Robot hand and robot system including the same

Abstract

The utility model provides a robot hand and a robot system including the same. The robot hand includes: a plurality of robot fingers; and a robot palm configured to be operatively connected with the plurality of robot fingers, where an individual robot finger includes: a first phalanx; a second phalanx; and a first hydraulic actuator configured to operatively connect the first phalanx with the second phalanx, where the first hydraulic actuator includes a soft bellows-shaped deformable body such that, when in operation, the first and second phalanx are deformed by the flexible bellows-shaped deformable body, the flexible bellows-shaped deformable body is deformed by the flexible bellows-shaped deformable body. The first hydraulic actuator is switchable at least between a compressed state and an extended state in response to an external force and / or hydraulic pressure applied thereto. Other example embodiments are described herein. In certain embodiments, the present disclosure provides robotic hands and robotic systems including the same that exhibit high compliance, adaptability, and precise control to robotic applications, and address the challenges to achieve fine in-hand manipulation of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to robots, and in particular to robotic hands and robotic systems comprising the same. BACKGROUND

[0002] Advances in robotics require the development of sophisticated actuation mechanisms capable of fine, precise and dexterous manipulation. Conventional rigid actuation mechanisms often fail to achieve the compliance and adaptability required for complex tasks. There is an urgent need for alternative or improved robotic hands and systems. SUMMARY

[0003] In view of the foregoing background, it is an object in certain embodiments to provide novel robotic hands having soft hydraulic actuation mechanisms designed to enhance the dexterity and compliance of the robotic system, such as in applications requiring fine in-hand manipulation.

[0004] In some embodiments, there is provided a robotic hand comprising: a plurality of robotic fingers; and a robotic palm configured to be operatively connected with the plurality of robotic fingers, wherein an individual robotic finger comprises: a first phalanx; a second phalanx; and a first hydraulic actuator configured to operatively connect the first phalanx with the second phalanx, wherein the first hydraulic actuator comprises a soft bellows-type deformable body such that, in operation, the first hydraulic actuator is switchable between at least a compressed state and an extended state in response to an external force and / or a hydraulic pressure applied thereto.

[0005] In some embodiments, there is provided a robotic system comprising: a robotic hand as mentioned in the preceding embodiment(s); and optionally a robotic arm operatively connected with the robotic hand.

[0006] The utility model has many advantages. In some embodiments, the provided robotic hand and the robotic system comprising the same address the challenge of achieving fine in-hand manipulation for a robot comparable to human dexterity by improving on existing low-complexity hands. In certain embodiments, the utility model relates to a soft hydraulic actuation mechanism located in the robotic hand that provides a high degree of compliance, adaptability, and precise control for robotic applications. In certain embodiments, the mechanism utilizes soft hydraulic actuators inspired by origami that enable complex motions. In certain embodiments, these actuators provide a significant expansion ratio and durability, enabling fine manipulation tasks with minimal risk of damage. In certain embodiments, the soft hydraulic actuation mechanism is versatile and can be integrated into various robotic systems, including the provided dexterous and compliant robotic hands (i.e., DexCo hands) that serve as example practical applications of the technology. In certain embodiments, the provided robotic hand and the robotic system comprising the same address the need for a robust, adaptable, and precise actuation mechanism that can mimic human-like dexterity in robotic applications.

[0007] In certain embodiments, soft hydraulic actuators are used in the provided robotic hand and the robotic system comprising the same, which allow the fingers to adapt to various shapes and exert controlled forces without damaging the objects or the hand itself.

[0008] In certain embodiments, the DexCo hand employs a soft hydraulic actuation mechanism where an injection pump controls the volume of hydraulic fluid in the actuators, providing high force output and precise control over finger motion. This mechanism ensures bidirectional driving capability, allowing the fingers to both push and pull with precise force.

[0009] In certain embodiments, the soft hydraulic actuators provide local compliance, allowing the fingers to conform to the contours of objects and exert appropriate forces. This adaptability enhances the hand's ability to perform delicate tasks and reduces the likelihood of damage.

[0010] In certain embodiments, the DexCo hand incorporates linear potentiometers and inertial measurement units (IMUs) to provide real-time feedback about the position and angle of the fingers. This advanced sensing capability ensures accurate control and coordination of finger motion, enabling complex manipulation tasks.

[0011] In certain embodiments, the modular finger design of the DexCo hand allows configurations with two, three, or four fingers, each with three degrees of freedom. This modularity provides flexibility for the hand to adapt to different tasks and environments.

[0012] In certain embodiments, the soft hydraulic actuators in the DexCo hand operate based on hydrostatic pressure. The syringe pump regulates the volume of hydraulic fluid, causing the actuators to expand or contract proportionally, thus providing controlled and powerful actuation.

[0013] In certain embodiments, the gimbal joints at the base of each finger in the DexCo hand enable independent flexion / extension and adduction / abduction motions, thus closely mimicking the dexterous base joints of human fingers.

[0014] In certain embodiments, the soft hydraulic actuators in the DexCo hand are capable of bidirectional driving, thus allowing for more versatile manipulation capabilities.

[0015] In some embodiments, the integration of the gimbal joints with the soft hydraulic actuation mechanism is a key aspect of the robotic hand provided and the robotic system comprising the same. In some embodiments, the gimbal joints are actuated by a pair of hydraulic actuators through differential actuation. This innovative approach not only enables the mechanical robotic hand to achieve gimbal joint motions with minimal actuation, but also facilitates easy embedding of somatosensation. In some embodiments, operating under hydrostatic pressure, the soft-rigid hybrid actuation system facilitates local compliance and bidirectional driving capability. In some embodiments, this local compliance takes full advantage of the benefits associated with soft materials, thus establishing an elastic interaction space and reducing the risk of hardware damage. Overall, in some embodiments, these features enable the mechanical robotic hand to replicate the functionality of human thumb and index finger while maximizing the hardware structure optimization. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1A is a schematic diagram of an example robotic hand with two robotic fingers according to example embodiments.

[0017] Figure 1B is a schematic diagram of a perspective view of an example robotic hand according to example embodiments of Figure 1A .

[0018] Figure 1C is a schematic diagram of a robotic finger according to example embodiments of Figure 1A .

[0019] Figure 1D is a schematic diagram of a front view of a robotic finger according to example embodiments of Figure 1A .

[0020] Figure 2A is a schematic diagram of an exploded side view of a robotic finger according to example embodiments.

[0021] Figure 2B is a schematic diagram of an exploded perspective view of a robotic finger according to example embodiments of Figure 2A .

[0022] Figure 2C It is a connection based on Figure 2A A schematic diagram of the universal joints of the second and third phalanges of the robot finger in an example embodiment.

[0023] Figure 3A This is a schematic front view of a hydraulic actuator according to an example embodiment.

[0024] Figure 3B It is based on Figure 3A A schematic perspective view of a hydraulic actuator in an example embodiment.

[0025] Figure 3C It is based on Figure 3A A schematic top view of a hydraulic actuator in an example embodiment.

[0026] Figure 3D It is based on Figure 3A A schematic front view of the hydraulic actuator in a bent state, as shown in the example embodiment.

[0027] Figure 3E It is based on Figure 3A A schematic perspective view of a hydraulic actuator in a bent state, representing an example embodiment.

[0028] Figure 3F It is based on Figure 3A A schematic top view of the hydraulic actuator in a bent state in an example embodiment.

[0029] Figure 3G This is a schematic diagram of a hydraulic actuator transitioning from a compressed state to an extended state according to an example embodiment.

[0030] Figure 3H This is a schematic diagram of a hydraulic actuator transitioning from a compressed state to an extended state according to an example embodiment.

[0031] Figure 3I This is a schematic diagram of a hydraulic actuator according to an example embodiment in a bent state and a compressed state, transitioning to an extended state.

[0032] Figure 3J This is a schematic diagram of a hydraulic actuator according to an example embodiment in a compressed state, transitioning to a bent state, and an extended state.

[0033] Figure 3K This is a schematic side view illustrating a locking structure for an actuator mounted between two elements according to an example embodiment.

[0034] Figure 3L It shows the basis Figure 3KA cross-sectional view of a locking structure for an actuator mounted between two elements, as shown in the example embodiment. Figure 3M This is a schematic diagram of a hydraulic actuator passively stretched due to an external force according to an example embodiment.

[0035] Figure 3N This is a schematic diagram of a hydraulic actuator passively compressed due to an external force according to an example embodiment.

[0036] Figure 3O This is a schematic diagram of a hydraulic actuator according to an example embodiment in a bending state that is passively stretched due to an external force.

[0037] Figure 3P This is a schematic diagram of a hydraulic actuator according to an example embodiment in a bent state that is passively compressed due to an external force.

[0038] Figure 4A This is a schematic diagram of the first and second phalanges of a robotic finger according to an example embodiment, wherein the first hydraulic actuator is in an extended state.

[0039] Figure 4B This is a schematic diagram of the first and second phalanges of a robotic finger according to an example embodiment, wherein the hydraulic actuator is in a compressed state.

[0040] Figure 5A This is a schematic diagram illustrating the bending of a second phalanx caused by the elongation of a pair of hydraulic actuators according to an example embodiment.

[0041] Figure 5B This is a schematic diagram illustrating the extension of a second phalanx caused by compression of a pair of hydraulic actuators according to an example embodiment.

[0042] Figure 5C This is a schematic diagram showing the second phalanx tilting to the left by a hydraulic actuator according to an example embodiment.

[0043] Figure 5D This is a schematic diagram showing the second phalanx tilting to the right by a hydraulic actuator according to an example embodiment.

[0044] Figure 6A This is a schematic diagram of a robot hand according to an example embodiment.

[0045] Figure 6B It is based on Figure 6A A schematic top view of the robot hand in an example embodiment.

[0046] Figure 7 This is a schematic diagram of an example robotic hand with three robotic fingers according to an example embodiment.

[0047] Figure 8This is a schematic diagram of an example robotic hand with four robotic fingers according to an example embodiment.

[0048] Figure 9 This is a schematic diagram of another example robotic hand with four robotic fingers according to an example embodiment.

[0049] Figure 10A This is a schematic diagram of a remotely operated robot system according to an example embodiment.

[0050] Figure 10B This is a schematic diagram of a remotely operated robotic system, showing components of some elements according to an example embodiment.

[0051] Figures 11A to 11G These are schematic diagrams demonstrating various manipulations of the example robot system according to example embodiments. (A) Screwing on and off a real light bulb. (B) Opening a card box. (C) Picking up and sorting pills by size using in-finger manipulation. (D) Picking up a jumbled box via finger-environment interaction. (E) Counting cards and taking them out one by one. (F) Opening a plastic bag. (G) Typical cage manipulation and in-hand rotation. Detailed Implementation

[0052] As used herein and in the claims, the terms “comprising” (or any related form such as “comprise / comprises”), “including” (or any related form such as “include / includes”), and “containing” (or any related form such as “contain / contains”) mean including the following elements but excluding other elements. It should be understood that, in using each embodiment wherein the terms “comprising” (or any related form such as “comprise / comprises”), “including” (or any related form such as “include / includes”), or “containing” (or any related form such as “contain / contains”), this disclosure / application also includes alternative embodiments wherein the terms “comprising”, “including”, or “containing” are replaced with “consistently consisting of” or “consisting of”. These alternative embodiments using the terms "composed of" or "substantially composed of" are understood to be smaller-scale embodiments that "comprise", "include", or "contain" the embodiments.

[0053] For clarity, “comprising,” “including,” and “containing,” as well as any related forms, are open-ended terms that allow for additional elements or features beyond the specified mandatory elements, while “consisting of” is a closed-ended term that is limited to the elements listed in the claims and excludes any elements, steps, or ingredients not specified in the claims.

[0054] For clarity, "characterized as" or "characterized in" (along with their related forms as described above) does not limit or change the nature of whether the following list of terms is open or closed. For example, in a claim relating to "a composition comprising A, B, C and characterized by D, E, and F," elements D, E, and F remain open-ended terms, and the claim is intended to include other elements arising from the use of the word "comprising" preceding the claim.

[0055] The phrase "consisting essentially of..." limits the scope of the claim to specific materials, components, or steps ("basic elements") that do not substantially affect the basic features(s) of the claimed utility model. In some embodiments, the basic features are the basic and novel features(s) of the claimed utility model(s).

[0056] As used herein, the singular forms “a / an” and “the” are intended to also include the plural forms unless the context clearly indicates otherwise. When a range is mentioned in the specification, the range is understood to include every discrete point within the range. For example, 1 to 7 means 1, 2, 3, 4, 5, 6, and 7.

[0057] As used herein, the term “about” is understood to mean within the normal tolerance range in the field and not exceeding ±10% of the specified value. For example only, about 50 refers to all values ​​from 45 to 55, including those in between. As used herein, the phrase “about” also includes the specific value; for example, about 50 includes 50.

[0058] As used herein, the term "soft robot" refers to at least a portion or component of a robot created or formed using flexible and compliant materials. In some examples, soft robots can safely interact with their environment.

[0059] As used herein and in the claims, the terms “substantially” or “largely” or “essentially” mean that it is not necessary to exactly achieve the listed features, angles, shapes, states, structures, or values, but deviations or variations, including, for example, tolerances, measurement errors, measurement accuracy limitations, and other factors known to those skilled in the art, may occur in an amount that does not preclude the effects that the features are expected to provide. For example, an object having a “substantially” cylindrical shape means that the object has a precisely cylindrical shape or a nearly precisely cylindrical shape. In another example, an object “essentially” perpendicular to a surface means that the object is precisely perpendicular to the surface or nearly precisely perpendicular to the surface, for example, with a deviation of 5%.

[0060] It should be understood that terms such as “proximal,” “farthest,” “top,” “bottom,” “middle,” “side,” “length,” “width,” “longitudinal,” “transverse,” “vertical,” “inner,” “outer,” “internal,” and “external” as may be used herein describe reference points only and are not intended to limit the invention to any particular orientation or configuration.

[0061] As used in this article, the term "hydraulic actuation" refers to the use of hydraulic power to drive a robotic hand or system.

[0062] As used herein, the term "proprioception" refers to the ability of a system to detect or sense its own position, orientation, and / or movement.

[0063] As used in this article, the term "modular" refers to the characteristic of building robots with interchangeable and reconfigurable modules.

[0064] As used in this article, the term "compliance" refers to the ability of a robotic system to adapt to its environment by deforming in response to external forces.

[0065] As used herein, the term "hydrostatic pressure" is the pressure exerted by a fluid in equilibrium due to gravity. In some examples, gravity refers to the elastic force of the bellows in an actuator.

[0066] As used herein, the term "universal joint" refers to a component, structure, or mechanism that allows multi-axis rotation to provide at least two degrees of freedom in a single joint.

[0067] As used herein, the term “bidirectional drive” refers to the ability of an actuator to move in two directions (e.g., push and pull) with a controlled force.

[0068] As used herein, the term "robot hand" refers to a device at one end of a robotic arm that interacts with the environment (e.g., grasping and / or manipulating one or more objects). In some examples, a sample robot hand may be named the "DexCo hand".

[0069] As used herein, the term "robotic finger" or "finger" refers to a portion or component of a robotic hand that is actuated by an actuator to perform grasping and / or manipulation of one or more objects. In some embodiments, a robotic finger is a structure / mechanism comprising two or more phalanges connected by joints and capable of flexion / extension and / or adduction / abduction movements.

[0070] As used herein, the term "robot hand" or "hand" refers to a portion or component of a robotic hand that is operatively connected to one or more robotic fingers. In some examples, the robotic hand is also configured to be operatively connected to a robotic arm. In some embodiments, the robotic hand acts as a base for attachment to robotic fingers and other components.

[0071] As used in this article, the term "flexion" refers to the action of bending a joint, which reduces the angle between the phalanges connected by the joint.

[0072] As used in this article, the term "extension" refers to the action of straightening or opening a joint, which increases the angle between the phalanges connected by the joint.

[0073] As used in this article, the term "retraction" refers to movement toward the center or midline of the body.

[0074] As used in this article, the term “extension” refers to movement away from the center or midline of the body.

[0075] As used herein, the terms “phalanx,” “phalanxes,” “phalange,” or “phalanges” refer to one or more components, parts, or forming units that constitute the structure of a robotic finger.

[0076] As used herein, the term "joint" or "link" refers to a component or connection between two phalanges that constitute at least a portion of a finger. In some embodiments, joints provide functionality for flexion / extension / adduction / abduction movements of the robotic finger.

[0077] As used herein, the term "phalangeal base" refers to a portion or component of a phalanx that serves as the basic structure connecting the phalanx to the robotic hand. In some embodiments, the size and shape of the phalangeal base are determined to allow for slidable connection to the robotic hand.

[0078] As used herein, the term “rotation” refers to the ability to rotate, for example, the ability to perform actions, functions, or operations sequentially.

[0079] As used in this article, “connecting,” “connected,” and “connection” refer to the physical combination with other elements, directly or indirectly.

[0080] As used herein and in the claims, the terms “operationally connected to” or “operationally connected to” refer to a functional or operational connection between two components or systems that allows the components or systems to work together or interact with each other. Such connection can be direct or indirect.

[0081] As used herein, the term "working surface" refers to the face or surface of the phalanx that can directly interact with or contact (multiple) target objects to grasp and / or manipulate those target objects.

[0082] As used herein, the term "hydraulic actuator" or "actuator" refers to a mechanism or component that actuates (e.g., elongates, compresses, expands, contracts, or bends) a part (e.g., a finger bone) in response to the regulation of hydraulic fluid and / or external forces. In some examples, (multiple) hydraulic actuators have a bellows-like structure and are mounted between two finger bones to manipulate and control a robotic hand.

[0083] As used herein, the terms “original state” and “normal state” refer to the state of a hydraulic actuator as a default or static state in which the actuator is not actively controlled or powered.

[0084] As used herein, the term "compressed state" or "compression status" refers to a state in which the overall length, size, or volume of a hydraulic actuator is relatively smaller compared to its original or normal state. For clarity, hydraulic actuators can have various degrees of compression.

[0085] As used herein, the term "extended state" or "extension status" refers to a state in which the overall length, size, or volume of a hydraulic actuator is relatively larger than its original or normal state. For clarity, hydraulic actuators can have various degrees of extension.

[0086] As used herein, the term "bent state" refers to a state of a hydraulic actuator in which the length of one side of the actuator is relatively greater than the length of the opposite side. For clarity, hydraulic actuators can have various degrees of bending states.

[0087] Although specific embodiments are mentioned in the description, this disclosure should not be construed as limiting it to the embodiments set forth herein.

[0088] Numbered embodiments

[0089] Example 1. A robotic hand, comprising: a plurality of robotic fingers; and a robotic palm configured to be operatively connected to the plurality of robotic fingers, wherein each robotic finger comprises: a first phalanx; a second phalanx; and a first hydraulic actuator configured to operatively connect the first phalanx to the second phalanx, wherein the first hydraulic actuator comprises a soft, bellows-shaped deformable body such that, during operation, the first hydraulic actuator can switch between at least a compressed state and an extended state in response to an applied external force and / or hydraulic pressure.

[0090] Example 2. The robotic hand as described in Example 1, wherein a first hydraulic actuator is operatively connected to and driven by a hydraulic system including an injection pump.

[0091] Example 3. The robotic hand as described in Example 2, wherein the injection pump is configured to be controlled by a stepper motor.

[0092] Example 4. The robotic hand as described in any of the preceding examples, wherein the corrugated deformable body is configured to be connected to an injection pump via a flexible hydraulic line.

[0093] Example 5. The robotic hand as described in any of the preceding examples, wherein the individual first phalanx and / or the individual second phalanx includes a working surface thereon, the working surface including a polysiloxane pad.

[0094] Example 6. The robotic hand as described in any of the preceding examples, wherein the robotic finger further includes a third phalanx and at least one second hydraulic actuator, wherein the at least one second hydraulic actuator is configured to operatively connect the second phalanx to the third phalanx.

[0095] Example 7. The robotic hand as described in any of the preceding examples, wherein the robotic finger further includes a rotation axis connecting the first phalanx and the second phalanx.

[0096] Example 8. The robotic hand as described in any one of Examples 5 to 7, wherein the robotic finger further includes a universal joint connecting the second phalanx and the third phalanx.

[0097] Example 9. The robotic hand as described in Example 8, wherein the third phalanx further includes a baffle for securing the universal joint.

[0098] Example 10. The robotic hand as described in any one of Examples 5 to 9, wherein the third phalanx further includes a phalanx base for connecting the third phalanx to the robotic hand palm.

[0099] Example 11. A robotic hand as described in any of the preceding embodiments, wherein the robotic finger further includes a proprioceptive sensor operatively connected to a separate actuator.

[0100] Example 12. The robotic hand as described in Example 11, wherein the proprioceptive sensors include an IMU and / or a potentiometer.

[0101] Example 13. A robotic hand as described in any of the preceding examples, wherein the robotic hand includes a pneumatic slide rail, and the robotic hand is configured to be slidably connected to the pneumatic slide rail.

[0102] Example 14. A robotic hand as described in any of the preceding embodiments, wherein each of the first hydraulic actuator and the at least one second hydraulic actuator includes a head portion located at each opposite end, and individual first phalanges, second phalanges and, if present, third phalanges include receiving portions configured to receive the head portion.

[0103] Example 15. A robotic hand, comprising: a plurality of robotic fingers; and a robotic palm configured to be operatively connected to the plurality of robotic fingers, wherein each robotic finger comprises: a first phalanx; a second phalanx; a third phalanx; a first hydraulic actuator configured to operatively connect the first phalanx to the second phalanx; a pair of second hydraulic actuators configured to operatively connect the second phalanx to the third phalanx; a rotary joint connecting the first phalanx to the second phalanx; and a universal joint connecting the second phalanx to the third phalanx; and wherein each of the first hydraulic actuator and the pair of second hydraulic actuators comprises a soft, bellows-shaped deformable body such that, during operation, the first hydraulic actuator and the pair of second hydraulic actuators can switch between at least a compressed state and an extended state respectively in response to an applied external force and / or hydraulic pressure.

[0104] Example 16. A robot system comprising: a robot hand as described in any of the preceding embodiments; and an optional robot arm operatively connected to the robot hand.

[0105] Example 17. The robot system as described in Example 16 further includes: a hydraulic drive unit configured to provide hydraulic pressure to the robot hand; and an operation unit configured to provide operation signals to the hydraulic drive unit.

[0106] Example 18. The robot system as described in Example 17, wherein the hydraulic drive unit further includes a control unit configured to provide control signals to the hydraulic drive unit.

[0107] Example 19. The robot system as described in Example 17, wherein the hydraulic drive unit includes an injection pump system.

[0108] Example 20. The robot system as described in Example 19, wherein the injection pump system includes a stepper motor and a hydraulic injector, and the control unit includes a stepper motor driver.

[0109] Examples

[0110] This document provides examples of certain embodiments of the disclosure that are described in more detail. The examples provided herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. All references given below and elsewhere in this application are hereby incorporated by way of citation.

[0111] In some embodiments, the provided robotic hand (DexCo hand) is structurally designed to combine flexion and adduction / abduction movements, finger opposition, and palm dexterity to mimic the movements of human fingers.

[0112] Robotic hand

[0113] Example 1 : An example robotic hand

[0114] Now for reference Figure 1A and Figure 1B The example robotic hand 1000 generally comprises at least two robotic fingers 1100A and 1100B (collectively referred to as 1100) and a robotic palm 1200. In this example, two robotic fingers 1100A and 1100B are provided, and they are operatively connected to or mounted on the robotic palm 1200. The detailed structure of the robotic fingers 1100 and the robotic palm 1200 will be described in more detail later.

[0115] Robotic finger

[0116] Now for reference Figures 1A to 1B and Figures 1C to 1DThe robotic finger is characterized by modular units. In this example, each robotic finger 1100 generally comprises a fingertip or first phalanx 1110, a proximal link or second phalanx 1120, and a basal link or third phalanx 1130. The first phalanx 1110 and the second phalanx 1120 are configured and arranged to be connected via a first axis 1160, which serves as a pivot point for a first (rotational) joint at the fingertip. Similarly, the second phalanx 1120 and the third phalanx 1130 are configured and arranged to be connected via a universal joint 1170, which provides two degrees of freedom for a second joint at the proximal link. The first phalanx 1110 is configured to be capable of flexion and extension, and the second phalanx 1120 is configured to be capable of flexion, extension, adduction, and abduction.

[0117] Hydraulic actuators 1140, 1150A, and 1150B (collectively referred to as 1150), driven by hydraulic power, are respectively disposed between the first phalanx 1110 and the second phalanx 1120, and between the second phalanx 1120 and the third phalanx 1130, to control the hydraulic actuation of the robotic finger 1100. The first hydraulic actuator 1140 is disposed between the first phalanx 1110 and the second phalanx 1120 to drive the flexion and extension of the first phalanx 1110. A pair (two) of second hydraulic actuators 1150A and 1150B are disposed between the second phalanx 1120 and the third phalanx 1130 to drive the flexion, extension, adduction, and abduction of the second phalanx 1120.

[0118] In this example, polysiloxane pads 1112 and 1122 with parallel serrated surfaces are respectively provided on the working surface 1111 of the first phalanx 1110 and the working surface 1121 of the second phalanx 1120, thereby increasing the friction between the finger 1100 and the target object.

[0119] The third phalanx 1130 generally includes a baffle 1131 and a phalanx base 1132. In order to operatively connect the robotic finger 1100 to the robotic hand 1200, the size and shape of the phalanx base 1132 are determined to be slidably received in or fixed to a pneumatic rail 1210 or a hand slider of the robotic hand 1200, which will be described in more detail later.

[0120] Example 2: Exploded view of an example robotic finger

[0121] Figures 2A to 2BAnother example robotic finger 2100 is shown in an exploded view. Similar to Example 1, the robotic finger 2100 generally comprises a first phalanx 2110, a second phalanx 2120, and a third phalanx 2130. These phalanges include three degrees of freedom formed by two joints 2160 and 2170. In this example, the working surface 2111 of the first phalanx 2110 includes a polysiloxane pad 2112 with a substantially flat surface, and the working surface 2121 of the second phalanx 2120 includes parallel ridges for increasing friction to receive the silicone pad (not shown).

[0122] See now Figures 2A to 2C These two joints include a rotational joint (with a first axis 2160) at the first phalanx and a universal joint 2170 (with a second axis 2161 and a third axis 2162) at the second phalanx 2120, the universal joint having two degrees of freedom. One rotational axis x of the universal joint 2170 is parallel to the rotational axis y of the first phalanx 2110, thus providing two independent degrees of freedom for flexion. The other degree of freedom of the universal joint 2170, perpendicular to the flexion axis, facilitates adduction / abduction. The universal joint 2170 includes: a second axis receiving portion 2171, the size and shape of which are determined to receive a portion of the second axis 2161 for connection with the second phalanx; and a third axis receiving portion 2172, the size and shape of which are determined to receive the third axis 2162 for connection with the third phalanx 2130. The second axis 2161 is arranged in a direction substantially perpendicular to the third axis 2162, thereby providing two degrees of freedom at the universal joint 2170. A short third axis 2162 is configured to connect the universal joint 2170 and the third phalanx 2130, which serves as the pivot point of the universal joint 2170. The use of the universal joint 2170 significantly reduces the complexity of the robotic finger 2100 when performing adduction / abduction movements. The range of motion of each joint is different. In this example, the range of motion of the fingertip rotator joint (rotation joint) is from approximately 0° to 90°. The range of motion of the universal joint 2170 extends from approximately 0° to 90° in the flexion direction, and from approximately -20° to 20° in the adduction / abduction direction.

[0123] The third phalanx 2130 generally includes a baffle 2131 and a phalanx base 2132, and the universal joint 2170 is fixed by the baffle 2131 of the third phalanx 2130 via a third axis 2162. The baffle 2131 includes: an upper inclined surface whose size and shape are determined to receive or fix the lower ends of hydraulic actuators 2150A and 2150B (collectively referred to as 2150) and the second phalanx; and a lower surface whose size and shape are determined to connect with the phalanx base 2132.

[0124] A first hydraulic actuator 2140, driven by hydraulic power, is sized and shaped to be received between a first phalanx 2110 and a second phalanx 2120 to drive flexion and extension of the first phalanx 2110 relative to the second phalanx 2120. A pair of second hydraulic actuators 2150A and 2150B (which are expandable bellows-shaped) are configured to be received between the second phalanx 2120 and a third phalanx 2130 to control the degrees of freedom of the second phalanx 2120, thereby driving flexion, extension, adduction, and / or abduction of the second phalanx 2120.

[0125] Hydraulic actuator

[0126] 3.1. Construction of an example hydraulic actuator

[0127] 3.1.1 Soft hydraulic actuator design:

[0128] • Origami-inspired structure: The soft hydraulic actuator is designed based on origami principles, featuring a bellows-like or accordion-shaped bellows structure that can expand and contract efficiently. This design allows for a high expansion ratio and durability, making the actuator suitable for a wide variety of manipulation tasks.

[0129] • Materials: Hydraulic actuators are made of soft materials. In some examples, hydraulic actuators are made of soft materials (such as polyethylene), which are chosen because of their toughness and ductility. This ensures that the hydraulic actuators can maintain their structural integrity under repeated pressure cycles and extreme positions.

[0130] 3.2. Principles involved:

[0131] 3.2.1 Hydraulic actuation:

[0132] • Hydrostatic pressure: Soft hydraulic actuators operate based on hydrostatic pressure. When the syringe compresses the hydraulic fluid, it increases the internal pressure, causing the actuator to expand. Conversely, as the fluid volume increases, the actuator contracts.

[0133] • Elastic deformation: The actuator is designed to minimize elastic deformation, thereby ensuring a consistent relationship between the actuator length and the volume of hydraulic fluid.

[0134] 3.2.2 Compliance and adaptability:

[0135] • Local compliance: Soft actuators provide local compliance, enabling robotic systems to conform to the contours of objects and apply appropriate forces. This enhances the ability to perform precision tasks and reduces the risk of damage to fragile objects.

[0136] • Bidirectional drive: Hydraulic systems allow for bidirectional drive, meaning that actuators can push and pull, thus providing more versatile control over motion.

[0137] 3.3. Method:

[0138] Actuator assembly:

[0139] • The soft hydraulic actuator is assembled by connecting the bellows-shaped structure to the injection pump via flexible hydraulic lines.

[0140] These materials were chosen because they can withstand the pressures involved in hydraulic actuation while maintaining flexibility and durability.

[0141] 3.4. Folded paper (bellows type) features

[0142] In some examples, soft hydraulic actuation systems seamlessly integrate dexterity and compliance into a compact form. Improved origami-style (or bellows-type) actuators exhibit excellent airtightness, durability, and a high expansion ratio, thereby contributing to the efficient actuation of rotary joints.

[0143] In some examples, the design of origami actuators revolves around two key aspects: customizing the actuator's behavior through design parameters and considering specific materials and manufacturing methods based on functional requirements. In some examples, design parameters focus on modifying the zigzag origami characteristics. In some examples, adjusting the relative angle between two adjacent zigzag features, for example, allows for changing the actuator's initial length. Similarly, in some examples, modifying the depth-to-diameter ratio affects the actuator's mechanical properties during movement, while changing the number of origami layers directly affects its expansion length.

[0144] 3.5. Manufacture

[0145] In terms of manufacturing, the actuator needs to meet the force output requirements of a dexterous hand, thus requiring a certain level of pressure resistance. Considering the challenges of manufacturing small-scale, pressure-resistant, and airtight actuators, blow molding is used as a manufacturing method in some examples. In some examples, polyethylene (chosen due to its toughness and ductility) is used as the blow molding material. In some examples, this choice ensures that the actuator can remain thin without compromising durability, even after undergoing repeated positive and negative pressure cycles and extreme position movements.

[0146] 3.6. Hydraulic driven actuator

[0147] In some examples, origami-style actuators are hydraulically driven. Compared to pneumatic actuators, which exhibit significant compressibility, hydraulic actuators possess higher stiffness during interaction. For applications requiring dexterity, lower stiffness is not always desirable, as it may necessitate the introduction of variable stiffness mechanisms, increasing system complexity and control challenges. The higher stiffness of hydraulic actuators ensures a proportional relationship between the fluid volume and the actuator length, even under external forces. This characteristic facilitates driving two degrees of freedom within the configuration space of a universal joint: simultaneous extension or shortening of both actuators causes buckling, while varying extension and shortening produce adduction / abduction movements of the universal joint.

[0148] 3.7. Integration with robotic system

[0149] Modular design: Soft hydraulic actuators can be modularly integrated into various robotic systems. Each actuator can be controlled independently, providing high flexibility in designing robotic hands, arms, or other manipulators.

[0150] • Compliance: The inherent compliance of hydraulic actuators allows robotic systems to adapt to various shapes and apply appropriate forces without causing damage. This makes the mechanism suitable for precision tasks.

[0151] Example 3: An example hydraulic actuator

[0152] Now for reference Figures 3A to 3P The following images show details of an example hydraulic actuator in different views. In this example, the example hydraulic actuator has a bellows-like structure that allows for efficient expansion and contraction. Figures 3A to 3F The hydraulic actuator 3140 includes a bellows-type deformable body 3141 (which defines a chamber therein) and an inlet 3142 for the input of hydraulic fluid. In this example, the inlet 3142 may be connected to a hose to deliver and fill hydraulic fluid into the chamber. The chamber has a variable volume depending on the compression / expansion state of the actuator. The inlet 3142 is sealed to prevent subsequent leakage. Figure 3G (Top figure) shows the hydraulically driven actuator 3140 being compressed at both ends as the internal hydraulic pressure decreases; and (bottom figure) shows the actuator 3140 extending as the internal hydraulic pressure increases. Figure 3H (The lower figure) shows the decrease in internal hydraulic pressure when the actuator 3140 is compressed; and (the upper figure) shows the extension of the hydraulically driven actuator 3140 at both ends as the internal hydraulic pressure increases. Figure 3I (Top image) shows actuator 3140 in a bent state, driven by hydraulic power, undergoing compression at both ends as internal hydraulic pressure decreases; and (bottom image) shows internal hydraulic pressure increasing as actuator 3140 extends. Figure 3J(The lower figure) illustrates the decrease in internal hydraulic pressure when actuator 3140 is compressed; and (the upper figure) shows the extension at both ends driven by hydraulic power as internal hydraulic pressure increases when actuator 3140 is in a bent state. In other words, actuator 3140 can undergo compression or extension of different amplitudes (i.e., different degrees of compression / extension) and bending states in response to hydraulic pressure controlled by the applied hydraulic power. In other words, the relative movement between the phalanges is controlled by the hydraulic actuation mechanism.

[0153] Figures 3K to 3L A detailed locking structure for mounting an actuator 3140 between two elements (e.g., phalanges) is shown. In these figures, elements 3121 and 3131 represent partial structures of a second phalanx and a third phalanx, respectively. The actuator 3140 includes an inlet 3142 and a bellows-type deformable body 3141 comprising a first head portion 3143A in a semi-rotated form at one end and a second head portion 3143B in a semi-rotated form at the opposite end. The size and shape of the first head portion 3143A and the second head portion 3143B are determined to match and be received therein with corresponding receiving portions 3121 and 3131 of the two elements (e.g., the second and third phalanges), such that the actuator 3140 can be mounted relative to these elements (e.g., phalanges) and locked in its desired position. These locking structures allow the actuator 31401 to be pulled and pushed in response to external forces and / or hydraulic pressure.

[0154] Figure 3M The actuator 3140 is shown being passively stretched due to an applied external force, as indicated by the arrow. Figure 3N The actuator 3140 is shown being passively compressed due to an applied external force, as indicated by the arrow. In other words, the actuator 3140 can be subjected to stretching or compression in response to an applied external force.

[0155] Figure 3O The illustration shows that when the actuator 3140 is installed between two elements (e.g., finger bones) connected by a rotary joint, the actuator 3140 is in a bent state that is passively stretched due to external force. Figure 3P The diagram shows that when the actuator 3140 is mounted between two elements (e.g., phalanges) connected by a rotary joint, the actuator 3140 is in a bent state that is passively compressed due to an external force. In other words, the actuator 3140 can undergo tension or compression in different bent states in response to an external force applied to it.

[0156] Example 4: Actuation of the first phalange

[0157] Now for reference Figures 4A to 4BThe diagram illustrates a first phalanx controlled by an actuator in response to hydraulic power. A polysiloxane pad 4111 is disposed at the first phalanx 4110 to increase friction between the finger and a target object. A coating 4112 is disposed on the fingertip to protect the fragile target object. Another polysiloxane pad 4122 is disposed at the second phalanx to increase friction between the finger and the target object.

[0158] A first shaft 4160 connects a first phalanx 4110 and a second phalanx 4120, thus serving as a pivot point for the rotational joint 4160. A bellows-type hydraulic actuator 4140 is mounted between the first phalanx 4110 and the second phalanx 4120 to control the degree of freedom of the first phalanx 4110. Figure 4A In this process, actuator 4140 extends due to increased hydraulic pressure. By increasing the hydraulic pressure, actuator 4140 extends, causing the first phalanx to bend (e.g., Figure 4A (As shown). In Figure 4B In the middle, actuator 4140 contracts due to the decrease in hydraulic pressure. By reducing the hydraulic pressure, actuator 4140 contracts, causing the first phalanx to extend (e.g., Figure 4B (As shown). In this way, the first phalanx 4110 can flex and extend.

[0159] Example 5: Actuation of the second phalange

[0160] Now for reference Figures 5A to 5D The image shows a second phalanx controlled by actuator 5151 in response to hydraulic actuation. A polysiloxane pad 5122 is disposed at the second phalanx to increase friction between the finger and the target object.

[0161] The second axis 5161 and the third axis (not shown) are connected to the second phalanx 5120 and the third phalanx 5130 via a universal joint, which serves as a joint pivot joint. A baffle 5131 on the third phalanx 5130 is used to fix the universal joint. The third phalanx 5130 is connected to the base of the phalanx for fixing the two actuators 5151 and the universal joint.

[0162] In this example, a pair of bellows hydraulic actuators 5151A and 5151B (collectively referred to as 5151) are mounted between the second phalanx 5120 and the third phalanx 5130 to control the degree of freedom of the second phalanx 5120. By increasing the hydraulic pressure, the pair of actuators 5151 extend, causing the second phalanx 5120 to bend, as... Figure 5A As shown. By reducing the hydraulic pressure, this compresses the actuator 5151, causing the second phalanx 5120 to extend, as... Figure 5B As shown.

[0163] By separately controlling the hydraulic pressure applied to these actuators, the actuators 5151 can be compressed or extended to different degrees, thus providing complete control over tilting towards the desired side. Figure 5C In this process, by increasing the hydraulic pressure in the right actuator 5151B while simultaneously decreasing the hydraulic pressure in the other actuator 5151A, the actuators drive the second phalanx 5120 to tilt to the left. The second phalanx is then able to perform abduction movements. Figure 5D In this process, by increasing the hydraulic pressure in the left actuator 5151A while decreasing the hydraulic pressure in the other actuator 5151B, the actuators drive the second phalanx 5120 to tilt to the right. The second phalanx is then able to perform an adduction movement.

[0164] In this way, the second phalanx 5120 can flex, extend, adduct, and / or abduct.

[0165] Sensor

[0166] In some examples, the provided robotic hand and the robotic system including it may further include sensors or sensing systems primarily dedicated to sensing joint angles. In some examples, the sensing system typically combines one or two types of sensors: a linear sliding potentiometer (linear displacement sensor) and / or an inertial measurement unit (IMU).

[0167] A linear sliding potentiometer is positioned at the palm joint to provide feedback on the distance of the hand opening and closing. Due to the potentiometer's highly stable performance, the data provided regarding the distance to the palm is used as a direct true value. The IMU is configured to be operatively connected or fixed to the proximal link (second phalanx) and fingertip (first phalanx) link, thereby providing feedback on these two angles of the gimbal joint and the rotational angle of the fingertip.

[0168] Inertial measurement units (IMUs) provide triaxial angular information to address the challenges of sensing joint angles. In some examples, commercially available IMUs incorporating various MEMS (microelectromechanical systems) integrated chips can be used. These integrated chips include 3-axis accelerometers, 3-axis gyroscopes, 3-axis magnetometers, and other measurement units (such as barometers and thermometers) for compensating for drift (such as temperature drift). This integration facilitates the convenient integration of the IMU into small spaces (such as inside a finger) while still providing multi-axis rotational information.

[0169] In some examples, DexCo uses a commercially available MEMSMU (ICM-20948, TDK InvenSense), a 9-axis IMU that integrates an accelerometer, gyroscope, and / or magnetometer.

[0170] Robotic palm

[0171] A controller, designed to receive sensor signals, is mounted on the robot's hand. In some examples, the controller is a custom PCB board designed to receive sensor signals. A processor (not shown) processes the sensor signals and is directly connected to the controller. In some examples, the processor is an Arduino Mega2560. Flanges are used to attach the robot hand to the robot arm.

[0172] Example 6: An example robotic palm

[0173] Now for reference Figures 6A to 6B The example robotic hand 6200 is shown. The robotic hand 6200 generally includes a pneumatic slide rail 6210, as well as optional other electronic components that are operatively connected to the robotic hand, such as a microcontroller 6312 and a PCB board or circuit 6311.

[0174] In this example, the microcontroller 6312 is an Arduino Mega 2560, used to process the sensor signal and directly connected to a custom PCB board 6311. The custom PCB board 6311 is configured to receive the sensor signal.

[0175] In this example, the pneumatic slide rail 6210 serves as the palm for slidably mounting the robot fingers and allows adjustment of the robot hand's width (i.e., the distance between the two robot fingers). In this example, a two-finger pneumatic gripper, SMC MHF2-12D2R (SMC pneumatic actuator), is used. This pneumatic gripper is pneumatically driven and can withstand a range of air pressures, thus supporting a relatively large gripping force (e.g., 48 N). The slide rail's stiffness and position can be controlled via two pneumatic inputs. The slide rail has a travel distance of approximately 60 mm, which provides significant dexterity for fine intramanual manipulation during experimental tasks. Experimental observations indicate that increasing the slide rail's travel distance can further improve manipulative dexterity.

[0176] A pair of sliders 6220 are mounted on a slide rail 6210. The size and shape of the sliders are determined to connect with the fingers (base of the phalanges), allowing the fingers to slide along the guide rail to adjust the width of the palm. The pneumatic slide rail 6210 includes a mounting groove 6211 on one side, while the size and shape of the other side are determined to match a flange 6250 to prevent loosening. Figure 6B A protrusion 6230 on flange 6250 for mounting a linear displacement sensor is also shown. Flange 6250 is equipped with mounting holes 6240 for securing flange 6250 to a robot arm.

[0177] Example 7: An example robotic hand with three robotic fingers

[0178] Figure 7Another example robotic hand 7000 is shown. In this example, three robotic fingers 7100 are provided, and they are arranged equidistantly around the central axis of the robotic fingers. The structure and components of each robotic finger 7100 are structurally similar to the robotic fingers described in Example 1 or 2, but the robotic palm 7200 is essentially a circular plate, and the size and shape of each of the phalanx bases 7132 of the third phalanx 7130 are determined to be fixedly connected to the robotic palm 7200. Each of the baffles 7131 includes: an upper inclined surface whose size and shape are determined to receive or fix the lower end of a hydraulic actuator and the second phalanx; and a lower surface whose size and shape are determined to connect to the phalanx base 7132. The three robotic fingers 7100 are operatively connected to the robotic palm 7200, which provides a central workspace for object manipulation.

[0179] Example 8: An example robotic hand with four robotic fingers

[0180] Figure 8 Another example robotic hand 8000 is shown. In this example, four robotic fingers 8100 are provided, arranged in two adjacent pairs, each pair consisting of two opposing robotic fingers. The structure and components of each robotic finger 8100 are structurally similar to the robotic fingers described in Example 1 or 2, but the robotic palm 8200 is essentially a rectangular plate with rounded corners, and the size and shape of each of the phalanx bases 8132 of the third phalanx 8130 are determined to be fixedly connected to the robotic palm 8200. Each of the baffles includes: an upper inclined surface, the size and shape of which are determined to receive or secure the lower end of a hydraulic actuator and the second phalanx; and a lower surface, the size and shape of which are determined to connect to the phalanx base 8132. The four robotic fingers 8100 are operatively connected to the robotic palm 8200, which provides a workspace for object manipulation.

[0181] Example 9: Another example robotic hand with four robotic fingers

[0182] Figure 9 Another example robotic hand 9000 is shown. In this example, the four robotic fingers 9100 are arranged in a substantially rectangular manner. The arrangement of these fingers generally forms a central, generally rectangular workspace. The structure and components of each robotic finger 9100 are structurally similar to those of the robotic fingers described in Example 1 or 2, but the robotic palm 9200 is essentially a cross-shaped plate with rounded corners, and the size and shape of each of the phalanx bases 9132 of the third phalanx 9130 are determined to be fixedly connected to the robotic palm 9200.

[0183] Robotic system

[0184] In some examples, a robotic system including a robotic hand is provided. In some examples, the robotic hand is operatively connected to a robotic arm to form a robotic system. In one example, the robotic arm is an LBR iiwa robotic arm (KUKA). In some examples, the robotic system optionally includes or is operatively connected to one or more of the following features, components, or systems:

[0185] 10.1. Control system

[0186] A central control system or control unit processes sensor data and generates control signals for the hydraulic drive unit. In some examples, the control unit is integrated into the hydraulic drive unit, and the hydraulic drive unit includes a stepper motor driver to drive a stepper motor (injection pump) to actuate the hydraulic injector.

[0187] • Provide and execute algorithms in the control system to ensure coordinated movement of actuators, thereby enabling complex manipulation tasks.

[0188] 10.2. Operating protocol

[0189] • In some examples, the system includes an operating protocol or operating unit. The system can be operated via a remote operating interface or pre-programmed routines. In some examples, the control system interprets high-level commands and translates them into specific movements for each actuator.

[0190] • The compliance and adaptability of the actuators allow the system to interact safely with a variety of objects, thereby performing tasks that require precision and accuracy.

[0191] 10.3. Teleoperation controller

[0192] In some examples, a dedicated teleoperation controller is operatively connected to the robotic hand for manipulating the DexCo hand in versatile, human-inspired fine hand manipulation tasks. In some examples, the DexCo hand demonstrates successful intrafinger manipulation, maintaining degrees of freedom while firmly holding a pinch. Furthermore, the DexCo hand excels in finger-environment manipulation, skillfully grasping specific targets in cluttered environments with extensive interaction with surrounding objects. This includes altering the environment to facilitate grasping, demonstrating an important ability similar to human hand dexterity.

[0193] 10.4. System actuation

[0194] In some examples, hand actuation is divided into two integral components: origami-style actuators, seamlessly integrated into the robotic hand; and a hydraulic drive unit (such as an injection pump system) located at the rear. In some examples, each origami-style actuator is equipped with an injection pump as its driver. In some examples, the injection pump includes a syringe, a stepper motor, a motor driver, and a magnetic encoder. In some examples, the syringe is directly linked to or connected to the origami-style actuator to propel its movement. In some examples, the origami-style actuator elongates when the volume inside the syringe is compressed; conversely, it shortens as the volume increases. In some examples, this actuation method (referred to as direct pumping) allows the syringe to utilize volumes ranging from 10 ml to 250 ml, precisely matching the volume of the origami-style actuator. To achieve high-speed actuation and considerable output force, in some examples, a 57 stepper motor is chosen as the driver for the injection pump. In some examples, the stepper motor can efficiently drive a 250 ml syringe at high speeds. In some examples, synchronization of multiple stepper motors is achieved via an IIC bus combined with a microcontroller. This method has successfully achieved low-latency synchronous motion across ten stepper motors, thus meeting the stringent requirements for synchronous control of multiple degrees of freedom necessary for a dexterous hand in this example. Additionally, in some examples, magnetic encoders provide high-precision feedback on the stepper motor positions, facilitating closed-loop control of the injection pump.

[0195] 10.5. Hydraulic system

[0196] • Injection pump: In some examples, the actuator is driven by a hydraulic system. In some examples, the hydraulic system includes one or more injection pumps controlled by a stepper motor. In some examples, each actuator is connected to a syringe that adjusts the volume of hydraulic fluid to cause expansion or contraction.

[0197] • Control mechanism: In some examples, a stepper motor is used to precisely control the movement of the syringe, thereby allowing for precise regulation of the hydraulic fluid and thus the actuator movement.

[0198] Example 10: An example robotic system

[0199] Now for reference Figure 10A An example robot system 100A is shown. Robot system 100A typically includes a robotic arm 110. In this example, robot system 100 further includes an operating unit 130 and a hydraulic drive unit 140 operatively connected to the robotic arm 110. In this example, hydraulic drive unit 140 includes a control unit 120.

[0200] In this example, the operation unit 130 is a remote operation interface that allows a user to manipulate the robotic hand 110. The control unit 120 processes sensor data and / or generates control signals for the hydraulic drive unit 140. The hydraulic drive unit 140 provides controlled hydraulic pressure to the actuators of the robotic hand.

[0201] Now for reference Figure 10B In one embodiment, the robot system 100B includes a robotic hand 110, which typically includes a palm 112 and a plurality of robotic fingers 111. Each robotic finger 111 includes components operatively connected to each other, such as joints (e.g., universal joints 113), hydraulic actuators 114, and phalanges 115. An operating unit 130 is a remote controller 131 serving as a human operating interface for sending operating signals to a hydraulic drive unit 140. The hydraulic drive unit 140 includes an injection pump system 141 and a control unit 120. In this example, the injection pump system 141 includes a stepper motor 142 and a hydraulic injector 143, and optionally includes or is operatively connected to one or more of the following: a power supply (e.g., a 24VDC power supply), an injector lock, an electromagnetic encoder, and an acrylic injection pump housing for housing the components of the injection pump. The control unit 120 includes a stepper motor driver 121, which acts as a stepper motor controller to provide electronic power to the stepper motor 142 in response to operating signals. Stepper motor 142 drives force to hydraulic injector 143 to generate hydraulic power to actuator, thereby actuating robot hand 110. In this example, robot hand 110 further includes electronic components 150, such as PCB circuitry 151, Arduino MCU system 152, and sensors 153 (such as IMU 154 and potentiometer 155). Sensors 153 receive data associated with the motion and joint angles of robot hand 110.

[0202] Applications

[0203] 11.1. DexCo hand fine in-hand manipulation task demonstration

[0204] In some examples, the DexCo robotic hand, integrated into an injection pump system, has demonstrated exceptional capabilities in performing a variety of delicate intramanual manipulation tasks.

[0205] In some examples, in addition to conventional pinching and power gripping, the DexCo hand excels in challenging scenarios involving complex environmental constraints, such as picking up objects from clutter, assembling light bulbs, and unscrewing bottle caps. Furthermore, the DexCo hand pioneered tasks previously unexplored or impossible for existing dexterous hands, such as opening plastic bags, counting cards, and sorting medications, demonstrating its versatility in fine in-hand manipulation.

[0206] In some examples, the DexCo hand is used as a practical application of soft hydraulic actuation mechanisms. The DexCo hand features modular fingers equipped with soft hydraulic actuators, providing three degrees of freedom (DoF) for each finger. In some examples, the fingers are capable of flexion, extension, adduction, and abduction movements, thus replicating human-like dexterity. In some examples, the soft hydraulic actuation mechanisms enable the DexCo hand to perform fine manipulatory tasks, such as picking up and sorting small objects, tightening and loosening items, and handling delicate materials.

[0207] Example 11 : Fine in-hand manipulation task demonstration

[0208] Now for reference Figures 11A to 11G This illustrates various sophisticated intramanual manipulation tasks demonstrated by an example robotic hand and its system. The example robotic hand, comprising two fingers, as described in Example 1, and the example robotic system, as described in Example 10, are used.

[0209] like Figure 11A As shown, the task of assembling a light bulb involves first tightening it from its untouched state, and then unscrewing it. This is achieved through repeated forward and backward twisting movements of the DexCo hand. To demonstrate the robustness provided by compliance, the central axis of the hand is offset from the axis of the light bulb in the xy plane. Regarding the palm, a wider palm requires greater flexion at the joint to contact the object. Since a larger flexion angle results in a smaller range of y-axis motion, the width of the palm can adjust the range of twisting, as analyzed in dexterity mechanisms.

[0210] Figure 11B The image illustrates the task of opening a card box. The box has a semi-circular opening at the top, typically opened by inserting a finger. The DexCo hand employs a similar mechanism, using its flexion degree of freedom to open the box from above, or its adduction / abduction degree of freedom to open it from the side. During this process, the robotic arm remains stationary.

[0211] Figure 11C The text describes pill sorting. The process involves picking up multiple pills from a pile and then using fine hand manipulation to sort them into different piles. This task requires the DexCo hand to utilize its fingertip dexterity to pick up a portion of the pills from the haphazard arrangement, then using fingertip gliding to separate smaller particles, similar to hand-sprinkling powder.

[0212] Picking up the messy boxes ( Figure 11DThe characteristic of DexCo is its intensive hand-environment interaction, which poses a significant challenge for robots operating in unstructured environments. In the real world, simply picking and placing objects is insufficient, as objects are always stacked or clustered in confined spaces. Based on our results, the dexterity of the DexCo hand's fingertips demonstrates a powerful ability to manipulate in cluttered situations. We believe that manipulating the DexCo hand's grasping capabilities can solve this challenge of picking up cluttered boxes.

[0213] exist Figure 11E The image illustrates a card counting task. A human hand uses the thumb and forefinger to quickly draw cards from a deck, while the other hand assists. The DexCo hand mimics this, with the lower, softer hand (not shown) holding the deck for assistance. The DexCo hand utilizes its fingertip dexterity to first separate the top cards without arm movement. Once the cards are separated, the arm moves upward to draw them out. Without this fine hand manipulation, consecutive cards would be removed together.

[0214] Figure 11F The image shows the opening of a plastic bag. The left soft hand, attached to one end of the KUKA robot, is pneumatically controlled to adjust its opening and closing. The task involves initially manipulating the unopened, transparent thin plastic bag with fingertips to open it and grasp one edge. The bag is then repositioned so that the left soft hand grasps the other edge, and the right DexCo hand pulls it open. Success in the bag-opening phase depends on the dexterity and compliance of fine intra-hand manipulation. During the bag-stretching phase, sufficient gripping force is required while simultaneously pinching with the DexCo hand.

[0215] Cage operation and in-hand rotation, Figure 11G The diagram depicts two sliding primitives along the x and y axes and two translation primitives along the y and z axes. The hand's role here is to expand the sliding range, perform translational movements, and adapt to a wider range of object diameters. The hand's local compliance also increases the safety margin during manipulation, thereby reducing the difficulty of control.

[0216] The results demonstrate that the combination of dexterity and compliance in the DexCo hand enables it to perform fine in-hand manipulation skills comparable to those of humans. The importance of adduction / abduction and palmar movements is highlighted, as they are involved in certain manipulation tasks, thereby improving efficiency and robustness. In contrast, tasks without these movements may require complex sensory feedback, wrist and arm movements, and sophisticated modeling and control. This underscores the crucial role of dexterity and compliance in enhancing the overall manipulation capabilities of the robotic hand.

[0217] Exemplary embodiments of the present invention have thus been fully described. Although the description refers to specific embodiments, it will be apparent to those skilled in the art that the present invention can be practiced with variations in these specific details. Therefore, the present invention should not be construed as being limited to the embodiments set forth herein.

[0218] For example, the elements, components, systems, and methods described in the various examples and figures may be incorporated into or replaced by other elements, components, systems, and methods in the other examples and figures.

[0219] For example, in some embodiments, two, three, or four robotic fingers containing three phalanges are described, but different types of robotic fingers, different numbers of phalanges (e.g., two, three, four, five, six, seven, eight, nine, ten, or more), different arrangements, and different sizes and shapes (elliptical, circular, triangular, rectangular, etc.) of robotic fingers and / or phalanges may be used as needed.

[0220] For example, in some embodiments, a single robotic finger includes a polysiloxane pad disposed at a working surface at the first and second phalanges, but pads of different sizes, shapes and forms of working surfaces (e.g., with or without pads, with or without surfaces that provide friction, etc.) and other materials (e.g., rubber, polymers, etc.) can be used.

[0221] For example, in some embodiments, certain arrangements of two or more robotic fingers are described, but different arrangements of robotic fingers with different numbers (e.g., five, six, seven, eight, nine, ten or more) can be used (e.g., three or more adjacent groups, each group consisting of two robotic fingers arranged in opposite directions, or irregular arrangements, etc.).

[0222] For example, in some embodiments, a single robotic finger is described as including three hydraulic actuators, one hydraulic actuator disposed between the first and second phalanges, and two hydraulic actuators disposed between the second and third phalanges, but hydraulic actuators with different arrangements, positions, sizes and shapes can be used.

[0223] For example, in some embodiments, a pneumatic slide rail is described as being configured for slidably mounting the robotic hand's fingers and being able to adjust the width of the robotic hand; however, other mounting mechanisms and / or components (e.g., gears, linkages, sliders, cable drivers, etc.) and other driving means (e.g., motor drives, etc.) may be used.

[0224] For example, in some embodiments, the actuator includes a head portion configured to be received in the receiving portion of the phalanges, and these head portions are in a semi-rotational shape, but other sizes, shapes of head portions and other mounting mechanisms may be used.

Claims

1. A robotic hand, comprising: Multiple robotic fingers; as well as A robotic hand, configured to be operatively connected to the plurality of robotic fingers. Its characteristic is that the individual robotic fingers include: First finger bone; Second phalanx; and A first hydraulic actuator, configured to operatively connect the first phalanx to the second phalanx. The first hydraulic actuator includes a soft, bellows-shaped deformable body, such that during operation, the first hydraulic actuator can switch between at least a compressed state and an extended state in response to an external force and / or hydraulic pressure applied thereto.

2. The robotic hand as described in claim 1, wherein, The first hydraulic actuator is operatively connected to and driven by a hydraulic system including an injection pump.

3. The robotic hand as described in claim 2, wherein, The injection pump is configured to be controlled by a stepper motor.

4. The robotic hand as described in claim 2, wherein, The bellows-shaped deformable body is configured to be connected to the injection pump via a flexible hydraulic line.

5. The robotic hand as described in claim 1, wherein, Each individual first phalanx and / or each individual second phalanx includes a working surface thereon, wherein the working surface includes a polysiloxane pad.

6. The robotic hand as described in claim 1, wherein, The robotic finger further includes a third phalanx and at least one second hydraulic actuator, wherein the at least one second hydraulic actuator is configured to operatively connect the second phalanx to the third phalanx.

7. The robotic hand as described in claim 1, wherein, The robotic finger further includes a rotating shaft connecting the first phalanx and the second phalanx.

8. The robotic hand as described in claim 6, wherein, The robotic finger further includes a universal joint connecting the second phalanx and the third phalanx.

9. The robotic hand as described in claim 8, wherein, The third phalanx further includes a baffle for securing the universal joint.

10. The robotic hand as described in claim 6, wherein, The third phalanx further includes a phalanx base for connecting the third phalanx to the robotic hand.

11. The robotic hand as claimed in claim 1, wherein, The robotic finger further includes at least one proprioceptive sensor operatively connected to a separate actuator.

12. The robotic hand as claimed in claim 11, wherein, The at least one proprioceptive sensor includes an IMU and / or a potentiometer.

13. The robotic hand as claimed in claim 1, wherein, The robotic hand includes a pneumatic slide rail, and the robotic hand is configured to be slidably connected to the pneumatic slide rail.

14. The robotic hand as claimed in claim 6, wherein, Each of the first hydraulic actuator and the at least one second hydraulic actuator includes a head portion located at each opposite end, and the individual first phalanx, second phalanx, and, if present, third phalanx includes a receiving portion configured to receive the head portion.

15. A robotic hand, comprising: Multiple robotic fingers; as well as A robotic hand, configured to be operatively connected to the plurality of robotic fingers. Its characteristic is that the individual robotic fingers include: First finger bone; Second finger bone; Third finger bone; A first hydraulic actuator is configured to operatively connect the first phalanx to the second phalanx; A pair of second hydraulic actuators, wherein the pair of second hydraulic actuators are configured to operatively connect the second phalanx to the third phalanx; Rotating joint, the rotating joint connecting the first phalanx to the second phalanx; and A universal joint connecting the second phalanx to the third phalanx; and wherein each of the first hydraulic actuator and the pair of second hydraulic actuators includes a soft, bellows-shaped deformable body, such that, in operation, the first hydraulic actuator and the pair of second hydraulic actuators can switch between at least a compressed state and an extended state respectively in response to an external force and / or hydraulic pressure applied thereto.

16. A robot system, characterized in that, include: The robotic hand as described in claim 1; as well as An optional robotic arm, operatively connected to the robotic hand.

17. The robot system of claim 16, further comprising: A hydraulic drive unit configured to provide hydraulic pressure to the robotic arm; as well as An operating unit configured to provide operating signals to the hydraulic drive unit.

18. The robot system of claim 17, wherein, The hydraulic drive unit further includes a control unit configured to provide control signals to the hydraulic drive unit.

19. The robot system of claim 18, wherein, The hydraulic drive unit includes an injection pump system.

20. The robot system of claim 19, wherein, The injection pump system includes a stepper motor and a hydraulic injector, and the control unit includes a stepper motor driver.

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