Mechanisms for employment with robotic extensions

Salisbury, Curt Michael; Dullea, Kevin J.

Title: Mechanisms for employment with robotic extensions

Abstract

Technologies pertaining to a robotic hand are described herein. A protection apparatus is positioned in a joint of the robotic hand, where movement of a link about the joint is driven by a motor. The protection apparatus absorbs torque about the joint caused by an external force. At least a portion of the robotic hand can be covered by an anthropomorphic skin. An apparatus suitable for controlling operation of the robotic hand is also described herein.

Inventors:: Salisbury, Curt Michael; Dullea, Kevin J.

Issue Date:: 2015-09-22

Research Org.:: Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

Sponsoring Org.:: USDOE

OSTI Identifier:: 1221395

Patent Number(s):: 9138897

Application Number:: 14/047,624

Assignee:: Sandia Corporation (Albuquerque, NM)

Patent Classifications (CPCs):: B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS

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B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
B25J15/0009 - {comprising multi-articulated fingers, e.g. resembling a human hand}
B25J19/0091 - {Shock absorbers
B25J19/063 - {working only upon contact with an outside object}

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DOE Contract Number:: AC04-94AL85000

Resource Type:: Patent

Resource Relation:: Patent File Date: 2013 Oct 07

Country of Publication:: United States

Language:: English

Subject:: 42 ENGINEERING

Citation Formats


                    Salisbury, Curt Michael, and Dullea, Kevin J. Mechanisms for employment with robotic extensions.  United States: N. p., 2015. 
        Web.

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                    Salisbury, Curt Michael, & Dullea, Kevin J. Mechanisms for employment with robotic extensions.  United States.

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                    Salisbury, Curt Michael, and Dullea, Kevin J. Tue .  
        "Mechanisms for employment with robotic extensions".  United States.  https://www.osti.gov/servlets/purl/1221395.

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@article{osti_1221395,

  title        = {Mechanisms for employment with robotic extensions},

  author       = {Salisbury, Curt Michael and Dullea, Kevin J.},

  abstractNote = {Technologies pertaining to a robotic hand are described herein. A protection apparatus is positioned in a joint of the robotic hand, where movement of a link about the joint is driven by a motor. The protection apparatus absorbs torque about the joint caused by an external force. At least a portion of the robotic hand can be covered by an anthropomorphic skin. An apparatus suitable for controlling operation of the robotic hand is also described herein.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {2015},

  month        = {9}

}

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Works referenced in this record:

Force-controlled gripper with adaptive accommodation
patent, July 1986

Shum, Lanson Y.; Ottinger, Brian D.
US Patent Document 4,598,942
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Reconfigurable end effector
patent, April 1992

Bartholet, Stephen J.
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Ulrich, Nathan
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Object holding device
patent, April 2001

Hanaduka, Akira; Okabe, Toshihiro; Takatsuki, Takashi
US Patent Document 6,217,094
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Safety clutch for a prosthetic grip
patent, July 2002

Iversen, Edwin K.; Linder, James R.; Kunz, Steven R.
US Patent Document 6,423,099
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Multi-finger hand device
patent, July 2005

Matsuda, Hiroshi
US Patent Document 6,913,627
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Prehensor device and improvements of same
patent, March 2008

Veatch, Bradley Delton; Scott, Joseph D.
US Patent Document 7,341,295
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Prosthetic hand having a conformal, compliant grip and opposable, functional thumb
patent, April 2008

Winfrey, Rex Clayton
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Robotic hand with extendable palm
patent, May 2008

Anderson, Perry; Alcorta, J. Efrain; DeWinter, Scott McKinley
US Patent Document 7,370,896
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Compliant coupling force control system
patent, December 2008

Englund, Norman J.; Finigan, John S.
US Patent Document 7,469,885
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Robot hand
patent, June 2009

Hayakawa, Masato; Fukushima, Takafumi; Kishimoto, Kazuhiro
US Patent Document 7,549,688
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Multi-fingered robot hand
patent, January 2012

Okuda, Akinobu; Mizuno, Osamu; Nakamura, Tohru
US Patent Document 8,100,451
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8100451

Joint mechanism and joint device
patent, March 2012

Mizuno, Osamu; Okuda, Akinobu; Nakamura, Tohru
US Patent Document 8,141,925
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Robot hand and finger mechanism
patent, October 2012

Shibamoto, Yusuke; Kobayashi, Masaru
US Patent Document 8,276,957
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8276957

ROBOT HAND WITH HUMAN-LIKE FINGERS
patent-application, October 2010

Madhani, Akhil J.
US Patent Application 12/421413; 20100259057
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20100259057

FINGER MECHANISM OF ROBOT HAND
patent-application, January 2011

Kanayama, Naoki
US Patent Application 12/735782; 20110017008
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20110017008

ROBOTIC FINGER AND ROBOTIC HAND
patent-application, March 2011

Meusel, Peter; Liu, Hong
US Patent Application 12/992010; 20110068593
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/20110068593

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Similar Records

Title: Mechanisms for employment with robotic extensions

Abstract

Citation Formats

Force-controlled gripper with adaptive accommodation patent, July 1986

Reconfigurable end effector patent, April 1992

Methods and apparatus for mechanically intelligent grasping patent, March 1996

Object holding device patent, April 2001

Safety clutch for a prosthetic grip patent, July 2002

Multi-finger hand device patent, July 2005

Prehensor device and improvements of same patent, March 2008

Prosthetic hand having a conformal, compliant grip and opposable, functional thumb patent, April 2008

Robotic hand with extendable palm patent, May 2008

Compliant coupling force control system patent, December 2008

Robot hand patent, June 2009

Multi-fingered robot hand patent, January 2012

Joint mechanism and joint device patent, March 2012

Robot hand and finger mechanism patent, October 2012

ROBOT HAND WITH HUMAN-LIKE FINGERS patent-application, October 2010

FINGER MECHANISM OF ROBOT HAND patent-application, January 2011

ROBOTIC FINGER AND ROBOTIC HAND patent-application, March 2011

Force-controlled gripper with adaptive accommodation
patent, July 1986

Reconfigurable end effector
patent, April 1992

Methods and apparatus for mechanically intelligent grasping
patent, March 1996

Object holding device
patent, April 2001

Safety clutch for a prosthetic grip
patent, July 2002

Multi-finger hand device
patent, July 2005

Prehensor device and improvements of same
patent, March 2008

Prosthetic hand having a conformal, compliant grip and opposable, functional thumb
patent, April 2008

Robotic hand with extendable palm
patent, May 2008

Compliant coupling force control system
patent, December 2008

Robot hand
patent, June 2009

Multi-fingered robot hand
patent, January 2012

Joint mechanism and joint device
patent, March 2012

Robot hand and finger mechanism
patent, October 2012

ROBOT HAND WITH HUMAN-LIKE FINGERS
patent-application, October 2010

FINGER MECHANISM OF ROBOT HAND
patent-application, January 2011

ROBOTIC FINGER AND ROBOTIC HAND
patent-application, March 2011