WO2011036626A3 - Mechanical finger - Google Patents

Mechanical finger Download PDF

Info

Publication number
WO2011036626A3
WO2011036626A3 PCT/IB2010/054267 IB2010054267W WO2011036626A3 WO 2011036626 A3 WO2011036626 A3 WO 2011036626A3 IB 2010054267 W IB2010054267 W IB 2010054267W WO 2011036626 A3 WO2011036626 A3 WO 2011036626A3
Authority
WO
WIPO (PCT)
Prior art keywords
digit
tendon
segments
segment
mechanical finger
Prior art date
Application number
PCT/IB2010/054267
Other languages
French (fr)
Other versions
WO2011036626A2 (en
Inventor
Nir Schvalb
Boaz Ben Moshe
Alon Vardimon
Barak Shamur
Original Assignee
Ariel - University Research And Development Company, Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ariel - University Research And Development Company, Ltd. filed Critical Ariel - University Research And Development Company, Ltd.
Priority to EP10766120.9A priority Critical patent/EP2480173B1/en
Priority to US13/497,296 priority patent/US9039057B2/en
Priority to EA201290164A priority patent/EA201290164A1/en
Publication of WO2011036626A2 publication Critical patent/WO2011036626A2/en
Publication of WO2011036626A3 publication Critical patent/WO2011036626A3/en
Priority to IL218107A priority patent/IL218107A0/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/54Artificial arms or hands or parts thereof
    • A61F2/58Elbows; Wrists ; Other joints; Hands
    • A61F2/583Hands; Wrist joints
    • A61F2/586Fingers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • A61F2/70Operating or control means electrical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/54Artificial arms or hands or parts thereof
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • A61F2/74Operating or control means fluid, i.e. hydraulic or pneumatic
    • A61F2/741Operating or control means fluid, i.e. hydraulic or pneumatic using powered actuators, e.g. stepper motors or solenoids
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00Robots
    • Y10S901/30End effector
    • Y10S901/31Gripping jaw
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/20Control lever and linkage systems
    • Y10T74/20207Multiple controlling elements for single controlled element
    • Y10T74/20305Robotic arm
    • Y10T74/20323Robotic arm including flaccid drive element

Abstract

A mechanical digit (10) comprising first and second hollow digit segments and a tendon (16b) passing through a void of each digit segment; the tendon is secured to the second digit segment so that pulling the tendon in a proximal direction causes downwards flexion of a digit relative to the axis of the digit around an hinged point between the segments, and release of said tendon causes upward extension of the digit. A gripper comprising a palm (18) and at least two digit is also disclosed.
PCT/IB2010/054267 2009-09-22 2010-09-21 Orientation controller, mechanical arm, gripper and components thereof WO2011036626A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP10766120.9A EP2480173B1 (en) 2009-09-22 2010-09-21 Mechanical finger
US13/497,296 US9039057B2 (en) 2009-09-22 2010-09-21 Orientation controller, mechanical arm, gripper and components thereof
EA201290164A EA201290164A1 (en) 2009-09-22 2010-09-21 ORIENTATION CONTROLLER, MECHANICAL HAND, CAPTURE AND ITS COMPONENTS
IL218107A IL218107A0 (en) 2009-09-22 2012-02-14 Orientation controller, mechanical arm, gripper and components thereof

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US24445509P 2009-09-22 2009-09-22
US61/244,455 2009-09-22

Publications (2)

Publication Number Publication Date
WO2011036626A2 WO2011036626A2 (en) 2011-03-31
WO2011036626A3 true WO2011036626A3 (en) 2011-07-14

Family

ID=43479894

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2010/054267 WO2011036626A2 (en) 2009-09-22 2010-09-21 Orientation controller, mechanical arm, gripper and components thereof

Country Status (5)

Country Link
US (1) US9039057B2 (en)
EP (1) EP2480173B1 (en)
EA (1) EA201290164A1 (en)
IL (1) IL218107A0 (en)
WO (1) WO2011036626A2 (en)

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US9114030B2 (en) 2007-02-06 2015-08-25 Deka Products Limited Partnership System for control of a prosthetic device
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US11291562B2 (en) 2007-02-06 2022-04-05 Deka Products Limited Partnership Arm prosthetic device
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GB201408253D0 (en) 2014-05-09 2014-06-25 Touch Emas Ltd Systems and methods for controlling a prosthetic hand
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CN108555914B (en) * 2018-07-09 2021-07-09 南京邮电大学 DNN neural network self-adaptive control method based on tendon-driven dexterous hand
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CN109591038B (en) * 2019-01-22 2021-05-18 北京邮电大学 Humanoid dexterous hand with passive rotary joint and operation method thereof
CN114378806B (en) * 2020-10-20 2023-12-22 腾讯科技(深圳)有限公司 Manipulator, and driving method and device for manipulator
CN112353532A (en) * 2020-10-29 2021-02-12 北京航空航天大学 Prosthetic finger structure and wire-driven continuous structure prosthetic hand
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Also Published As

Publication number Publication date
US9039057B2 (en) 2015-05-26
US20120186383A1 (en) 2012-07-26
EP2480173B1 (en) 2016-11-23
WO2011036626A2 (en) 2011-03-31
EP2480173A2 (en) 2012-08-01
EA201290164A1 (en) 2013-01-30
IL218107A0 (en) 2012-04-30

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