Abstract: Various advanced wiring assemblies for a humanoid robot are disclosed. The wiring assembly includes a first actuator printed circuit board (PCB) positioned near a first side of a first actuator and including a first PCB terminal. A second side of the first actuator includes: an output, an actuator cover coupled to the output and having a wire bundle opening formed therein, and an actuator opening formed through an extent of the second side. The wiring assembly includes a wire bundle having: a first end connector coupled to the first PCB terminal, a second end connector coupled to the second PCB terminal, and a plurality of wires that extend between the first end connector and the second end connector, and wherein said plurality of wires extends through the actuator opening of the second side of the first actuator and the wire bundle opening formed in the actuator cover.

Abstract: Various advanced wiring assemblies for a humanoid robot are disclosed. The wiring assembly includes a first actuator printed circuit board (PCB) positioned near a first side of a first actuator and including a first PCB terminal. A second side of the first actuator includes: an output, an actuator cover coupled to the output and having a wire bundle opening formed therein, and an actuator opening formed through an extent of the second side. The wiring assembly includes a wire bundle having: a first end connector coupled to the first PCB terminal, a second end connector coupled to the second PCB terminal, and a plurality of wires that extend between the first end connector and the second end connector, and wherein said plurality of wires extends through the actuator opening of the second side of the first actuator and the wire bundle opening formed in the actuator cover.

Abstract: The present disclosure provides a thumb assembly for an end effector for a humanoid robot. The thumb assembly includes a digit assembly comprising a proximal assembly, a medial assembly, a distal assembly, a proximal interphalangeal joint pivotably coupling the proximal assembly to the medial assembly, and a distal interphalangeal joint pivotably coupling the distal assembly to the medial assembly. The thumb assembly also includes a motor assembly comprising a first motor and a second motor, and a gear assembly. The gear assembly includes a flexion gear configured to be driven by the first motor to cause the digit assembly to move about a second carpometacarpal joint axis, and an interposition gear configured to be driven by the second motor to cause the digit assembly to move about a first carpometacarpal joint axis.

Abstract: The present disclosure provides a thumb assembly for an end effector for a humanoid robot. The thumb assembly includes a digit assembly comprising a proximal assembly, a medial assembly, a distal assembly, a proximal interphalangeal joint pivotably coupling the proximal assembly to the medial assembly, and a distal interphalangeal joint pivotably coupling the distal assembly to the medial assembly. The thumb assembly also includes a motor assembly comprising a first motor and a second motor, and a gear assembly. The gear assembly includes a flexion gear configured to be driven by the first motor to cause the digit assembly to move about a second carpometacarpal joint axis, and an interposition gear configured to be driven by the second motor to cause the digit assembly to move about a first carpometacarpal joint axis.

Abstract: A mechanical end effector for a humanoid robot includes a plurality of identical finger assemblies. Each of the finger assemblies is removably connected to a frame. Each of the finger assemblies is fully self-contained and operable independently of every other one of the finger assemblies and independently of every other component connected to the frame. Each of the finger assemblies includes a single electric motor and is configured to be fully operable using only the single electric motor.

Abstract: Various advanced wiring assemblies for a humanoid robot are disclosed. The wiring assembly includes a first actuator printed circuit board (PCB) positioned near a first side of a first actuator and including a first PCB terminal. A second side of the first actuator includes: an output, an actuator cover coupled to the output and having a wire bundle opening formed therein, and an actuator opening formed through an extent of the second side. The wiring assembly includes a wire bundle having: a first end connector coupled to the first PCB terminal, a second end connector coupled to the second PCB terminal, and a plurality of wires that extend between the first end connector and the second end connector, and wherein said plurality of wires extends through the actuator opening of the second side of the first actuator and the wire bundle opening formed in the actuator cover.

Abstract: A mechanical end effector for a humanoid robot includes a plurality of identical finger assemblies. Each of the finger assemblies is removably connected to a frame. Each of the finger assemblies is fully self-contained and operable independently of every other one of the finger assemblies and independently of every other component connected to the frame. Each of the finger assemblies includes a single electric motor and is configured to be fully operable using only the single electric motor.

Abstract: A mechanical end effector for a humanoid robot includes a plurality of identical finger assemblies. Each of the finger assemblies is removably connected to a frame. Each of the finger assemblies is fully self-contained and operable independently of every other one of the finger assemblies and independently of every other component connected to the frame. Each of the finger assemblies includes a single electric motor and is configured to be fully operable using only the single electric motor.

Abstract: The present disclosure provides an underactuated end effector for a humanoid robot. The end effector includes a frame, a plurality of finger assemblies removably connected to the frame, and a thumb assembly removably connected to the frame. Each finger assembly includes a finger motor assembly. The thumb assembly includes a first thumb motor with a first thumb motor shaft configured to rotate about a first motor shaft axis, and a first motor gear connected to the first thumb motor shaft. The thumb assembly also includes a second thumb motor with a second thumb motor shaft configured to rotate about a second motor shaft axis, and a second motor gear connected to the second thumb motor shaft. The first motor shaft axis is substantially parallel to the second motor shaft axis, and the first motor gear axis is substantially parallel to the second motor gear axis.

Abstract: A drive system includes a linear actuator with a drive shaft and having an actuation axis extending along a length of the linear actuator. A motor assembly of the drive system couples to drive shaft and is configured to rotate the drive shaft about the actuation axis of the linear actuator. The drive system further includes a nut attached to the drive shaft and a carrier housing the nut. A linkage system of the drive system extends from a proximal end away from the motor assembly to a distal end. The proximal end of the linkage system rotatably attaches to the carrier at a first proximal attachment location where the first proximal attachment location offset is from the actuation axis. The drive system also includes an output link rotatably coupled to the distal end of the linkage system where the output link is offset from the actuation axis.

Abstract: A drive system includes a linear actuator with a drive shaft and having an actuation axis extending along a length of the linear actuator. A motor assembly of the drive system couples to drive shaft and is configured to rotate the drive shaft about the actuation axis of the linear actuator. The drive system further includes a nut attached to the drive shaft and a carrier housing the nut. A linkage system of the drive system extends from a proximal end away from the motor assembly to a distal end. The proximal end of the linkage system rotatably attaches to the carrier at a first proximal attachment location where the first proximal attachment location offset is from the actuation axis. The drive system also includes an output link rotatably coupled to the distal end of the linkage system where the output link is offset from the actuation axis.

Abstract: A drive system includes a linear actuator with a drive shaft and having an actuation axis extending along a length of the linear actuator. A motor assembly of the drive system couples to drive shaft and is configured to rotate the drive shaft about the actuation axis of the linear actuator. The drive system further includes a nut attached to the drive shaft and a carrier housing the nut. A linkage system of the drive system extends from a proximal end away from the motor assembly to a distal end. The proximal end of the linkage system rotatably attaches to the carrier at a first proximal attachment location where the first proximal attachment location offset is from the actuation axis. The drive system also includes an output link rotatably coupled to the distal end of the linkage system where the output link is offset from the actuation axis.

Abstract: A drive system includes a linear actuator with a drive shaft and having an actuation axis extending along a length of the linear actuator. A motor assembly of the drive system couples to drive shaft and is configured to rotate the drive shaft about the actuation axis of the linear actuator. The drive system further includes a nut attached to the drive shaft and a carrier housing the nut. A linkage system of the drive system extends from a proximal end away from the motor assembly to a distal end. The proximal end of the linkage system rotatably attaches to the carrier at a first proximal attachment location where the first proximal attachment location offset is from the actuation axis. The drive system also includes an output link rotatably coupled to the distal end of the linkage system where the output link is offset from the actuation axis.