Compliant underactuated grasper
US9004559B2 · kind B2 · utility
2Cited by
33References
21Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Mar 15, 2013 |
| Grant date | Apr 14, 2015 |
| Priority date | — |
| Expiry date | Mar 26, 2033 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/46
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A compliant underactuated grasper includes a palm base and two fingers. Each of the fingers comprises: a proximal phalanx; a distal phalanx; a compliant flexure joint connecting the distal phalanx to the proximal phalanx; and a pin joint connecting the proximal phalanx to the palm base, the pin joint constraining angular movement of the proximal phalanx relative to the palm base to rotation about a pin pivot axis. The grasper further includes at least one actuator to move the fingers. The grasper has fewer actuators than degrees of freedom.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.