Robotic finger and hand

Patent metadata

Field	Value
Publication number	US-9533419-B1
Application number	US-201514929768-A
Country	US
Kind code	B1
Filing date	Nov 2, 2015
Priority date	Nov 2, 2015
Publication date	Jan 3, 2017
Grant date	Jan 3, 2017

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.

First claim

What is claimed is:

1. A robotic finger comprising:
a first member having a plurality of rigid sections that are rotatably connected end-to-end through respective first joints, wherein each first joint connects two rigid sections such that the two rigid sections rotate about the same axis;
a second member having a plurality of flexible sections that are connected end-to-end at respective second joints;
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, wherein a respective linkage connects a respective first joint of the first member to a respective second joint of the second member; and
a fingertip section that connects a distal end the first member to a distal end of the second member.

2. The robotic finger of claim 1 , wherein the number of rigid sections and flexible sections is the same.

3. The robotic finger of claim 1 , wherein the first member having the plurality of rigid sections comprises a first rigid section and a second rigid section, wherein the first rigid section is rotatably connected to the fingertip section and is shorter than the second rigid section.

4. The robotic finger of claim 1 , wherein the plurality of rigid sections are plastic.

5. The robotic finger of claim 1 , wherein the second member having the plurality of flexible sections comprises a first flexible section and a second flexible section, wherein the first flexible section is connected to the fingertip section and is shorter than the second flexible section.

6. The robotic finger of claim 1 , wherein the plurality of flexible sections are an elastomer.

7. The robotic finger of claim 1 , wherein each of the plurality of flexible sections comprises a plurality of segments connected end-to-end.

8. The robotic finger of claim 1 , wherein the plurality of linkages connecting the first member and the second member comprises:
a plurality of rigid linkages, wherein a first end of a respective linkage is rotatably connected to the respective first joint of the first member, and a second end of the respective linkage is rotatably connected to the respective second joint of the second member.

9. The robotic finger of claim 1 , wherein the plurality of linkages connecting the first member and the second member comprises:
a first linkage connecting a proximate end of the first member to a proximate end of the second member; and
a second linkage connecting a central part of the first member to a central part of the second member, wherein the second linkage is shorter than the first linkage.

10. The robotic finger of claim 1 , further comprising:
a clutch connected to a proximal end of the first member and a proximal end of the second member, the clutch having a groove with a detent; and
a coupling connected to the clutch, wherein the coupling maintains a linear relationship with the clutch when the finger is in a state of normal operation, and allows the clutch and coupling to rotate out of the linear relationship when a force applied to a side of the robotic finger is more than a threshold force.

11. A robotic hand comprising:
a palm housing defining a cavity;
a plurality of hydraulic actuators positioned in cavity; and
a plurality of robotic fingers coupled to the hydraulic actuators, wherein each robotic finger comprises:
a first member having a plurality of rigid sections that are rotatably connected end-to-end through respective first joints, wherein each first joint connects two rigid sections such that the two rigid sections rotate about the same axis;
a second member having a plurality of flexible sections that are connected end-to-end at respective second joints;
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, wherein a respective linkage connects a respective first joint of the first member to a respective second joint of the second member; and
a fingertip section that connects a distal end the first member to a distal end of the second member.

12. The robotic hand of claim 11 , wherein the number of rigid sections and flexible sections is the same.

13. The robotic hand of claim 11 , wherein the first member having the plurality of rigid sections comprises a first rigid section and a second rigid section, wherein the first rigid section is rotatably connected to the fingertip section and is shorter than the second rigid section.

14. The robotic hand of claim 11 , wherein the plurality of rigid sections are plastic.

15. The robotic hand of claim 11 , wherein the second member having the plurality of flexible sections comprises a first flexible section and a second flexible section, wherein the first flexible section is connected to the fingertip section and is shorter than the second flexible section.

16. The robotic hand of claim 11 , wherein the plurality of flexible sections are an elastomer.

17. The robotic hand of claim 11 , wherein each of the plurality of flexible sections comprises a plurality of segments connected end-to-end.

18. The robotic hand of claim 11 , wherein the plurality of linkages connecting the first member and the second member comprises:
a plurality of rigid linkages, wherein a first end of a respective linkage is rotatably connected to the respective first joint of the first member, and a second end of the respective linkage is rotatably connected to the respective second joint of the second member.

19. The robotic hand of claim 11 , wherein the plurality of linkages connecting the first member and the second member comprises:
a first linkage connecting a proximate end of the first member to a proximate end of the second member; and
a second linkage connecting a central part of the first member to a central part of the second member, wherein the second linkage is shorter than the first linkage.

20. The robotic hand of claim 11 , each robotic finger further comprising:
a clutch connected to a proximal end of the first member and a proximal end of the second member, the clutch having a groove with a detent; and
a coupling connected to the clutch, wherein the coupling maintains a linear relationship with the clutch when the finger is in a state of normal operation, and allows the clutch and coupling to rotate out of the linear relationship when a force applied to a side of the robotic finger is more than a threshold force.

Assignees

• Google Inc

Inventors

• Strauss Marc
• Murphy Michael Patrick

Classifications

• B25J15/12 Primary

  with flexible finger members · CPC title

• Y10S901/39

  Jaw structure · CPC title

• B25J15/0009

  comprising multi-articulated fingers, e.g. resembling a human hand · CPC title

• B25J15/10

  with three or more finger members {(B25J15/0009 takes precedence)} · CPC title

• B25J15/0033

  with gripping surfaces having special shapes · CPC title