joints in the hand by an external applied force on the hand to vary under the control of features inherent in the hand'"'"'s construction. Further, a method for the organization of actuators for the hand, that may be fluid-activated cylinders, is described. These actuators pull cables or tendons attached to joints, rotating the joints. Actuators pull not only the joint to which they are attached, but also other actuators attached to other joints on the same digit.

Claims

1. An actuator cable drive apparatus comprising n actuator cables, a series of n coaxially oriented fluid-actuated cylinders, each of said n cylinders comprising a lubricated piston and an inlet through which pressurized fluid enters said cylinder causing said piston to be pushed back inside said cylinder, each said piston comprising seals to prevent fluid from escaping past said piston inside said cylinder, n narrow hollow connection rods and n wider hollow connection rods, each of said narrow rods attached at a first end to one end of one of said cylinders and each of said wider rods fitting outside a said narrow rod and attached at one end to one of said pistons, each of said wider rods protruding from the opposite end of said one of said cylinders and each of said wider rods except said nth wider rod attached at its other end to the next cylinder in said series, each of said n actuator cables except the nth actuator cable attached at one end to one of said narrow rods, said nth actuator cable being connected to said nth wider connecting rod, and said n actuator cables running freely through said hollow rods and cylinders, wherein movement of any of said pistons causes corresponding movement of its associated cable and the cables attached to the rods associated with the cylinders attached to said any of said piston.

4. An apparatus as set forth in claim 1 for use in driving movable joints in a fully articulated artificial hand wherein each of said n actuator cables is attached to one of said movable joints and each of said cylinders corresponds to a direction of motion and degree of freedom of one of said joints.

2. An actuator cable drive apparatus comprising n actuator cables, a series of n coaxially oriented fluid-actuated cylinders, each of said n cylinders comprising a lubricated piston and an inlet through which pressurized fluid enters said cylinder causing said piston to be pushed back inside said cylinder, each said piston comprising seals to prevent fluid from escaping past said piston inside said cylinder, n hollow connecting rods, each of said hollow rods attached at one end to one of said pistons and having its other end protruding from a first end of the cylinder associated with said one of said pistons each of said hollow rods except said nth rod connected at its second end to a second end of the next cylinder in said series, each of said n actuator cables attached at one end to a different one of said hollow rods and running freely through said hollow rods and cylinders, wherein movement of any of said pistons causes corresponding movement of its associated actuator cable and the cables attached to the rods associated with the cylinders attached to said any of said pistons.

5. An apparatus as set forth in claim 2 for use in driving movable joints in a fully articulated artificial hand wherein each of said n actuator cables is attached to one of said movable joints and each of said cylinders corresponds to a direction of motion and degree of freedom of one of said joints.

3. An actuator cable drive apparatus comprising n actuator cables, a series of n coaxially oriented double-acting fluid-actuated cylinders, each of said n cylinders comprising a lubricated piston, a first inlet on one side of said piston through which pressurized fluid enters or is released from said cylinder and a second inlet on the other side of said piston through which fluid is released or allowed to enter causing said piston to travel in either of two directions inside said cylinder, each said piston comprising seals to prevent fluid from escaping past said piston inside said cylinder, n narrow hollow connection rods and n wider hollow connection rods, each of said narrow rods attached at a first end to one end of one of said cylinders and each of said wider rods attached at one end to one of said pistons and each of said wider rods protruding from the opposite end of said one of said cylinders and fitting outside a said narrow rod and each of said wider rods except said nth wider rod attached at its other end to the next cylinder in said series, each of said n actuator cables attached on one end to a different one of said n wider connecting rods and running freely through said hollow rods and cylinders wherein travel of any of said pistons causes corresponding movement of its associated cable and the cables attached to the rods associated with the cylinders attached to said any of said pistons.

6. An apparatus as set forth in claim 3 for use in driving movable joints in a fully articulated artificial hand wherein each of said n actuator cables is attached to one of said movable joints and each of said cylinders corresponds to a direction of motion and degree of freedom of one of said joints.

7. An apparatus as set forth in claim 3 for use in driving movable joints in a fully articulated artificial hand wherein each of said n actuator cables is attached to one of said movable joints and each of said cylinders corresponds to a degree of freedom of one of said joints.