Mechanisms for employment with robotic extensions

Salisbury, Curt Michael; Dullea, Kevin J.

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A - human necessities
A01 - agriculture
A21 - baking
A22 - butchering
A23 - foods or foodstuffs
A24 - tobacco
A41 - wearing apparel
A42 - headwear
A43 - footwear
A44 - haberdashery
A45 - hand or travelling articles
A46 - brushware
A47 - furniture
A61 - medical or veterinary science
A62 - life-saving
A63 - sports
A99 - subject matter not otherwise provided for in this section
B - performing operations
B01 - physical or chemical processes or apparatus in general
B02 - crushing, pulverising, or disintegrating
B03 - separation of solid materials using liquids or using pneumatic tables or jigs
B04 - centrifugal apparatus or machines for carrying-out physical or chemical processes
B05 - spraying or atomising in general
B06 - generating or transmitting mechanical vibrations in general
B07 - separating solids from solids
B08 - cleaning
B09 - disposal of solid waste
B21 - mechanical metal-working without essentially removing material
B22 - casting
B23 - machine tools
B24 - grinding
B25 - hand tools
B26 - hand cutting tools
B27 - working or preserving wood or similar material
B28 - working cement, clay, or stone
B29 - working of plastics
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B31 - making articles of paper, cardboard or material worked in a manner analogous to paper
B32 - layered products
B33 - additive manufacturing technology
B41 - printing
B42 - bookbinding
B43 - writing or drawing implements
B44 - decorative arts
B60 - vehicles in general
B61 - railways
B62 - land vehicles for travelling otherwise than on rails
B63 - ships or other waterborne vessels
B64 - aircraft
B65 - conveying
B66 - hoisting
B67 - opening, closing {or cleaning} bottles, jars or similar containers
B68 - saddlery
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B82 - nanotechnology
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C01 - inorganic chemistry
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C22 - metallurgy
C23 - coating metallic material
C25 - electrolytic or electrophoretic processes
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D - textiles
D01 - natural or man-made threads or fibres
D02 - yarns
D03 - weaving
D04 - braiding
D05 - sewing
D06 - treatment of textiles or the like
D07 - ropes
D10 - indexing scheme associated with sublasses of section d, relating to textiles
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G - physics
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G09 - education
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G12 - instrument details
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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:: Tue Sep 22 00:00:00 EDT 2015

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         = {Tue Sep 22 00:00:00 EDT 2015},

  month        = {Tue Sep 22 00:00:00 EDT 2015}

}

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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
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/4598942

Reconfigurable end effector
patent, April 1992

Bartholet, Stephen J.
US Patent Document 5,108,140
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/5108140

Methods and apparatus for mechanically intelligent grasping
patent, March 1996

Ulrich, Nathan
US Patent Document 5,501,498
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/5501498

Object holding device
patent, April 2001

Hanaduka, Akira; Okabe, Toshihiro; Takatsuki, Takashi
US Patent Document 6,217,094
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/6217094

Safety clutch for a prosthetic grip
patent, July 2002

Iversen, Edwin K.; Linder, James R.; Kunz, Steven R.
US Patent Document 6,423,099
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/6423099

Multi-finger hand device
patent, July 2005

Matsuda, Hiroshi
US Patent Document 6,913,627
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/6913627

Prehensor device and improvements of same
patent, March 2008

Veatch, Bradley Delton; Scott, Joseph D.
US Patent Document 7,341,295
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/7341295

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

Winfrey, Rex Clayton
US Patent Document 7,361,197
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/7361197

Robotic hand with extendable palm
patent, May 2008

Anderson, Perry; Alcorta, J. Efrain; DeWinter, Scott McKinley
US Patent Document 7,370,896
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/7370896

Compliant coupling force control system
patent, December 2008

Englund, Norman J.; Finigan, John S.
US Patent Document 7,469,885
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/7469885

Robot hand
patent, June 2009

Hayakawa, Masato; Fukushima, Takafumi; Kishimoto, Kazuhiro
US Patent Document 7,549,688
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/7549688

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
URL: https://image-ppubs.uspto.gov/dirsearch-public/print/downloadPdf/8141925

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