Mobile robotic manipulator system

A robotic finger module comprising:

• an actuator module;
• and
• an underactuated finger assembly mounted to the actuator module, the finger assembly comprising:
• a finger skeleton with multiple joints including a distal joint, an intermediate joint, and a proximal joint;
• and
• a brake subsystem, in communication with each of the joints, adapted to selectively lock and unlock the joints individually, wherein the brake subsystem includes a multilayer electrolaminate composite structure that is integrated into each joint, the multilayer electrolaminate composite structure stiffening the joint in response to an electrical signal.

A robotic manipulator system comprising:

• a palm assembly;
• one or more finger modules coupled to the palm assembly, each finger module comprising:
• an actuator module;
• and
• an underactuated finger assembly mounted to the actuator module, the finger assembly comprising:
• a finger skeleton with multiple joints including a distal joint, an intermediate joint, and a proximal joint;
• and
• a brake subsystem, in communication with each of the joints, adapted to selectively lock and unlock the joints individually, wherein the brake subsystem includes a multilayer electrolaminate composite structure that is integrated into each joint, the multilayer electrolaminate composite structure stiffening the joint in response to an electrical signal.

A method of moving a robotic hand with an underactuated finger having a plurality of joints, the method comprising:

• selectively locking the joints individually such that one or more of the joints are locked while one or more of the joints are unlocked;
• and
• driving a tendon coupled to the joints to flex the underactuated finger in a manner determined by which of the joints is locked and which of the joints is unlocked;
• and further comprising selectively locking and unlocking the joints individually in rapid succession such that the joints appear to move and be controlled simultaneously.