US 12,179,356 B2 · Voice-activated, compact, and portable robotic system

A joint movement device for selective flexion and extension of a joint having a first joint member having a proximal end and an opposite distal end and a second joint member having a proximal end and an opposite distal end and the joint coupling the distal end of the first joint member to the proximal end of the second joint member so that the second joint member is in a flexural relationship to the first joint member, comprising:

(a) a tendon, having a first end and an opposite second end, disposed adjacent to a selected side of the first joint member and the second joint member;
(b) a tendon securing device secured to the distal end of the second joint member to which the tendon is secured;
(c) at least one phalange ring secured to the first joint member, the at least one phalange ring and the tendon securing device including a tending routing mechanism configured to route the tendon from the tendon securing device through the at least one phalange ring;
(d) an actuator in a fixed relationship with the first joint member and coupled to the tendon, the actuator configured to selectively pull the tendon inwardly thereto, thereby causing the joint to flex;
and
(e) an elastic member coupled to both the phalange ring and the tendon securing device and not coupled to any actuator and configured to apply a constant extension force to the tendon securing device, thereby causing the joint to extend when the actuator releases the tendon.

3 more elements

A robotic exoskeleton configured for use with a plurality of different fingers of a hand, having a palm, each finger having at least one joint including a first joint member having a proximal end and an opposite distal end and a second joint member having a proximal end and an opposite distal end wherein the second joint member is in a flexural relationship to the first joint member, the robotic exoskeleton comprising:

(a) a plurality of joint movement devices, wherein each of the plurality of joint movement devices is secured to a different corresponding finger of the hand, so that each joint movement device is configured to cause the corresponding finger to move in a predetermined manner, each of the plurality of joint movement devices including:
(i) a first tendon, having a first end and an opposite second end, disposed adjacent to a selected side of the first joint member and the second joint member;
(ii) a tendon securing device secured to the distal end of the second joint member to which the tendon is secured;
(iii) a first phalange ring secured to the first joint member and a second phalange ring secured to the second joint member, the first phalange ring, the second phalange ring, and the tendon securing device including a tending routing mechanism configured to route the tendon from the tendon securing device through the first phalange ring and the second phalange ring;
(iv) an actuator in a fixed relationship with the first joint member and coupled to the tendon, the actuator configured to selectively pull the tendon inwardly thereto, thereby causing the joint to flex, the actuator including a tendon shortening mechanism configured to shorten a portion of the first tendon between the first phalange ring and the tendon securing device;
(v) an elastic member coupled to both the first phalange ring and the second phalange ring and not coupled to any actuator and configured to apply a constant extension force to the second phalange ring, thereby causing the joint to extend when the actuator releases the tendon;
and
(vi) a controller in control communication with each actuator and configured to respond to a plurality of different voice commands regarding flexion and extension of each joint.

5 more elements

A robotic exoskeleton configured for use with a plurality of different fingers of a hand, having a palm, each finger having at least one joint including a first joint member having a proximal end and an opposite distal end and a second joint member having a proximal end and an opposite distal end wherein the second joint member is in a flexural relationship to the first joint member, the robotic exoskeleton comprising:

(a) a plurality of joint movement devices, wherein each of the plurality of joint movement devices is secured to a different corresponding finger of the hand, so that each joint movement device is configured to cause the corresponding finger to move in a predetermined manner, each of the plurality of joint movement devices including:
(i) a first tendon, having a first end and an opposite second end, disposed adjacent to a selected side of the first joint member and the second joint member;
(ii) a tendon securing device secured to the distal end of the second joint member to which the tendon is secured;
(iii) a first phalange ring secured to the first joint member and a second phalange ring secured to the second joint member, the first phalange ring, the second phalange ring, and the tendon securing device including a tending routing mechanism configured to route the tendon from the tendon securing device through the first phalange ring and the second phalange ring;
(iv) an actuator in a fixed relationship with the first joint member and coupled to the tendon, the actuator configured to selectively pull the tendon inwardly thereto, thereby causing the joint to flex, the actuator including a tendon shortening mechanism configured to shorten a portion of the first tendon between the first phalange ring and the tendon securing device;
and
(v) an elastic member coupled to both the first phalange ring and the second phalange ring and not coupled to any actuator and configured to apply a constant extension force to the second phalange ring, thereby causing the joint to extend when the actuator releases the tendon;
(b) a controller in control communication with each actuator and configured to respond to a plurality of different voice commands regarding flexion and extension of each joint;
(c) a plurality of suction cups disposed adjacent to the palm so as to increase a gripping force applied to an object being gripped;
and
(d) a plurality of sensors disposed adjacent to the palm so as to provide feedback to the controller.

8 more elements

A robotic exoskeleton configured for use with a plurality of different fingers of a hand, having a palm, each finger having at least one joint including a first joint member having a proximal end and an opposite distal end and a second joint member having a proximal end and an opposite distal end wherein the second joint member is in a flexural relationship to the first joint member, the robotic exoskeleton comprising:

(a) a plurality of joint movement devices, wherein each of the plurality of joint movement devices is secured to a different corresponding finger of the hand, so that each joint movement device is configured to cause the corresponding finger to move in a predetermined manner, each of the plurality of joint movement devices including:
(i) a first tendon, having a first end and an opposite second end, disposed adjacent to a selected side of the first joint member and the second joint member;
(ii) a tendon securing device secured to the distal end of the second joint member to which the tendon is secured;
(iii) a first phalange ring secured to the first joint member and a second phalange ring secured to the second joint member, the first phalange ring, the second phalange ring, and the tendon securing device including a tending routing mechanism configured to route the tendon from the tendon securing device through the first phalange ring and the second phalange ring;
(iv) an actuator in a fixed relationship with the first joint member and coupled to the tendon, the actuator configured to selectively pull the tendon inwardly thereto, thereby causing the joint to flex, the actuator including a tendon shortening mechanism configured to shorten a portion of the first tendon between the first phalange ring and the tendon securing device;
and
(v) an elastic member coupled to both the first phalange ring and the second phalange ring and not coupled to any actuator and configured to apply a constant extension force to the second phalange ring, thereby causing the joint to extend when the actuator releases the tendon;
(b) a controller in control communication with each actuator and configured to respond to a plurality of different voice commands regarding flexion and extension of each joint;
and
(c) a plurality of suction cups disposed adjacent to the palm so as to increase a gripping force applied to an object being gripped.

7 more elements

A robotic exoskeleton configured for use with a plurality of different fingers of a hand, having a palm, each finger having at least one joint including a first joint member having a proximal end and an opposite distal end and a second joint member having a proximal end and an opposite distal end wherein the second joint member is in a flexural relationship to the first joint member, the robotic exoskeleton comprising:

(a) a plurality of joint movement devices, wherein each of the plurality of joint movement devices is secured to a different corresponding finger of the hand, so that each joint movement device is configured to cause the corresponding finger to move in a predetermined manner, each of the plurality of joint movement devices including:
(i) a first tendon, having a first end and an opposite second end, disposed adjacent to a selected side of the first joint member and the second joint member;
(ii) a tendon securing device secured to the distal end of the second joint member to which the tendon is secured;
(iii) a first phalange ring secured to the first joint member and a second phalange ring secured to the second joint member, the first phalange ring, the second phalange ring, and the tendon securing device including a tending routing mechanism configured to route the tendon from the tendon securing device through the first phalange ring and the second phalange ring;
(iv) an actuator in a fixed relationship with the first joint member and coupled to the tendon, the actuator configured to selectively pull the tendon inwardly thereto, thereby causing the joint to flex, the actuator including a tendon shortening mechanism configured to shorten a portion of the first tendon between the first phalange ring and the tendon securing device;
and
(v) an elastic member coupled to both the first phalange ring and the second phalange ring and not coupled to any actuator and configured to apply a constant extension force to the second phalange ring, thereby causing the joint to extend when the actuator releases the tendon;
(b) a controller in control communication with each actuator and configured to respond to a plurality of different voice commands regarding flexion and extension of each joint;
and
(c) a plurality of sensors disposed adjacent to the palm so as to provide feedback to the controller.

7 more elements

Voice-activated, compact, and portable robotic system

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Voice-activated, compact, and portable robotic system

Life of this patent

Abstract

Claims25