Robot end effector with back-supported actuator mechanism

Abstract

To solve the problems of the prior art. A robotic end effector provides an anthropomorphic hand with a dorsal actuation system, the hand having a substantially flat palm and fingers extending from the palm and capable of flexing and extending relative to the palm. The dorsal actuation system is supported by the palm and fingers and includes actuators positioned on the dorsal side of the palm and links positioned on the dorsal side of the fingers.

Description

[Background technology]

[0001] Robotic hands or grippers p.p. Robotic hands (grippers) typically require a large number of degrees of freedom and sophisticated control methodologies to compete with the versatility and effectiveness of the human hand. Robotic hands are being developed to generate high gripping forces by providing remote actuation. Independent actuation of every finger joint can result in designs that are bulky, fragile, and complex. The development of robotic hands or grippers is a continuing endeavor. Summary of the Invention

[0002] The features and advantages of the present invention will become apparent from the following detailed description when taken in conjunction with the accompanying drawings, which together illustrate, by way of example, features of the present invention. [Brief description of the drawings]

[0003] [Figure 1a] FIG. 1 illustrates a front perspective view of a robotic end effector, i.e., a semi-humanoid hand, with a back actuation system, according to an example.

[0004] [Figure 1b] FIG. 1b is a rear perspective view of the robot end effector of FIG.

[0005] [Figure 2a] FIG. 1b is a side view of the robot end effector of FIG.

[0006] [Figure 2b] FIG. 1b is an opposite side view of the robot end effector of FIG.

[0007] [Diagram 3] FIG. 1b is a front view of the robot end effector of FIG.

[0008] [Figure 4] FIG. 1b is a top or rear view of the robot end effector of FIG.

[0009] [Diagram 5] FIG. 1b is a bottom or palm view of the robot end effector of FIG.

[0010] [Figure 6] FIG. 1b is an end view of the robot end effector of FIG.

[0011] [Figure 7] FIG. 1b is a side view of the robot end effector of FIG. 1a, with the fingers and thumb removed to show a single finger, namely the index finger.

[0012] [Figure 8] FIG. 1b is a side view of the index finger and associated rear actuator of the robot end effector of FIG.

[0013] [Figure 9a] FIG. 1b is a perspective view of the robot end effector of FIG. 1a, shown with the fingers and associated rear actuators removed to show the thumb. [Figure 9b] FIG. 1b is a perspective view of the robot end effector of FIG. 1a, shown with the fingers and associated rear actuators removed to show the thumb. [Figure 9c] FIG. 1b is a perspective view of the robot end effector of FIG. 1a, shown with the fingers and associated rear actuators removed to show the thumb.

[0014] [Figure 10] FIG. 1b is a side view of the robot end effector of FIG. 1a shown with a guard covering the rear actuation system.

[0015] [Figure 11] FIG. 1b is a top view of the robot end effector of FIG. 1a shown with a guard covering the back actuation system.

[0016] [Figure 12a] FIG. 1 is a schematic side view of a robot end effector showing fingers partially bending around an object, in accordance with an example.

[0017] [Figure 12b] FIG. 12b is a schematic side view of the robot end effector of FIG. 12a showing the fingers bending around an object.

[0018] [Figure 13a] FIG. 1 is a schematic side view of a robot end effector showing extended fingers, in accordance with an example.

[0019] [Figure 13b] FIG. 13b is a schematic side view of the robot end effector of FIG. 13a showing the fingers partially bending around an object.

[0020] [Figure 13c] FIG. 13b is a schematic side view of the robot end effector of FIG. 13a showing the fingers bending around an object.

[0021] [Figure 14] FIG. 1 illustrates a perspective view of a robotic end effector, i.e., a semi-humanoid hand, with a back actuation system, according to certain examples. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] The actuators of the rear actuation system in Figs. 1a to 11 are transparent. To As shown.

[0023] Reference will now be made to the exemplary embodiments illustrated and specific language will be used herein to describe the exemplary embodiments, it being understood nevertheless that no limitation of the scope of the invention is intended thereby.

[0024] As used herein, the term "substantially" means the complete or nearly complete extent or degree of an action, feature, characteristic, state, structure, item, or result. For example, an object that is "substantially" enclosed means that the object is completely enclosed or nearly completely enclosed. The exact acceptable degree of deviation from absolute completeness may in some cases depend on the particular context. Generally speaking, however, the closeness of completion is such that it will result in the same overall result as if absolute and complete completion had been obtained. The use of "substantially" is equally applicable when used in the negative sense to refer to the complete or nearly complete lack of an action, feature, characteristic, state, structure, item, or result.

[0025] As used herein, "adjacent" refers to the close proximity of two structures or elements. In particular, elements identified as "adjacent" are either abutting or connected. Such elements teeth The exact degree of proximity may vary in some cases depending on the particular context It may depend on.

[0026] As used herein, "planar" refers to a planar item that may have a relatively small degree of curvature, but is substantially flat because it is more planar than curved. For example, a palm can be described as more planar and planar than curved, even though it has a concave curvature. Additionally, "straight" refers to an item that may have a slight curve, but is substantially straight because it is more straight than curved. For example, a finger in extension is straight versus the curvature of a finger in flexion. Additionally, "parallel" refers to substantially parallel, although there may be a small angular deviation from perfect parallelism, because it is perpendicular or perpendicular to the surface of the palm. Exchange For example, the fingers of a hand can be somewhat arched and somewhat transverse to the palm, but when the fingers are extended, they can be substantially parallel to the palm.

[0027] An initial overview of technical embodiments is provided below, and then specific technical embodiments are described in more detail later. Overview The following description is intended to assist the reader in understanding the technology more quickly, but is not intended to identify key or essential features of the technology, nor is it intended to limit the scope of the claimed subject matter.

[0028] Disclosed herein is a robotic end effector comprising an anthropomorphic hand and a dorsal actuation system supported on the palm of the hand and positioned on the dorsal side of the palm and fingers. The hand can be anthropomorphic or semi-anthropomorphic, with a palm, at least three fingers, and a thumb. Thus, the end effector or hand can be utilized with standard items such as tools or standard interfaces such as door handles. Locating the actuation system on the hand allows the end effector or hand to be modular and easily connectable to a robotic arm. Additionally, locating the actuation system on the hand allows for direct actuation of the hand or fingers and thumb, as opposed to being remote or being driven by a remote drive. Furthermore, locating the actuation system on the hand allows for separate direct actuation of the fingers and thumb. Additionally, the actuation system can move the fingers and thumb in flexion from the proximal phalanges to the distal phalanges around an object using a wrap grasp (from the proximal phalanges to the distal phalanges) like a natural hand. Additionally, each finger and thumb can utilize a single actuator. Furthermore, the actuation system can provide a virtual grip.

[0029] Additionally, the end effector or hand can utilize under-actuated fingers to provide low actuator count and highly conformal grasping for simple objects and tasks without requiring a large number of degrees of freedom or sophisticated control methodologies. The end effector or hand can utilize compressive multi-bar linkages and offset joint kinematics to provide high gripping forces around irregularly shaped objects with one actuator per finger. In one embodiment, the end effector or hand utilizes three single actuator fingers configured into a five-degree-of-freedom under-actuated hand for high-force grasping of a variety of practical objects. )and two actuator thumbs. In one embodiment, the reduction in degrees of freedom is achieved through the use of a single actuator driving a four-bar linkage connected in series within a multi-segment finger. This allows for grasping of randomly shaped objects. The length of the finger segments and the height or radius of the bell crank can be adjusted to satisfy a desired contact force distribution around such objects. The use of compression linkage provides the gripping force without the use of tendons and pulleys under the fingers, thereby minimizing the bulk of the working side of the hand and the overall magnitude of the actuator forces (reduced actuation forces result in less reaction forces in the finger joints compared to tendon actuation within the finger profile). The space available behind the hand can provide enough room for a larger actuator to "stich out" beyond the envelope of the human hand, so that large forces can be exerted without interfering with the portions of the hand that interact with the object.

[0030] Contact force distribution for minimal or maximal curvature can be further tailored using application-specific drive link lengths when needed. In addition, the hand can utilize splayed finger root joints so that larger objects are accommodated (or captured) when the fingers are extended and smaller objects are accommodated (or captured) when the fingers are closed. Moreover, if parallel but offset individual finger segment hinges are used, the hand can assume a natural grasp around long cylindrical shapes (such as hammer handles, ladder rungs, ropes and cables). Offset hinges can also allow the fingers to wrap more tightly without collision between the distal finger segments.

[0031] The use of passive spring elements and flexion / extension stops within each finger segment joint can provide deterministic finger trajectories during non-contact actuation. For example, when beginning to grasp an object, it is desirable to have a fully extended finger bend at the most proximal joint first. Then, the second joint is allowed to bend, followed by the last (distal-most) joint. Similarly, when releasing the object, it is desirable to reverse this sequence. The spring stiffness within each finger joint is sized specific to the kinematically determined torque delivery at each location (note that the magnitude of torque resistance is minimal compared to the actuation torque at full grasp). The finger segment stops further prevent over-center singularities (e.g., singularities caused by push forces down the length of the finger) from occurring during uniaxial segment loading.

[0032] A 2-DOF thumb uses one actuator to provide a series of under-actuated finger segments, and an additional actuator is provided to rotate the base orientation of the thumb (much like a human thumb). Small objects use the thumb rotated to roughly align with the fingers, while large objects use the thumb rotated away from the fingers. Again, it is observed that abandoning the constraint to follow the envelope of the human hand behind the thumb and palm provides enough space to place high intensity actuations without interfering with the grasping function.

[0033] In a similar manner to the thumb, but using a passive spring instead of an actuator, an additional degree of freedom can be added to the base of the pinky finger (or possibly other fingers), allowing for more compact finger nesting when placing open fingers inside the closed handles of some tools.

[0034] 1a and 1b depict an exemplary end effector 10 according to an embodiment. The end effector 10 can have or be an anthropomorphic hand 14. The hand 14 has a palm 18 with a palmar or ventral side 22 and a dorsal side 26. The palm 18 or palmar side 22 can be flat or planar, as shown. In another aspect, the palm 18 or palmar side 22 can have a slight curvature or concavity, but is more flat or planar than curved or concave, similar to a natural human palm. The palm 18 can have a thickness between the palmar side 22 and the dorsal side 26. In one aspect, the palm 18 can be or have a frame with an internal space or hollow(s). In one aspect, the palm 18 can be formed of plastic and can be formed by injection molding or 3D printing. In another embodiment, the palm 18 can be formed of metal and can be formed by machining or casting.

[0035] In addition, the end effector 10 and hand 14 have at least three fingers 30, 32, and 34, including, for example, a first or index finger 30, a second or middle finger 32, and a third or ring or pinky finger 34. The fingers 30, 32, and 34 are pivotally connected to the palm 18. The fingers 30, 32, and 34 pivot between extension (straight and / or away from the palm 18) and flexion (curved and / or towards the palm 18) or between extended and flexed positions. During extension, the fingers 30, 32, and 34 can extend away from the palm 18 or palmar side 22. During flexion, the fingers 30, 32, and 34 can be arched and positioned to face the palmar side 22 of the palm 18. The fingers 30, 32, and 34 are discussed in more detail below with respect to the fingers 30 and FIGS. 7 and 8. As used herein, the terms "flexion" or "flex" and "extend" or "extension" are intended to have the same or similar meaning as they are understood by those of skill in the art as they relate to the human hand.

[0036] In addition, the end effector 10 and hand 14 have a thumb 38 pivotally connected to the palm 18. The thumb 38 can pivot between abduction (away from and / or toward the fingers 30, 32, 34) and adduction (toward and / or with the fingers 30, 32, 34). In abduction, the thumb 38 can be lateral to the palm 18. In adduction, the thumb 38 can be straightened so as to be planar with the palm 18. In addition, the thumb 38 can pivot between extension and flexion. During extension, the thumb 38 can be straightened. In flexion, the thumb 38 can be arched. The thumb 38 is described in more detail below with respect to FIGS. 9a-c.

[0037] 2a and 2b depict the fingers 30, 32, and 34 of the end effector 10 or hand 14 in extension. Even during extension, the fingers 30, 32, and 34 or their phalanges can be substantially straight, with slight curvatures and angles between adjacent phalanges. For example, during extension, adjacent phalanges can have an acute angle of less than 30 degrees in one embodiment, an acute angle of less than 25 degrees in another embodiment, and an acute angle of less than 20 degrees in another embodiment. Additionally, FIGS. 2a and 2b depict the thumb 38 abducted, transverse to the palm, and extended.

[0038] 3 and 4 depict the fingers 30, 32, and 34 of the end effector 10 or hand 14 arranged at an acute angle relative to one another. In addition, the end effector 10 and hand 14 have a back actuation system 42 for actuating the fingers 30, 32, and 34 and the thumb 38. The actuation system 42 can be supported on the back side 26 of the hand 14 or palm 18 and on the back side of the fingers 30, 32, and 34 and the thumb 38. The actuation system 42 can include a single actuator 46 for each finger 30, 32, and 34 and a pair of actuators, i.e., first and second actuators 50 and 52, for the thumb 38. The actuators 46, 50, and 52 can be located on the back side 26 of the palm 18 or on the back of the hand 14. In one embodiment, a portion of the actuators 46 can be located or partially located within the frame of the hand 14 or palm 18. In another embodiment, a portion of the actuators 50 and 52 can be located on the back side 26 of the hand 14 or palm 18. 14 Envelope of Line The actuators 46, 50 and 52 may be positioned outside and / or outside the envelope of the natural hand and / or outside the frame of the palm 18. The actuators 46, 50 and 52 may include pneumatic cylinders, hydraulic cylinders, linear electric motors, rotary motors, voice coils, or the like. Additionally, the actuation system 42 includes links, bell cranks, and yokes that are supported by the fingers 30, 32 and 34 and the thumb 38, as described in more detail below with respect to Figures 7-9c.

[0039] The hand 14 or palm 18 can have a thickness and can include a frame as described above. The frame can have a skeleton with an internal cavity or hollow for receiving all or a portion of the actuator 46. In addition, the palm 18 or its volar side 22 can have a plate coupled to the frame to close the internal cavity or hollow to the volar side 22. In one embodiment, the actuator 46 can be located within the thickness of the palm 18 to protect the actuator 46. In another embodiment, the actuator 46 can extend beyond the thickness of the palm 18 and outside the natural hand envelope to facilitate actuation of the fingers 30, 32, and 34.

[0040] 5 and 6 (and FIG. 1b) depict an end effector 10 or hand 14 with a releasable end effector attachment interface 56 to a robotic arm (hereafter referred to as the "releasable attachment interface 56") at the proximal end of the palm 18 of the hand 14 of the end effector 10 (i.e., the end of the end effector opposite the fingers and end that is designed, configured and intended to be coupled to a robotic arm). The releasable attachment interface 56 allows the robotic end effector 10 or hand 14 to be releasably attached to a robotic arm (not shown). Because the rear actuation system 42 is supported on the rear side 26 of the hand 14 or palm 18, in some examples the releasable attachment interface 56 can be connected to a robotic arm without an actuator or actuator link such as a cable, rod or belt spanning the attachment interface. However, other examples may utilize actuators in association with joints, such as a wrist, between the end effector 10 and the robotic arm, or may be operable with actuators. Additionally, an end effector 10 or hand 14 with a releasable attachment interface 56 may define a modular robotic end effector that may be more easily attached to, removed from, and / or replaced by a robotic arm. Flexible lines associated with the actuators, such as pneumatic hoses, hydraulic hoses, power cords, sensor wires, etc., may extend across the attachment interface, but such flexible lines are more easily connected and disconnected than actuator links, such as tensioned cables, rods, and belts. Thus, in one embodiment, all actuations of the at least three fingers 30, 32, and 34 and thumb 38 may be supported by the robotic end effector 10 or hand 14, including all actuators and all links connected to the at least three fingers 30, 32, and 34 and thumb 38.In one example, the releasable attachment interface 56 can include a mating stub extending from the proximal end of the palm 18 of the hand 14 of the end effector 10 that can align and mate with a corresponding notch in the robotic arm, or vice versa. Of course, this is only one example. Those skilled in the art will recognize various other ways in which a connection or attachment interface between a robotic end effector 10 and a corresponding robotic arm can be designed, as well as individual mating end effectors 10 and robotic arms that are configured to provide the desired interface.

[0041] 7 and 8 depict an exemplary finger 30 of the end effector 10 or hand 14, and may be utilized to describe the other fingers 32 and 34, and even the thumb 38, with the understanding that the description of the finger 30 also applies to the other fingers 32 and 34, and the thumb 38. In addition, FIGS. 7 and 8 are not intended to be limiting, but may be used to describe the hand 30 as a whole. Mensaku 3 and 4, and may even be used to describe the rear actuation system 42 for the thumb 38, with the understanding that the description of the rear actuation system 42 for the finger 30 also applies to the other fingers 32 and 34 and the thumb 38. FIG. 7 depicts the finger 30 pivotally connected to the palm 18 of the hand 14, with the other fingers, thumb and other actuators removed for clarity. The finger 30 is shown in extension with respect to the volar side 22 of the palm 18. FIG. 8 depicts the finger 30 with the actuation system 42, but with the palm, other fingers and thumb removed for clarity.

[0042] The finger 30 includes phalanges pivotally connected to one another in series. In one embodiment, the finger 30 includes at least two phalanges. In another embodiment, the finger can include three phalanges, as shown in FIGS. 12a-14. The finger 30 includes a proximal phalanx 72 pivotally connected to the palm 18 at a metacarpo-phalangeal joint or pivot 76. The palm 18 can have a yoke 80 (FIGS. 5 and 7) to which the proximal phalanx 72 can be pivotally connected and which can hold a pivot axle of the metacarpo-phalangeal joint 76. The finger 30 also includes a distal phalanx 84 that is pivotal relative to the proximal phalanx 72 and pivots about a distal joint or pivot 88. In one embodiment, the distal phalanx 84 can be pivotally connected to the proximal phalanx 72 as shown. In another embodiment, the finger can have an intermediate phalanx connected between the proximal and distal phalanxes as shown in Figures 12a-14. Similar to the palm 18, the finger 30 has a ventral side and a dorsal side, also represented by 22 and 26, respectively. The finger 30, or its proximal and distal phalanxes 72 and 84, can be formed of plastic and can be formed by injection molding or 3D printing. In another embodiment, the finger 30, or its proximal and distal phalanxes 72 and 84, can be formed of metal and can be formed by machining or casting.

[0043] As mentioned above, the rear actuation system 42 includes a link and a bell crank in addition to the actuator 46, and even a yoke for the thumb 38. As mentioned above, the actuator system 42 includes an actuator 46 supported on the palm 18 and positioned on the rear side 26 of the palm 18. The actuation system 42 also includes a proximal bell crank 92 pivotally connected to the palm 18 with the proximal phalange 72 at the metacarpophalangeal joint 76. Thus, the proximal bell crank 92 pivots about the metacarpophalangeal joint 76 with the proximal phalange 72. The proximal rear link 96 is pivotally connected between the proximal bell crank 92 and the distal phalange 84. In one embodiment, the distal phalange 84 has a projection or tab 100 extending from the distal phalange at the distal joint 88. The proximal rear link 96 can be pivotally connected to the distal phalange 84 or its projection 100 as shown. In addition, the proximal back link 96 can be positioned on the back side 26 of the proximal phalange 72. In operation, the actuator 46 extends the proximal bell crank 92 and the proximal back link 96 to pivot the proximal and distal phalanges 72 and 84 during flexion or in the direction of flexion to face the palmar side 22 of the palm 18. In one embodiment, the actuator 46 can be retracted to pivot the proximal and distal phalanges 72 and 84 during extension. In one embodiment, the actuator 46 can be oriented parallel or transverse to the palmar side 22 or the back side 26 of the palm 18. In addition, the actuator 46 can be positioned on or over the back side 26 of the palm 18. Furthermore, the actuator 46 can be positioned at least partially within the frame of the palm 18.

[0044] In another embodiment, the proximal phalangeal bone 72 and the distal phalangeal bone 84 can be biased during extension or retracted for extension by a spring. The actuation system 42 can include a metacarpo-phalangeal spring 104 (FIGS. 5 and 8) coupled to the metacarpo-phalangeal joint 76 to bias the proximal phalangeal bone 72 during extension. Similarly, the actuation system 42 can also include a distal spring 108 (see FIG. 5) coupled to the distal joint 88 to bias the distal phalangeal bone 84 into extension. The springs 104 and 108 can be coil springs that surround the axis of the joints 76 and 88, respectively.

[0045] The length of the phalanges 72 and 84 and the height or radius of the bell crank 92 can be adjusted to meet a desired contact force distribution around an object. The proximal bell crank 92 and / or the proximal back link 96 can be formed of plastic and can be formed by injection molding or 3D printing. In another embodiment, the proximal bell crank 92 and / or the proximal back link 96 can be formed of metal and can be formed by machining or casting.

[0046] Additionally, one or more sensors can be positioned on the finger 30 and / or actuator system 42 to determine the force and / or position applied by the finger 30 or actuator 46. For example, a sensor 112 (FIG. 8) can be positioned on the pivot link between the bell crank 92 and the actuator 46.

[0047] 3 and 4, the proximal back links 96 and actuators 46 of the actuation systems 42 of the fingers 30, 32 and 34 can be parallel to the fingers, but offset, to accommodate placement of the actuators 46 on the volar side 26 of the palm 18 or hand 14.

[0048] 9a-9c depict the thumb 38 of the end effector 10 or hand 14. Additionally, FIGS. 9a-9c depict a back actuation system for the thumb 38. FIGS. 9a-9c depict the thumb 38 pivotally connected to the palm 18 of the hand 14 with the other fingers and other actuators removed for clarity. It will be understood that the description of the fingers 30 and actuation system 42 applies equally to the thumb 38. Thus, the thumb 38 can have a proximal phalange 72 pivotally connected to the palm 18 at a metacarpophalangeal joint 76 and a distal phalange 84 pivotally connected to the proximal phalange 72 about a distal joint 88. Additionally, the actuation system 42 can include an actuator 50, a proximal bell crank 92, a proximal back link 96, and a protrusion 100.

[0049] Similar to the fingers, in addition to pivoting between extension and flexion, the thumb 38 can also be movable and pivot between a retroposition (substantially parallel or parallel to the volar side 22 of the palm 18) and an anteposition (opposed to the volar surface 22 of the palm 18). Thus, the proximal phalange 72 of the thumb 38 can have a pair of pivots relative to the palm 18, including a first axis or pivot 122 (FIG. 9b) about which the thumb 38 pivots during flexion / extension, and a second axis or pivot 126 (FIGS. 9a and 9c) about which the proximal phalange 72 of the thumb 38 pivots during abduction / adduction. The first and second pivot axes 122 and 126 are lateral relative to one another. direction The dorsal actuation system 42 of the thumb 38 can include a pair of actuators: a first actuator 50 that pivots the thumb 38 during flexion / extension about a first axis 122 and a second actuator 52 that pivots the thumb 38 during abduction / adduction about a second axis 126.

[0050] The thumb 38 can have a yoke 130 pivotally connected to the palm 18. The yoke 130 can have a shaft or neck that pivots about the second axis 126. The second actuator 52 can be supported on the dorsal side 26 of the palm 18 and can be coupled to the yoke 130 for pivoting the yoke about the second axis 126. The proximal phalange 72 and the distal phalange 84 of the thumb 38 can be supported in the yoke 130 with the proximal phalange 72 of the thumb 38 pivotally connected to the yoke 130. The first actuator 50 can be supported on the dorsal side 26 of the palm 18 and coupled to the yoke 130 for pivoting the yoke about the second axis 126. 130 and can be coupled to the proximal phalange 72 of the thumb 38. In operation, the second actuator 52 can be yoke-mounted about a second axis in the abduction / adduction direction between a posterior position and an anterior position. 130 , pivoting the proximal and distal phalanges 72, 84 of the thumb 38 and the first actuator 50 about the first axis 122 during extension / flexion, while the first actuator 50 pivots the proximal and distal phalanges 72, 84 of the thumb 38 about the first axis 122 during extension / flexion.

[0051] Actuators 46, 50 and 52, or portions thereof, can be positioned outside of the palm 18, or envelope of the natural human hand, such that actuators 46, 50 and 52 can be positioned as desired or to maximize finger movement or force.

[0052] 10 and 11 depict the end effector 10 and hand 14 with a guard 140 disposed over the dorsal side 26 of the palm 18 and over the actuators 46 and 50 to protect the actuators. The guard 140 is depicted as transparent.

[0053] 12a and 12b diagrammatically depict an end effector 10b and hand 14b similar in most respects to those described above, as will be appreciated by those skilled in the art, and which descriptions are incorporated herein by reference where applicable. Finger 30b includes three phalanges connected to each other in series. Finger 30b further includes a middle phalange 162 pivotally connected to proximal phalange 72 at a proximal joint or pivot 166 and to distal phalange 84 at a distal joint 88. Back actuation system 42b includes: middle phalanx 162 The distal phalange 72 includes a middle bell crank 170 that is rotatably and pivotally connected to the proximal phalange 72 at the proximal joint 166 as well as to the distal phalange 72 at the proximal joint 166. In addition, a middle link 174 is pivotally connected to and between the middle bell crank 170 (middle bell crank) and the distal phalange 84. The middle link 174 (middle link) is positioned on the dorsal side 26 of the middle phalange 162.

[0054] Each finger 30b and actuation system 42b can form a series of serially connected four-bar linkages. The proximal four-bar linkage can be formed by the proximal phalange 72, the proximal bellcrank 92, the proximal back link 96, and the middle bellcrank 170. Similarly, the distal four-bar linkage can be formed by the middle phalange 162, the middle bellcrank 170, the middle link 174, and the distal phalange 84 or its protrusion 100.

[0055] In one embodiment, the actuation system and fingers of the hand 14b and end effector 10b can be sized as shown in Table 1. [Table 1]

[0056] Figure 13a-Figure 13c generally depict an end effector 10c and hand 14c similar in most respects to those described above as will be appreciated by those skilled in the art, and which descriptions are incorporated herein by reference where applicable. FIGS. 13a-c generally depict the end effector 10c and hand 14c in motion moving between an extension of the finger 30c in FIG. 13a and a flexion of the finger 30c in FIG. 13c. Additionally, FIGS. 13a-c demonstrate a wrap grasp of the finger 30c and actuation system 42c in which the phalanges and associated links pivot to contact the grasped object in a sequential order starting with the proximal phalange 72, then the middle phalange 162, then the distal phalange 84, or in the case of two phalanges, the proximal phalange 72, then the distal phalange 84. Additionally, the palm 18 or palmar side 22 may have a slight curvature or concavity, but is more flat or planar than curved or concave, similar to a natural human palm.

[0057] FIG. 14 is a diagram of an end effector 10d and hand 14d that is similar in most respects to those described above, as will be appreciated by those skilled in the art, and which descriptions are incorporated herein by reference where applicable.

[0058] Although the present disclosure may not explicitly disclose that some embodiments or configurations described herein may be combined with other embodiments or configurations described herein, the disclosure should be read as describing any such combinations that may be performed by one of ordinary skill in the art. The use of "or" in this disclosure should be understood to mean a non-exclusive or, i.e., "and / or," unless otherwise stated herein.

[0059] Reference has been made to the examples illustrated in the drawings, and specific language has been used herein to describe the examples. It is nevertheless understood that no limitation of the scope of the technology is intended thereby. Variations and further modifications of the configurations illustrated herein, as well as additional applications of the examples as illustrated herein, should be considered within the scope of this specification.

[0060] Furthermore, the described configurations, structures, or features may be combined in any suitable manner in one or more examples. In the preceding description, numerous specific details, such as examples of various configurations, are provided to provide a thorough understanding of examples of the described technology. However, it will be recognized that the technology may be practiced without one or more of the specific details, or with other methods, components, devices, etc. In other instances, well-known structures or operations are not shown or described in detail to avoid obscuring aspects of the technology.

[0061] Although the subject matter has been described in language specific to structural configurations and / or acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific configurations and acts described above. Rather, the specific configurations and acts described above are disclosed as example forms of implementing the claims. Numerous modifications and alternative configurations may be devised without departing from the spirit and scope of the described technology.

[0062] While the foregoing examples illustrate the principles of the present invention in one or more particular applications, it will be apparent to those skilled in the art that numerous modifications in embodiment, usage and details may be made without departing from the principles and concepts of the present invention and without the exercise of the inventive faculty. Accordingly, it is not intended that the present invention be limited, except as by the claims which follow.

Claims

1. With humanoid hands, a rear actuation system, 1. A robot end effector, comprising: The humanoid hand is A palm having a palm side and a dorsal side; a plurality of fingers pivotally connected to the palm and pivoting between extension and flexion; a thumb pivotally connected to the palm and pivoting between abduction and adduction and also pivoting between extension and flexion; the thumb and each of the fingers includes a phalange; The phalanges include at least a proximal phalange pivotally connected to the palm at a metacarpophalangeal joint; a distal phalange that pivots relative to the proximal phalange about a distal joint; A ventral side and a dorsal side, the rear actuation system is for actuating the thumb and the fingers, the rear actuation system being supported on the rear side of the palm and the rear sides of the thumb and the fingers; The rear actuation system comprises: an actuator respectively associated with the thumb and each of the fingers, each actuator supported by the palm; a proximal bell crank associated with the thumb and each of the fingers, each of the proximal bell cranks pivotally connected to the palm along with the proximal phalanges of the thumb and each of the fingers; a proximal back link associated with the thumb and each of the fingers, each proximal back link pivotally connected between the proximal bell crank and the distal phalange of the thumb and each of the fingers, respectively, and positioned on the back side of the proximal phalange of the thumb and each of the fingers, the actuator is operable to extend the proximal bell crank and the proximal back link to pivot the proximal and distal phalanges during flexion; the actuator associated with each finger of the plurality of fingers is positioned on the dorsal side of the palm so as to be parallel to but offset from the corresponding finger; Robot end effector.

2. 2. The robot end effector of claim 1, wherein all working components of the thumb and fingers are supported on the robot end effector, including all actuators and all links coupled to the thumb and fingers.

3. 10. The robotic end effector of claim 1, further comprising a releasable attachment interface at a proximal end of the palm configured to releasably attach the robotic end effector to a robotic arm, with no actuator or actuator link spanning across the releasable attachment interface, defining a modular robotic end effector.

4. 2. The robotic end effector of claim 1, wherein the proximal phalange of the thumb has a pair of pivots relative to the palm including a first pivot actuable for the thumb to pivot about during abduction / adduction and a second pivot actuable for the proximal phalange of the thumb to pivot about during flexion / extension.

5. The robotic end effector of claim 1 , wherein the thumb is movable between a rear position and a front position.

6. The robot end effector of claim 1 , wherein the actuator comprises a pair of thumb actuators associated with the thumbs.

7. the thumb further includes a yoke pivotally connected to the palm, the proximal phalange of the thumb pivotally connected to the yoke; a first thumb actuator of the pair of thumb actuators supported by a yoke and coupled to the proximal phalange of the thumb, the first thumb actuator being operable to pivot the proximal and distal phalanges of the thumb about a first axis during extension / flexion; a second thumb actuator of the pair of thumb actuators supported on the dorsal side of the palm and coupled to the yoke, the second thumb actuator operable to pivot the yoke about a second axis to pivot the yoke, the proximal phalange, and the distal phalange of the thumb in an abduction / adduction direction between a posterior position and an anterior position; The robot end effector of claim 6.

8. 2. The robotic end effector of claim 1, wherein the distal phalanges of the thumb and each of the fingers include respective projections extending therefrom at the distal joints, and the proximal back links of the thumb and each of the fingers are each pivotally connected to the projections.

9. 2. The robot end effector of claim 1, wherein the backside actuation system further comprises: a metacarpophalangeal spring associated with the thumb and each of the fingers, the metacarpophalangeal spring coupled to the metacarpophalangeal joint and biasing the proximal phalanges of the thumb and each of the fingers, respectively, during extension; and a distal spring associated with the thumb and each of the fingers, the metacarpophalangeal spring coupled to the distal joint and biasing the distal phalanges of the thumb and each of the fingers, respectively, during extension.

10. Each finger of the plurality of fingers is a middle phalange pivotally connected to said proximal phalange at a proximal joint and to said distal phalange at said distal joint; The rear actuation system comprises: a middle bellcrank respectively associated with each of the plurality of fingers, each middle bellcrank pivotally connected to the proximal phalanges at the proximal joint along with the middle phalanges of the plurality of fingers; and a middle link respectively associated with each of the plurality of fingers, each middle link pivotally connected to and between each of the middle bellcranks and each of the distal phalanges of the plurality of fingers, each middle link being positioned on the dorsal side of each of the middle phalanges of the plurality of fingers. The robot end effector of claim 1 .

11. The robot end effector of claim 1 , further comprising a guard disposed over the dorsal side of the palm and over one or more of the actuators.

12. 2. The robot end effector of claim 1, wherein at least one of the actuators is disposed at least partially inside an envelope describing an outer periphery of the humanoid hand, and at least one of the actuators is disposed outside the envelope of the humanoid hand.

13. With humanoid hands, a rear actuation system, 1. A robot end effector, comprising: The humanoid hand is A palm having a palm side and a dorsal side; a plurality of fingers pivotally connected to the palm and pivoting between extension and flexion; a thumb pivotally connected to the palm and pivoting between abduction and adduction and also pivoting between extension and flexion; the thumb and each of the fingers includes a phalange; The phalanges include at least a proximal phalange pivotally connected to the palm at a metacarpophalangeal joint; a distal phalange that pivots relative to the proximal phalange about a distal joint; A ventral side and a dorsal side, The rear actuation system is for actuating the thumb and the fingers, the rear actuation system being supported by the rear side of the palm and the rear sides of the thumb and the fingers, the rear actuation system being: an actuator associated with the thumb and each of the fingers, each actuator supported by a palm and positioned on the dorsal side of the palm; a proximal bell crank associated with the thumb and each of the fingers, each of the proximal bell cranks pivotally connected to the palm along with the proximal phalanges of the thumb and each of the fingers; a proximal back link associated with the thumb and each of the fingers, each proximal back link pivotally connected between the proximal bell crank and the distal phalange of the thumb and each of the fingers, respectively, and positioned on the back side of the proximal phalange of the thumb and each of the fingers, the actuator is operable to extend the proximal bell crank and the proximal back link to pivot the proximal and distal phalanges during flexion; the distal phalanges of the thumb and each of the fingers include respective projections extending therefrom at the distal joints, and the proximal dorsal links of the thumb and each of the fingers are each pivotally connected to the projections. Robot end effector.

14. 14. The robotic end effector of claim 13, wherein all working components of the thumb and fingers are supported on the robotic end effector, including all actuators and all links coupled to the thumb and fingers.

15. 14. The robotic end effector of claim 13, further comprising a releasable attachment interface at a proximal end of the palm configured to releasably attach the robotic end effector to a robotic arm, with no actuator or actuator link spanning across the releasable attachment interface, defining a modular robotic end effector.

16. 14. The robotic end effector of claim 13, wherein the proximal phalange of the thumb has a pair of pivots relative to the palm including a first pivot actuable around which the thumb pivots during abduction / adduction and a second pivot actuable around which the proximal phalange of the thumb pivots during flexion / extension.

17. The robotic end effector of claim 13 , wherein the thumb is movable between a posterior position and an anterior position.

18. The robot end effector of claim 13 , wherein the actuator includes a pair of thumb actuators associated with the thumbs.

19. the thumb further includes a yoke pivotally connected to the palm, the proximal phalange of the thumb pivotally connected to the yoke; a first thumb actuator of the pair of thumb actuators supported by a yoke and coupled to the proximal phalange of the thumb, the first thumb actuator being operable to pivot the proximal and distal phalanges of the thumb about a first axis during extension / flexion; a second thumb actuator of the pair of thumb actuators supported on the dorsal side of the palm and coupled to the yoke, the second thumb actuator operable to pivot the yoke about a second axis to pivot the yoke, the proximal phalange, and the distal phalange of the thumb in an abduction / adduction direction between a posterior position and an anterior position; 20. The robot end effector of claim 18.

20. the back actuation system further includes a metacarpophalangeal spring associated with the thumb and each of the fingers, the metacarpophalangeal spring coupled to the metacarpophalangeal joint and biasing the proximal phalanges of the thumb and each of the fingers, respectively, during extension, and a distal spring associated with the thumb and each of the fingers, the distal spring coupled to the distal joint and biasing the distal phalanges of the thumb and each of the fingers, respectively, during extension. The robot end effector of claim 13.

21. Each finger of the plurality of fingers is a middle phalange pivotally connected to said proximal phalange at a proximal joint and to said distal phalange at said distal joint; The rear actuation system comprises: a middle bellcrank respectively associated with each of the plurality of fingers, each middle bellcrank pivotally connected to the proximal phalanges at the proximal joint along with the middle phalanges of the plurality of fingers; and a middle link respectively associated with each of the plurality of fingers, each middle link pivotally connected to and between each of the middle bellcranks and each of the distal phalanges of the plurality of fingers, each middle link being positioned on the dorsal side of each of the middle phalanges of the plurality of fingers. The robot end effector of claim 13.

22. The robot end effector of claim 13 , further comprising a guard disposed over the dorsal side of the palm and over one or more of the actuators.

23. 14. The robotic end effector of claim 13, wherein at least one of the actuators is disposed at least partially inside an envelope describing a perimeter of the humanoid hand, and at least one of the actuators is disposed outside the envelope of the humanoid hand.

24. 14. The robot end effector of claim 13, wherein the actuator associated with each finger of the plurality of fingers is positioned on the dorsal side of the palm parallel to but offset from a corresponding finger.

25. With humanoid hands, a rear actuation system, 1. A robot end effector, comprising: The humanoid hand is A palm having a palm side and a dorsal side; a plurality of fingers pivotally connected to the palm and pivoting between extension and flexion; a thumb pivotally connected to the palm and pivoting between abduction and adduction and also pivoting between extension and flexion; the thumb and each of the fingers includes a phalange; The phalanges include at least a proximal phalange pivotally connected to the palm at a metacarpophalangeal joint; a distal phalange that pivots relative to the proximal phalange about a distal joint; A ventral side and a dorsal side, the rear actuation system is for actuating the thumb and the fingers, the rear actuation system being supported on the rear side of the palm and the rear sides of the thumb and the fingers; The rear actuation system comprises: an actuator associated with the thumb and each of the fingers, each actuator supported by the palm and positioned on the dorsal side of the palm; a proximal bell crank respectively associated with the thumb and each of the fingers, each proximal bell crank pivotally coupled to the palm together with the proximal phalanges of the thumb and each of the fingers; a proximal back link associated with the thumb and each of the fingers, each proximal back link pivotally connected between the proximal bell crank and the distal phalange of the thumb and each of the fingers, respectively, and positioned on the back side of the proximal phalange of the thumb and each of the fingers, the actuator is operable to extend the proximal bell crank and the proximal back link to pivot the proximal and distal phalanges during flexion; the back actuation system further includes a metacarpophalangeal spring associated with the thumb and each of the fingers, the metacarpophalangeal spring coupled to the metacarpophalangeal joint and biasing the proximal phalanges of the thumb and each of the fingers, respectively, during extension, and a distal spring associated with the thumb and each of the fingers, the distal spring coupled to the distal joint and biasing the distal phalanges of the thumb and each of the fingers, respectively, during extension. Robot end effector.

26. 26. The robotic end effector of claim 25, wherein all working components of the thumb and fingers are supported on the robotic end effector, including all actuators and all links coupled to the thumb and fingers.

27. 26. The robotic end effector of claim 25, further comprising a releasable attachment interface at a proximal end of the palm configured to releasably attach the robotic end effector to a robotic arm, with no actuator or actuator link spanning across the releasable attachment interface, defining a modular robotic end effector.

28. 26. The robotic end effector of claim 25, wherein the proximal phalange of the thumb has a pair of pivots relative to the palm including a first pivot actuable around which the thumb pivots during abduction / adduction and a second pivot actuable around which the proximal phalange of the thumb pivots during flexion / extension.

29. The thumb is movable between a posterior position and an anterior position.

26. The robot end effector of claim 25.

30. The robot end effector of claim 25 , wherein the actuator includes a pair of thumb actuators associated with the thumbs.

31. the thumb further includes a yoke pivotally connected to the palm, the proximal phalange of the thumb pivotally connected to the yoke; a first thumb actuator of the pair of thumb actuators supported by a yoke and coupled to the proximal phalange of the thumb, the first thumb actuator being operable to pivot the proximal and distal phalanges of the thumb about a first axis during extension / flexion; a second thumb actuator of the pair of thumb actuators supported on the dorsal side of the palm and coupled to the yoke, the second thumb actuator operable to pivot the yoke about a second axis to pivot the yoke, the proximal phalange, and the distal phalange of the thumb in an abduction / adduction direction between a posterior position and an anterior position; 31. The robot end effector of claim 30.

32. 26. The robotic end effector of claim 25, wherein the distal phalanges of the thumb and each of the fingers include respective projections extending therefrom at the distal joints, and the proximal back links of the thumb and each of the fingers are each pivotally connected to the projections.

33. Each finger of the plurality of fingers is a middle phalange pivotally connected to said proximal phalange at a proximal joint and to said distal phalange at said distal joint; The rear actuation system comprises: a middle bellcrank respectively associated with each of the plurality of fingers, each middle bellcrank pivotally connected to the proximal phalanges at the proximal joint along with the middle phalanges of the plurality of fingers; and a middle link respectively associated with each of the plurality of fingers, each middle link pivotally connected to and between each of the middle bellcranks and each of the distal phalanges of the plurality of fingers, each middle link being positioned on the dorsal side of each of the middle phalanges of the plurality of fingers.

26. The robot end effector of claim 25.

34. 26. The robot end effector of claim 25, further comprising a guard disposed over the dorsal side of the palm and over one or more of the actuators.

35. 26. The robotic end effector of claim 25, wherein at least one of the actuators is disposed at least partially inside an envelope describing a perimeter of the humanoid hand, and at least one of the actuators is disposed outside the envelope of the humanoid hand.

36. 26. The robot end effector of claim 25, wherein the actuator associated with each finger of the plurality of fingers is positioned on the dorsal side of the palm parallel to but offset from a corresponding finger.

37. With humanoid hands, a rear actuation system, 1. A robot end effector, comprising: The humanoid hand is A palm having a palm side and a dorsal side; a plurality of fingers pivotally connected to the palm and pivoting between extension and flexion, each finger of the plurality of fingers comprising: a proximal phalange pivotally connected to the palm at a metacarpophalangeal joint; a distal phalange that pivots relative to the proximal phalange about a distal joint; A ventral side and a dorsal side, Multiple fingers and a thumb pivotally connected to the palm and pivoting between abduction and adduction and also pivoting between extension and flexion, a yoke pivotally connected to the palm; a proximal phalange pivotally connected to said yoke at a metacarpophalangeal joint; a distal phalange that pivots relative to the proximal phalange about a distal joint; A ventral side and a dorsal side, a thumb; the rear actuation system is for actuating the thumb and the fingers, the rear actuation system being supported on the rear side of the palm and the rear sides of the thumb and the fingers; The rear actuation system comprises: an actuator respectively associated with each of the plurality of fingers, each actuator supported by the palm and positioned on the dorsal side of the palm; a proximal bellcrank respectively associated with each finger of the plurality of fingers, each proximal bellcrank pivotally coupled to the palm together with the proximal phalange of each finger of the plurality of fingers; a proximal back link associated with each of the plurality of fingers, each proximal back link pivotally coupled between the proximal bell crank and the distal phalange of each of the plurality of fingers, each proximal back link positioned on the back side of the proximal phalange of each of the plurality of fingers, the actuator operable to extend the proximal bell crank and the proximal back link to pivot the proximal and distal phalanges during flexion; a first thumb actuator supported by the yoke and coupled to the proximal phalange of the thumb, the first thumb actuator being operable to pivot the proximal and distal phalanges of the thumb about a first axis during extension / flexion; a second thumb actuator supported on the dorsal side of the palm and coupled to the yoke, the second thumb actuator operable to pivot the yoke about a second axis to pivot the yoke, the proximal phalange, and the distal phalange of the thumb in an abduction / adduction direction between a posterior position and an anterior position. Robot end effector.

38. 38. The robotic end effector of claim 37, wherein all working components of the thumb and fingers are supported on the robotic end effector, including all actuators and all links coupled to the thumb and fingers.

39. 38. The robotic end effector of claim 37, further comprising a releasable attachment interface at a proximal end of the palm configured to releasably attach the robotic end effector to a robotic arm, without an actuator or actuator link spanning across the releasable attachment interface, defining a modular robotic end effector.

40. 38. The robotic end effector of claim 37, wherein the distal phalanges of the thumb and each of the fingers include respective projections extending therefrom at the distal joints, and the proximal back links of the thumb and each of the fingers are each pivotally connected to the projections.

41. 38. The robotic end effector of claim 37, wherein the backside actuation system further comprises: a metacarpophalangeal spring associated with the thumb and each of the plurality of fingers, the metacarpophalangeal spring coupled to the metacarpophalangeal joint and biasing the proximal phalanges of the thumb and each of the plurality of fingers, respectively, during extension; and a distal spring associated with the thumb and each of the plurality of fingers, the metacarpophalangeal spring coupled to the distal joint and biasing the distal phalanges of the thumb and each of the plurality of fingers, respectively, during extension.

42. Each finger of the plurality of fingers is a middle phalange pivotally connected to said proximal phalange at a proximal joint and to said distal phalange at said distal joint; The rear actuation system comprises: a middle bellcrank respectively associated with each of the plurality of fingers, each middle bellcrank pivotally connected to the proximal phalanges at the proximal joint along with the middle phalanges of the plurality of fingers; a middle link associated with each of the plurality of fingers, each middle link pivotally connected to and between a respective middle bellcrank and a respective distal phalange of the plurality of fingers, each middle link positioned on the dorsal side of each middle phalange of the plurality of fingers; 38. The robot end effector of claim 37.

43. 38. The robotic end effector of claim 37, further comprising a guard disposed over the dorsal side of the palm and over one or more of the actuators.

44. 38. The robotic end effector of claim 37, wherein at least one of the actuators is disposed at least partially inside an envelope describing a perimeter of the humanoid hand and at least one of the actuators is disposed outside the envelope of the humanoid hand.

45. 38. The robot end effector of claim 37, wherein the actuator associated with each finger of the plurality of fingers is positioned on the dorsal side of the palm parallel to but offset from a corresponding finger.

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