Dexterous and compliant robotic finger
First Claim
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1. A robotic finger having two levels of compliance, comprising:
- a proximal phalange having first and second joint ends;
a distal phalange having a joint end and a tip end, wherein the joint end of the distal phalange is coupled to the second joint of the proximal phalange in a hinged manner;
a first compliant actuator configured to exert a torque on the proximal phalange about the first joint end and a second compliant actuator configured to exert a torque on the proximal phalange about the second joint end, the first and second compliant actuators including wires arranged to compress springs within a chamber thereby providing a first level of compliance; and
at least one compliant touch sensor mounted on the distal phalange, the at least one compliant touch sensor configured to contact an object before the distal phalange and to compliantly conform to the object and to sense the object, the at least one compliant touch sensor providing a second level of compliance.
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Abstract
A robotic finger that includes multiple phalanges, each phalange configured to be compliantly actuated. The robotic finger also includes compliant touch sensors that, in combination with the compliant actuation, provides the robotic finger with two levels of compliance. The two levels of compliance enable the robotic finger to gently conform to and manipulate objects.
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Citations
13 Claims
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1. A robotic finger having two levels of compliance, comprising:
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a proximal phalange having first and second joint ends; a distal phalange having a joint end and a tip end, wherein the joint end of the distal phalange is coupled to the second joint of the proximal phalange in a hinged manner; a first compliant actuator configured to exert a torque on the proximal phalange about the first joint end and a second compliant actuator configured to exert a torque on the proximal phalange about the second joint end, the first and second compliant actuators including wires arranged to compress springs within a chamber thereby providing a first level of compliance; and at least one compliant touch sensor mounted on the distal phalange, the at least one compliant touch sensor configured to contact an object before the distal phalange and to compliantly conform to the object and to sense the object, the at least one compliant touch sensor providing a second level of compliance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification