US 2026/0200105 A1 · ROBOT MANIPULATOR WITH ACTIVE SURFACES

Abstract

A robotic manipulator is provided that exhibits improved grip strength and dexterity. The manipulator includes multiple fingers, each of which includes a grip surface formed by a belt running along a. compliant member. Actuation of the fingers about axes of rotation that are not parallel to the grip surfaces can result in exertion of forces from the compliant member into an object, resulting in deformation of the compliant member, This deformation can improve the contact area and grip strength with which the object is held. The belt can be driven along the grip surface, allowing the object to also be rotated around an axis that is not parallel to the direction along the grip surface while still being held securely. Each finger may also include a compliant joint to allow the fingers to rotate passively when an object is held, orienting the grip surfaces toward the object to improve grip strength.

Claims22

Dependent claims

A robotic manipulator comprising:

a base member;
and
three fingers, wherein a given finger of the three fingers comprises:
a compliant member having a grip surface;
a first actuator that is configured to control an angle of the compliant member relative to the base member about a first axis;
a belt disposed on the grip surface;
and
a second actuator that is configured to move the belt relative to the compliant member along the grip surface.

5 more elements

A non-transitory computer-readable storage medium configured to store instructions that, in response to being executed, causes a computing system to perform controller operations comprising:

operating a robotic manipulator to grip an object, wherein the robotic manipulator comprises:
a base member;
and
three fingers, wherein a given finger of the three fingers comprises:
(i) a compliant member having a grip surface;
(ii) a first actuator that is configured to control an angle of the compliant member relative to the base member about a first axis;
(iii) a belt disposed on the grip surface;
and (iv) a second actuator that is configured to move the belt relative to the compliant member along the grip surface;
and wherein operating the robotic manipulator to grip the object comprises:
operating the first actuator to grip an object with the robotic manipulator such that the belt comes into contact with an object and exerts a force thereon, wherein exerting the force on the object results in the compliant member being deformed and the belt being maintained in contact with the grip surface of the deformed compliant member.

7 more elements

Dependencies are inferred from the claim text.

Robot manipulator with active surfaces

Life of this patent

Robot manipulator with active surfaces

Life of this patent

Abstract

Claims22