# US 10,869,773 B2 · Prosthetic fingertip end effectors > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,869,773 B2 - Document ID: US10869773B2 - Status: Granted - Kind: B2 - Application number: 16/156,722 - Filed: 2018-10-10 - Published: 2019-04-11 - Granted: 2020-12-22 - Earliest claimed: 2017-10-10 - Assignees: College Park Industries, Inc. - Applicants: College Park Industries, Inc. - Inventors: Carlos Humberto Martinez-Luna; Michael Alfred Delph, II; Taylor Raven Duckworth; Todd Richard Farrell; Thane Robert Hunt; Craig Malone Kelly; Kevin Edward Keough; Carlton Winslow King; Benjamin Douglas Pulver; Todd William Roberts; Benjamin Edward McDonald - Web page: https://patentgrep.com/patent/US10869773B2 ## CPC - A61F 2/586: {Fingers} - A61F 2/5044: {Designing or manufacturing processes} - A61F 2/588: {Hands having holding devices shaped differently from human fingers, e.g. claws, hooks, tubes} - A61F 2/68: Operating or control means - A61F 2/72: Bioelectric control, e.g. myoelectric - A61F 2002/6854: {for locking or unlocking a joint} - A61F 2002/6872: {attached and mechanically operated by remaining muscle} - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) ## Abstract A prosthetic finger includes a main body and a terminal gripper at an end of the main body for enabling fine-motor grasping skills. The terminal gripper has at least two tongs movable relative to one another. The prosthetic finger includes a gripping mode and a flexion mode. In the gripping mode, the tongs of the terminal gripper are able to move relative to one another while the main body is not able to flex, and in the flexion mode, the main body is able to flex while the at two tongs is not able to move relative to one another. ## Claims ### Claim 1 A prosthetic digit, comprising: a main body having a proximal segment for attachment to a palm and a distal segment pivotally attached to a distal end of the proximal segment, the main body being flexed when the distal segment is pivoted relative to the proximal segment and the proximal segment is pivoted relative to the palm; and a terminal gripper at a distal end of the distal segment of the main body for enabling fine-motor grasping skills, the terminal gripper having at least two tongs movable relative to one another for gripping an object therebetween. ### Claim 2 (depends on 1) The prosthetic digit of claim 1, further comprising an actuation mechanism for driving the terminal gripper. ### Claim 3 (depends on 2) The prosthetic digit of claim 2, wherein the actuation mechanism is body-powered by movement of a user's body part. ### Claim 4 (depends on 2) The prosthetic digit of claim 2, wherein the actuation mechanism is electrically-powered. ### Claim 5 (depends on 1) The prosthetic digit of claim 1, wherein the prosthetic digit has a gripping mode and a flexion mode, in the gripping mode, the at least two tongs of the terminal gripper being able to move relative to one another while the main body being not able to flex, and in the flexion mode, the main body being able to flex while the at least two tongs of the terminal gripper being not able to move relative to one another. ### Claim 6 (depends on 5) The prosthetic digit of claim 5, further comprising a mode switch for switching between the flexion mode and the gripping mode. ### Claim 7 (depends on 6) The prosthetic digit of claim 6, wherein the mode switch is a lock for enabling/disengaging the gripping mode/the flexion mode. ### Claim 8 (depends on 5) The prosthetic digit of claim 5, further comprising an interconnect element, wherein the actuation mechanism is operable by applying/releasing tension to the interconnect element, which drives the tongs to open/close or close/open in the gripping mode and drives the to flex in the flexion mode. ### Claim 9 (depends on 8) The prosthetic digit of claim 8, wherein the interconnect element is a cable, a linkage or a chain. ### Claim 10 (depends on 1) The prosthetic digit of claim 1, wherein one of the at least two tongs is stationary and the other one of the at least two tongs is configured to pivot relative to the stationary tong. ### Claim 11 (depends on 1) The prosthetic digit of claim 1, further comprising a linkage, a central rack and two pinions, wherein the tongs are part of the linkage and actuated by the central rack and the two pinions. ### Claim 12 (depends on 1) The prosthetic digit of claim 1, wherein the tongs each include a head and a tapering leg, further comprising a block slidably coupled with the legs such that the tongs open or close when the block slides along the legs. ### Claim 13 (depends on 1) The prosthetic digit of claim 1, wherein the tongs are each shaped like a wire claw such that the terminal gripper has a plurality of wires for gripping. ### Claim 14 (depends on 1) The prosthetic digit of claim 1, wherein the terminal gripper has at least three tongs. ### Claim 15 (depends on 1) The prosthetic digit of claim 1, wherein the tongs are made from or covered with a textured material preventing slipping. ### Claim 16 (depends on 1) The prosthetic digit of claim 1, wherein each of the tongs are notched and cooperate to form a notch when closed. ### Claim 17 (depends on 1) The prosthetic digit of claim 1, wherein the prosthetic digit is a prosthetic finger digit. ### Claim 18 A prosthetic digit, comprising: a main body; and a terminal gripper at an end of the main body for enabling fine-motor grasping skills, the terminal gripper having at least two tongs movable relative to one another, the at least two tongs both being movable. ### Claim 19 (depends on 18) The prosthetic digit of claim 18, further comprising an actuation mechanism for driving the terminal gripper. ### Claim 20 (depends on 19) The prosthetic digit of claim 19, wherein the actuation mechanism is body-powered by movement of a user's body part or is electrically-powered. ### Claim 21 (depends on 18) The prosthetic digit of claim 18, wherein the tongs are made from or covered with a textured material preventing slipping. ### Claim 22 (depends on 18) The prosthetic digit of claim 18, wherein each of the tongs are notched and cooperate to form a notch when closed. ### Claim 23 (depends on 18) The prosthetic digit of claim 18, wherein the prosthetic digit is a prosthetic finger digit. ### Claim 24 A prosthetic digit, comprising: a main body; a terminal gripper at an end of the main body for enabling fine-motor grasping skills, the terminal gripper having at least two tongs movable relative to one another; and an actuation mechanism for driving the terminal gripper and gripping an object by with the at least two tongs. ### Claim 25 (depends on 24) The prosthetic digit of claim 24, wherein one of the at least two tongs is stationary and the other one of the at least two tongs is configured to pivot relative to the stationary tong. ### Claim 26 (depends on 24) The prosthetic digit of claim 24, wherein the actuation mechanism is body-powered by movement of a user's body part or is electrically-powered. ### Claim 27 (depends on 24) The prosthetic digit of claim 24, wherein the tongs are made from or covered with a textured material preventing slipping. ### Claim 28 (depends on 24) The prosthetic digit of claim 24, wherein each of the tongs are notched and cooperate to form a notch when closed. ### Claim 29 (depends on 24) The prosthetic digit of claim 24, wherein the prosthetic digit is a prosthetic finger digit. ### Claim 30 A prosthetic hand, comprising: a palm; a thumb; and a plurality of fingers; one of the plurality of fingers comprising; a main body; and a terminal gripper at an end of the main body for enabling fine-motor grasping skills, the terminal gripper having at least two tongs movable relative to one another.