Underpowered robotic hand

ES3075414T3Undetermined Publication Date: 2026-08-04BIONIT LABS SRL (100 00)
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Patent Information

Application Number
ES2023736464T
Authority / Receiving Office
ES · ES
Patent Type
Patents
Current Assignee / Owner
Filing Date
2023-06-12
Publication Date
2026-08-04
Estimated Expiration
2043-06-12

AI Technical Summary

Technical Problem

Existing underactuated robotic hands lack structural robustness, resistance to mechanical stresses and liquid penetration, and require complex actuation systems, making them costly and difficult to maintain, while also failing to accurately mimic human hand functionality and adjust to grasped objects.

Method used

An underactuated robotic hand mechanism using bevel gear differential stages and a single motor to control four aligned fingers, with passive elements for adaptability and elastic elements for compliance, allowing simple actuation and easy maintenance, and resembling human hand movements.

Benefits of technology

The mechanism provides a robust, efficient, and user-friendly robotic hand that mimics human hand functionality, distributes torque effectively, and reduces maintenance needs by allowing easy finger replacement and adjustment, enhancing usability and reliability.

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Abstract

Mechanism for moving the four aligned fingers (2, 3, 4, 5) of an anthropomorphic hand, comprising a motor (Ml) and three differential stages configured to transmit motion from said motor (Ml) to said aligned fingers (2, 3, 4, 5), characterized in that: said differential stages are bevel gear differential stages, each comprising a gear carrier (14, 24, 34) and two sun gears (15, 16, 25, 26, 35, 36); said differential stages are arranged such that the axes of rotation of said gear carriers (14, 15, 16) are aligned; said motor (Ml) is configured to move the gear carrier (14, 24, 34) of one of said differential stages; These differential stages are configured so that at least one of the sun gears of said differential stage driven by the Ml motor is integral to the train carrier of a second differential stage adjacent to it;Said differential stages are configured to move said four aligned fingers (2, 3, 4, 5) by means of four of said sun gears (15, 16, 25, 26, 35, 36); the sun gear that does not participate in the movement of said aligned fingers and that is not an integral part of the gear train carrier of said second differential stage is an integral part of the gear train carrier of said third differential stage.
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