Abstract: A tendon-driven robotic gripper is disclosed for performing fingertip and enveloping grasps. One embodiment comprises two fingers, each with two links, and is actuated using a single active tendon. During unobstructed closing, the distal links remain parallel, creating exact fingertip grasps. Conversely, if the proximal links are stopped by contact with an object, the distal links start flexing, creating a stable enveloping grasp. The route of the active tendon and the parameters of the springs providing passive extension forces are optimized in order to achieve this behavior. An additional passive tendon is disclosed that may be used as a constraint preventing the gripper from entering undesirable parts of the joint workspace. A method for optimizing the dimensions of the links in order to achieve enveloping grasps of a large range of objects is disclosed and applied to a set of common household objects.

Abstract: Grippers, such as robotic grippers, and associated methods and systems are disclosed herein. One disclosed gripper includes a first compliant gripper jaw, a first push-pull assembly having a first distal end fixed on the first compliant gripper jaw, a second compliant gripper jaw, a second push-pull assembly having a second distal end fixed on the second compliant gripper jaw, and an actuator connected to both the first push-pull assembly and the second push-pull assembly.

Abstract: A support assembly including a coupler, a first arm having a proximate end movably coupled to the coupler, a distal end opposite the proximate end, and a second arm having a proximate end movably coupled to the coupler, a distal end opposite the proximate end. The support assembly is movable between a disengaged position and an engaged position. When moving from the disengaged position to the engaged position, the distal end of the first arm and the distal end of the second arm move toward each other.

Abstract: A gripper tooling includes: a gripper having a gripper body and an angular jaw; a rotor fixedly connected to the angular jaw; and a tooling member for gripping a workpiece, the tooling member including: a base pivotally connected to the rotor; a middle segment pivotally connected to the base; a distal segment pivotally connected to the middle segment; an adducting tendon having a proximal end attached to the rotor and a distal end attached to the distal segment, the rotor for rotating relative to the base and thereby for tensioning the adducting tendon; and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment such that the tooling member can autonomously grip the workpiece as the angular jaw rotates toward the workpiece and the tooling member autonomously returns to an ungripped position as the angular jaw rotates away from workpiece.

Abstract: A teaching method includes imaging a teaching jig to acquire a captured image, detecting a position and a posture of the teaching jig based on the captured image, changing a position and a posture of a robot arm of a robot based on a result obtained by the detection to maintain a positional relation between the teaching jig and a control point of the robot arm, and acquiring the position and the posture of the robot arm as teaching information when a control device, which controls operation of the robot, acquires a teaching signal.

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. The segments are connectable to one another and connectable to a harness mount that may be adorned by the user. Each segment of the plurality of segments provides a portion of the movement capability, enabling the plurality of connected segments connected to the harness mount to provide substantially the same movement capability as that lacking in the user.

Abstract: Harvesting tools are disclosed which may comprise a gripper including a set of finger elements constructed and arranged to envelop a target object pertaining to agricultural produce, and a manipulator carriage configured to actuate the gripper during operation to grasp the target object. Related systems and methods are also disclosed.

Abstract: A gripper for gripping a workpiece includes: a base; at least one middle segment pivotally connected to the base; a distal segment pivotally connected to the at least one middle segment; at least one actuator disposed within the base; an adducting tendon having a proximal end attached to the at least one actuator and a distal end attached to the distal segment, the at least one actuator being configured for linearly and nonrotationally moving the proximal end of the adducting tendon; and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment, wherein the middle segment and the distal segment are configured for gripping the workpiece as the at least one actuator moves in a first direction and ungripping the workpiece as the at least one actuator moves in a second direction which is opposite to the first direction.

Abstract: A tendon-driven robotic gripper is disclosed for performing fingertip and enveloping grasps. One embodiment comprises two fingers, each with two links, and is actuated using a single active tendon. During unobstructed closing, the distal links remain parallel, creating exact fingertip grasps. Conversely, if the proximal links are stopped by contact with an object, the distal links start flexing, creating a stable enveloping grasp. The route of the active tendon and the parameters of the springs providing passive extension forces are optimized in order to achieve this behavior. An additional passive tendon is disclosed that may be used as a constraint preventing the gripper from entering undesirable parts of the joint workspace. A method for optimizing the dimensions of the links in order to achieve enveloping grasps of a large range of objects is disclosed and applied to a set of common household objects.

Abstract: An object of the present invention is to ascertain parts of an object that are approachable by finger portions of a hand mechanism. In an image information processing device, a housing container is retrieved from an image by using a first retrieval frame, and an object is retrieved from the image by using a second retrieval frame. A plurality of determination points are set in advance on the second retrieval frame, and a predetermined approach direction is set for each determination point. A determination is then made as to whether or not the finger portions of the hand mechanism can be caused to approach parts of one object, existing within the second retrieval frame, that correspond respectively to the determination points set on the second retrieval frame from the predetermined approach directions set in relation to the determination points.

Abstract: Systems and methods for grasp adjustment based on grasp properties include a computer-assisted device. The device includes a two-jawed end effector located at a distal end of the device, a drive unit for operating the two-jawed end effector, and an image processing unit. The image processing unit is configured to receive imaging data of the end effector and recognize the end effector and a material grasped by the end effector in the received imaging data. The device is configured to adjust a force magnitude limit or a torque magnitude limit of the drive unit based on the received imaging data. In some embodiments, the image processing unit is further configured to determine one or more of a position, an orientation, a size, or a shape of the material based on the received imaging data. In some embodiments, at least one jaw of the end effector includes fiducial indicia.

Abstract: In one embodiment, a robotic end effector configured to mount to a robotic manipulator includes gripping elements configured to grasp objects, a drive mechanism configured to open and close the gripping elements, a central controller configured to control operation of the drive mechanism and the gripper elements, the central controller hosting a control program that enables control of the end effector independent of the robotic manipulator, and at least one of a forward-facing ultrasonic distance sensor configured to measure a distance between the gripping elements and an object to be grasped, and a forward-facing camera mounted between the gripping elements configured to capture video data of an object to be grasped.

Abstract: Devices and methods for recovering an unmanned underwater vehicle. The device includes a gantry mounted on a recovery vehicle, a frame, and a shaft extending between the gantry and the frame and configured to vertically move the frame relative to the gantry. Attached to the frame are a plurality of rotatable arms movable between an opened position and a closed position. A first end of each arm is attached to the frame at a pivot. A flexible strap extends between each of the second ends of the arm and the frame. As the arms are moved to the closed position around the unmanned underwater vehicle, the straps will support the unmanned underwater vehicle.

Abstract: A robotic hand includes a palm, a thumb and four fingers that are connected to the palm; a first driving assembly to drive the thumb to rotate, a second driving assembly and a third driving assembly to respectively drive two of the four fingers to rotate; and a fourth driving assembly to drive the other two of the four fingers to rotate. The first driving assembly, the second driving assembly, the third driving assembly, and the fourth driving assembly are received within the palm.

Abstract: A surgical instrument is provided that includes an elongated shaft that includes a proximal end and a distal end; a cantilever beam is disposed at the distal end of the shaft; an optical fiber extends within a channel that extends within between proximal and distal portions of the cantilever beam; a first fiber Bragg grating (FBG) is formed in a segment of the optical fiber within the proximal portion of the beam; a second FBG is formed in a segment of the optical fiber within the distal portion of the beam.

Abstract: Intelligent robotic hand assembly systems.

Abstract: A robotic hand includes a baseplate, a finger having multiple phalanges that are rotatably coupled to one another, a first of the phalanges having a first end rotatably coupled to the baseplate and a second end and a second of the phalanges rotatably coupled to the second end about an axis of rotation, an actuating mechanism mounted on the baseplate, the actuating mechanism configured to actuate rotation of the plurality of phalanges, and a tendon having opposite ends that are respectively attached to the second of the phalanges and the baseplate. The second of the phalanges has an engagement portion arranged around the axis of rotation, and the tendon is wrapped around a portion of the engagement portion to generate a force acting on the second end of the first of the phalanges, causing the first of the phalanges to rotate from a flexed state to an extended state.

Abstract: An electrostatic slide clutch comprises first and second sheet electrodes, a dielectric layer, and a drive circuit. The dielectric layer is arranged between the first and second sheet electrodes. The drive circuit is coupled electrically to the first sheet electrode and to the second sheet electrode and configured to move a variable amount of charge bidirectionally between the first and second sheet electrodes, to influence a normal force between the first and second sheet electrodes.

Abstract: A control unit for a medical instrument is provided. The control unit includes a housing having a curved top surface capable of accommodating a hand of the user, the housing being attachable to the medical instrument. The control unit further includes a first interface engageable by a purlicue of the hand for controlling a first function of the medical instrument and a second interface engageable by one or more fingers of the hand for operating at least a second function of the medical instrument.

Abstract: Vacuum powered tool that is connectable to a vacuum source and arranged in an object engagement position to engage and hold an object as a result of a negative pressure in the tool as well as to resiliently return to an initial position when the negative pressure ceases. The tool comprises an object handling engagement part, wherein the tool, in a first end, has a fitting to be fixedly received in a vacuum connection implement for fixation of the tool, and in a second end of the tool, wherein the second end is formed for air-proof contact and provided with an at least partly flexible and collapsible spherical hollow inner geometry onto which at least partly spherical and collapsible hollow inner geometry having a collapsible part.

Abstract: Systems and methods for an actuation system including a plurality of single actuation units for modular control of a tendon-driven robotic mechanism are disclosed.

Abstract: The present invention relates to an electronic artificial hand including a power section, a tendon section, and a restoring line section for joint movement of a finger group which is capable of preventing unnecessary driving of the power section using tension of the tendon section caused by the joint movement of the finger group and implementing a gripping force similar to a gripping force of a person through a physical configuration using the tension of a spring section and the tendon section and which is easily implemented due to a simplified configuration and has low manufacturing costs.

Abstract: A finger of a robotic hand includes a palm portion, a fixed phalanx fixed to the palm portion, a first movable phalanx rotatably connected to the fixed phalanx, a second movable phalanx rotatably connected to the first movable phalanx, a first pulling member to pull the first movable phalanx so as to rotate the first movable phalanx with respect to the fixed phalanx, a second pulling member to pull the second movable phalanx so as to rotate the second movable phalanx with respect to the first movable phalanx, and an actuator to pull the first pulling member.

Abstract: A bistable gripper for an aerial vehicle may include a base, a first finger, a second finger, a switching pad, a first elastic connector, and a second elastic connector. The base may include a first beam and a second beam. The first finger may be pivotably attached to the first beam at a first joint, and the second finger may be pivotably attached to the second beam at a second joint. The switching pad may be configured for moving relative to the base. The first elastic connector may be attached to the switching pad and the first finger, and the second elastic connector may be attached to the switching pad and the second finger. The bistable gripper may be configured for switching between a closed stable state and an open stable state.

Abstract: A manipulator comprises a connecting assembly; a plurality of finger assemblies, one end of each finger assembly connects to the connecting assembly, the other end is away from the connecting assembly to form a free end; each finger assembly includes a plurality of knuckle components which are successively connected, each knuckle component includes a base module, a tactile sensor and an angle sensor, the base modules are interconnected for implementing finger configuration, the tactile sensor is installed on the base module for sensing a target object, the angle sensor is installed on the base module for acquiring information of angle changing. The manipulator is provided with the tactile sensor and the angle sensor on the base module of each knuckle component, which is beneficial to improve the sensing ability of the manipulator. The manipulator is composed of modular knuckle components, each of the single knuckle components has high level of integration.

Abstract: Example systems and methods are described that are capable of gripping objects. In one implementation, a system includes a first finger that includes a plurality of teeth and a second finger that is mechanically coupled to the first finger and includes a plurality of teeth. The first finger and the second finger are configured to move apart when the first finger and the second finger are moved in a first direction against an object. The first finger and second finger are further configured to grip the object when the first finger and the second finger are moved in a second direction that is substantially opposite to the first direction.

Abstract: A palm-type mechanical gripper with variable-position and rotatable fingers and a crank-rocker-slider parallel mechanism adopts crank-rocker-slider mechanisms and three identical flexible plate spring fingers, wherein one finger is fixed, and the other two fingers can rotate and move to achieve translational motions and are respectively and symmetrically installed on connecting rods or rockers on left and right sides. The crank-rocker-slider mechanism on the left side is an active driving structure and is driven by two stepping motors to respectively generate angular displacement of cranks and linear movement of sliders. The crank-rocker-slider mechanism on the right side is a driven mechanism and is driven at a constant speed by a pair of gears. The eccentricities of the cranks, the positions and angles of the two fingers respectively on the two connecting rods or rockers and the position of the other fixed finger can be changed through manual adjustment.

Abstract: A driving assembly of a robotic hand includes an actuator, a fixed member, an elastic member having an end connected to the actuator, two phalanxes rotatably connected to each other through a first revolute joint, one of which is rotatably connected to the fixed member through a second revolute joint, torsion springs mounted to the first revolute joint and the second revolute joint, a first pulling member having two opposite ends that are respectively fixed to the fixed member and the first revolute joint, a second pulling member having two opposite ends that are respectively fixed to the first revolute joint and the second revolute joint, and a third pulling member having two opposite ends that are respectively fixed to the actuator and the second one of the at least two phalanxes.

Abstract: A finger mechanism includes a base portion and a plurality of finger portions supported by the base portion, wherein each of the finger portions includes a first bone member, a second bone member rotatably coupled to one end portion of the first bone member, and a pair of third bone members each being rotatably coupled to another end portion of the first bone member and the base portion, and forming a parallel link mechanism between the first bone member and the base portion.

Abstract: A parallel kinematic mechanism apparatus includes a frame, a handle and an input joint that connects having at least two independent and functionally parallel paths for transmission of motion coupling the handle to the frame. A first path includes a first intermediate body connected to the frame by a first connector and to the handle by a third connector while the second path that is independent from the first path includes a second intermediate body that is connected to the frame by a second connector and to the handle by a fourth connector. The first connector and the fourth connector both allow rotation in a first rotational direction and restrict rotation in a second rotational direction and the second and third connectors allow rotation in the second rotational direction and restrict rotation in the first rotational direction.

Abstract: The invention concerns a device forming a robotic finger comprising a base (100) forming a palm, at least one knuckle (500, 700, 900) articulated on the base (100) about two separate joints (200, 400) non-parallel to each other, at least two actuators (110, 120, 130, 140) and cable-linking means (112, 122) respectively linking the two actuators (110, 120) to drive elements of said two joints (200, 400), characterized in that the device comprises guide means (150, 151, 152) designed to guide the cables involved in the control of each joint (400, 600, 800) located after the first joint (200) on the base (100), in a common plane passing through the axis (202) of said first joint (200).

Abstract: A finger mechanism includes a first bone member and a second bone member, a first rotation core that rotatably couples the first bone member and the second bone member at end portions in a direction of a length thereof, an extensor tendon that is disposed on a side where the second bone member extends with respect to the first bone member and extends in the direction of the length of the first bone member and the second bone member, a first extensor tendon guide that is provided on both of the first bone member and the second bone member and guides the extensor tendon so that the extensor tendon is in contact with a part of a surface of the first rotation core, an extensor that is connected to the extensor tendon and extends and flexes the extensor tendon, a flex tendon that is disposed on a side where the first bone member flexes with respect to the second bone member and extends in the direction of the length of the first bone member and the second bone member, a first flex tendon guide that is provided on

Abstract: A tendon and rigid element assembly that includes a tendon subassembly, including a tendon having a longitudinal end having a mating portion. Also, a rigid element has a mating portion. Further, a first one of the mating portions includes a set of projections and a second one of the mating portions defines a set of indentations that are sized and shaped to accept and retain the projections and wherein the set of projections are secured in the set of indentations, thereby securing the tendon to the rigid element.

Abstract: An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes a wrist assembly, and a jaw assembly. The jaw assembly includes a cam pulley rotatably supported on at least one support plate of the jaw assembly, wherein the cam pulley is operatively connected to a proximal end of each of the jaws of the jaw assembly such that rotation of the cam pulley results in one of an opening and closing of the jaw assembly.

Abstract: This disclosure relates to the field of prosthetics, more specifically to a pinless anthropomorphic hinge or joint, and a digit comprising one or more phalanges connected by and articulating around pinless joints, whereby the joints provide compliant movement in more than one plane. This disclosure also relates to modular prosthetic systems comprising multiple digits, in particular for partial-hand replacements.

Abstract: A tendon actuator unit comprises a housing; a pulley disposed within the housing, the pulley comprising a screw-like groove about a predetermined portion of an outer surface of the pulley configured to accept a predetermined length of a cable; a motor disposed in or proximate to the housing and operatively in communication with the pulley; one or more online cable sensors; one or more sensor rollers; and one or more conduit force sensors.

Abstract: Technologies are generally described for grasp point selection for robotic grippers through machine vision and ultrasound beam based deformation. The grasp point selection may aim to increase a probability that the grasp points on an object behave in a substantially similar way when a robotic gripper executes a corresponding grasp on the object. According to some examples, an outline of an object may be extracted from a three-dimensional (3D) image of the object and a set of points may be selected as candidate grasp points from the outline based on the candidate grasp points' potential to achieve force closure. One or more ultrasound transducers may be used to exert a local force on the candidate grasp points through an ultrasound beam and resulting local deformations may be recorded. Final grasp points may be selected based on having similar response to the force applied by the ultrasound transducers.

Abstract: A tool includes a grasping mechanism, an extendable pole operably connected to the grasping mechanism at a free end thereof, and a handle mechanism for manipulating the grasping mechanism. The handle mechanism is operably connected to the extendable pole.

Abstract: A hand intended for a humanoid robot comprises a palm and several fingers that are motorized relative to the palm. According to the invention, the hand comprises an actuator common to several fingers and a spreader making it possible to distribute a force exerted by the actuator toward the fingers.

Abstract: A rotating, pivoting mount for mounting a panel is disclosed. The mount can include a mounting block, a driveshaft, and a base. A socket in the mounting block can be mounted on a ball of the base to pivotally couple the panel to a structure. The ball can also include a cam profile, while the mounting block can include a complementary cam follower. As the mounting block rotates, therefore, the cam follower can follow a path set forth by the cam profile to tilt the mounting block about one axis as the mounting block rotates about a second axis. In this manner, the panel can be rotated and tilted—or moved about two axes—using a single motor. The use of a single motor can, in turn, reduce the cost and complexity of the system, while maintaining high efficiency for the panel (e.g., a solar panel) mounted thereon.

Abstract: A hand intended for a humanoid robot comprising a palm and several fingers, each of the fingers being able to be displaced in relation to the palm between a position of rest maintained by spring effect and a compressed position obtained by driving a link part with the palm countering the spring effect, comprises a motorized shaft, linked to the link part of each of the fingers, and configured to respectively displace at least one first finger and at least one second finger, from the position of rest to the compressed position, by rotation of the motorized shaft respectively in a first direction of rotation and in an opposite direction.

Abstract: A robot according to an embodiment includes a first link, a second link, an actuator, and an external gear. The second link is rotatably connected to the first link. The actuator rotationally drives the second link. The external gear is connected to the actuator. The second link includes an internal gear engaged with the external gear.

Abstract: An object lifting, pulling and digging apparatus has a pair of jaws that can be opened to enable positioning the jaws around a post, tree, and/or bush then closed around the post, tree, and/or bush. The jaws can then be raised to pull the post, tree, and/or bush from the ground. The jaws of the apparatus can also be closed and angled downwardly to drive the distal ends of the jaws into the ground, where the jaws can then be moved upwardly to dig the post, tree, and/or bush from the ground. The apparatus can easily be attached to a vehicle equipped with a universal quick attach hitch and having auxiliary hydraulics, for example, a “skid steer” type farm or construction vehicle.

Abstract: A gripper is described as including two lateral flanks that are directly or indirectly connected to each other at one end, providing a space between them including an actuator, the lateral boundaries of which space have at least one opening accessible from the outside. At least one louver runs across the opening and divides the opening such that the partial surfaces resulting from the louver limit or prevent accessibility to the opening. A method for manufacturing the gripper is also described.

Abstract: A lifting device to retrieve a marine vehicle comprises a lifting arms portion pivotally connected with a vehicle capture portion. The lifting arms portion and the vehicle capture portion rotate independently of each other. The vehicle capture portion comprises a capture connector having a probe for insertion into a latch opening in the vehicle to thereby attach the vehicle to the lifting device. The lifting arras portion further comprises two lifting arms and two vehicle pads for engaging the vehicle when it is captured. As the vehicle rolls during recovery operations, springs disposed between the vehicle capture portion and lifting arms portion dampen rotational motion. Lift line connections are provided on distal ends of the vehicle capture portion, and the lifting arms.

Abstract: Finger parts flex and extend about joint sections. A wire is arranged along each finger part through the joint sections. A motor winds the wires to pull the wires in the flexing direction and cause the finger parts to flex. A polymer actuator arranged to correspond to a part of each wire is formed in an elongated shape of a polymer material and elastically deforms in response to an application of voltage and performs extension and contraction in the axial direction by being restored to the original shape in response to stoppage of the voltage application. A lock mechanism restricts relative movement between the wire and the motor after the wire has been wound up by the motor. The polymer actuator performs extension and contraction while relative movement is restricted by the lock mechanism, thereby pulling the wire in the flexing direction.

Abstract: A robotic gripping device allows for pinch and power grasps using interconnected phalanges with configurable connections. A distal phalange is rotatably connected to a proximal phalange. A contact phalange is rotatably connected to the proximal phalange. The contact phalange is rotatably connected to the distal phalange via a contact-distal pivot or rotation connection. In response to sufficient contact between the contact phalange and an object, the contact phalange is configured to rotate in a first direction toward the proximal phalange. The rotation of the contact phalange causes rotation of the distal phalange in a second direction toward the object. The contact-distal connection may be a configurable gear connection for adjusting the movement ratio of the contact and distal phalanges.

Abstract: A tendon-driven robotic gripper is disclosed for performing fingertip and enveloping grasps. One embodiment comprises two fingers, each with two links, and is actuated using a single active tendon. During unobstructed closing, the distal links remain parallel, creating exact fingertip grasps. Conversely, if the proximal links are stopped by contact with an object, the distal links start flexing, creating a stable enveloping grasp. The route of the active tendon and the parameters of the springs providing passive extension forces are optimized in order to achieve this behavior. An additional passive tendon is disclosed that may be used as a constraint preventing the gripper from entering undesirable parts of the joint workspace. A method for optimizing the dimensions of the links in order to achieve enveloping grasps of a large range of objects is disclosed and applied to a set of common household objects.

Abstract: A prosthesis or an orthosis and a method of controlling movable components of the same. The prosthesis or orthosis comprises a plurality of movable components, each component being movable by a respective motor and a control device operative to determine when movement of at least a first component is arrested when the at least first component bears against a surface, and to move one or more further components with respective one or more further motors so that each subsequent component is moved upon determination that the movement of the preceding component is arrested when the preceding component bears against a surface.

Abstract: A multilayer electrolaminate structure includes a first electrolaminate layer and a second electrolaminate layer disposed adjacent the first electrolaminate layer. Each of the first and second electrolaminate layers is rotatable about a common axis independently of the other electrolaminate layer when the multilayer electrolaminate structure is in a first state and clamps to the other electrolaminate layer when the multilayer electrolaminate structure is in a second state.