Spherical dexterous hand for object grasping and within-hand manipulation
AssigneeThe Board of Trustees of the Leland Stanford Junior University
InventorsShenli Yuan, J. Kenneth Salisbury, Jr.
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Abstract
Structural designs and operational methods for object grasping and within-hand manipulation of an object is provided using rolling structures. The use of rolling structures reduces the need of finger gaiting, which is the periodic relocation of fingers on the object while maintaining a grasp, during manipulation. Embodiments of the invention provide a more efficient method of in-hand manipulation and grasping. In one example, two degrees of freedom rollers allow the object being manipulated in any direction in 3D space while remaining contact with the object.
Claims10
A robotic hand, comprising:
- a plurality of fingers each with a distal end and a proximal end,
- wherein at the distal end,
- of each of the plurality of fingers a rolling structure is connected, wherein the rolling structure is capable of rotating about a first axis with respect to the distal end of the respective finger,
- wherein the rolling structure is further capable of rotating about a second axis with respect to the distal end of the respective finger,
- wherein the first axis and the second axis are coupled axes and substantially orthogonal to each other,
- wherein the first axis and the second axis are each actuated independently from each other with an actuator, and
- wherein the plurality of fingers are spaced and orientated with respect to each other such that the rolling structures are capable of manipulating an object.
A method of grasping and manipulating an object, comprising:
- (a) having a robotic hand with a plurality of fingers each with a distal end and a proximal end,
- wherein at the distal end
- of each of the plurality of fingers a rolling structure is connected, wherein the rolling structure is capable of rotating about a first axis with respect to the distal end of the respective finger,
- wherein the rolling structure is further capable of rotating about a second axis with respect to the distal end of the respective finger,
- wherein the first axis and the second axis are coupled axes and substantially orthogonal from each other,
- wherein the first axis and the second axis are each actuated independently from each other with an actuator;
- (b) manipulating the object by independently controlling the one or more of the first axis, second axis and the third axis associated with the one or more of the plurality of fingers.
Dependencies are inferred from the claim text.