Robotic multiple-jointed digit control system

US4834761A · kind A · utility

Inventor

• David Walters · Bloomington, US

Key dates

• Filing date: Jan 12, 1987
• Grant date: May 30, 1989
• Expiry date: Jan 12, 2007

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J15/0009
• WIPO field: Handling
• WIPO sector: Mechanical engineering

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.