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ES2676073T3 - Mano destinada a equipar un robot de carácter humanoide con dedos mejorados - Google Patents

Mano destinada a equipar un robot de carácter humanoide con dedos mejorados Download PDF

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Publication number
ES2676073T3
ES2676073T3 ES15700754.3T ES15700754T ES2676073T3 ES 2676073 T3 ES2676073 T3 ES 2676073T3 ES 15700754 T ES15700754 T ES 15700754T ES 2676073 T3 ES2676073 T3 ES 2676073T3
Authority
ES
Spain
Prior art keywords
freedom
hand
phalanx
joint
connecting piece
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
ES15700754.3T
Other languages
English (en)
Inventor
Jérémy LAVILLE
Vincent CLERC
Bruno Maisonnier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aldebaran SAS
Original Assignee
SoftBank Robotics Europe SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SoftBank Robotics Europe SAS filed Critical SoftBank Robotics Europe SAS
Application granted granted Critical
Publication of ES2676073T3 publication Critical patent/ES2676073T3/es
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)

Abstract

Mano destinada a equipar un robot humanoide, comprendiendo la mano (10) una palma (11) y al menos un dedo (13, 14, 15, 16, 17) articulado en la palma, comprendiendo el dedo (13, 14, 15, 16, 17) al menos una falange (21, 22, 23) y una articulación (27, 28, 29) que conecta la falange (21, 22, 23) a la palma (11), extendiéndose la falange (21, 22, 23) según una dirección principal (31, 32, 33), comprendiendo dicha articulación (27, 28, 29) una pieza de unión (35, 36, 37) elástica que permite varios grados de libertad, comprendiendo dicha mano (10) unos medios de motorización (50, 51) de un grado de libertad en rotación de entre los grados de libertad hechos posibles por la pieza de unión (35, 36, 37), permitiendo el grado de libertad en rotación motorizado un movimiento relativo alrededor de un eje (41, 42, 43) perpendicular a la dirección principal (31, 32, 33) de la falange (21, 22, 23), no estando los otros grados de libertad de entre los grados de libertad hechos posibles por la pieza de unión (35, 36, 37) motorizados y caracterizada porque la pieza de unión elástica (35, 36, 37) posee una posición neutra definida de forma que los medios de motorización permitan un recorrido angular de la articulación (27, 28, 29) que comprende la pieza de unión elástica (35, 36, 37) considerada a cada lado de la posición neutra

Description

imagen1
imagen2
imagen3
imagen4

Claims (1)

  1. imagen1
ES15700754.3T 2014-01-22 2015-01-22 Mano destinada a equipar un robot de carácter humanoide con dedos mejorados Active ES2676073T3 (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1450532 2014-01-22
FR1450532A FR3016543A1 (fr) 2014-01-22 2014-01-22 Main destinee a equiper un robot a caractere humanoide a doigts ameliores
PCT/EP2015/051236 WO2015110522A1 (fr) 2014-01-22 2015-01-22 Main destinée à équiper un robot à caractère humanoïde à doigts améliorés

Publications (1)

Publication Number Publication Date
ES2676073T3 true ES2676073T3 (es) 2018-07-16

Family

ID=50639719

Family Applications (1)

Application Number Title Priority Date Filing Date
ES15700754.3T Active ES2676073T3 (es) 2014-01-22 2015-01-22 Mano destinada a equipar un robot de carácter humanoide con dedos mejorados

Country Status (16)

Country Link
US (1) US10442089B2 (es)
EP (1) EP3102369B1 (es)
JP (2) JP2017503667A (es)
KR (2) KR101993118B1 (es)
CN (1) CN106132640B (es)
AU (1) AU2015208157B2 (es)
BR (1) BR112016016890A2 (es)
CA (1) CA2937585C (es)
DK (1) DK3102369T3 (es)
ES (1) ES2676073T3 (es)
FR (1) FR3016543A1 (es)
MX (1) MX2016009358A (es)
NZ (1) NZ722298A (es)
RU (1) RU2643753C1 (es)
SG (1) SG11201605953UA (es)
WO (1) WO2015110522A1 (es)

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CN107932541B (zh) * 2017-12-26 2023-12-12 上海哲谦应用科技有限公司 一种由微型电机驱动控制的欠驱动仿人灵巧手
KR102010550B1 (ko) * 2017-12-28 2019-10-21 선문대학교 산학협력단 가변 강성 그리퍼 시스템
CN208084356U (zh) * 2018-02-09 2018-11-13 南京阿凡达机器人科技有限公司 一种仿人机械手指
WO2019173268A1 (en) * 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
US11439376B2 (en) 2018-03-07 2022-09-13 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
WO2019173266A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
GB2577680B (en) * 2018-09-25 2021-05-05 Covvi Ltd A mechanical hand
CN111376298A (zh) * 2020-04-30 2020-07-07 徐航 一种仿生机器人手部关节连接和驱动方法
CN112123361A (zh) * 2020-10-23 2020-12-25 四川大学 一种柔性手指及柔性机械手
CN112284438A (zh) * 2020-10-27 2021-01-29 上海宇航系统工程研究所 一种多功能手指传感器标定工装
TWI736467B (zh) 2020-11-11 2021-08-11 財團法人工業技術研究院 機械手掌及其手指裝置
CN113752287A (zh) * 2021-09-27 2021-12-07 上海建桥学院有限责任公司 一种基于脑电波控制的仿生3d打印机械手
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US20250303588A1 (en) * 2024-03-28 2025-10-02 Tacta Systems Inc. Robotic fingers with actuating joints

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Also Published As

Publication number Publication date
RU2643753C1 (ru) 2018-02-05
CA2937585A1 (en) 2015-07-30
AU2015208157A1 (en) 2016-08-04
CN106132640A (zh) 2016-11-16
AU2015208157B2 (en) 2017-06-15
US10442089B2 (en) 2019-10-15
JP2017503667A (ja) 2017-02-02
KR101993118B1 (ko) 2019-06-25
DK3102369T3 (en) 2018-07-23
MX2016009358A (es) 2017-04-13
SG11201605953UA (en) 2016-08-30
US20160339589A1 (en) 2016-11-24
EP3102369B1 (fr) 2018-04-11
KR20160122159A (ko) 2016-10-21
CA2937585C (en) 2018-10-23
KR20190018749A (ko) 2019-02-25
CN106132640B (zh) 2018-06-05
JP6691583B2 (ja) 2020-04-28
JP2018202607A (ja) 2018-12-27
BR112016016890A2 (pt) 2017-08-08
WO2015110522A1 (fr) 2015-07-30
FR3016543A1 (fr) 2015-07-24
NZ722298A (en) 2017-08-25
EP3102369A1 (fr) 2016-12-14

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