Finger Actuator Embodied In Simulated Hand Patents (Class 623/64)
  • Patent number: 11980553
    Abstract: A prosthetic device. The prosthetic device may include a flexure cut and/or a sensor to detect movement in accordance with a degree of movement. In an embodiment, the sensor may be disposed within the flexure cut. Other embodiments include at least one wire configured to connect a sensor located in a distal portion to a proximal portion, while annularly traversing a joint.
    Type: Grant
    Filed: June 4, 2021
    Date of Patent: May 14, 2024
    Assignee: DEKA Products Limited Partnership
    Inventors: N. Christopher Perry, Keith D. Violette, Grant A. Peret, David D. B. Cannan, Christopher C. Langenfeld, Jacob P. Laplante, Thomas A. Doyon
  • Patent number: 11951609
    Abstract: A prosthetic or robot part (500) is described, including at least one phalange member (532) pivotally coupled to a base (509) at a pivot axis; and a drive assembly to selectively move the phalange member about the pivot axis along a flexion/extension plane between an open position and a closed position. The drive assembly includes a drive element (512) coupled to an actuator (506) and a driven element (514) coupled to the phalange member; wherein the driven element (514) is decouplable from the drive element (512) when the phalange member is caused to move in a first rotational direction about the pivot axis by an external force.
    Type: Grant
    Filed: September 13, 2019
    Date of Patent: April 9, 2024
    Assignee: COVVI LIMITED
    Inventors: Edward William Varley, Martin Wallace, Simon David Taylor, Zayd Hamid Ally
  • Patent number: 11850732
    Abstract: Underactuated robotic manipulators may include a plurality of links rotatably or rigidly coupled to one another at a plurality of joints. The links may include driven links that are driven to grasp an object to be held, driving links that are actuated by an actuator to drive movement of the driven links, and a plurality of connecting links that couple the driving links to the driven links. Such manipulators may include a plurality of driven links and associated touch points, and a plurality of independent degrees of freedom, and be driven by a single actuator, making them underactuated.
    Type: Grant
    Filed: November 12, 2019
    Date of Patent: December 26, 2023
    Inventors: David Gabriel Hallock, Thomas John Hummel, Bryan Whittington, Nicholas Keyes
  • Patent number: 11833065
    Abstract: An artificial wrist including a static body adapted to be bound to a support; a movable body adapted to be bound to an end effector; and a junction block defining an axis of rotation between the static body and the movable body and including a cable suitable to be moved by mutual rotation of the bodies and around the axis of rotation, and elastic member placing the cable under tensile stress and working in opposition to the movement of the cable to define a rest position in which the cable and the elastic member exerts a zero resulting torque on the bodies and, and an activation position in which they exert a non-zero resulting torque on the bodies and, bringing the bodies and back to the rest position.
    Type: Grant
    Filed: March 18, 2019
    Date of Patent: December 5, 2023
    Inventors: Simone Traverso, Andrea Lince, Matteo Laffranchi, Lorenzo De Michieli
  • Patent number: 11826903
    Abstract: A robot hand module includes a thumb module, a plurality of finger modules, and a palm part to which the thumb module and the finger modules are coupled. The thumb module and the finger modules each include a phalangeal part movably coupled to the palm part, a cable part having a first side connected to the phalangeal part, and a driving part connected to a second side of the cable part and configured to operate the phalangeal part by extending the cable part to the outside or retracting the cable part, wherein each of the driving parts includes an inlet region from which the cable part is extended to the outside, and wherein an acute angle is defined between a first direction in which the inlet region is directed toward the outside and a second direction in which the driving parts are disposed.
    Type: Grant
    Filed: March 3, 2022
    Date of Patent: November 28, 2023
    Assignees: Hyundai Motor Company, Kia Corporation
    Inventors: Beom Su Kim, Hyun Seop Lim, Sang In Park, Ki Hyeon Bae, Kyu Jung Kim, Dong Hyun Lee, Joo Won Lee, Hyo Joong Kim, Dong Jin Hyun, Ju Young Yoon
  • Patent number: 11794337
    Abstract: A gripping device has at least one tendon associated with a gripping arm and guided in a freely slidable manner along a first and second arm portion thereof through a succession of guiding elements. The guiding elements associated with a first proximal arm portion of the arms are carried by an inner yielding panel so that when the inner yielding panel on the inner side of the first proximal arm portion engages against an item or component to be gripped, the guiding elements of the tendon carried by the inner yielding panel cause a tensioning of the tendon, which results in an articulation and/or inflection movement of a second distal arm portion with respect to the first proximal arm portion.
    Type: Grant
    Filed: February 26, 2021
    Date of Patent: October 24, 2023
    Inventors: Alessandro Zanella, Michal Jilich, Giorgio Pietronave, Matteo Zoppi
  • Patent number: 11786381
    Abstract: Features for a powered prosthetic thumb are described. The thumb provides for rotation of a digit that mimics the natural movement possible with a sound thumb. The thumb may attach to a full or partial prosthetic hand or socket on a residual limb. The thumb may include an upper assembly, including a prosthetic thumb digit, rotatably attached to a mount about a pinch axis and a lateral axis. The digit may rotate about only the pinch axis, only the lateral axis, or both the pinch and lateral axes simultaneously. A first actuator may actuate to cause rotation of the digit about the pinch axis. A second actuator may actuate to cause rotation of the digit about the lateral axis. The first and second actuators may be actuated together at appropriate speeds to cause rotation about both the pinch and lateral axes simultaneously. A swaying chassis may be rotatably connected with the upper assembly and a lower assembly about various offset axes to provide for rotation about the lateral axis.
    Type: Grant
    Filed: March 11, 2021
    Date of Patent: October 17, 2023
    Assignee: Touch Bionics Limited
    Inventors: Hugh Gill, Robertus Meijer
  • Patent number: 11771571
    Abstract: Prosthetic devices, such as prosthetic hands (including, e.g., bionic prosthetic hands controlled by myoelectric signals and/or equipped with force sensors for feedback) can utilize a modular design to simplify assembly and repair. In some embodiments, low-cost additive manufacturing techniques are employed, e.g., to create prosthetic device parts with complex interior geometries and/or functionally integrated components.
    Type: Grant
    Filed: June 28, 2022
    Date of Patent: October 3, 2023
    Assignee: ALT-BIONICS, INC.
    Inventors: Ryan Leo Saavedra, Jackson Cole Heinz, Samuel Everett Woolfolk
  • Patent number: 11745361
    Abstract: A joint structure of a manipulator includes: swiveling members that are coupled so as to be able to swivel via a rolling contact; shafts that constitute bending joints between the swiveling members and that are parallel to each other; pulleys that are rotatably supported about the shafts; and a connector attached to the shafts so as to be able to swivel about longitudinal axes of the shafts. The connector includes supports that are disposed on axial ends of the shafts so as to sandwich the pulleys therebetween in a direction of the longitudinal axis, and a beam that extends in between the supports to couple the supports to each other.
    Type: Grant
    Filed: December 10, 2019
    Date of Patent: September 5, 2023
    Inventors: Kayuri Kimura, Shuya Jogasaki, Hiroyuki Takayama, Noriaki Yamanaka
  • Patent number: 11738893
    Abstract: A method for picking polybagged articles includes targeting the polybagged article, placing a multistage gripper adjacent the polybagged article, tenting, pressing on, or suspending the polybagged article from the tenting tool, and gathering the polybagged article with a perimeter gripper.
    Type: Grant
    Filed: April 30, 2020
    Date of Patent: August 29, 2023
    Assignee: SOFT ROBOTICS, INC.
    Inventors: Jeffrey Curhan, Brendan Cavanaugh, William Gunner
  • Patent number: 11717461
    Abstract: A palm-supported finger rehabilitation training device comprises a mounting base, a finger rehabilitation training mechanism mounted on the mounting base, and a driving mechanism for driving the finger rehabilitation training mechanism; wherein the finger rehabilitation training mechanism comprises four independent and structurally identical combined transmission devices for finger training corresponding to a forefinger, a middle finger, a ring finger and a little finger of a human hand, respectively, and the mounting base is provided with a supporting surface capable of supporting a human palm; wherein each combined transmission device for finger training comprises an MP movable chute, a PIP fingerstall, a DIP fingerstall and a connecting rod transmission mechanism; a force sensor is provided to acquire force feedback information to determine and control force stability, and a space sensor is provided to acquire space angle information to control space positions of fingers in real time.
    Type: Grant
    Filed: March 21, 2019
    Date of Patent: August 8, 2023
    Inventors: Aiguo Song, Jianwei Lai, Huijun Li, Hong Zeng, Baoguo Xu
  • Patent number: 11712360
    Abstract: A powered orthotic device includes a brace, a finger engagement member, a thumb engagement member, and a hand actuator. The powered orthotic device includes a locking mechanism affixed to the brace, and a finger carrier assembly with a finger carrier to engage the fingers of the wearer, as well as an affixment member configured to be removably attached to the locking mechanism. The wearer dons the orthotic device, without assistance from another, by placing the set of fingers into the finger carrier and using a free hand of the wearer to affix the affixment member to the locking mechanism.
    Type: Grant
    Filed: December 13, 2018
    Date of Patent: August 1, 2023
    Assignee: Myomo, Inc.
    Inventors: Jeffrey Peisner, Alida Pelli, Samuel Kesner, Andrew Harlan, Christopher Long
  • Patent number: 11707852
    Abstract: A robot in accordance with at least some embodiments of the present technology is configured for bimanual manipulation of objects. The robot includes a body and two arms individually defining an arm length and including an end effector, an end effector joint proximally adjacent to the end effector along a kinematic chain corresponding to the arm, and a gripper proximal to the end effector along the arm length. The end effector joint is configured to rotate the end effector relative to the gripper. The robot is configured to move at least a portion of a bottom surface of an object away from a support surface by applying force to the object via frictional interfaces between convex gripping surfaces of the grippers and side surfaces of the object. This creates a gap into which paddles of the end effectors can be inserted to support the object from below.
    Type: Grant
    Filed: November 14, 2022
    Date of Patent: July 25, 2023
    Assignee: Agility Robotics, Inc.
    Inventors: Jonathan Hurst, Kevin Sweeney, Dylan Thrush
  • Patent number: 11691296
    Abstract: An extendable mechanical grabber is presented for grabbing objects at a distance. The grabber has two extension portions that slide relative to one another through a mechanical engagement. A trigger on the first extension portion is mounted in a handle. The trigger pulls a cable that passes to an activator on a grabber head mounted on the second extension portion. The cable passes from the trigger, through a pulley connected to the activator, through a second pulley mounted at on the second extension portion, and back to a terminal attachment on an end of the first extension portion opposite the handle.
    Type: Grant
    Filed: June 13, 2022
    Date of Patent: July 4, 2023
    Assignee: Aerocraft Products LLC
    Inventor: Philip Rosso
  • Patent number: 11685057
    Abstract: A robot hand module includes a thumb module and a finger module each coupled to a palm part, wherein the thumb module or the finger module includes a phalangeal part movably coupled to the palm part and a cable part and a driving part each connected to the phalangeal part, wherein the driving part includes a driving part body extending in one direction and including a rotary shaft configured to rotate by receiving power, a drum member coupled to one side of the driving part body, connected to the rotary shaft, and having an outer periphery surrounded by the cable part, and a tensioner member spaced apart from the drum member in a direction in which the cable part extends outward, wherein the tensioner member is movable in the direction in which the cable part extends to adjust tension of the cable part.
    Type: Grant
    Filed: March 18, 2022
    Date of Patent: June 27, 2023
    Assignees: Hyundai Motor Company, Kia Corporation
    Inventors: Beom Su Kim, Hyun Seop Lim, Sang In Park, Ki Hyeon Bae, Kyu Jung Kim, Dong Hyun Lee, Joo Won Lee, Hyo Joong Kim, Dong Jin Hyun, Ju Young Yoon
  • Patent number: 11597099
    Abstract: Anthropomorphic hand comprising: a palm; a metacarpus; a thumb; four aligned fingers constrained to said palm, each comprising a proximal phalanx, a middle phalanx and a distal phalanx; a motor; a plurality of differential stages which transmit motion from said motor to said aligned fingers and to said thumb: a first stage whose planet carrier is moved by said motor and whose sun gears move planet carriers of a second and a fifth stage, sun gears of the second and fifth stages being integral to the planet carriers of a third and a fourth stage, whose sun gears move four gears having axes coincident with the axes of rotation between the aligned fingers and the palm; sun gears of the fifth stage being configured to rotate said metacarpus and a gear having axis coincident with the axis of rotation between the proximal phalanx of the thumb and the metacarpus.
    Type: Grant
    Filed: November 29, 2017
    Date of Patent: March 7, 2023
    Assignee: BionIT Labs S.r.l.
    Inventor: Giovanni Antonio Zappatore
  • Patent number: 11478367
    Abstract: Systems and methods for postural control of a multi-function prosthesis are provided. Various embodiments provide for a postural controller that use EMG signals to drive a point in a posture space and outputs continuously varying joint angles for a powered prosthetic hand. The postural controller can include an EMG signal processing unit to receive signals from electrodes for processing (e.g., band pass filtering, rectification, root mean square averaging, dynamic tuning, etc.). The processed EMG signals can then be combined or converted to produce a point in the postural control domain. The PC domain map defines the posture that corresponds to each PC cursor coordinate. This map can have limitless possible postures and limitless possible positions of the postures. The Joint Angle Transform converts the PC cursor coordinate into the joint angle array which is sent to the prosthetic hand thereby creating more natural movements.
    Type: Grant
    Filed: April 27, 2020
    Date of Patent: October 25, 2022
    Assignee: The Regents of the University of Colorado, a body corporate
    Inventors: Jacob Segil, Richard Weir
  • Patent number: 11419738
    Abstract: The disclosure provides apparatus and methods of use pertaining to a bidirectional biomechanical prosthetic finger assembly. In one embodiment, the assembly includes an eccentric metacarpophalangeal (MCP) pivot configured for swivelable attachment to a hand of a user, a distal coupler, and an articulation assembly rotatively coupled therebetween. A ring configured to receive a user's residual finger is disposed upon the articulation assembly, and may be adjusted to a target location based on a length of the residual finger. The articulation assembly is configured to utilize vertical movements of the residual finger within the ring to articulate the distal coupler within a plane parallel to an x-z plane, and the MCP pivot is configured to utilize lateral movements of the residual finger within the ring to articulate the distal coupler within a plane parallel to an x-y plane. Other embodiments are also disclosed.
    Type: Grant
    Filed: February 13, 2020
    Date of Patent: August 23, 2022
    Assignee: RCM Enterprise LLC
    Inventors: Robert Thompson, Jr., Jon Bengtsson, Anthony Charles Peto, Sydney Tye Minnis, Eric Dennis Klumper, Bradley Arthur Crittenden
  • Patent number: 11376746
    Abstract: A hand intended to equip a humanoid robot, the hand includes a palm and at least one finger extending along a first axis, the hand being capable of picking up an object, the finger comprising a first phalanx linked to the palm by a first motorized pivot link and a second phalanx consecutive to the first phalanx linked to the first phalanx by a second pivot link. The finger comprises a first mechanism linking the palm to the second phalanx configured such that the rotation of the first phalanx about the second axis causes the second phalanx to rotate about the third axis, and a second mechanism linking the palm to each of the phalanges configured to actuate the finger in such a way that the finger wraps around the object to be picked up, and the second mechanism is configured to deform the first mechanism.
    Type: Grant
    Filed: July 4, 2017
    Date of Patent: July 5, 2022
    Inventors: Giulio Cerruti, Damien Chablat, Vincent Clerc, David Gouaillier
  • Patent number: 11351042
    Abstract: The invention relates to an automated hand, such as a prosthetic hand. In one form, the automated hand may be fluid compatible. In one form, the automated hand may comprise features to reduce the risk of harm to motors and/or other sensitive components of the hand when subject to an impact. In one form, the hand may comprise a wrist joint configured to allow the hand to curl and flex and/or to rotate. In one form, one or more digits of the hand may be individually controlled. In one form the hand may include a thumb rotation locking mechanism. In one form the hand may be provided with removable grip plates. In one form, the hand may be configured for use as a training hand.
    Type: Grant
    Filed: October 13, 2017
    Date of Patent: June 7, 2022
    Assignee: 5th Element Limited
    Inventors: Mathew James Jury, David Neil Lovegrove, Ross Hughan Dawson, Oliver Charles Graham Jackson-Hill, Darryl John Best, Jonathan David Lowy
  • Patent number: 11311393
    Abstract: A universal digit is formed to be attachable to the residual digit of a patient, and to have a lockable joint, so as to provide considerable utility and flexibility. The structure of the joint member allows the universal digit to be easily adjusted and manipulated so that the extension portion can be locked into multiple positions by easily manipulating adjustment buttons. The extension is rotatable about a first longitudinal axis, and is further rotatable about a transverse axis which is perpendicular to the longitudinal axis. The joint structure thus has three dimensions of movement and provides a significant number of diverse options for positioning of the extension. Unique locking mechanisms within the various structures allow the universal digit to be rigidly held in the desired position, thereby increasing the utility for a patient/user.
    Type: Grant
    Filed: August 6, 2018
    Date of Patent: April 26, 2022
    Assignee: DBM, LLC
    Inventors: Brandon Sampson, Marty Frana
  • Patent number: 11312022
    Abstract: A gripper tooling including a gripper, at least one slider, and at least one tooling member configured for gripping a workpiece. Each tooling member including a base slideably mounted to the at least one slider, at least one middle segment pivotally connected to the base, a distal segment pivotally connected to the at least one middle segment, an adducting tendon having a proximal end attached to the at least one slider and a distal end attached to the distal segment, and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment. The at least one tooling member is configured for autonomously gripping the workpiece as the at least one jaw moves toward the workpiece and the at least one tooling member autonomously returns to an ungripped position as the at least one jaw moves away from the workpiece.
    Type: Grant
    Filed: June 4, 2019
    Date of Patent: April 26, 2022
    Assignee: PHD, Inc.
    Inventor: Matthew R. Williams
  • Patent number: 11285617
    Abstract: A gripper including 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, and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment. The at least one 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.
    Type: Grant
    Filed: November 11, 2020
    Date of Patent: March 29, 2022
    Assignee: PHD, Inc.
    Inventor: Matthew R. Williams
  • Patent number: 11278432
    Abstract: Underactuated prosthetic hand including base body; first and second prosthetic fingers each hinged to the base body; first control cable; actuator to move the first control cable; and for each pair of fingers second control cable having control ends associated with the first and second fingers; and transmission block to allow first control cable to control second control cable; transmission block includes guide integral with base body and defining sliding axis; movable element sliding along guide; first pulley for sliding first control cable hinged to movable element and second pulley for sliding second control cable hinged to the movable element so actuator, when moving first cable, determines moveable element translational movement to displace second control cable and the fingers; and elastic means opposing moveable element translational movement so the moveable element translational movement opposes elastic means allowing them to facilitate return to moveable element initial position.
    Type: Grant
    Filed: May 6, 2019
    Date of Patent: March 22, 2022
    Inventors: Simone Traverso, Andrea Lince, Matteo Laffranchi, Lorenzo De Michieli, Nicolò Boccardo
  • Patent number: 11246722
    Abstract: Technology is described for easy and safe attachment of a prosthetic limb to a percutaneous post that has been osseointegrated into the remnant limb of an individual with limb loss. A quick-disconnect device for a prosthetic limb can comprise a percutaneous post support assembly comprising a post locking assembly attached to a percutaneous post. A roller support can be coupled to the percutaneous post support assembly and can support torsional breakaway rollers. A release housing assembly can be coupled to the percutaneous post support assembly, and can comprise a limb support housing supporting a limb attachment structure to support a prosthetic limb. The release housing assembly comprises a torsional breakaway spring. The plurality of torsional breakaway rollers are each biased to the torsional breakaway spring to generate a spring force to restrict or limit rotation of the percutaneous post support assembly. Other breakaway springs and rollers are provided for bending release and axial release.
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: February 15, 2022
    Assignee: Motion Control, Inc.
    Inventors: Jeffery David Christenson, Edwin Kay Iversen, Kent Nelson Bachus, Heath Byron Henninger, Alex Drew
  • Patent number: 11185427
    Abstract: A system and method for a compliant four-bar linkage mechanism for a robotic finger that includes: a monolithic bone structure comprised of a compliant joint region and an input link segment and a coupler link segment, wherein the input link segment and the coupler link segment are connected through the compliant joint; an output link; a ground structure; wherein the monolithic bone structure, output link, and ground structure are connected through a set of joints in a configuration of a compliant four-bar linkage mechanism which comprises: the output link on a first end and the coupler link segment connected through an output joint, the output link on a second end connected to a ground joint on the ground structure, and the monolithic bone structure connected to an input joint connected to the ground structure; and an actuation input coupled to the input joint.
    Type: Grant
    Filed: April 29, 2019
    Date of Patent: November 30, 2021
    Assignee: Psyonic, Inc.
    Inventors: Aadeel Akhtar, Timothy Bretl, Kyung Yun Choi
  • Patent number: 11167409
    Abstract: An action robot may include a main body, at least one joint, and at least one limb configured to be rotatably connected to the main body via the joint. The joint may be configured to provide elastic force in a direction in which the limb is unfolded or pulled away from the main body and a wire connected to the limb to pull the limb in a direction in which the limb is folded or pulled toward the main body. The wire may be connected to an elevation rod provided inside the main body. A drive assembly may be provided outside the main body and be configured to lift the elevation rod. A rod spring may be provided and configured to provide a downward elastic force to the elevation rod. A wire support provided within the main body may be configured to support the wire.
    Type: Grant
    Filed: January 29, 2020
    Date of Patent: November 9, 2021
    Inventors: Wonhee Lee, Sanghun Kim, Seungmin Baek
  • Patent number: 11141292
    Abstract: A voluntary closing and locking prosthetic terminal device (1) having complex internal mechanisms configured into interchangeable cartridges (10) that provide end users with the capability of servicing the prosthetic on their own.
    Type: Grant
    Filed: April 17, 2020
    Date of Patent: October 12, 2021
    Inventor: Darryl D Dubre
  • Patent number: 11097430
    Abstract: A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether. Multiple finger members may be placed in close geometric proximity for gripping a common object.
    Type: Grant
    Filed: October 31, 2018
    Date of Patent: August 24, 2021
    Assignee: Worcester Polytechnic Institute
    Inventors: Cagdas D. Onal, Onder Ondemir, Weijia Tao
  • Patent number: 11027424
    Abstract: A robot hand according to the present invention controls finger units by a central processing unit (CPU) based on two or more types of gripping mode tables for different purposes when a gripping object is gripped by the finger units.
    Type: Grant
    Filed: June 25, 2018
    Date of Patent: June 8, 2021
    Assignee: Canon Kabushiki Kaisha
    Inventor: Manabu Umeyama
  • Patent number: 11013620
    Abstract: Prostheses include a terminal device, a back-lock mechanism, a wrist, a limb-socket, and a harness system. The terminal device can be a five-fingered mechanical hand that provides a releasable adaptive grasp, and has independently flexible fingers. The limb socket can be 3D printed using a molded model of a remnant limb. The harness strap can encircle an unaffected limb and is coupled to the terminal device with a cable so that a user can control the terminal device. The harness system can include a 3D printed harness ring that couples to the cable.
    Type: Grant
    Filed: June 27, 2016
    Date of Patent: May 25, 2021
    Assignee: Victoria Hand Project
    Inventors: Nikolai Dechev, Joshua Coutts, Pranay Shrestha, Dirk Brussow, Michael Peirone, Kalonica Christie, Matt Treble, Andrea Chan, Michael Richards, Richard Knowlton
  • Patent number: 11007071
    Abstract: An artificial limb. The artificial includes a finger part and a drive unit for the finger part. The drive unit includes: a drive output part, a movable part and a drive rope. The movable part is configured to be connected with the drive output part and is capable of moving under a drive of the drive output part. The drive rope is configured to be disposed in the finger part and connected with the movable part and is capable of converting a movement of the movable part into a motion of the finger part.
    Type: Grant
    Filed: May 1, 2019
    Date of Patent: May 18, 2021
    Inventors: Shaofei Guo, Zhonghua Li, Jian Sang, Shipeng Wang
  • Patent number: 10940073
    Abstract: The invention provides a wearable hand rehabilitation apparatus equipped on the back of users' hand. The wearable hand rehabilitation device could help the users to do their hand or finger rehabilitation. The wearable hand rehabilitation apparatus includes a thumb mechanism, three finger mechanisms and a pinky finger mechanism. These mechanisms could make the user's fingers bent or straightened. And the wearable hand rehabilitation apparatus could reduce the physical damage of the users during the period of doing rehabilitation with the present invention.
    Type: Grant
    Filed: December 28, 2017
    Date of Patent: March 9, 2021
    Inventors: Jian-Jia Huang, Shu-Wei Pu, Sung-Yu Tsai
  • Patent number: 10905570
    Abstract: Various embodiments of the present invention generally relate to prosthetic partial finger designs that can mimic the last two joints of the finger. Some embodiments include a proximal phalange, a distal phalange coupled to the proximal phalange, and a knuckle track (e.g., formed in an arc). The knuckle track can be moveably coupled to the proximal phalange an may include multiple teeth formed on which the proximal phalange slides along. A ratcheting mechanism can contact the multiple teeth to allow sliding in only a first direction while the ratcheting mechanism is engaged. Some embodiments include a release mechanism (e.g., a button) configured to disengage the ratcheting mechanism from the multiple teeth to allow the distal phalange to slide in a second direction. In some embodiments, the device may include a spring-back capability that automatically extends the finger after reaching full finger flexion, enabling one-handed use.
    Type: Grant
    Filed: November 19, 2019
    Date of Patent: February 2, 2021
    Assignees: The Regents of the University of Colorado, a body corporate, Point Designs LLC
    Inventors: Jacob Segil, Stephen Huddle, Levin Sliker, Richard Weir
  • Patent number: 10869773
    Abstract: A prosthetic finger includes a main body and a terminal gripper at an end of the main body for enabling fine-motor grasping skills. The terminal gripper has at least two tongs movable relative to one another. The prosthetic finger includes a gripping mode and a flexion mode. In the gripping mode, the tongs of the terminal gripper are able to move relative to one another while the main body is not able to flex, and in the flexion mode, the main body is able to flex while the at two tongs is not able to move relative to one another.
    Type: Grant
    Filed: October 10, 2018
    Date of Patent: December 22, 2020
    Assignee: College Park Industries, Inc.
    Inventors: Carlos Humberto Martinez-Luna, Michael Alfred Delph, II, Taylor Raven Duckworth, Todd Richard Farrell, Thane Robert Hunt, Craig Malone Kelly, Kevin Edward Keough, Carlton Winslow King, Benjamin Douglas Pulver, Todd William Roberts, Benjamin Edward McDonald
  • Patent number: 10836484
    Abstract: An unmanned aerial robotic vehicle (UARV) that can fly to an object such as a palm tree, hover in place adjacent to the object, mount itself securely and releasably to a mounting location on the object using a mounting mechanism, and which uses an incorporated utility system for performing one or more utilitarian functions, such as use of a cutting tool to trim palm tree branches and foliage.
    Type: Grant
    Filed: April 3, 2017
    Date of Patent: November 17, 2020
    Inventor: Lucio Volpi
  • Patent number: 10384352
    Abstract: A finger of a robotic hand includes a phalanx portion including at least two phalanxes rotatably coupled to each other, a rotating member that is rotatable with respect to the phalanx portion, a rope having two opposite ends respectively connected to one phalanx and the rotating member, a rotating cam driven by a driving device and having a lateral surface that stays in contact with the rotating member, the rotating cam being configured to push the rotating member to rotate the rotating member in a first direction, and an elastic member connected to the rotating member and configured to apply a force to the rotating member to rotate the rotating member in a second direction.
    Type: Grant
    Filed: December 27, 2018
    Date of Patent: August 20, 2019
    Assignee: UBTECH Robotics Corp
    Inventors: Youjun Xiong, Kunlei Zhao, Wenhua Yu, Qi Zhao, Jiawen Hu, Yangyu Pi, Jianxin Pang
  • Patent number: 10322511
    Abstract: A robotic finger with a stiffening member is provided that includes a front facing member for gripping and a back end member that supports the front facing member. The front facing member is conformable about a target object and includes the stiffening member that alleviates bendset by returning the front facing member to an initial state when the front facing member is no longer conformed about the target object.
    Type: Grant
    Filed: December 6, 2017
    Date of Patent: June 18, 2019
    Assignee: X Development LLC
    Inventor: Marc Strauss
  • Patent number: 10029364
    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.
    Type: Grant
    Filed: April 1, 2015
    Date of Patent: July 24, 2018
    Inventors: Veronica J. Santos, Randall Hellman
  • Patent number: 10029375
    Abstract: A method of assembling a portion of a robot, including, providing a robot arm having an exterior surface and providing a tendon retaining element, having a first half having a first major surface, defining open channels and a second half having a second major surface. Then, placing a tendon in each of the open channels of the first half and placing the second major surface on the first major surface, thereby creating a set of closed channels each having a tendon passing therethrough and creating a finished tendon retaining element. Finally, attaching the finished tendon retaining element about the exterior surface of the robot arm, so that the tendons extend along the length of the robot arm.
    Type: Grant
    Filed: December 15, 2017
    Date of Patent: July 24, 2018
    Inventor: Timothy R. Beevers
  • Patent number: 9913737
    Abstract: The invention relates to a mechanical finger comprising, a knuckle, a proximal element, a rod, a motor, a motor driven screw and a distal element. The knuckle has a first and second pivot. The proximal element knuckle end is coupled to the first pivot. The proximal element also has a third pivot at a variable longitudinal distance from the first pivot. The rod has a near end pivotally coupled to the second pivot and a far end pivotally coupled to the third pivot. A motor is coupled to and referenced to the proximal element. A screw is driven to change the distance between the third pivot and the first pivot in response to a command from a controller to the motor. A distal element is pivotally coupled to the proximal element. The distal element rotates with respect to the proximal element in response to a change in the variable distance between the third pivot and the first pivot.
    Type: Grant
    Filed: March 13, 2014
    Date of Patent: March 13, 2018
    Inventor: Mark Hunter
  • Patent number: 9861500
    Abstract: The invention relates to a prosthetic grip unit (1) having a base body (2) on which connection means (3) are disposed for fastening said grip unit to an upper extremity, at least two extensions (10, 20) protruding from said connection means, a first extension (10) being movable relative to the second extension (20) from a protruding position into a flush position, wherein the pivot axis (14) has a perpendicular orientation to the base body (2) and the first extension (10) is motor driven.
    Type: Grant
    Filed: July 10, 2008
    Date of Patent: January 9, 2018
    Inventor: Gregor Puchhammer
  • Patent number: 9844886
    Abstract: A robot tendon system having a robot arm having an exterior surface, and further rigid elements, each of which is moveably attached to the robot arm or to another of the further rigid elements. Further, a tendon retaining element defines a set of closed channels, and has a major exterior surface that is attached to the major surface of the robot arm. Finally, tendons extend through the closed channels and are attached to the rigid elements.
    Type: Grant
    Filed: June 9, 2015
    Date of Patent: December 19, 2017
    Inventor: Timothy R. Beevers
  • Patent number: 9533419
    Abstract: A robotic finger is provided. The robotic finger includes a first member that has a plurality of rigid sections that are rotatably connected end-to-end through respective first joints. The robotic finger also includes a second member that has a plurality of flexible sections that are connected end-to-end at respective second joints. The robotic finger also includes a plurality of linkages connecting the first member and the second member so as to align the plurality of flexible sections with the plurality of rigid sections side-by-side, and a respective linkage connects a respective first joint of the first member to a respective second joint of the second member. The robotic finger further includes a fingertip section that connects a distal end the first member to a distal end of the second member.
    Type: Grant
    Filed: November 2, 2015
    Date of Patent: January 3, 2017
    Assignee: Google Inc.
    Inventors: Marc Strauss, Michael Patrick Murphy
  • Patent number: 9211200
    Abstract: A mechanical finger comprises a plurality of phalanges coupled to a single actuator using a kinematic linkage and a differential linkage arranged in parallel. The mechanical finger is capable of exhibiting consistent predictable motion when moving in free space or when contacting an object at the fingertip, and of curling in order to conform to an object when the contact is at other locations on the finger.
    Type: Grant
    Filed: June 24, 2013
    Date of Patent: December 15, 2015
    Assignee: HDT Expeditionary Systems, Inc.
    Inventors: Thomas Moyer, Eric L. Faulring, Julio J. Santos-Munne
  • Patent number: 9174339
    Abstract: A method for operating a grasping device and grasping devices therefrom are provided. The grasping device is configured to use a plurality of parallel, bi-directional state flow maps each defining a sequence of poses for a plurality of joints in the grasping device. The method include receiving at least one control signal, determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device, and selectively actuating the plurality of joints to traverse the sequence of poses, where a direction for traversing the sequence of poses is based on the at least one control signal.
    Type: Grant
    Filed: November 21, 2011
    Date of Patent: November 3, 2015
    Inventors: Michael Goldfarb, Skyler Dalley, Huseyin Atakan Varol
  • Patent number: 9126071
    Abstract: A cable end assembly for an exercise machine may comprise a coupler assembly, a cable end, and an eye hook. The coupler assembly may comprise a first coupler connected to a second coupler. The cable end may have a fitting attached to an end, the fitting having an enlarged portion. The enlarged portion of the fitting may be retained within a recess of the first coupler. Additionally, the eye hook may be rotatably coupled to the second coupler. A method of manufacturing a cable end assembly for an exercise machine may comprise attaching a fitting having an enlarged portion to an end of a cable. The method may further comprise inserting the fitting into a recess of a first coupler, rotatably coupling an eye hook to a second coupler, and connecting the first coupler to the second coupler.
    Type: Grant
    Filed: October 7, 2013
    Date of Patent: September 8, 2015
    Assignee: ICON Health & Fitness, Inc.
    Inventor: Kent M. Smith
  • Patent number: 9101499
    Abstract: An artificial joint with two degrees of freedom has two rotary motors that move the joint in one degree of freedom when operated in respective senses of rotation and move the joint in the other degree of freedom when one of the motors is reversed. The movement depends on balancing the operation of the motors, which are controlled by a microprocessor. Sensors on the joint are connected to the microprocessor in a closed-loop feedback. A prosthetic device includes a tendon received in one end of a slot in a movable member, whereby movement of the tendon moves the movable member. A prosthesis has two parts moveable relative to one another, an actuator, and a user control. A transducer connected to the control and the actuator provides signals indicating movement effected by the actuator. A prosthesis cover includes a silicone laminate and a reinforcing liner.
    Type: Grant
    Filed: June 28, 2010
    Date of Patent: August 11, 2015
    Inventor: John Stephen Haggas
  • Patent number: 9072614
    Abstract: An artificial hand includes a palm component having a plurality of finger sockets. A plurality of artificial fingers are received in a snap-fit engagement in the plurality of finger sockets of the palm component. At least one of the plurality of fingers has a locking slide including a plurality of locking teeth and a reverse lock including a locking cam, wherein the locking cam is engaged with the locking teeth to lock the finger in a preferred position. In a feature of the disclosed hand, the artificial finger further comprises a connector attached to the reverse lock, such that a tension applied to the connector through the palm component lifts the locking cam, disengaging the locking cam from the locking teeth of the lock slide.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: July 7, 2015
    Assignee: SEASON 4, LLC
    Inventors: Michael Starkey, Thomas James Philpott
  • Patent number: RE46164
    Abstract: A prosthetic finger that is able to provide independent natural movement to mimic a real finger. The present invention utilizes unique connections to provide users with natural movement and restore their ability to perform activities that require the full dexterity of their hands. Additionally, the present invention also allows users to interact with touch screens that normally would not work due to the insulating properties of other traditional prosthetic fingers.
    Type: Grant
    Filed: December 19, 2014
    Date of Patent: September 27, 2016
    Assignee: RCM Enterprise LLC
    Inventor: Charles Colin Macduff