# US 11,992,939 B2 · Robot palm > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,992,939 B2 - Document ID: US11992939B2 - Status: Granted - Kind: B2 - Application number: 17/389,086 - Filed: 2021-07-29 - Published: 2022-06-02 - Granted: 2024-05-28 - Earliest claimed: 2020-11-30 - Assignees: Korea Institute of Science and Technology - Applicants: Korea Institute of Science and Technology - Inventors: Sungwook Yang; Jeongwon Lee; Jaehee Kim; Donghyun Hwang; Yong Seok Ihn - Web page: https://patentgrep.com/patent/US11992939B2 ## CPC - B25J 15/10: with three or more finger members {(B25J15/0009 takes precedence)} - B25J 15/0023: {Gripper surfaces directly activated by a fluid (flexible fingers B25J15/12)} - 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 The present disclosure provides a robot palm, which includes: a housing having a particle-containing space configured to accommodate particles so that a pressure thereof is changeable; particles filled in the particle-containing space; and an upper membrane installed at an upper portion of the housing and configured to grip an object by changing its shape and rigidity according to a pressure change of the particle-containing space. ## Claims ### Claim 1 A robot palm, comprising: a housing having a particle-containing space configured to accommodate particles and in which a pressure is changeable; particles filled in the particle-containing space; and an upper membrane installed at an upper portion of the housing and configured to grip an object by changing a shape and rigidity of the upper membrane according to a pressure change of the particle-containing space; wherein the housing further includes an air-receiving space configured to accommodate air; wherein the robot palm further comprises a middle membrane installed at the housing and provided between the particle-containing space and the air-receiving space; and wherein the housing includes: a base structure having a bottom surface and a sidewall extending upward from the bottom surface and having the air-receiving space provided at an inside thereof surrounded by the bottom surface and the sidewall; a middle structure configured to form a side surface between the middle membrane and the upper membrane and having the particle-containing space between the middle membrane and the upper membrane; and a rim installed at an upper portion of the upper membrane to fix the upper membrane to the middle structure. ### Claim 2 (depends on 1) The robot palm according to claim 1, wherein a hand member is installed at a lower portion of the housing, which is configured to allow the object to be supported by the upper membrane, and wherein the hand member includes: a palm support disposed at the lower portion of the housing to support the housing; and a finger structure connected to the palm support to be bendable and configured to grip the object. ### Claim 3 (depends on 2) The robot palm according to claim 2, wherein a plurality of the finger structures are provided, and wherein each of the finger structures includes: a plurality of joint portions connected to each other to be bendable relative to each other; and a connection pin configured to connect neighboring joint portions to each other among the plurality of joint portions. ### Claim 4 (depends on 1) The robot palm according to claim 1, wherein the air-receiving space is provided to a lower side of the particle-containing space. ### Claim 5 (depends on 1) The robot palm according to claim 1, wherein an air supply tube is installed at the base structure, which is configured to communicate with the air-receiving space to supply air to the air-receiving space, and wherein a vacuum tube is connected to the middle structure, which is configured to communicate with the particle-containing space to make the particle-containing space vacuous.