WO2011152898A3 - A dexterous and compliant robotic finger - Google Patents

A dexterous and compliant robotic finger Download PDF

Info

Publication number
WO2011152898A3
WO2011152898A3 PCT/US2011/025001 US2011025001W WO2011152898A3 WO 2011152898 A3 WO2011152898 A3 WO 2011152898A3 US 2011025001 W US2011025001 W US 2011025001W WO 2011152898 A3 WO2011152898 A3 WO 2011152898A3
Authority
WO
WIPO (PCT)
Prior art keywords
robotic finger
dexterous
compliant
finger
compliant robotic
Prior art date
Application number
PCT/US2011/025001
Other languages
French (fr)
Other versions
WO2011152898A2 (en
Inventor
Eduardo R. Torres-Jara
Original Assignee
Massachusetts Institute Of Technology
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 Massachusetts Institute Of Technology filed Critical Massachusetts Institute Of Technology
Publication of WO2011152898A2 publication Critical patent/WO2011152898A2/en
Publication of WO2011152898A3 publication Critical patent/WO2011152898A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors

Abstract

A robotic finger that includes multiple phalanges, each phalanges, 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 manipulate objects.
PCT/US2011/025001 2010-02-23 2011-02-16 A dexterous and compliant robotic finger WO2011152898A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US33868910P 2010-02-23 2010-02-23
US61/338,689 2010-02-23
US13/027,350 2011-02-15
US13/027,350 US8662552B2 (en) 2010-02-23 2011-02-15 Dexterous and compliant robotic finger

Publications (2)

Publication Number Publication Date
WO2011152898A2 WO2011152898A2 (en) 2011-12-08
WO2011152898A3 true WO2011152898A3 (en) 2012-05-18

Family

ID=45067226

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2011/025001 WO2011152898A2 (en) 2010-02-23 2011-02-16 A dexterous and compliant robotic finger

Country Status (2)

Country Link
US (1) US8662552B2 (en)
WO (1) WO2011152898A2 (en)

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GB201114264D0 (en) 2011-08-18 2011-10-05 Touch Emas Ltd Improvements in or relating to prosthetics and orthotics
GB201116069D0 (en) 2011-09-16 2011-11-02 Touch Emas Ltd Method and apparatus for controlling a prosthetic device
GB201116060D0 (en) * 2011-09-16 2011-11-02 Touch Emas Ltd Method of controlling a prosthesis
US9120233B2 (en) * 2012-05-31 2015-09-01 Toyota Motor Engineering & Manufacturing North America, Inc. Non-contact optical distance and tactile sensing system and method
GB201213030D0 (en) 2012-07-23 2012-09-05 Touch Emas Ltd Improvements in or relating to prosthetics and orthotics
JP6111589B2 (en) * 2012-10-11 2017-04-12 セイコーエプソン株式会社 Robot hand, robot apparatus, and method of manufacturing robot hand
GB201302025D0 (en) 2013-02-05 2013-03-20 Touch Emas Ltd Improvements in or relating to prosthetics
EP3102158B1 (en) 2014-02-04 2019-06-12 Rehabilitation Institute of Chicago Modular and lightweight prosthesis components
GB201403265D0 (en) 2014-02-25 2014-04-09 Touch Emas Ltd Prosthetic digit for use with touchscreen devices
US10231859B1 (en) * 2014-05-01 2019-03-19 Boston Dynamics, Inc. Brace system
GB201408253D0 (en) 2014-05-09 2014-06-25 Touch Emas Ltd Systems and methods for controlling a prosthetic hand
GB201417541D0 (en) 2014-10-03 2014-11-19 Touch Bionics Ltd Wrist device for a prosthetic limb
US9492928B2 (en) 2014-11-05 2016-11-15 Toyota Motor Engineering & Manufacturing North America, Inc. Interconnected phalanges for robotic gripping
CN105666506B (en) * 2014-11-18 2017-12-12 鸿富锦精密工业（深圳）有限公司 Robot finger
EP3506857A1 (en) 2016-09-02 2019-07-10 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US11185426B2 (en) 2016-09-02 2021-11-30 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US11141867B2 (en) * 2016-10-28 2021-10-12 Shenzhen Dorabot Robotics Co., Ltd. Robotic dexterous hand
TWD189311S (en) * 2017-09-08 2018-03-21 趙嘉浩 Robot's eyelid structure
TWD189310S (en) * 2017-09-08 2018-03-21 趙嘉浩 Robot body structure
US10814494B2 (en) 2017-09-26 2020-10-27 Toyota Research Institute, Inc. Robotic gripper fingers
US10973660B2 (en) 2017-12-15 2021-04-13 Touch Bionics Limited Powered prosthetic thumb
JP6554202B1 (en) * 2018-04-02 2019-07-31 日本航空電子工業株式会社 Sensor module and robot system
US11547581B2 (en) 2018-12-20 2023-01-10 Touch Bionics Limited Energy conservation of a motor-driven digit
JP6829738B2 (en) 2019-03-15 2021-02-10 Thk株式会社 Gripping system and gripping method
US11931270B2 (en) 2019-11-15 2024-03-19 Touch Bionics Limited Prosthetic digit actuator
KR20210156501A (en) * 2020-06-18 2021-12-27 한국과학기술연구원 Tactile sensor module for robot-hand and gripping method using the same

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US5650704A (en) * 1995-06-29 1997-07-22 Massachusetts Institute Of Technology Elastic actuator for precise force control
US5762390A (en) * 1996-07-16 1998-06-09 Universite Laval Underactuated mechanical finger with return actuation
US20080106258A1 (en) * 2006-11-02 2008-05-08 Eduardo Torres-Jara Compliant tactile sensor
KR100824780B1 (en) * 2006-11-21 2008-04-24 주식회사은강테크 An intelligent hand device
WO2008080231A1 (en) * 2007-01-05 2008-07-10 Victhom Human Bionics Inc. Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission

Also Published As

Publication number Publication date
US8662552B2 (en) 2014-03-04
US20120013139A1 (en) 2012-01-19
WO2011152898A2 (en) 2011-12-08

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