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US 8,747,486 B2Granted
Humanoid electric hand
AssigneesGifu University, Dainichi Co., Ltd.
InventorsHaruhisa Kawasaki, Tetuya Mouri, Tatuya Hara, Hisayuki Shimomura
Life of this patent
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Abstract
A humanoid electric hand includes a metacarpophalangeal joint and an interphalangeal joint. The interphalangeal joint bends or extends together with a bending or extending operation of the metacarpophalangeal joint, by linking a finger motor for driving a finger to a worm deceleration mechanism, an output gear of which moves rotationally to bend or extend the metacarpophalangeal joint, and by linking the metacarpophalangeal joint to the interphalangeal joint via a link mechanism.
Claims6
A humanoid electric hand comprising:
- a metacarpophalangeal joint configured to perform a bending or extending operation;
- an interphalangeal joint of a finger configured to bend or extend in response to the bending or extending operation;
- a link mechanism including a driving link formed by two parts, the link mechanism linking the interphalangeal joint with the metacarpophalangeal joint and configured to bend or extend the interphalangeal joint in response to a bending or extending operation of the metacarpophalangeal joint;
- a finger motor linked to the metacarpophalangeal joint for performing a bending or extending operation and configured to drive a worm deceleration mechanism including an output gear configured to rotate and bend or extend the metacarpophalangeal joint;
- and
- elastic members linking the two parts of the driving link and comprising a first elastic member and a second elastic member, the first elastic member having a first modulus of elasticity and configured to compress in response to a force acting on the driving link in a direction of bending a joint angle of the interphalangeal joint, the second elastic member having a second modulus of elasticity higher than the first modulus of elasticity and configured to compress in response to a force acting on the driving link in a direction of-extending the joint angle of the interphalangeal joint.
3 more elements
Dependencies are inferred from the claim text.