Voice-activated, compact, and portable robotic system

A method of selectively flexing and extending 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;

• wherein a tendon having a first end and an opposite second end, is disposed adjacent to a selected side of the first joint member and the second joint member;
• wherein a tendon securing device is secured to the distal end of the second joint member to which the tendon is secured;
• and wherein at least one phalange ring is 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;
• and wherein an elastic member is coupled to both the phalange ring and the tendon securing device so as to apply a constant extension force to the tendon securing device;
• the method comprising the steps of:
• (a) flexing the joint by applying tension to the tendon, wherein the flexing the joint step comprises the step of activating an actuator that is in a fixed relationship with the tendon securing device and coupled to the tendon so as to selectively pull the tendon inwardly towards the actuator, wherein the actuator includes an electric motor having a rotor to which both the first end of the tendon and the second end of the tendon are affixed, wherein the tendon is routed through the phalange ring and the tendon securing device so that when the motor rotates in a first direction, a first portion of the tendon and a second portion of the tendon twist about each other so as to cause shortening of a third portion of the tendon disposed between the phalange ring and the tendon securing device and a fourth portion of the tendon disposed between the first phalange ring and the tendon securing device, the step of activating the actuator further comprising the step of twisting the first portion of the tendon and the second portion of the tendon about each other thereby retracting the tendon;
• and
• (b) extending the joint by releasing tension on the tendon by un-twisting the first portion of the tendon and the second portion of the tendon from each other thereby releasing the tendon.