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US 12,629,849 B2Granted
Inverse tendon actuated fingers for active grasping
AssigneeToyota Research Institute, Inc.
InventorsAndrew M. Beaulieu, Alexander Alspach
Life of this patent
Estimating the term…
Abstract
A robotic system for grasping an object including a set of movable robotic fingers that may be in the form of a fin gripper or other moldable robotic finger similarly formed. The robotic fingers include a mechanism that is embedded in one or both of the fingers that allows the fingers to more firmly grasp an object. Further, an actuator may move the mechanism to further grip an object and perform an action on the object.
Claims19
A robotic gripping device comprising:
- a robotic arm;
- one or more opposable inverse tendon actuated fingers, comprising:
- an inner wall;
- an outer wall;
- a mechanism embedded in the outer wall;
- and
- a base;
- wherein:
- the one or more opposable fingers are configured to move toward each other to grasp an object;
- and
- a movement of the mechanism allows the one or more opposable fingers to engage with an object by pushing the outer wall of one of the one or more opposable fingers so that the one or more opposable fingers engage with the object and pulls an outer wall of one of the one or more opposable fingers to release the object.
8 more elements
An apparatus comprising:
- a robotic arm;
- one or more opposable inverse tendon actuated fingers connected to the robotic arm and configured to move toward each other to grasp an object, wherein each inverse tendon actuated finger comprises:
- an inner wall;
- an outer wall;
- a set of cross beams that connect the inner surface with the outer surface;
- and
- a mechanism embedded in the outer surface that when pushed engages with an object by pushing the outer wall of one of the one or more opposable fingers with a mechanism and that pulls the outer wall of one of the one or more opposable fingers to release the object.
4 more elements
A robotic gripping system comprising:
- a robotic arm;
- one or more opposable inverse tendon actuated fingers connected to the robotic arm and configured to move toward each other to grasp an object, wherein each inverse tendon actuated finger comprises:
- an inner wall;
- an outer wall;
- a set of cross beams that connect the inner surface with the outer surface;
- and
- a mechanism embedded in the outer surface that when pushed engages with an object by pushing the outer wall of one of the one or more opposable fingers with a mechanism and that pulls the outer wall of one of the one or more opposable fingers to release the object;
- and
- a control system configured to control the robotic gripping device, wherein the control system comprises:
- one or more processors;
- a non-transitory computer-readable memory;
- and
- program instructions stored on the non-transitory computer-readable memory and executable by the one or more processors to control the robotic gripping device.
10 more elements
Dependencies are inferred from the claim text.