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Title: Intelligent, self-contained robotic hand

Abstract

A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.

Inventors:
; ; ; ; ; ;
Publication Date:
Research Org.:
Barrett Technology, Inc., Cambridge, MA (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
1176087
Patent Number(s):
7,168,748
Application Number:
10/672,888
Assignee:
Barrett Technology, Inc. (Cambridge, MA) OSTI
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING

Citation Formats

Krutik, Vitaliy, Doo, Burt, Townsend, William T., Hauptman, Traveler, Crowell, Adam, Zenowich, Brian, and Lawson, John. Intelligent, self-contained robotic hand. United States: N. p., 2007. Web.
Krutik, Vitaliy, Doo, Burt, Townsend, William T., Hauptman, Traveler, Crowell, Adam, Zenowich, Brian, & Lawson, John. Intelligent, self-contained robotic hand. United States.
Krutik, Vitaliy, Doo, Burt, Townsend, William T., Hauptman, Traveler, Crowell, Adam, Zenowich, Brian, and Lawson, John. Tue . "Intelligent, self-contained robotic hand". United States. doi:. https://www.osti.gov/servlets/purl/1176087.
@article{osti_1176087,
title = {Intelligent, self-contained robotic hand},
author = {Krutik, Vitaliy and Doo, Burt and Townsend, William T. and Hauptman, Traveler and Crowell, Adam and Zenowich, Brian and Lawson, John},
abstractNote = {A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Jan 30 00:00:00 EST 2007},
month = {Tue Jan 30 00:00:00 EST 2007}
}

Patent:

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