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AssigneeSoftbank Robotics Europe
InventorsJérémy Laville, Vincent Clerc, Bruno Maisonnier
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A hand intended for a humanoid robot comprises a palm and at least one finger articulated to the palm, the finger comprising at least one phalanx and an articulation linking the phalanx to the palm, the phalanx extending in a main direction. According to the invention, the articulation comprises an elastic joining piece allowing several degrees of freedom. The hand comprises motorization means for a degree of freedom in rotation out of the degrees of freedom made possible by the joining piece, the motorized degree of freedom in rotation allowing a relative movement about an axis at right angles to the main direction of the phalanx. The other degrees of freedom out of the degrees of freedom made possible by the joining piece are not motorized.
A hand intended for a humanoid robot, the hand comprising a palm and at least one finger articulated to the palm, the finger comprising at least one phalanx and an articulation linking the phalanx to the palm, the phalanx extending in a main direction, the articulation further comprising an elastic joining piece allowing several degrees of freedom, the several degrees of freedom including at least three degrees of freedom in rotation, the hand further comprising motorization means for a degree of freedom in rotation out of the several degrees of freedom made possible by the joining piece, the motorized degree of freedom in rotation allowing a relative movement about an axis at right angles to the main direction of the phalanx, wherein other degrees of freedom out of the several degrees of freedom made possible by the joining piece are not motorized and wherein the elastic joining piece has a neutral position defined in such a way that the motorization means allow an angular travel of the articulation comprising the elastic joining piece concerned on either side of the neutral position, and wherein different degrees of freedom of articulation are achieved by the elasticity of the elastic joining piece.
A hand intended for a humanoid robot, the hand comprising a palm and at least one finger articulated to the palm, the finger comprising at least one phalanx and an articulation linking the phalanx to the palm, the phalanx extending in a main direction, the articulation further comprising an elastic joining piece allowing several degrees of freedom, the hand further comprising motorization means for a degree of freedom in rotation out of the several degrees of freedom made possible by the joining piece, the motorized degree of freedom in rotation allowing a relative movement about an axis at right angles to the main direction of the phalanx, wherein other degrees of freedom out of the several degrees of freedom made possible by the joining piece are not motorized and wherein the elastic joining piece has a neutral position defined in such a way that the motorization means allow an angular travel of the articulation comprising the elastic joining piece concerned on either side of the neutral position, each phalanx further comprising a rigid armature, and the motorization means further comprising a cable guided in each rigid armature, the cable passing from one phalanx to the next phalanx in a direction away from the axis of the motorized degree of freedom in rotation and the cable being actuated by an actuator.
A hand intended for a humanoid robot, the hand comprising a palm and at least one finger articulated to the palm, the finger comprising at least one phalanx and an articulation linking the phalanx to the palm, the phalanx extending in a main direction, the articulation further comprising an elastic joining piece allowing several degrees of freedom, the hand further comprising motorization means for a degree of freedom in rotation out of the several degrees of freedom made possible by the joining piece, the motorized degree of freedom in rotation allowing a relative movement about an axis at right angles to the main direction of the phalanx, wherein other degrees of freedom out of the several degrees of freedom made possible by the joining piece are not motorized and wherein the elastic joining piece has a neutral position defined in such a way that the motorization means allow an angular travel of the articulation comprising the elastic joining piece concerned on either side of the neutral position, the phalanx further comprising a rigid armature and a flexible piece positioned on an inner face of the finger.
Dependencies are inferred from the claim text.