# US 10,442,089 B2 · Hand intended for being provided on a humanoid robot with improved fingers > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,442,089 B2 - Document ID: US10442089B2 - Status: Granted - Kind: B2 - Application number: 15/111,476 - Filed: 2015-01-22 - Published: 2016-11-24 - Granted: 2019-10-15 - Earliest claimed: 2014-01-22 - Assignees: Softbank Robotics Europe - Applicants: Softbank Robotics Europe - Inventors: Jérémy Laville; Vincent Clerc; Bruno Maisonnier - Web page: https://patentgrep.com/patent/US10442089B2 ## CPC - B25J 15/0009: {comprising multi-articulated fingers, e.g. resembling a human hand} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The hand as claimed in claim 1, the finger further comprising several consecutive phalanges, two consecutive phalanges being linked by at least one articulation, wherein each of the at least one articulation linking two consecutive phalanges comprises an elastic joining piece allowing several degrees of freedom between the two consecutive phalanges, wherein the hand comprises motorization means for a degree of freedom in rotation out of the degrees of freedom made possible by the joining piece linking the consecutive phalanges, the motorized degree of freedom in rotation allowing a relative movement of the two consecutive phalanges about an axis at right angles to the respective main direction of the two consecutive phalanges, wherein the other degrees of freedom out of the degrees of freedom made possible by the joining piece linking the consecutive phalanges are not motorized and in that each joining piece linking the consecutive phalanges has a neutral position defined in such a way that the motorization means allow an angular travel of the at least one articulation comprising the elastic joining piece concerned on either side of the neutral position. ### Claim 3 (depends on 2) The hand as claimed in claim 2, wherein different elastic joining pieces each have a stiffness that decreases along a distance in a direction away from the palm. ### Claim 4 (depends on 2) The hand as claimed in claim 2, the motorization means further comprising an actuator, wherein the actuator is common to each of the at least one articulation of the at least one finger. ### Claim 5 (depends on 4) The hand as claimed in claim 4, each phalanx of the phalanges further comprising a rigid armature, the motorization means further comprising a cable guided in each rigid armature, the cable passing from one phalanx of the phalanges to the next phalanx of the phalanges in a direction away from the axis of the motorized degree of freedom in rotation and the cable being actuated by the actuator. ### Claim 6 (depends on 5) The hand as claimed in claim 5, wherein the rigid armature of each phalanx of the phalanges is formed in two parts between which the cable is guided. ### Claim 7 (depends on 4) The hand as claimed in claim 4, the actuator being a dual-acting actuator. ### Claim 8 (depends on 1) The hand as claimed in claim 1, the phalanx further comprising a rigid armature and a flexible piece positioned on an inner face of the finger. ### Claim 9 (depends on 8) The hand as claimed in claim 8, the phalanx further comprising a shell positioned on an outer face of the finger and wherein the shell and the flexible piece comprise complementary forms produced so as to produce an embedment of the rigid armature, of the flexible piece and of the shell. ### Claim 10 (depends on 8) The hand as claimed in claim 8, wherein the flexible piece is formed from two parts surrounding the rigid armature. ### Claim 11 (depends on 8) The hand as claimed in claim 8, wherein the flexible pieces and the joining piece or pieces are produced by grouping them together in halves longitudinally. ### Claim 12 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. ### Claim 13 (depends on 12) The hand as claimed in claim 12, wherein the rigid armature of each phalanx is formed in two parts between which the cable is guided. ### Claim 14 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. ### Claim 15 (depends on 14) The hand as claimed in claim 14, the phalanx further comprising a shell positioned on an outer face of the finger and wherein the shell and the flexible piece comprise complementary forms produced so as to produce an embedment of the rigid armature, of the flexible piece and of the shell. ### Claim 16 (depends on 14) The hand as claimed in claim 14, wherein the flexible piece is formed from two parts surrounding the rigid armature. ### Claim 17 (depends on 14) The hand as claimed in claim 14, wherein the flexible pieces and the joining piece or pieces are produced by grouping them together in halves longitudinally.