Artificial dexterous hand

• US 4,955,918 A
• Filed: 05/30/1989
• Issued: 09/11/1990
• Est. Priority Date: 05/30/1989
• Status: Expired due to Fees

• Current Assignee: University of Southern California
• Original Assignee: University of Southern California
• Inventors: Lee, Sukhan
• Primary Examiner(s): Apley, Richard J.
• Assistant Examiner(s): Cheng, Joe H.
• Application Number:
  US07/359,097
• Time in Patent Office: 469 Days
• Field of Search: 623/21, 623/24, 623/57, 623/64, 901/27, 901/38, 901/39, 294/106, 294/111
• US Class Current: 623/24
• CPC Class Codes: A61F 2/583 Hands; Wrist joints
• CPC Class Codes: A61F 2/586 Fingers
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2002/30523 by means of meshing gear teeth
• CPC Class Codes: A61F 2002/30525 Worm gears
• CPC Class Codes: A61F 2002/5069 Ball bearings
• CPC Class Codes: A61F 2002/587 Thumbs
• CPC Class Codes: A61F 2002/701 operated by electrically controlled means, e.g. solenoids or torque motors
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• CPC Class Codes: A61F 2220/0025 Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
• CPC Class Codes: B25J 15/0009 comprising multi-articulated fingers, e.g. resembling a human hand

Abstract

An artificial dexterous hand is provided for grasping and manipulating objects. The hand includes left and right thumbs that are operatively connected to an engagement assembly which causes movement of the left and right thumbs. The left thumb has a left thumb base and is movable about three separate first left thumb axes which run through the left thumb base. Correspondingly, the right thumb has a right thumb base and is movable about three separate first right thumb axes which run through the right thumb base. The engagement assembly has a gear assembly which is operatively connected to a motor assembly. Upon actuation by the motor assembly, the gear assembly causes movement of the left and right thumbs about the first left thumb axes and first right thumb axes respectively. The hand can also have a center finger which is operatively connected to the engagement assembly and which is interposed between the left and right thumbs. The finger has a finger base and is movable about two separate first finger axes running through the finger base. Therefore, upon actuation by the motor assembly, the gear assembly will also cause movement of the finger about the first finger axes.

Claims

1. An artificial dexterous hand for grasping and manipulating objects, comprising:

a left thumb having a left thumb phalange means and a left thumb base, said left thumb base having a left base joint which operatively interconnects said left thumb phalange means to said left thumb base, said left thumb being associated with three separate left thumb axes, said left thumb axes corresponding to an independent left thumb pitch axis which extends axially through said left base joint and about which said left thumb phalange means pitches and mutually orthogonal, independent left thumb roll and yaw axes which run through said left thumb base and about which said left thumb rolls and yaws respectively;

a right thumb having a right thumb phalange means and a right thumb base, said right thumb base having a right base joint which operatively interconnects said right thumb phalange means to said right thumb base, said right thumb being associated with three separate right thumb axes, said right thumb axes corresponding to an independent right thumb pitch axis which extends axially through said right base joint and about which said right thumb phalange means pitches and mutually orthogonal, independent right thumb roll and yaw axes which run through said right thumb base and about which said right thumb rolls and yaw respectively; and

engagement assembly means, operatively connected to said left and right thumbs at said left and right thumb bases respectively, for causing movement of said left and right thumbs, said engagement assembly means including,

gear assembly means for causing rolling of said left and right thumbs about said left and right thumb roll axes respectively and yawing of said left and right thumbs about said left and right thumb yaw axes respectively and pitching of said left and right thumb phalange means about said left and right thumb pitch axes respectively, and

motor assembly means, operatively connected to said gear assembly means, for selectively actuating said gear assembly means.

2. An artificial dexterous hand according to claim 1, wherein:

said left thumb phalange means includes a plurality of left thumb phalanges with any successive two of said left thumb phalanges being interconnected by a separate one of a plurality of left thumb joints; and

said right thumb phalange means includes a plurality of right thumb phalanges with any successive two of said right thumb phalanges being interconnected by a separate one of a plurality of right thumb.

3. An artificial dexterous hand according to claim 1, wherein said gear assembly means includes:

left thumb gear sub-assembly means for causing said yawing, rolling, and pitching by said left thumb upon selective actuation of said left thumb gear sub-assembly means by said motor assembly means; and

right thumb gear sub-assembly means for causing said yawing, rolling, and pitching by said right thumb upon selective actuation of said right thumb gear sub-assembly means by said motor assembly means.

4. An artificial dexterous hand according to claim 3, wherein said motor assembly means includes:

left thumb yaw, roll, and pitch motors for selectively actuating said left thumb gear sub-assembly means to cause said left thumb to yaw, roll and pitch respectively; and

right thumb yaw, roll, and pitch motors for selectively actuating said right thumb gear sub-assembly means to cause said right thumb to yaw, roll and pitch respectively.

5. An artificial dexterous hand according to claim 1, wherein:

said gear assembly means includes a left thumb yaw and roll gear sub-assembly for causing yawing and rolling of said left thumb, said left thumb yaw and roll gear sub-assembly including,

a left thumb primary drive shaft rotatably connected to said motor assembly means,

a left thumb yaw worm mounted for rotation with said left thumb primary drive shaft,

a left thumb yaw worm gear engageable with said left thumb yaw worm,

a left thumb linkage shaft mounted for rotation with said left thumb yaw worm gear and mounted for rotation with said left thumb base,

a left thumb secondary drive shaft rotatably disposed around said left thumb primary drive shaft and rotatably connected to said motor assembly means, and

a left thumb roll housing mounted near one end of said left thumb secondary drive shaft for rotation with said left thumb secondary drive shaft, said left thumb roll housing defining a side left thumb aperture for receiving said left thumb primary drive shaft and a top left thumb aperture for receiving said left thumb linkage shaft, said left thumb roll housing further surrounding said left thumb yaw worm gear, said left thumb yaw worm and said left thumb linkage shaft;

whereby, upon actuation of said left thumb primary drive shaft by said motor assembly means, said left thumb yaw about said left thumb yaw axis and, upon actuation of said left thumb secondary drive shaft by said motor assembly means, said left thumb rolls about said left thumb roll axis.

6. An artificial dexterous hand according to claim 5, wherein:

said gear assembly means further includes a right thumb yaw and roll gear sub-assembly for causing yawing and rolling of said right thumb, said right thumb yaw and roll gear sub-assembly including,

a right thumb primary drive shaft rotatably connected to said motor assembly means,

a right thumb yaw worm mounted for rotation with said right thumb primary drive shaft,

a right thumb yaw worm gear engageable with said right thumb yaw worm,

a right thumb linkage shaft mounted for rotation with said right thumb yaw worm gear and mounted for rotation with said right thumb base,

a right thumb secondary drive shaft rotatably disposed around said right thumb primary drive shaft and rotatably connected to said motor assembly means, and

a right thumb roll housing mounted near one end of said right thumb secondary drive shaft for rotation with said right thumb secondary drive shaft, said right thumb roll housing defining a side right thumb aperture for receiving said right thumb primary drive shaft and a top right thumb aperture for receiving said right thumb linkage shaft, said right thumb roll housing further surrounding said right thumb yaw worm gear, said right thumb yaw worm and said right thumb linkage shaft;

whereby, upon actuation of said right thumb primary drive shaft by said motor assembly means, said right thumb yaws about said right thumb yaw axis and, upon actuation of said right thumb secondary drive shaft by said motor assembly means, said right thumb rolls about said right thumb roll axis.

7. An artificial dexterous hand according to claim 1, wherein:

said gear assembly means includes a left thumb yaw and roll gear sub-assembly for causing yawing and rolling of said left thumb, said left thumb yaw and roll gear sub-assembly including,

a left thumb primary drive shaft rotatably connected to said motor assembly means,

a left thumb yaw worm mounted for rotation with said left thumb primary drive shaft,

a left thumb yaw worm gear engageable with said left thumb yaw worm,

a left thumb linkage shaft mounted for rotation with said left thumb yaw worm gear and mounted for rotation with said left thumb base,

a left thumb secondary drive shaft rotatably disposed around said left thumb primary drive shaft,

a left thumb roll housing mounted near one end of said left thumb secondary drive shaft for rotation with said left thumb secondary drive shaft, said left thumb roll housing defining a side left thumb aperture for receiving said left thumb primary drive shaft and a top left thumb aperture for receiving said left thumb linkage shaft, said left thumb roll housing further surrounding said left thumb yaw worm gear, said left thumb yaw worm and said left thumb linkage shaft,

a left thumb roll worm rotatable by said motor assembly means, and

a left thumb roll worm gear mounted for rotation with said left thumb secondary drive shaft and defining a centrally disposed left thumb roll bore for receiving said left thumb primary drive shaft, said left thumb roll worm gear being further engageable with said left thumb roll worm;

whereby, upon actuation of said left thumb primary drive shaft by said motor assembly means, said left thumb yaws about said left thumb yaw axis and, upon actuation of said left thumb roll worm by said motor assembly means, said left thumb rolls about said left thumb roll axis.

8. An artificial dexterous hand according to claim 7, wherein said motor assembly means includes:

a left thumb yaw motor for selectively actuating said left thumb primary drive shaft; and

a left thumb roll motor for selectively actuating said left thumb roll worm.

9. An artificial dexterous hand according to claim 7, wherein:

said gear assembly means includes a right thumb yaw and roll gear sub-assembly for causing yawing and rolling of said right thumb, said right thumb yaw and roll gear sub-assembly including,

a right thumb primary drive shaft rotatably connected to said motor assembly means,

a right thumb yaw worm mounted for rotation with said right thumb primary drive shaft,

a right thumb yaw worm gear engageable with said right thumb yaw worm,

a right thumb linkage shaft mounted for rotation with said right thumb yaw worm gear and mounted for rotation with said right thumb base,

a right thumb secondary drive shaft rotatably disposed around said right thumb primary drive shaft,

a right thumb roll housing mounted near one end of said right thumb secondary drive shaft for rotation with said right thumb secondary drive shaft, said right thumb roll housing defining a side right thumb aperture for receiving said right thumb primary drive shaft and a top right thumb aperture for receiving said right thumb linkage shaft, said right thumb roll housing further surrounding said right thumb yaw worm gear, said right thumb yaw worm and said right thumb linkage shaft,

a right thumb roll worm rotatable by said motor assembly means, and

a right thumb roll worm gear mounted for rotation with said right thumb secondary drive shaft and defining a centrally disposed right roll bore for receiving said right thumb primary drive shaft, said right thumb roll worm gear being further engageable with said right thumb roll worm;

whereby, upon actuation of said right thumb primary drive shaft by said motor assembly means, said right thumb yaws about said right thumb yaw axis and, upon actuation of said right thumb roll worm by said motor assembly means, said right thumb rolls about said right thumb roll axis.

10. An artificial dexterous hand according to claim 9, wherein said motor assembly means includes:

a right thumb yaw motor for selectively actuating said right thumb primary drive shaft; and

a right thumb roll motor for selectively actuating said right thumb roll worm.

11. An artificial dexterous hand according to claim 1, wherein:

said left thumb phalange means includes a plurality of left thumb phalanges with any successive two of said left thumb phalanges being interconnected by a separate one of a plurality of left thumb joints;

said engagement assembly means further includes left thumb tendon means, received by each of said left thumb joints and by said left base joint, for causing said left thumb phalanges to pitch relative to said left base joint; and

said gear assembly means includes a left pitch gear sub-assembly, operatively interconnecting said motor assembly means to said left thumb tendon means, for selectively tensioning said left thumb tendon means upon actuation by said motor assembly means.

12. An artificial dexterous hand according to claim 11, wherein:

said motor assembly means includes a left thumb pitch motor; and

said left pitch gear sub-assembly includes a left thumb reducer drum around which said left thumb tendon means is wrapped for a plurality of revolutions, said left thumb reducer drum being further rotatable by said left thumb pitch motor.

13. An artificial dexterous hand according to claim 12, wherein said left thumb tendon is wrapped around said left thumb reducer drum in such a way that it forms upper and lower left leads that extend from said left thumb reducer drum and are received by each of said left thumb joints and by said left base joint.

14. An artificial dexterous hand according to claim 11, wherein said left pitch gear sub-assembly includes:

a left thumb pitch worm rotatable by said motor assembly means;

a left thumb reducer shaft;

a left thumb reducer drum mounted for rotation with said left thumb reducer shaft and adapted to receive said left thumb tendon; and

a left thumb pitch worm gear, engageable with said left thumb pitch worm and mounted for rotation with said left thumb reducer shaft, for causing rotation of said left thumb reducer shaft, and thereby selective tensioning of said left thumb tendon, upon actuation of said left thumb pitch worm by said motor assembly means.

15. An artificial dexterous hand according to claim 14, wherein said motor assembly means includes a left thumb pitch motor for selectively actuating said left thumb pitch worm.

16. An artificial dexterous hand according to claim 11, wherein:

said right thumb phalange means includes a plurality of right thumb phalanges with any successive two of said right thumb phalanges being interconnected by a separate one of a plurality of right thumb joints;

said engagement assembly means further includes right thumb tendon means, received by each of said right thumb joints and by said right base joint, for causing said right thumb phalanges to pitch relative to said right base joint; and

said gear assembly means further includes a right pitch gear sub-assembly, operatively interconnecting said motor assembly means to said right thumb tendon means, for selectively tensioning said right thumb tendon means upon actuation by said motor assembly means.

17. An artificial dexterous hand according to claim 16, wherein:

said motor assembly means includes a right thumb pitch motor; and

said right pitch gear sub-assembly includes a right thumb reducer drum around which said right thumb tendon means is wrapped for a plurality of revolutions, said right thumb reducer drum being further rotatable by said right thumb pitch motor.

18. An artificial dexterous hand according to claim 17, wherein said right thumb tendon means is wrapped around said right thumb reducer drum in such a way that it forms upper and lower right leads that extend from said right thumb reducer drum and are received by each of said right thumb joints and by said right base joint.

19. An artificial dexterous hand according to claim 16, wherein said right pitch gear sub-assembly includes:

a right thumb pitch worm rotatable by said motor assembly means;

a right thumb reducer shaft;

a right thumb reducer drum mounted for rotation with said right thumb reducer shaft and adapted to receive said right thumb tendon means; and

a right thumb pitch worm gear, engageable with said right thumb pitch worm and mounted for rotation with said right thumb reducer shaft, for causing rotation of said right thumb reducer shaft, and thereby selective tensioning of said right thumb tendon means, upon actuation of said right thumb pitch worm by said motor assembly means.

20. An artificial dexterous hand according to claim 19, wherein said motor means assembly includes a right thumb pitch motor for selectively actuating said right thumb pitch worm.

21. An artificial dexterous hand according to claim 1, wherein said motor means includes:

left thumb motor sub-assembly means for selectively actuating said gear assembly means to cause movement of said left thumb about said left thumb axes; and

right thumb motor sub-assembly means for selectively actuating said gear assembly means to cause movement of said right thumb about said right thumb axes.

22. An artificial dexterous hand according to claim 1, wherein:

said engagement assembly further includes left and right thumb tendon means, received by said left and right thumb bases respectively, for causing said left and right thumbs to pitch relative to said left and right thumb base joints respectively;

said gear assembly means includes;

left and right thumb primary drive shafts rotatably connected to said motor assembly means and together situated in a common shaft plane,

left and right thumb yaw worms mounted for rotation with said left and right thumb primary drive shafts respectively,

left and right thumb yaw worm gears engageable with said left and right thumb yaw worms respectively;

left and right thumb linkage shafts, said left thumb linkage shaft being mounted for rotation with said left thumb yaw worm gear and with said left thumb base, said right thumb linkage shaft being mounted for rotation with said right thumb yaw worm gear and with said right thumb base,

a left thumb secondary drive shaft rotatably disposed around said left thumb primary drive shaft and rotatably connected to said motor assembly means, said left thumb secondary drive shaft being further located in said common shaft plane,

a left thumb roll housing mounted near one end of said left thumb secondary drive shaft for rotation with said left thumb secondary drive shaft, said left thumb roll housing defining a side left thumb aperture for receiving said left thumb primary drive shaft and a top left thumb aperture for receiving said left thumb linkage shaft, said left thumb roll housing further surrounding said left thumb yaw worm gear, said left thumb yaw worm and said left thumb linkage shaft;

a right thumb secondary drive shaft rotatably disposed around said right thumb primary drive shaft and rotatably connected to said motor assembly means, said right thumb secondary drive shaft being located in said common shaft plane,

a right thumb roll housing mounted near one end of said right thumb secondary drive shaft for rotation with said right thumb secondary drive shaft, said right thumb roll housing defining a side right thumb aperture for receiving said right thumb primary drive shaft and a top right thumb aperture for receiving said right thumb linkage shaft, said right thumb roll housing further surrounding said right thumb yaw worm gear, said right thumb yaw worm and said right thumb linkage shaft;

a left thumb reducer drum around which said left thumb tendon is wrapped for a plurality of revolutions, said left thumb reducer drum being rotatable by said motor assembly means,

a right thumb reducer drum around which said right thumb tendon means is wrapped for a plurality of revolutions, said right thumb reducer drum being rotatable by said motor assembly means; and

said left and right thumbs are configured so as to pitch together both toward and away from one another substantially in said common shaft plane upon actuation of said left and right thumb reducer drums by said motor assembly means, and further configured so as to yaw together both toward and away from one another in a yaw plane that is substantially parallel to said common shaft plane upon actuation of said left and right thumb primary drive shafts by said motor assembly means.

23. An artificial dexterous hand according to claim 1, further including means for selectively controlling the operation of said motor assembly means so as to regulate movement of said left and right thumbs, said means for selectively controlling the operation of said motor assembly means being interactive with said motor assembly means.

24. An artificial dexterous hand according to claim 23, wherein said means for selectively controlling the operation of said motor assembly means includes:

command means for generating command signals corresponding to separate commands directing specified movements of said thumbs;

encoder means for selectively sensing the respective movements of said left and right thumbs and for generating separate digit status signals, with a separate one of each of said status signals being indicative of a separate one of said respective movements; and

controller means, responsive to said command means and to said encoder means, for selectively comparing each of said digit status signals with a separate one of said command signals and for selectively generating a separate control signal corresponding to each comparison.

25. An artificial dexterous hand for grasping and manipulating objects, comprising:

a left thumb having a left thumb phalange means and a left thumb base, said left thumb base having a left base joint which operatively interconnects said left thumb phalange means to said left thumb base, said left thumb being associated with three separate left thumb axes, said left thumb axes corresponding to an independent left thumb pitch axis which extends axially through said left base joint and about which said left thumb phalange means pitches and mutually orthogonal, independent left thumb roll and yaw axes which run through said left thumb base and about which said left thumb rolls and yaws respectively;

a right thumb having a right thumb phalange means and a right thumb base, said right thumb base having a right base joint which operatively interconnects said right thumb phalange means to said right thumb base, said right thumb being associated with three separate right thumb axes, said right thumb axes corresponding to an independent right thumb pitch axis which extends axially through said right base joint and about which said right thumb phalange means pitches and mutually orthogonal, independent right thumb roll and yaw axes which run through said right thumb base and about which said right thumb rolls and yaws respectively;

a center finger having a finger phalange means and a finger base, said finger base having a finger base joint which operatively interconnects said finger phalange means to said finger base, said finger being associated with two separate finger axes, said finger axes corresponding to an independent finger pitch axis which extends axially through said finger base joint and about which said finger phalange means pitches and an independent finger yaw axis which runs through said finger base and about which said finger yaws;

engagement assembly means, operatively connected to said left and right thumbs at said left and right thumb bases respectively and to said finger at said finger base, for causing movement of said left and right thumbs and said finger, said engagement assembly means including,

gear assembly means for causing rolling of said left and right thumbs about said left and right thumb roll axes respectively and yawing of said left and right thumbs about said left and right thumb yaw axes respectively and pitching of said left and right thumb phalange means about said left and right thumb pitch axes respectively, and pitching of said finger phalange means about said finger pitch axis and yawing of said finger about said finger yaw axis respectively, and

motor assembly means, operatively connected to said gear assembly means, for selectively actuating said gear assembly means.

26. An artificial dexterous hand according to claim 25, wherein:

said left thumb phalange means includes a plurality of left thumb phalanges with any successive two of said left thumb phalanges being interconnected by a separate one of a plurality of left thumb joints;

said right thumb phalange means includes a plurality of right thumb phalanges with any successive two of said right thumb phalanges being interconnected by a separate one of a plurality of right thumb joints; and

said finger phalange means includes a plurality of finger phalanges with any successive two of said finger phalanges being interconnected by a separate one of a plurality of finger joints.

27. An artificial dexterous hand according to claim 25, wherein said gear assembly means includes:

left thumb gear sub-assembly means for causing said yawing, rolling, and pitching by said left thumb upon selective actuation of said left thumb gear sub-assembly means by said motor assembly means;

right thumb gear sub-assembly means for causing said yawing, rolling, and pitching by said right thumb upon selective actuation of said right thumb gear sub-assembly means by said motor assembly means; and

finger gear sub-assembly means for causing said yawing and pitching by said finger upon selective actuation of said finger gear sub-assembly means by said motor assembly means.

28. An artificial dexterous hand according to claim 27, wherein said motor assembly means includes:

left thumb yaw, roll, and pitch motors for selectively actuating said left thumb gear sub-assembly means to cause said left thumb to yaw, roll and pitch respectively;

right thumb yaw, roll, and pitch motors for selectively actuating said right thumb gear sub-assembly means to cause said right thumb to yaw, roll and pitch respectively; and

finger yaw and pitch motors for selectively actuating said finger gear sub-assembly means to cause said finger to yaw and pitch respectively.

29. An artificial dexterous hand according to claim 25, wherein:

said gear assembly means includes a left thumb yaw and roll gear sub-assembly for causing yawing and rolling of said left thumb, said left thumb yaw and roll gear sub-assembly including,

a left thumb primary drive shaft rotatably connected to said motor assembly means,

a left thumb yaw worm mounted for rotation with said left thumb primary drive shaft,

a left thumb yaw worm gear engageable with said left thumb yaw worm,

a left thumb linkage shaft mounted for rotation with said left thumb yaw worm gear and mounted for rotation with said left thumb base,

a left thumb secondary drive shaft rotatably disposed around said left thumb primary drive shaft and rotatably connected to said motor assembly means, and

a left thumb roll housing mounted near one end of said left thumb secondary drive shaft for rotation with said left thumb secondary drive shaft, said left thumb roll housing defining a side left thumb aperture for receiving said left thumb primary drive shaft and a top left thumb aperture for receiving said left thumb linkage shaft, said left thumb roll housing further surrounding said left thumb yaws worm gear, said left thumb yaw worm and said left thumb linkage shaft;

whereby, upon actuation of said left thumb primary drive shaft by said motor assembly means, said left thumb yaws about said left thumb yaw axis and, upon actuation of said left thumb secondary drive shaft by said motor assembly means, said left thumb rolls about said left thumb roll axis.

30. An artificial dexterous hand according to claim 29, wherein:

said gear assembly means further includes a right thumb yaw and roll gear sub-assembly for causing yawing and rolling of said right thumb, said right thumb yaw and roll gear sub-assembly including,

a right thumb primary drive shaft rotatably connected to said motor assembly means,

a right thumb yaw worm mounted for rotation with said right thumb primary drive shaft,

a right thumb yaw worm gear engageable with said right thumb yaw worm,

a right thumb linkage shaft mounted for rotation with said right thumb yaw worm gear and mounted for rotation with said right thumb base,

a right thumb secondary drive shaft rotatably disposed around said right thumb primary drive shaft and rotatably connected to said motor assembly means, and

a right thumb roll housing mounted near one end of said right thumb secondary drive shaft for rotation with said right thumb secondary drive shaft, said right thumb roll housing defining a side right thumb aperture for receiving said right thumb primary drive shaft and a top right thumb aperture for receiving said right thumb linkage shaft, said right thumb roll housing further surrounding said right thumb yaw worm gear, said right thumb yaw worm and said right thumb linkage shaft;

whereby, upon actuation of said right thumb primary drive shaft by said motor assembly means, said right thumb yaws about said right thumb yaw axis and, upon actuation of said right thumb secondary drive shaft by said motor assembly means, said right thumb rolls about said right thumb roll axis.

31. An artificial dexterous hand according to claim 25, wherein:

said gear assembly means includes a left thumb yaw and roll gear sub-assembly for causing yawing and rolling of said left thumb, said left thumb yaw and roll gear sub-assembly including,

a left thumb primary drive shaft rotatably connected to said motor assembly means,

a left thumb yaw worm mounted for rotation with said left thumb primary drive shaft,

a left thumb yaw worm gear engageable with said left thumb yaw worm,

a left thumb linkage shaft mounted for rotation with said left thumb yaw worm gear and mounted for rotation with said left thumb base,

a left thumb secondary drive shaft rotatably disposed around said left thumb primary drive shaft,

a left thumb roll housing mounted near one end of said left thumb secondary drive shaft for rotation with said left thumb secondary drive shaft, said left thumb roll housing defining a side left thumb aperture for receiving said left thumb primary drive shaft and a top left thumb aperture for receiving said left thumb linkage shaft, said left thumb roll housing further surrounding said left thumb yaw worm gear, said left thumb yaw worm and said left thumb linkage shaft,

a left thumb roll worm rotatable by said motor assembly means, and

a left thumb roll worm gear mounted for rotation with said left thumb secondary drive shaft and defining a centrally disposed left thumb roll bore for receiving said left thumb primary drive shaft, said left thumb roll worm gear being further engageable with said left thumb roll worm;

whereby, upon actuation of said left thumb primary drive shaft by said motor assembly means, said left thumb yaws about said left thumb yaw axis and, upon actuation of said left thumb roll worm by said motor assembly means, said left thumb rolls about said left thumb roll axis.

32. An artificial dexterous hand according to claim 31, wherein said motor assembly means includes:

a left thumb yaw motor for selectively actuating said left thumb primary drive shaft; and

a left thumb roll motor for selectively actuating said left thumb roll worm.

33. An artificial dexterous hand according to claim 31, wherein:

said gear assembly means further includes a right thumb yaw and roll gear sub-assembly for causing yawing and rolling of said right thumb, said right thumb yaw and roll gear sub-assembly including,

a right thumb primary drive shaft rotatably connected to said motor assembly means,

a right thumb yaw worm mounted for rotation with said right thumb primary drive shaft,

a right thumb yaw worm gear engageable with said right thumb yaw worm,

a right thumb linkage shaft mounted for rotation with said right thumb yaw worm gear and mounted for rotation with said right thumb base,

a right thumb secondary drive shaft rotatably disposed around said right thumb primary drive shaft,

a right thumb roll housing mounted near one end of said right thumb secondary drive shaft for rotation with said right thumb secondary drive shaft, said right thumb roll housing defining a side right thumb aperture for receiving said right thumb primary drive shaft and a top right thumb aperture for receiving said right thumb linkage shaft, said right thumb roll housing further surrounding said right thumb yaw worm gear, said right thumb yaw worm and said right thumb linkage shaft,

a right thumb roll worm rotatable by said motor assembly means, and

a right thumb roll worm gear mounted for rotation with said right thumb secondary drive shaft and defining a centrally disposed right roll bore for receiving said right thumb primary drive shaft, said right thumb roll worm gear being further engageable with said right thumb roll worm;

whereby, upon actuation of said right thumb primary drive shaft by said motor assembly means, said right thumb yaws about said right thumb yaw axis and, upon actuation of said right thumb roll worm by said motor assembly means, said right thumb rolls about said right thumb roll axis.

34. An artificial dexterous hand according to claim 33, wherein said motor assembly means includes:

a right thumb yaw motor for selectively actuating said right thumb primary drive shaft; and

a right thumb roll motor for selectively actuating said right thumb roll worm.

35. An artificial dexterous hand according to claim 25, wherein:

said left thumb phalange means includes a plurality of left thumb phalanges with any successive two of said left thumb phalanges being interconnected by a separate one of a plurality of left thumb joints;

said engagement assembly means further includes left thumb tendon means, received by each of said left thumb joints and by said left base joint, for causing said left thumb phalanges to pitch relative to said left base joint; and

said gear assembly means includes a left pitch gear sub-assembly, operatively interconnecting said motor assembly means to said left thumb tendon, for selectively tensioning said left thumb tendon upon actuation by said motor assembly means.

36. An artificial dexterous hand according to claim 35, wherein:

said motor assembly means includes a left thumb pitch motor; and

said left pitch gear sub-assembly includes a left thumb reducer drum around which said left thumb tendon is wrapped for a plurality of revolutions, said left thumb reducer drum being further rotatable by said left thumb pitch motor.

37. An artificial dexterous hand according to claim 36, wherein said left thumb tendon is wrapped around said left thumb reducer drum in such a way that it forms upper and lower left leads that extend from said left thumb reducer drum and are received by each of said left thumb joints and by said left base joint.

38. An artificial dexterous hand according to claim 35, wherein said left pitch gear sub-assembly includes:

a left thumb pitch worm rotatable by said motor assembly means;

a left thumb reducer shaft;

a left thumb reducer drum mounted for rotation with said left thumb reducer shaft and adapted to receive said left thumb tendon; and

a left thumb pitch worm gear, engageable with said left thumb pitch worm and mounted for rotation with said left thumb reducer shaft, for causing rotation of said left thumb reducer shaft, and thereby selective tensioning of said left thumb tendon, upon actuation of said left thumb pitch worm by said motor assembly means.

39. An artificial dexterous hand according to claim 38, wherein said motor assembly means includes a left thumb pitch motor for selectively actuating said left thumb pitch worm.

40. An artificial dexterous hand according to claim 35, wherein:

said right thumb phalange means includes a plurality of right thumb phalanges with any successive two of said right thumb phalanges being interconnected by a separate one of a plurality of right thumb joints;

said engagement assembly means further includes right thumb tendon means, received by each of said right thumb joints and by said right base joint, for causing said right thumb phalanges to pitch relative to said right base joint; and

said gear assembly means further includes a right pitch gear sub-assembly, operatively interconnecting said motor assembly means to said right thumb tendon means, for selectively tensioning said right thumb tendon means upon actuation by said motor assembly means.

41. An artificial dexterous hand according to claim 40, wherein:

said motor assembly means includes a right thumb pitch motor; and

said right pitch gear sub-assembly includes a right thumb reducer drum around which said right thumb tendon means is wrapped for a plurality of revolutions, said right thumb reducer drum being further rotatable by said right thumb pitch motor.

42. An artificial dexterous hand according to claim 41, wherein said right thumb tendon means is wrapped around said right thumb reducer drum in such a way that it forms upper and lower right leads that extend from said right thumb reducer drum and are received by each of said right thumb joints and by said right base joint.

43. An artificial dexterous hand according to claim 40, wherein said right pitch gear sub-assembly includes:

a right thumb pitch worm rotatable by said motor assembly means;

a right thumb reducer shaft;

a right thumb reducer drum mounted for rotation with said right thumb reducer shaft and adapted to receive said right thumb tendon means; and

a right thumb pitch worm gear, engageable with said right thumb pitch worm and mounted for rotation with said right thumb reducer shaft, for causing rotation of said right thumb reducer shaft, and thereby selective tensioning of said right thumb tendon means, upon actuation of said right thumb pitch worm by said motor assembly means.

44. An artificial dexterous hand according to claim 43, wherein said motor means assembly includes a right thumb pitch motor for selectively actuating said right thumb pitch worm.

45. An artificial dexterous hand according to claim 25, wherein said motor means includes:

left thumb motor sub-assembly means for selectively actuating said gear assembly means to cause movement of said left thumb about said left thumb axes;

right thumb motor sub-assembly means for selectively actuating said gear assembly means to cause movement of said right thumb about said right thumb axes; and

finger motor sub-assembly means for selectively actuating said gear assembly means to cause movement of said finger about said finger axes.

46. An artificial dexterous hand according to claim 25, wherein:

said engagement assembly further includes left and right thumb tendon means, received by said left and right thumb bases respectively, for causing said left and right thumbs to pitch relative to said left and right thumb base joints respectively;

said gear assembly means includes;

left and right thumb primary drive shafts rotatably connected to said motor assembly means and together situated in a common shaft plane,

left and right thumb yaw worms mounted for rotation with said left and right thumb primary drive shafts respectively,

left and right thumb yaw worm gear engageable with said left and right thumb yaw worms respectively,

left and right thumb linkage shafts, said left thumb linkage shaft being mounted for rotation with said left thumb yaw worm gear and with said left thumb base, said right thumb linkage shaft being mounted for rotation with said right thumb yaw worm gear and with said right thumb base,

a left thumb secondary drive shaft rotatably disposed around said left thumb primary drive shaft and rotatably connected to said motor assembly means, said left thumb secondary drive shaft being further located in said common shaft plane,

a left thumb roll housing mounted near one end of said left thumb secondary drive shaft for rotation with said left thumb secondary drive shaft, said left thumb roll housing defining a side left thumb aperture for receiving said left thumb drive shaft and a top left thumb aperture for receiving said left thumb linkage shaft, said left thumb roll housing further surrounding said left thumb yaw worm gear, said left thumb yaw worm and said left thumb linkage shaft;

a right thumb secondary drive shaft rotatably disposed around said right thumb primary drive shaft and rotatably connected to said motor assembly means, said right thumb secondary drive shaft being located in said common shaft plane,

a right thumb roll housing mounted near one end of said right thumb secondary drive shaft for rotation with said right thumb secondary drive shaft, said right thumb roll housing defining a side right thumb aperture for receiving said right thumb primary drive shaft and a top right thumb aperture for receiving in said right thumb linkage shaft, said right thumb roll housing further surrounding said right thumb yaw worm gear, said right thumb yaw worm and said right thumb linkage shaft;

a left thumb reducer drum around which said left thumb tendon is wrapped for a plurality of revolutions, said left thumb reducer drum being rotatable by said motor assembly means,

a right thumb reducer drum around which said right thumb tendon means is wrapped for a plurality of revolutions, said right thumb reducer drum being rotatable by said motor assembly means; and

said left and right thumbs are configured so as to pitch together both toward and away from one another substantially in said common shaft plane upon actuation of said left and right thumb reducer drums by said motor assembly means, and further configured so as to yaw together both toward and away from one another in a yaw plane that is substantially parallel to said common shaft plane upon actuation of said left and right thumb primary drive shafts by said motor assembly means.

47. An artificial dexterous hand according to claim 25, wherein:

said gear assembly means includes a finger yaw gear sub-assembly for causing yawing of said finger that includes,

a finger yaw worm rotatable by said motor assembly means,

a finger primary drive shaft,

a finger yaw worm gear, engageable with said finger yaw worm and mounted for rotation with said finger primary drive shaft, for causing rotation of said finger primary drive shaft,

a bevel gear mounted for rotation with said finger primary drive shaft,

a finger yaw ring gear engageable with said finger bevel gear; and

a finger linkage shaft mounted for rotation with said finger yaw ring gear and with said finger base;

whereby, upon actuation of said finger yaw worm by said motor assembly means, said finger yaws about said finger yaw axis.

48. An artificial dexterous hand according to claim 47, wherein said motor assembly means includes a finger yaw motor for selectively actuating said finger yaw worm, said finger yaw motor having a finger yaw shaft mounted for rotation with said finger yaw worm.

49. An artificial dexterous hand according to claim 25, wherein:

said finger phalange means further includes a plurality of finger phalanges with any successive two of said finger phalanges being interconnected by a separate one of a plurality of finger joints;

said engagement assembly means further includes finger tendon means, received by each of said finger joints and by said finger base joint, for causing said finger phalanges to pitch relative to said finger base joint; and

said gear assembly means includes a finger pitch gear sub-assembly, operatively interconnecting said motor assembly means to said finger tendon means, for selectively tensioning said finger tendon means upon actuation by said motor assembly means.

50. An artificial dexterous hand according to claim 49, wherein:

said motor assembly means includes a finger pitch motor; and

said finger pitch gear sub-assembly includes a finger reducer drum around which said finger tendon means is wrapped for a plurality of revolutions, said finger reducer drum being further rotatable by said finger pitch motor.

51. An artificial dexterous hand according to claim 50, wherein said finger tendon means is wrapped around said finger reducer drum in such a way that it forms upper and lower finger leads that extend from said finger reducer drum and are received by each of said finger joints and by said finger base joint.

52. An artificial dexterous hand according to claim 49, wherein said finger pitch gear sub-assembly includes:

a finger pitch worm rotatable by said motor assembly means;

a finger reducer shaft;

a finger reducer drum mounted for rotation with said finger reducer shaft and adapted to receive said finger tendon means; and

a finger pitch worm gear, engageable with said finger pitch worm and mounted for rotation with said finger reducer shaft, for causing rotation of said finger reducer shaft, and thereby selectively tensioning said finger tendon means, upon actuation of said finger pitch worm by said motor assembly means.

53. An artificial dexterous hand according to claim 52, wherein said motor assembly means includes a finger pitch motor for selectively actuating said finger pitch worm.

54. An artificial dexterous hand according to claim 25, further including means for selectively controlling the operation of said motor assembly means so as to regulate movement of said left and right thumbs and said finger, said means for selectively controlling the operation of said motor assembly means, being interactive with said motor assembly means.

55. An artificial dexterous hand according to claim 54, wherein said means for selectively controlling the operation of said motor assembly means includes:

command means for generating command signals corresponding to separate commands directing specified movements of said thumbs and said finger;

encoder means for selectively sensing the respective movements of said left and right thumbs and said finger and for generating separate digit status signals, with a separate one of each of said status signals being indicative of a separate one of said respective movements; and

controller means, responsive to said command means and to said encoder means, for selectively comparing each of said digit status signals with a separate one of said command signals and for selectively generating a separate control signal corresponding to each comparison.

56. An artificial dexterous hand for grasping and manipulating objects, comprising:

a left thumb having a left thumb phalange means and a left thumb base, said left thumb base having a left base joint which operatively interconnects said left thumb phalange means to said left thumb base, said left thumb being associated with three separate left thumb axes, said left thumb axes corresponding to an independent left thumb pitch axis which extends axially through said left base joint and about which said left thumb phalange means pitches and mutually orthogonal, independent left thumb roll and yaw axes which run through said left thumb base and about which said left thumb rolls and yaws respectively;

a right thumb having a right thumb phalange means and a right thumb base, said right thumb base having a right base joint which operatively interconnects said right thumb phalange means to said right thumb base, said right thumb being associated with three separate right thumb axes, said right thumb axes corresponding to an independent right thumb pitch axis which extends axially through said right base joint and about which said right thumb phalange means pitches and mutually orthogonal, independent right thumb roll and yaw axes which run through said right thumb base and about which said right thumb rolls and yaws respectively;

a center finger having a finger phalange means and a finger base, said finger base having a finger base joint which operatively interconnects said finger phalange means to said finger base, said finger being associated with two separate finger axes, said finger axes corresponding to an independent finger pitch axis which extends axially through said finger base joint and about which said finger phalange means pitches and an independent finger yaw axis which runs through said finger base and about which said finger yaws;

engagement assembly means, operatively connected to said left and right thumb at said left and right thumb bases respectively and to said finger at said finger base, for causing movement of said left and right thumbs and said finger, said engagement assembly means including,

gear assembly means for causing rolling of said left and right thumbs about said left and right thumb roll axes respectively and yawing of said left and right thumbs about said left and right thumb yaw axes respectively and pitching of said left and right thumb phalange means about said left and right thumb pitch axes respectively, and pitching of said finger phalange means about said finger pitch axis and yawing of said finger about said finger yaw axis, said gear assembly means including,

left thumb gear sub-assembly means for causing said yawing, rolling and pitching by said left thumb,

right thumb gear sub-assembly means for causing said yawing, rolling and pitching by said right thumb, and

finger gear sub-assembly means for causing said yawing, rolling and pitching by said finger; and

motor assembly means, operatively connected to said gear assembly means, for selectively actuating said gear assembly means, said motor assembly means including,

left thumb motor sub-assembly means for selectively actuating said left thumb gear sub-assembly means to cause movement of said left thumb about said left thumb axes,

right thumb motor sub-assembly means for selectively actuating said right thumb gear sub-assembly means to cause movement of said right thumb about said right thumb axes, and

finger thumb motor sub-assembly means for selectively actuating said finger gear sub-assembly means to cause movement of said finger about said finger axes.