Abstract: The present disclosure provides a humanoid robot comprising a torso, a head coupled to the torso, an arm assembly coupled to the torso, and an end effector coupled to the arm assembly at a distal end of the arm assembly. The end effector has a palmer side and a dorsal side and includes a thumb assembly having at least three degrees of freedom, a first finger assembly having at least two degrees of freedom, and a vision sensor coupled to a portion of the end effector. The vision sensor is configured to have a field of view that includes a majority of the palmer side of said end effector, and whereby said field of view enables the vision sensor to detect information about contact between an object and one or more of: (i) an extent of the thumb assembly, and (ii) an extent of the first finger assembly.

Abstract: The present disclosure provides a bipedal robot comprising a torso, head, arm assembly, and end effector. The end effector includes a thumb assembly with at least three degrees of freedom, a first finger assembly with at least two degrees of freedom, a vision sensor positioned between the arm assembly's distal end and first finger assembly, and an illumination source. The illumination source illuminates the field of view between the vision sensor and the thumb and first finger assembly extents when the robot is extended. The vision sensor's field of view includes most of the end effector's palmer side, enabling detection of contact information between objects and the thumb assembly and first finger assembly extents.

Abstract: The present disclosure provides a humanoid robot comprising a torso, a head coupled to the torso, an articulated arm coupled to torso, and an end effector coupled to the articulated arm and comprising a tactile sensor assembly. The tactile sensor assembly includes a bridge comprising a base section and three flexure arms, wherein each flexure arm includes a sloped section extending from the base section at a first non-zero angle and a load section extending from the sloped section at a second non-zero angle. A strain gauge is coupled to the sloped section of each flexure arm. The tactile sensor assembly includes an electronics assembly communicatively coupled to each strain gauge and configured to process data received from each strain gauge.

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: The disclosure presents a humanoid robot with an upper region (head, torso, arms with forearm assemblies, end effectors), lower region (legs), and connecting central region. Each end effector features index, middle, ring, little finger, and thumb assemblies attached to a housing of said end effector. The housing includes interior wall extents creating spaces for tendon routing, where the first distance between first and second wall extents is less than 45% of the second distance between third and fourth wall extents. Tendons controlling finger movements pass between these wall extents. The robot incorporates a wrist assembly connecting the housing of the end effector to the forearm, actuators housed in the forearm that control the tendons, and a carpal tunnel-like structure that guides tendons from forearm to base of the housing, enabling precise hand movements without requiring actuators in the hand itself.

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 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.