Abstract: An object taking-out apparatus for taking out objects randomly stacked in a container according to a condition of how each object is placed, which includes a robot hand having telescopic means and a coupling member whose one ends are connected to a robot arm end, and holding means coupled to their other ends. The telescopic means expands and contracts to cause the holding means to assume either a first orientation where a small angle is formed or a second orientation where a large angle is formed between a holding direction axis of the holding means and a rotary axis of the robot arm end, thereby taking out objects without causing interaction between the robot and the container.

Abstract: The invention relates to a hand prosthesis (1) comprising a chassis (2) to which at least one finger prothesis (3, 4, 5) is articulated, said finger prothesis being swivelable about at least one swiveling axis (15) by means of a drive (6) that is connected to the finger prothesis (3, 4, 5) via a force transmission device (10). Said force transmission device (10) does not yeild to tesion and is pressure-elastic, especially flexible.

Abstract: The invention relates to a clutch module for prostheses, in particular for prosthetic grippers, arm prostheses or hand prostheses that comprise a chassis to which at least one finger prosthesis is articulated, the clutch module including a drive element, a driven element and a clutch device, which shifts between two gear stages depending on the torques applied to the driven element.

Abstract: A prosthetic arm apparatus comprising a plurality of segments that provide a user of the prosthetic arm apparatus with substantially the same movement capability and function as a human arm.

Abstract: The invention relates to a hand prosthesis comprising a chassis and coupling elements for fastening the hand prosthesis to the stump of an arm and comprising at least one joint for the flexion and extension of the hand prosthesis in relation to the coupling elements, the chassis being kept in a neutral position against a spring force.

Abstract: The invention relates to a hand prosthesis comprising a chassis, to which at least one finger prosthesis is articulated, said finger prosthesis being movable about at least one swiveling axis by means of a drive.

Abstract: The invention relates to a hand prosthesis comprising a chassis, to which a number of finger prostheses are articulated, said finger prostheses being movable relative to the chassis and toward one another about at least one swiveling axis by means of a drive.

Abstract: An anthropomorphic artificial hand having a mechanical system that allows for the digits to be compliant to pressure that tends to flex the digits, and provides for the digits to be self biasing to conform to the shape of the object being grasped. The hand comprises one to four fingers, with the fingers having up to three joints each. The hand may also comprise a thumb that can be rotated into and out of opposition of the fingers. The joints of the thumb are also self biasing to allow conformance to the object being grasped. The hand is of the voluntary closing operation, with all digits being self extending. This allows the hand to use two cables to operate if body powered (one for the fingers, one for the thumb). The hand may also be electronically powered using two channels for operating the fingers and thumb simultaneously.

Abstract: A prehensor is provided comprising embodiments of a variable mechanical advantage mechanism, the prehensor including a first mechanical advantage for sizing an object, and a second mechanical advantage for gripping the object. Embodiments of the variable mechanical advantage mechanism include a brake assembly and multiple embodiments of a brakeless assembly. Additionally, multiple embodiments of a selectable voluntary opening/voluntary closing mechanism are provided, whereby a single prehensor can be switched back and forth between a voluntary closing mode and a voluntary opening mode. Additional embodiments include a safety clutch, an improved prehensor tendon, replaceable digits, and self decontaminating digits.

Abstract: An artificial hand includes a finger group which is pivotally connected to a thumb. The finger group and thumb are resiliently biased toward one another. The finger group and thumb have hooked articulated distal ends. When the artificial hand and the object are brought together, the finger-group and the thumb part to allow the object to pass into a capture zone. The articulated distal ends bend inwardly to assist in the passage of the object. Once in the capture zone the finger group and thumb close about the object thereby holding it is place. The hooked distal ends also serve to retain the object within the capture zone. In another aspect of the invention the finger group includes two finger subgroups which are also resiliently biased together to hold objects.

Abstract: A grip device for an artificial or prosthetic arm, including at least two opposable digits and a drive linkage powered by a drive motor. When the drive motor is powered it enables the two opposable digits to grip. The drive linkage includes a drive and transmission attached to the drive motor. A backlock is connected to the drive and transmission. Surrounding the backlock is a backlock housing which contains the drive, selected transmission elements, and a backlock. A stop element is also included for holding the backlock housing fixed with respect to ground. The stop element can be released to allow the backlock housing to move freely and to avoid power transmission without disrupting the operating structure of the transmission.

Abstract: An externally-powered prosthesis mechanism usable with persons with amputations at or proximal to the level of the metacarpophalangeal joint, as well as persons with high-level amputations. The prosthesis mechanism includes a grasping mechanism including a mechanically operable finger member and a mechanically operable thumb member kinematically linked to the finger member such that the grasping mechanism is disposed in respective opened and closed configurations when the finger member is respectively moved away from and toward the thumb member. The prosthesis mechanism further includes a drive system extending tangentially with respect to the grasping mechanism and including a motor operatively connected to drive at least one planetary gear stage, which is operatively connected to drive the grasping mechanism to the opened configuration when the motor is driven in a first direction and further drive the grasping mechanism to the closed configuration when the motor is driven in a second opposite direction.

Abstract: A multi-fingered hand device has a reduced number of actuators as a drive source for bending and extending finger mechanisms and is capable of smoothly bending and extending the finger mechanisms to work on an object, e.g., to grip an object. Finger mechanisms 2a-2e are biased to an extended position by springs 16, 25. A wire 30 extending from finger mechanisms 2b, 2c and a wire 29 extending from the finger mechanisms 2d, 2e are trained respectively around pulleys 33, 32, and a wire 31 extending from the finger mechanism 2a is trained around a pulley 36 and drawn into an arm 5. The pulleys 32, 33, 36 are rotatably held by a pulley holder 43 which is angularly movable about a support shaft 42 and movable toward the arm 5. An actuator disposed in the arm 5 pulls the wire 31 or releases the wire 31 to bend or extend the finger mechanisms 2a-2e altogether.

Abstract: Disclosed is an articulated artificial finger assembly, which can be controlled by the remaining portion of an amputated finger. An adjacent finger is used to manipulate the device when no finger is present. When the stump or adjacent finger begins to bend at the first knuckle, the rest of the device will react to the movements and articulate in the natural manner of a human finger. There are two embodiments shown which, can accommodate a variety of cases. The first embodiment relates to an amputated finger with a portion of the finger remaining. The second is used when a total finger is absent. In either case, the first embodiment uses a ring that is placed over the remaining stub of the finger and the second embodiment a ring is placed over an adjacent finger. The ring, in either embodiment, actuates upper and or lower actuation drives, which are reciprocally and transversely attached to a pivoting block. The pivoting block is fastened to an adjustable middle phalangeal section.

Abstract: A movable finger for prostheses, having a base a first intermediate portion connected to the base, a second intermediate portion connected to the first intermediate portion, and a fingertip connected to the second intermediate portion. The prosthesis further includes a first intermediate portion bending mechanism for actuating an actuator disposed in the base to pull a first wire to turn an eccentric member, a second intermediate portion bending mechanism for pulling a second wire wound around a pulley disposed as a movable pulley in the first intermediate portion by the eccentric member, whereby the pulling and bending of the second intermediate portion is by a third wire connected to the pulley, and a fingertip bending mechanism for pulling and bending the fingertip by a fourth wire connected to the first intermediate portion, whereby the pulling and straightening is by a fifth wire.

Abstract: A hand assembly for a dummy is provided which comprises a housing, a finger assembly operatively mounted to the housing, and a biasing member configured to bias the finger assembly such that the finger assembly generates a grasping force. The biasing member being mounted to the housing, and a connecting member rotatably mounted to the housing where the connecting member is connected to a forearm of the dummy.

Abstract: A bandage which may be used for the forearm or as an upper arm triple traction bandage includes a bandage strap (3) that engages a ring (2) to form a loop. At least one elastic bandage strap (4) engages the ring (2) and encloses a cable (6) which at one end is secured to the ring (2) and has a fastening device at its other end (4a). The fastening device is formed by a strap connector (11, 12, 13) having a flat lower part (11) which is adapted to the strap width. The upper side is covered by a flat upper part (12) onto which a clamp slide (13) is pushed that engages under the lower part (11) and firmly presses the lower part and upper part together with the strap end (4a) lying between them. The strap connector (11, 12, 13) has a clamp-free cable passage (14, 15, 16) and a bracket (19) for securing the strap connector (11, 12, 13) to a prosthesis part.

Abstract: A multi-fingered hand device has a reduced number of actuators as a drive source for bending and extending finger mechanisms and is capable of smoothly bending and extending the finger mechanisms to work on an object, e.g., to grip an object. Finger mechanisms 2a-2e are biased to an extended position by springs 16, 25. A wire 30 extending from finger mechanisms 2b, 2c and a wire 29 extending from the finger mechanisms 2d, 2e are trained respectively around pulleys 33, 32, and a wire 31 extending from the finger mechanism 2a is trained around a pulley 36 and drawn into an arm 5. The pulleys 32, 33, 36 are rotatably held by a pulley holder 43 which is angularly movable about a support shaft 42 and movable toward the arm 5. An actuator disposed in the arm 5 pulls the wire 31 or releases the wire 31 to bend or extend the finger mechanisms 2a-2e altogether.

Abstract: An artificial hand is constructed to sufficiently rotate the fingers as a unit using a smaller small-sized motor by decreasing the magnitude of the radius of rotation of its rotating motion. The artificial hand has a support part for rotatably supporting the fingers; a conversion device for converting a rotating output of a driving device to a linear motion; and a finger opening-and-closing operation part for converting a linear motion of the conversion device to an opening-and-closing operation of the fingers. A holding part rotatably holds the support part above or at an upper part of the driving device; and another driving device is arranged in a terminal device held by a wrist part. A rotating output of another driving device is converted to a rotational motion of the support part; and a rotating mechanism rotates the fingers and driving device as a unit around the holding part.

Abstract: A method for controlling digit movement of a prosthesis based on residual forelimb volitional pressures is provided. A filter is provided for discriminating from the distributed pressures to provide reliable digit control. The extracted commands can be used to control actuators in a hand prosthesis to restore biomimetic finger control to the user. Feature extraction algorithms can be based on signal amplitudes (peak amplitude or root mean square). Training signal validation can be based on cepstral encoding. The filter is trained under user supervision.

Abstract: An object of the present invention is to provide an artificial hand which can sufficiently rotate the whole fingers using a smaller small-sized motor by decreasing the magnitude of the radius of rotation of its rotating motion.

Abstract: A device for use in training in the treatment of finger or toe nails, comprises an artificial digit (2) having a nail (4) removably mounted thereon. The nail may be attached by a screw (18), a ratchet arrangement, or by embedding it in a resilient layer on the surface of the digit.

Abstract: A grip device for an artificial or prosthetic arm, including at least two opposable digits and a drive linkage powered by a drive motor. When the drive motor is powered it enables the two opposable digits to grip. The drive linkage includes a drive and transmission attached to the drive motor. A backlock is connected to the drive and transmission. Surrounding the backlock is a backlock housing which contains the drive, selected transmission elements, and a backlock. A stop element is also included for holding the backlock housing fixed with respect to ground. The stop element can be released to allow the backlock housing to move freely and to avoid power transmission without disrupting the operating structure of the transmission.

Abstract: A grip device for an artificial or prosthetic arm, including at least two opposable digits and a drive linkage powered by a drive motor. When the drive motor is powered it enables the two opposable digits to grip. The drive linkage includes a drive and transmission attached to the drive motor. A backlock is connected to the drive and transmission. Surrounding the backlock is a backlock housing which contains the drive, selected transmission elements, and a backlock. A stop element is also included for holding the backlock housing fixed with respect to ground. The stop element can be released to allow the backlock housing to move freely and to avoid power transmission without disrupting the operating structure of the transmission.

Abstract: A motor-driven prosthetic prehensor includes an upright annular member and an annular retaining member having a friction wall that defines an accommodation space with a front wall of the annular member. A coupling sleeve member with a toothed rim is rotatably mounted on a transmission shaft disposed rotatably in the annular member, and has angularly spaced driving blocks extending into the accommodation space. A coupling member is mounted on and rotatable with the transmission shaft, and includes radially spaced driven spacer members that cooperate with the friction wall to define a plurality of chambers for receiving the driving blocks, and friction brakes that are slidable in the chambers between unobstructed position and braked positions. A coupling mechanism transmits rotation of the transmission shaft to drive a thumb member and a fingers assembly to move toward and away from each other so as to grasp or release an object.

Abstract: An iris fixated intraocular lens for implanting in the anterior chamber of an eye comprises an optic having an optical axis and anterior and posterior sides; and first and second fixation members, each of the fixation members having a proximal end region and a distal end region. The proximal end region of each fixation member is a single flexible strand fixed to an edge region of the optic to extend generally tangentially outwardly therefrom and the distal end region is formed into a loop having defined therein at least one narrow iris pincher gap for detachably attaching the intraocular lens to the anterior surface of the iris. The first and second fixation members are substantially identical to one another and are attached to the optic on opposite sides of the optical axis.

Abstract: A chemical (coating and reduction)/mechanical/electrical treatment of ion-exchange materials (preferably ion-exchange membranes) to convert them to artificial muscles. The figure is a perspective view of an actuator of the invention showing the treated membrane actuator (A) with electrodes (25 and 26) placed at one end of the membrane, the electrodes being further attached to a power source (35). Artificial muscles created by the inventive method are capable of undergoing electrically-controllable large deformations resembling the behavior of biological muscles. A typical flap muscle of 0.2-0.4 mm thickness, 2-5 mm width and 20 mm length manufactured by the inventive process can achieve a completely reversible maximum deflection of 12-15 mm under a maximum voltage of 2.0-2.5 volts.

Abstract: A posterior-chamber intraocular implant for correcting short-sightedness in a phakic eye. Comprises a substantially circular optical portion (30) consisting of a front dioptric surface (40) and a rear dioptric surface (42) and a haptic portion. The haptic portion includes two extensions (32, 34) joined to the edge of the optical portion, of which the ends are spaced apart by a distance greater than the diameter of a dilated pupil, and two portions (52, 54) for attachment, the front surface of each extension comprising a toroidal portion (44) joined to the front dioptric surface, the rear surface of each extension comprising a toroidal portion (46) forming portion engaging the lens circumference and connected to the rear dioptric surface and a connecting portion (48), the rear dioptric surface and the toroidal portions of the rear surfaces of said extensions defining a recess (50) for freely altering the curvature of the front lens surface.

Abstract: An intraocular lens with crossed haptics, suitable for implantation in either a phakic or an aphakic eye and a method for implanting and releasing the haptics after implantation in the eye. The lens comprises a very thin, deformable optic having two pairs of haptics attached to the optic by means of two stems 180.degree. apart on the circumference of the optic, each tapering to a tip having one haptic each connected to opposite edges of the stem. Each haptic has a footplate defined at the free end of the haptic. Each haptic sweeps about the periphery of the optic so that the angle subtended by a radial line extending from the center of the optic through the center of a footplate and a second radial line extending from the center of the optic through the center of the stem to which it attaches is about 135.degree.. The lens is symmetrical about an axis extending through the opposing stems, with each haptic crossing either over or under the haptic connected to the opposing stem on the same side of the axis.

Abstract: An artificial finger assembly including articulating finger segments constructed of stacked and aligned plates. The finger segments are coupled to adjacent finger segment at common pivot points along a top edge of the assembly. The finger segments are caused to pivot around the common pivot points by a lever arm comprised of a series of articulated lever arm plates. The lever arm plates are coupled to the finger segments along an axis offset to one side of the common pivot points and parallel to the finger segments.

Abstract: A motor drive system and linkage arrangement for a hand prosthesis, wherein the prosthesis has at least one finger member extending generally tangentially with respect to a worm gear wheel secured to the prosthesis and driven by a drive motor and a worm gear located longitudinally within the finger to engage the teeth of the tangential worm gear wheel. When the drive motor runs the worm gear, the finger moves around the worm gear wheel toward or away from another finger member and/or a natural finger to open and close the prosthesis hand's grip. In an alternate embodiment, the drive motor and worm gear arrangement contained in one finger is connected by a linkage to the root portion of at least one other motorless finger mounted for pivotal movement on the prosthetic hand.

Abstract: The present invention relates to a surgical manipulator for remotely grasping and manipulating things in response to movements of a human hand controlling the device. Movements of human fingers can be transmitted to mechanical finger-like devices through mechanical cables and linkages. In one embodiment the linkages include a mechanical movement reduction device to translate large hand movements to smaller distal movements. Various structures are provided at the proximal and distal ends for sensing and replicating the movements of a human hand.

Abstract: An apparatus is provided for performing surgical tasks during laparoscopic procedures which includes an elongated body, a mechanical hand operatively associated with a distal portion of the elongated body and including a plurality of articulated fingers, and an actuation assembly operatively associated with the proximal portion of the elongated body for controlling the operation of the mechanical hand.

Abstract: An orthotic device for a human forearm and hand is provided having first and second gripping members that are interposable between the thumb and fingers of a user's hand. An actuator moves one gripping member relative to the second gripping member in response to user input. The actuator of the orthotic device can include a gas piston driven by compressed gas. A valve controlling gas flow is actuated by an electric motor.

Abstract: The present invention relates to a surgical manipulator for remotely grasping and manipulating things in response to movements of a human hand controlling the device. Movements of human fingers can be transmitted to mechanical finger-like devices through mechanical cables and linkages. In one embodiment the linkages include a mechanical movement reduction device to translate large hand movements to smaller distal movements. Various structures are provided at the proximal and distal ends for sensing and replicating the movements of a human hand.

Abstract: Surgical apparatus including a support rod having proximal and distal ends; at least one articulated finger at the distal end of the support rod; a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user; a connecting member connecting the finger grip and the finger; a thumb being disposed at the distal end of the support rod opposite the finger, a spring biasing the finger toward a retracted position; and the finger being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the finger moves in a defined manner toward the thumb for grasping an object. In a modified embodiment, a plurality of fingers are provided for opening up an internal space in a body or to grasp a body part to facilitate other surgical procedures.

Abstract: A mechanical hand assembly for use in prosthetic and robotic applications includes multiple fingers pivotally attached to a palm subassembly. The fingers are operatively attached to a central actuating plate so that movement of the actuating plate in opposed directions causes the fingers to bend and straighten. An electric motor drives the actuating plate through a pivotable or tiltable linkage so that when one of the fingers engages an object to be manipulated, the plate tilts and continues to move any opposed fingers toward engagement. Each finger includes a base, a lever arm and multiple phalanges operatively interconnected by gears. Pivotal motion of the lever arm is transmitted to the phalanges through the interconnected phalanges and lever arm and rotation of the gears.

Abstract: A motor actuated screw device for the transmission of torque over articulating surfaces finding particular use in prosthetic devices used as mechanical artificial hands. The device employs a high torque motor mounted on a support platform which is attached to a cable or universal joint having at least one externally threaded cincture affixed to the cable. The placement of at least one articulating member hingedly mounted to the support platform with an internally threaded guide bushing affixed to the articulating member allows the cincture to be placed therethrough allowing the motion to rotate the cable/cincture causing the articulating member to rotate about the hinge connection to the support base. The use of multiple members attached to the articulating member together with hinges placed therebetween, allows the use of the instant device to move all of the members according to predetermined threaded engagement providing each member with nearly a direct torque transfer from the motor.

Abstract: A child's toy is a mechanical hand having at least articulated fingers, and perhaps an articulated thumb, associated with a palm section. A control compartment attached to and extending from the palm section includes fingertip controls which selectively move the articulated fingers. A clip-on special effects box, also operated by fingertip control, may be added to the mechanical hand in order to provide a weapon, sound effect, laser beam, or the like. In the embodiment described herein, the weapon is a set of four claws which may extend from or retract into the box.

Abstract: A hand prosthesis utilizing wrist movement and capable of securely grasping both large objects and small objects.

Abstract: A bi-directionally operable terminal device for an upper limb prosthesis is provided having a frame that includes a rigid finger portion which, to simulate the fingers of a natural hand, is partially curled in a manner generally corresponding in configuration and location to the normal relaxed finger condition of the natural hand; this rigid finger portion of said frame effectively constituting a first gripping jaw means. To said frame is attached a thumb-like unit that is adapted to swing towards and away from said rigid finger portion of the frame; this thumb-like unit including its immediately adjacent frame support structure effectively constituting a second jaw means. Operatively disposed between said thumb-like unit and said rigid finger portion of the frame, for bi-directional gripping movement, is the hooked forward end of a finger slide that is movably carried by said frame; this hooked forward end of said finger slide effectively constituting a third or central jaw means.

Abstract: Apparatus useful in surgery for holding retractors and other surgical instrumentation in a number of different positions required by a surgeon for the performance of a surgical procedure, including advanced sensing and regulation of retraction pressures and position; and incorporating a force amplification method to drive a locking mechanism in the supporting structure that utilizes a constrained, substantially incompressible, flexible solid material to yield a mechanism that is suitable for clinical use.

Abstract: This invention relates to an improved construction and arrangement for a hand prosthesis wherein cooperating finger-like and thumb-like units are adapted to be yieldably biased towards a closed condition and are capable of being opened simply by pressing the prosthesis against an external object for reception of an item to be held. In operation one or both of the finger and/or thumb-like units are adapted to conform to the general profile of the contacted surfaces of the item to be grasped. Further a normally inoperative supplemental gripping force generating means is provided which is capable, when actuated, of applying a large separate additional gripping force over and above that which is normally applied by the said yieldable biasing action. Also one of said units is adapted to be selectively positioned in at least two different fixed positions relative to the other unit in order to make possible the gripping of different ranges of sizes of items to be held.

Abstract: An improved double capstan drive allows mechanical amplification for increased power output from stepper motors, servo motors, and other control devices. Tensile members are attached to loads, wrapped around two continuously driven capstan drums, and attach to the stepper motors. The stepper motors, when energized, supply tailing forces to the tensile members which then engage frictionally on the capstan drums. Amplification of forces is achieved. Each wrap provides for slightly less than 2 times amplification of the tailing force with no upper limit to the number of wraps. Elastic bands attach to each wrap of the tensile members approximately midway between the two drums to provide for immediate and responsive release when stepper motors deenergize or reverse direction. Grooves or rings on the periphery of the drums provide tracks for wrapping the tensile member.

Abstract: An electro-mechanical grasping device that simulates the movements of a human hand suitable for use as an artificial hand prosthesis that is lightweight, agile and includes a firm grasp. A lightweight platform houses a plurality of very small high torque electrical motors, each having its own linear gear rack, all of which is connected by suitable wire-like actuating member to a plurality of jointed members each of which represents a particular digit of the hand. A stiff cable is connected between all the simulated digits and the gear racks, the cables being mounted through eyelets that act as harness guides for providing the proper strength and movement of each of the digits. Control of the artificial hand and the digits may be through the receipt of myogram signals from the human muscles in the appropriate situation while power is received from a small DC battery.

Abstract: A material handling system in the form of a grappling device or of a robotic or prosthetic limb is provided which can function for performing work. The system includes a plurality of magnets including at least one electromagnet. In preferred embodiments the magnets are hinged together at opposite ends and disposed inside a sheath. By reversing the polarity of selected electromagnets in the limb, the limb or an associated material handling device can be moved from an open position to a closed position for gripping an object. In turn, by again reversing the polarity of the electromagnets, the object can be released and the limb returned to an open position. The limb may be in the form of an anatomical hand, an arm or a foot, and the resilient casing may take the form and appearance of an artificial skin. The outer skin may be a glove with the inside of the glove having electrical conductors deposited thereon with contacts engaging opposite ends of the selected magnets.

Abstract: An articulated hand comprising a plurality of finger module structures each of which has one top end provided with an abutting member for contacting an object and the other end connected to a finger connecting member and has a plurality of articulates formed between the one and the other ends by combination of a plurality of link members and articulate turn-shafts; a plurality of motors provided at the other ends of the respective finger module structures integrally therewith; a power transmitting device for transmitting motor powers to the articulate turn-shaft and a hand structure connected to a manipulator. The finger modules are arranged in a manner so that the articulate shafts are driven independently of each other, and each of the link members is provided with sensors respectively for directly detecting a relative angle and relative torque between adjacent link members.

Abstract: A planetary friction transmission, especially for miniature application as in prosthetic joints and the like, has cylindrical periphery planet wheels pressed by a stationary ring against a conical portion of the drive shaft, the ring being axially shiftable relative to the shaft and on a support. The planet carrier is connected to the planet wheels by pins which extend into the holes of the planet wheels with play.

Abstract: An artificial hand has its finger gripper swingable about an axis which includes an angle of 30.degree. to 70.degree. with a plane normal to axis of a prosthesis connector and its fingers inclined at an acute angle to the finger carrier to provide a more natural orientation of the hand for picking up objects at pick-up surfaces located above a support surface for the object.

Abstract: An anthropomorphic robot arm includes a hand section, wrist section and arm section. The hand section comprises a base plate, a plurality of flexible fingers which have a plurality of joints and are rotatably supported by the base plate, and one thumb which has a plurality of joints and is supported by the base plate such that it is able to rotate in a direction so that it is opposable to the flexible fingers. A group of actuators contained within the arm section independently drive each joint of the fingers, giving them the same movements as a human arm.