Robotic hand with modular extensions
AssigneeSandia Corporation
InventorsCurt Michael Salisbury, Morgan Quigley
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Abstract
A robotic device is described herein. The robotic device includes a frame that comprises a plurality of receiving regions that are configured to receive a respective plurality of modular robotic extensions. The modular robotic extensions are removably attachable to the frame at the respective receiving regions by way of respective mechanical fuses. Each mechanical fuse is configured to trip when a respective modular robotic extension experiences a predefined load condition, such that the respective modular robotic extension detaches from the frame when the load condition is met.
Claims18
A robotic hand, comprising:
- a frame, comprising:
- a first receiving region, the first receiving region comprising first electrical contacts;
- and
- circuitry that is coupled to the first electrical contacts;
- and
- a modular robotic finger that is removably attachable to the frame at the first receiving region by way of a mechanical fuse, the modular robotic finger comprising:
- an actuator;
- and
- second electrical contacts, the first electrical contacts and the second electrical contacts forming an electrical connection between the circuitry in the frame and the actuator in the modular robotic finger when the modular robotic finger is attached to the frame at the first receiving region by way of the mechanical fuse, the circuitry transmitting a control signal to the actuator by way of the electrical connection, the actuator configured to cause at least a portion of the modular robotic finger to move responsive to receipt of the control signal, and wherein the mechanical fuse is configured to trip when a normal force between the frame and the modular robotic finger at the first receiving region exceeds a first threshold, causing the modular robotic finger to detach from the frame.
A robotic hand, comprising:
- a frame, the frame comprising:
- first connecting means for connecting a modular robotic finger with the frame;
- and
- control means for controlling movement of the modular robotic finger;
- the modular robotic finger, the modular robotic finger being removably attachable to the frame, the modular robotic finger comprising:
- second connecting means for connecting the modular robotic finger with the frame;
- first actuator means for controlling adduction and abduction of the modular robotic finger;
- second actuator means for controlling flexion and extension of a first robotic link of the modular robotic finger;
- and
- third actuator means for controlling flexion and extension of a second robotic link of the modular robotic finger, wherein the first connecting means and the second connecting means act collectively as a mechanical fuse that is triggered when a normal force above a threshold is applied to the modular robotic finger where connected to the frame, causing the modular robotic finger to detach from the frame, and wherein the first actuator means, the second actuator means, and the third actuator means are controlled by the control means.
Dependencies are inferred from the claim text.