US 10,292,839 B2 · Gripping device with switchable prehension modes

Abstract

The present disclosure relates to a switchable terminal device that includes a first digit having a distal end and a proximal end, a second digit moveably attached to the first digit by a first connector such that the second digit reversibly rotates around the first connector and substantially within a plane, and a lever guide having a first portion and a second portion, the lever guide attached to the second digit at least by the first connector passing through the lever guide at an angle about perpendicular to the plane. The switchable terminal device also includes a lever having a proximal end and a distal end with the proximal end of the lever moveably attached to the first portion of the lever guide by a second connector, a third connector attached near the distal end of the first digit, and an elastic cord that includes a first segment having a first end, and a second segment having a second end. Further, the first end is attached to the first portion of the lever guide, a first part of the first segment contacts the second portion of the lever guide, a second part of the first segment spans a first distance between the lever guide and the third connector, a first part of the second segment spans a second distance between the third connector and the distal end of the lever, and the second end of the elastic cord is attached to the lever.

Claims19

Dependent claims

A switchable terminal device comprising:

a first digit having a distal end and a proximal end;
a second digit moveably attached to the first digit by a first connector such that the second digit reversibly rotates around the first connector and substantially within a plane;
a lever guide having a first portion and a second portion, the lever guide attached to the second digit by the first connector passing through the lever guide at an angle about perpendicular to the plane;
a lever having a proximal end and a distal end with the proximal end of the lever moveably attached to the first portion of the lever guide by a second connector;
a third connector attached near the distal end of the first digit;
and
an elastic cord comprising a first segment having a first end, and a second segment having a second end, wherein:
the first end is attached to the first portion of the lever guide,
a first part of the first segment contacts the second portion of the lever guide,
a second part of the first segment spans a first distance between the lever guide and the third connector,
a first part of the second segment spans a second distance between the third connector and the distal end of the lever, and
the second end of the elastic cord is attached to the lever.

9 more elements

A method for actuating a switchable terminal device, the method comprising:

attaching, using a connector, a first digit having a distal end and a proximal end to a second digit, wherein the second digit is rotatable relative to the first digit, around the first connector, and substantially within a first plane;
affixing a lever guide having a first portion and a second portion to the second digit such that the first connector passes through a point substantially near the center of the lever guide at an angle about perpendicular to the first plane;
securing a lever having a proximal end and a distal end by moveably attaching the proximal end of the lever to the first portion of the lever guide using a second connector;
positioning a third connector near the distal end of the first digit;
attaching to the lever guide an elastic cord comprising a first segment having a first end, and a second segment having a second end, such that the first end is attached to the first portion of the lever guide;
passing at least a part of the first segment over the second portion of the lever guide;
traversing with the first segment a first distance between the lever guide and the third connector;
contacting the third connector with a portion of the elastic cord;
traversing with the second segment a second distance between the lever guide and the distal end of the lever;
and
connecting the second end to the distal end of the lever.

8 more elements

Dependencies are inferred from the claim text.

Gripping device with switchable prehension modes

Life of this patent

Gripping device with switchable prehension modes

Life of this patent

Abstract

Claims19