Finger assembly having a talon and spin paddle actuation

A finger assembly for use at the end of a robotic arm, the finger assembly comprising:

• an end effector mount adapted for mounting to the robotic arm;
• a finger body rotationally coupled to the end effector mount, the finger body having first, anti-slip contact face and a second face opposite the first face, and a contact member located between the first face and the second face;
• a talon coupled to the finger body and extending from a lower portion of second face of the finger body;
• the talon is adapted to at least partially support a load from an item lifted by the robotic arm;
• and
• a spin mechanism including a cam located on one of the finger body and the end effector mount and a cam follower located on the other one of the finger body and the end effector, the cam and cam follower biasing the finger body toward either one of a first operative state relative to the end effector mount and a second operative state relative to the end effector mount and away from intermediate states between the first and second operative states;
• whereby the finger body is capable of being positioned in either one of the first operative state and the second operative state;
• whereby (i) in the first operative state the first face of the finger body is adapted to contact a side face of an object to be lifted such that first face anti-slip surface engages the object, and (ii) in the second operative state the second face of the finger body is adapted to adapted to contact the side face of an object to be lifted such that second face anti-slip surface engages the object and in the second operative state the talon is adapted to extend beneath the object to at least partially support the object during lifting;
• whereby a moment applied to the finger body rotates the finger body against the biasing of the spin mechanism to enable selection of first operative state and the second operative state.