Automated digit interchange

Patent metadata

Field	Value
Publication number	US-9855663-B1
Application number	US-201615186393-A
Country	US
Kind code	B1
Filing date	Jun 17, 2016
Priority date	Jun 17, 2016
Publication date	Jan 2, 2018
Grant date	Jan 2, 2018

Abstract

A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.

First claim

The invention claimed is:

1. A robotic device, comprising:
a first detachable digit, comprising a first connector piece; and
a digit mounting apparatus, comprising:
a first pivot joint;
a second connector piece coupled to the first pivot joint, wherein the second connector piece is configured to mate with the first connector piece of the first detachable digit; and
an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus, wherein when the first connector piece is mated with the second connector piece, the actuator is configured to pivot the first detachable digit by causing the first pivot joint to pivot about the first axis.

2. The robotic device of claim 1 , wherein the second connector piece comprises a U-shaped cavity, and wherein the first connector piece comprises a complementary shape to the U-shaped cavity of the second connector piece.

3. The robotic device of claim 2 , wherein the second connector piece and the first connector piece interlock by sliding first lead-in features of the second connector piece into complementary second lead-in features of the first connector piece until at least one hardstop feature of the second connector piece meets at least one hardstop feature of the first connector piece.

4. The robotic device of claim 1 , wherein the second connector piece comprises a detent, and wherein the first detachable digit comprises a spring loaded device configured to engage the detent of the second connector piece when the second connector piece is mated with the first connector piece.

5. The robotic device of claim 4 , wherein the spring loaded device is a ball-nose spring plunger.

6. The robotic device of claim 1 , wherein an engagement feature on the first detachable digit is configured to engage a complementary engagement feature in a holster when the first detachable digit is placed in the holster, and wherein when the first detachable digit is placed in the holster, the actuator is configured to pivot the first pivot joint about the first axis to cause the second connector piece of the digit mounting apparatus to detach from the first connector piece of the first detachable digit to detach the first detachable digit from the digit mounting apparatus.

7. The robotic device of claim 1 , further comprising a second detachable digit comprising a third connector piece, wherein the first detachable digit and the second detachable digit comprise opposable digits of a digit set, and wherein the digit mounting apparatus further comprises:
a second pivot joint; and
a fourth connector piece coupled to the second pivot joint,
wherein the fourth connector piece is configured to mate with the third connector piece of the second detachable digit, and
wherein the actuator is configured to pivot the second pivot joint about a second axis to cause the fourth connector piece of the digit mounting apparatus to mate with the third connector piece of the second detachable digit to attach the second detachable digit to the digit mounting apparatus.

8. The robotic device of claim 7 , wherein when the second connector piece is mated with the first connector piece of the first detachable digit and the fourth connector piece is mated with the third connector piece of the second detachable digit, the actuator is configured to pivot the first and second pivot joints to move the opposable digits of the digit set towards and away from each other within a plane of motion perpendicular to the first axis and the second axis.

9. A method comprising:
selecting, from a plurality of digits, a digit to couple to a digit mounting apparatus, wherein the selected digit comprises a first connector piece, and wherein the digit mounting apparatus comprises a pivot joint and a second connector piece coupled to the pivot joint;
causing an actuator of the digit mounting apparatus to pivot the pivot joint to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the selected digit; and
after causing the second connector piece of the digit mounting apparatus to mate with the first connector piece of the selected digit, causing the actuator to pivot the pivot joint to cause the selected digit to manipulate an identified object.

10. The method of claim 9 , wherein selecting the digit is based on one or more characteristics of the identified object, wherein the one or more characteristics comprise: dimensions of the identified object, a shape of the identified object, a weight of the identified object, a fragility of the identified object, and a texture of the identified object.

11. The method of claim 10 , further comprising:
determining, based on the one or more characteristics, a respective predicted amount of torque for each digit of the plurality of digits to manipulate the identified object; and
selecting the digit to couple to the digit mounting apparatus based on the respective predicted amount of torque for each digit to manipulate the identified object.

12. The method of claim 11 , further comprising:
selecting the digit with a least amount of respective predicted torque to manipulate the identified object.

13. The method of claim 10 , further comprising:
determining, based on the one or more characteristics, a respective predicted contact patch of each digit of the plurality of digits with the identified object; and
selecting the digit to couple to the digit mounting apparatus based on the respective predicted contact patch of each digit with the identified object.

14. The method of claim 13 , further comprising:
selecting the digit with a largest respective predicted contact patch with the identified object.

15. The method of claim 9 , further comprising:
inserting the digit into a holster, wherein inserting the digit into the holster causes an engagement feature of the digit to engage a complementary engagement feature in the holster; and
causing the pivot joint to pivot to decouple the second connector piece of the digit mounting apparatus from the first connector piece of the digit.

16. A robotic device comprising:
a plurality of detachable digits, wherein each digit comprises a respective first connector piece;
a digit mounting apparatus, comprising:
a first pivot joint;
a second connector piece coupled to the first pivot joint, wherein the second connector piece is configured to mate with the respective first connector piece of each digit of the plurality of digits; and
an actuator configured to pivot the first pivot joint about a first axis; and

a control system configured to:
select, from the plurality of digits, a first digit to couple to the digit mounting apparatus;
cause the actuator of the digit mounting apparatus to pivot the first pivot joint to cause the second connector piece of the digit mounting apparatus to mate with a respective first connector piece of the first digit; and
after causing the second connector piece of the digit mounting apparatus to mate with the respective first connector piece of the first digit, cause the actuator to pivot the first pivot joint to cause the first digit to manipulate an identified object.

17. The robotic device of claim 16 , wherein the plurality of digits further comprise a second plurality of opposable digits corresponding to the plurality of digits, wherein an opposable digit corresponding to the first digit comprises a third

Assignees

• X Dev Llc

Inventors

• Strauss Marc
• Youmans David
• Stanford Scott

Classifications

• B25J15/0433

  having gripping members · CPC title

• B25J15/0408

  Connections means · CPC title

• B25J15/08 Primary

  having finger members (B25J15/02, B25J15/04 take precedence) · CPC title

• B25J15/0475 Primary

  Exchangeable fingers · CPC title