Variable friction finger assembly
AssigneeOcado Innovation Limited
InventorsJan FRAS, Panagiotis SOTIROPOULOS, Hussein MNYUSIWALLA, Enrique DEL SOL ACERO, Pavlos TRIANTAFYLLOU
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Abstract
This disclosure relates to a finger assembly for a manipulating apparatus. The finger includes a rigid body having a surface configured to engage an object. The surface has a first coefficient of friction, apertures, and an inflatable element received within the rigid body, having a coefficient of friction which is greater than the first coefficient of friction. When the inflatable element is inflated, regions of the inflatable element form one or more protrusions by protruding through the one or more apertures.
Claims20
A finger assembly for a manipulating apparatus, the finger assembly comprising:
- a rigid body, wherein the rigid body has a first coefficient of friction and includes a surface configured to engage an object, the surface including one or more apertures;
- and
- an inflatable element received within the rigid body, the inflatable element having a coefficient of friction which is greater than the first coefficient of friction;
- wherein, when the inflatable element is inflated, regions of the inflatable element form one or more protrusions by protruding through the one or more apertures.
A method of manipulating an object, the method comprising:
- a) moving a first finger assembly relative to a second finger assembly to engage an object, each of the first and the second finger assemblies including:
- a rigid body, wherein the rigid body has a first coefficient of friction and includes a surface configured to engage an object, the surface including one or more apertures;
- and
- and inflatable element received within the rigid body, the inflatable element having a coefficient of friction which is greater than the first coefficient of friction;
- wherein, when the inflatable element is inflated, regions of the inflatable element form one or more protrusions by protruding through the one or more apertures;
- b) inflating the inflatable element of the first finger assembly and the inflatable element of the second finger assembly;
- c) engaging the object with the first and second finger assemblies;
- and
- d) manipulating the object.
Dependencies are inferred from the claim text.