System, device, and method for actuating a tendon-driven robotic device

Abstract

Provided is a system, method, and device for actuating a tendon-driven robotic device. A device includes a guiding channel, a slide arranged inside the guiding channel, the slide configured to move within the guiding channel, an attachment mechanism attached to a first end of the slide, the attachment mechanism configured to removably attach a tendon of a separate robotic device to the slide, and an actuator configured to move the slide forward and backward within the guiding channel.

Description

Attorney Docket No. 08993-2600939SYSTEM, DEVICE, AND METHOD FOR ACTUATING A TENDON-DRIVEN ROBOTIC DEVICECROSS REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of United States Provisional Patent Application No. 63 / 776,465, filed on March 24, 2025, the disclosure of which is hereby incorporated by reference in its entirety.STATEMENT REGARDING FEBERALLY SPONSORED RESEARCH OR DEVELOPMENT

[0002] This invention was made with government support under ITE2344109 awarded by the National Science Foundation. The U.S. government has certain rights in the invention.BACKGROUND1. Field

[0003] This disclosure relates generally to tendon-driven robotics and, in non-limiting embodiments, to systems, devices, and methods for actuating a tendon-driven robotic device.2. Technical Considerations

[0004] In tendon-driven robot hands, tendons are used to transmit forces from a motor to the phalanges (e.g., appendages or portions thereof). The force is generated by displacing the tendon. Because the range of motion of dexterous hands is large, tendons typically need to be able to undergo large displacements and need to transmit large amounts of force. Therefore, tendons may be securely connected to a motor on one end and the hand / finger / phalanges on the other. This arrangement poses a significant issue for maintaining, replacing, and repairing individual parts of a robotic appendage because it requires extensive disassembly of the entire hand to access and detach parts.SUMMARY

[0005] According to non-limiting embodiments or aspects, provided is a device comprising: a guiding channel; a slide arranged inside the guiding channel, the slide configured to move within the guiding channel; an attachment mechanism configured to removably attach a tendon of a separate robotic device to the slide; and an actuator configured to move the slide forward and backward within the guiding channel.6BW5196.DOCX Page 1 of 35Attorney Docket No. 08993-2600939

[0006] In non-limiting embodiments or aspects, further comprising a housing, the housing comprising the guiding channel, the slide, and the actuator. In non-limiting embodiments or aspects, the attachment mechanism comprises a feeding mechanism configured to receive an end of the tendon of the separate robotic device and attach the end of the tendon to the slide, and wherein the separate robotic device comprises a feeding rod comprising the end of the tendon, wherein the end of the tendon is external to a proximal end of the feeding rod, and wherein the feeding mechanism comprises a spring arranged to be compressed by the feeding rod as it receives the end of the tendon.

[0007] In non-limiting embodiments or aspects, the attachment mechanism comprises at least one alignment device configured for aligning an end of the tendon of the separate robotic device with the slide, the at least one alignment device comprising a plurality of blades movable by a cammed rotor mechanism between an open configuration and a closed configuration in which the end of the tendon is aligned in a predetermined orientation relative to the slide.

[0008] In non-limiting embodiments or aspects, the attachment mechanism comprises at least one alignment device configured for aligning an end of the tendon of the separate robotic device with the slide, the at least one alignment device comprising a rotary cam having at least one radially decreasing locating slot configured to receive the end of the tendon, and wherein movement of the rotary cam is configured to cause the end of the tendon to move within the at least one radially decreasing locating slot between a first position and a second position in which the end of the tendon is aligned in a predetermined orientation relative to the slide. In non-limiting embodiments or aspects, the attachment mechanism comprises at least one alignment device configured for aligning an end of the tendon of the separate robotic device with the slide, the at least one alignment device comprising a fixed base plate having at least one radial slot slidably receiving a cam finger therein and a rotatable cam having at least one engagement lobe configured for moving the cam finger within the at least one radial slot, and wherein movement of the cam finger within the radial slot causes a corresponding movement of the end of the tendon between a first position and a second position in which the end of the tendon is aligned in a predetermined orientation relative to the slide.

[0009] In non-limiting embodiments or aspects, the attachment mechanism comprises an actuation member movable between a first position and a second position relative to the slide, and wherein movement of the actuation member from the first position to the second position causes the slide to tilt radially outward relative to a longitudinal axis of a slide housing. In6BW5196.DOCX Page 2 of 35Attorney Docket No. 08993-2600939non-limiting embodiments or aspects, the actuator comprises a motorized actuator or a manual actuator. In non-limiting embodiments or aspects, also provided is an actuator tendon attaching the slide to the motorized actuator or the manual actuator.

[0010] In non-limiting embodiments or aspects, the device further comprises a pulley mechanism configured to pull the actuator tendon to move the slide within the guiding channel, the pulley mechanism comprising: a reel driven by the motorized actuator or the manual actuator and configured to wind the actuator tendon from a first end of the actuator tendon, wherein a second end of the actuator tendon is fixed; and an idler pulley connected to the slide, the idler pulley configured to receive the actuator tendon and move the slide in a forward direction and a backward direction within the guiding channel in response to the reel winding and / or unwinding the actuator tendon. In non-limiting embodiments or aspects, the device further comprises at least one sensor attached to the second end of the actuator tendon, the at least one sensor configured to measure a force applied to the actuator tendon.

[0011] According to non-limiting embodiments or aspects, provided is a system comprising: a robotic device comprising: at least one tendon, and at least one appendage configured to be manipulated with the at least one tendon, the at least one tendon comprising an end extending away from the at least one appendage; an actuator device separate from the robotic device, the actuator device comprising: an actuator configured to actuate the at least one tendon, and an attachment mechanism configured to removably attach the end of the at least one tendon to the actuator.

[0012] In non-limiting embodiments or aspects, the actuator device further comprises: a guiding channel; and a slide arranged inside the guiding channel, the slide configured to move within the guiding channel, the end of the at least one tendon removably attaches to the actuator by being removably attached to the slide. In non-limiting embodiments or aspects, the actuator device comprises a housing, the housing comprising the guiding channel, the slide, and the actuator.

[0013] In non-limiting embodiments or aspects, the attachment mechanism comprises a feeding mechanism configured to receive the end of the at least one tendon of the robotic device and attach the end of the at least one tendon to the slide, and wherein the robotic device comprises a feeding rod comprising the end of the at least one tendon, wherein the end of the at least one tendon is external to a proximal end of the feeding rod, and wherein the feeding mechanism comprises a spring arranged to be compressed by the feeding rod as it receives the end of the at least one tendon. In non-limiting embodiments or aspects, the attachment mechanism comprises at least one alignment device configured for aligning the6BW5196.DOCX Page 3 of 35Attorney Docket No. 08993-2600939end of the at least one tendon of the robotic device with the slide, the at least one alignment device comprising a plurality of blades movable by a cammed rotor mechanism between an open configuration and a closed configuration in which the end of the at least one tendon is aligned in a predetermined orientation relative to the slide.

[0014] In non-limiting embodiments or aspects, the attachment mechanism comprises at least one alignment device configured for aligning the end of the at least one tendon of the robotic device with the slide, the at least one alignment device comprising a rotary cam having at least one radially decreasing locating slot configured to receive the end of the at least one tendon, and wherein movement of the rotary cam is configured to cause the end of the at least one tendon to move within the at least one radially decreasing locating slot between a first position and a second position in which the end of the at least one tendon is aligned in a predetermined orientation relative to the slide.

[0015] In non-limiting embodiments or aspects, the attachment mechanism comprises at least one alignment device configured for aligning an end of the at least one tendon of the robotic device with the slide, the at least one alignment device comprising a fixed base plate having at least one radial slot slidably receiving a cam finger therein and a rotatable cam having at least one engagement lobe configured for moving the cam finger within the at least one radial slot, and wherein movement of the cam finger within the radial slot causes a corresponding movement of the end of the at least one tendon between a first position and a second position in which the end of the at least one tendon is aligned in a predetermined orientation relative to the slide. In non-limiting embodiments or aspects, the attachment mechanism comprises an actuation member movable between a first position and a second position relative to the slide, wherein movement of the actuation member from the first position to the second position causes the slide to tilt radially outward relative to a longitudinal axis of a slide housing.

[0016] In non-limiting embodiments or aspects, the actuator comprises a motorized actuator or a manual actuator. In non-limiting embodiments or aspects, the actuator device further comprises an actuator tendon attaching the slide to the motorized actuator or the manual actuator. In non-limiting embodiments or aspects, the actuator device further comprises a guiding channel, a slide arranged in the guiding channel, and a pulley mechanism configured to pull the actuator tendon to move the slide within the guiding channel, the pulley mechanism comprising: a reel driven by the motorized actuator or the manual actuator and configured to wind the actuator tendon from a first end of the actuator tendon, wherein a second end of the actuator tendon is fixed; and an idler pulley connected to the slide, the idler6BW5196.DOCX Page 4 of 35Attorney Docket No. 08993-2600939pulley configured to receive the actuator tendon and move the slide in a forward direction and a backward direction within the guiding channel in response to the reel winding and / or unwinding the actuator tendon. In non-limiting embodiments or aspects, the system further comprises at least one sensor attached to the second end of the actuator tendon, the at least one sensor configured to measure a force applied to the actuator tendon.

[0017] According to non-limiting embodiments or aspects, provided is a device comprising: at least one appendage; at least one tendon connected to the at least one appendage, the at least one tendon comprising an end extending away from the at least one appendage; and an attachment mechanism operatively connected to the end of the at least one tendon, wherein the attachment mechanism comprises at least one alignment device configured for aligning the end of the at least one tendon with a corresponding engagement structure on a separate actuator device configured for effecting movement of the end of the at least one tendon. In non-limiting embodiments or aspects, the end of the at least one tendon comprises a crimp configured to be removably attached to a separate actuator device.

[0018] Other preferred and non-limiting embodiments or aspects of the present invention will be set forth in the following numbered clauses:

[0019] Clause 1: A device comprising: a guiding channel; a slide arranged inside the guiding channel, the slide configured to move within the guiding channel; an attachment mechanism configured to removably attach a tendon of a separate robotic device to the slide; and an actuator configured to move the slide forward and backward within the guiding channel.

[0020] Clause 2: The device of clause 1, further comprising a housing, the housing comprising the guiding channel, the slide, and the actuator.

[0021] Clause 3: The device of clause 1 or 2, wherein the attachment mechanism comprises a feeding mechanism configured to receive an end of the tendon of the separate robotic device and attach the end of the tendon to the slide, and wherein the separate robotic device comprises a feeding rod comprising the end of the tendon, wherein the end of the tendon is external to a proximal end of the feeding rod, and wherein the feeding mechanism comprises a spring arranged to be compressed by the feeding rod as it receives the end of the tendon.

[0022] Clause 4: The device of any of clauses 1-3, wherein the attachment mechanism comprises at least one alignment device configured for aligning an end of the tendon of the separate robotic device with the slide, the at least one alignment device comprising a plurality of blades movable by a cammed rotor mechanism between an open configuration and a6BW5196.DOCX Page 5 of 35Attorney Docket No. 08993-2600939closed configuration in which the end of the tendon is aligned in a predetermined orientation relative to the slide.

[0023] Clause 5: The device of any of clauses 1-4, wherein the attachment mechanism comprises at least one alignment device configured for aligning an end of the tendon of the separate robotic device with the slide, the at least one alignment device comprising a rotary cam having at least one radially decreasing locating slot configured to receive the end of the tendon, and wherein movement of the rotary cam is configured to cause the end of the tendon to move within the at least one radially decreasing locating slot between a first position and a second position in which the end of the tendon is aligned in a predetermined orientation relative to the slide.

[0024] Clause 6: The device of clauses 1-5, wherein the attachment mechanism comprises at least one alignment device configured for aligning an end of the tendon of the separate robotic device with the slide, the at least one alignment device comprising a fixed base plate having at least one radial slot slidably receiving a cam finger therein and a rotatable cam having at least one engagement lobe configured for moving the cam finger within the at least one radial slot, and wherein movement of the cam finger within the radial slot causes a corresponding movement of the end of the tendon between a first position and a second position in which the end of the tendon is aligned in a predetermined orientation relative to the slide.

[0025] Clause 7: The device of any of clauses 1-6, wherein the attachment mechanism comprises an actuation member movable between a first position and a second position relative to the slide, and wherein movement of the actuation member from the first position to the second position causes the slide to tilt radially outward relative to a longitudinal axis of a slide housing.

[0026] Clause 8: The device of any of clauses 1-7, wherein the actuator comprises a motorized actuator or a manual actuator.

[0027] Clause 9: The device of any of any of clauses 1-8 further comprising an actuator tendon attaching the slide to the motorized actuator or the manual actuator.

[0028] Clause 10: The device of any of clauses 1-9, further comprising a pulley mechanism configured to pull the actuator tendon to move the slide within the guiding channel, the pulley mechanism comprising: a reel driven by the motorized actuator or the manual actuator and configured to wind the actuator tendon from a first end of the actuator tendon, wherein a second end of the actuator tendon is fixed; and an idler pulley connected to the slide, the idler pulley configured to receive the actuator tendon and move the slide in a6BW5196.DOCX Page 6 of 35Attorney Docket No. 08993-2600939forward direction and a backward direction within the guiding channel in response to the reel winding and / or unwinding the actuator tendon.

[0029] Clause 11: The device of any of clauses 1-10, further comprising at least one sensor attached to the second end of the actuator tendon, the at least one sensor configured to measure a force applied to the actuator tendon.

[0030] Clause 12: A system comprising: a robotic device comprising: at least one tendon, and at least one appendage configured to be manipulated with the at least one tendon, the at least one tendon comprising an end extending away from the at least one appendage; an actuator device separate from the robotic device, the actuator device comprising: an actuator configured to actuate the at least one tendon; and an attachment mechanism configured to removably attach the end of the at least one tendon to the actuator.

[0031] Clause 13: The system of clause 12, wherein the actuator device further comprises: a guiding channel; and a slide arranged inside the guiding channel, the slide configured to move within the guiding channel, wherein the end of the at least one tendon removably attaches to the actuator by being removably attached to the slide.

[0032] Clause 14: The system of any of clauses 12-13, wherein the actuator device comprises a housing, the housing comprising the guiding channel, the slide, and the actuator.

[0033] Clause 15: The system of any of clauses 12-14, wherein the attachment mechanism comprises a feeding mechanism configured to receive the end of the at least one tendon of the robotic device and attach the end of the at least one tendon to the slide, and wherein the robotic device comprises a feeding rod comprising the end of the at least one tendon, wherein the end of the at least one tendon is external to a proximal end of the feeding rod, and wherein the feeding mechanism comprises a spring arranged to be compressed by the feeding rod as it receives the end of the at least one tendon.

[0034] Clause 16: The system of any of clauses 12-15, wherein the attachment mechanism comprises at least one alignment device configured for aligning the end of the at least one tendon of the robotic device with the slide, the at least one alignment device comprising a plurality of blades movable by a cammed rotor mechanism between an open configuration and a closed configuration in which the end of the at least one tendon is aligned in a predetermined orientation relative to the slide.

[0035] Clause 17: The system of any of clauses 12-16, wherein the attachment mechanism comprises at least one alignment device configured for aligning the end of the at least one tendon of the robotic device with the slide, the at least one alignment device comprising a rotary cam having at least one radially decreasing locating slot configured to6BW5196.DOCX Page 7 of 35Attorney Docket No. 08993-2600939receive the end of the at least one tendon, and wherein movement of the rotary cam is configured to cause the end of the at least one tendon to move within the at least one radially decreasing locating slot between a first position and a second position in which the end of the at least one tendon is aligned in a predetermined orientation relative to the slide.

[0036] Clause 18: The system of clauses 12-17, wherein the attachment mechanism comprises at least one alignment device configured for aligning an end of the at least one tendon of the robotic device with the slide, the at least one alignment device comprising a fixed base plate having at least one radial slot slidably receiving a cam finger therein and a rotatable cam having at least one engagement lobe configured for moving the cam finger within the at least one radial slot, and wherein movement of the cam finger within the radial slot causes a corresponding movement of the end of the at least one tendon between a first position and a second position in which the end of the at least one tendon is aligned in a predetermined orientation relative to the slide.

[0037] Clause 19: The system of any of clauses 12-18, wherein the attachment mechanism comprises an actuation member movable between a first position and a second position relative to the slide, wherein movement of the actuation member from the first position to the second position causes the slide to tilt radially outward relative to a longitudinal axis of a slide housing.

[0038] Clause 20: The system of any of clauses 12-19, wherein the actuator comprises a motorized actuator or a manual actuator.

[0039] Clause 21: The system of any of clauses 12-20, wherein the actuator device further comprises an actuator tendon attaching the slide to the motorized actuator or the manual actuator.

[0040] Clause 22: The system of any of clauses 12-21, wherein the actuator device further comprises a guiding channel, a slide arranged in the guiding channel, and a pulley mechanism configured to pull the actuator tendon to move the slide within the guiding channel, the pulley mechanism comprising: a reel driven by the motorized actuator or the manual actuator and configured to wind the actuator tendon from a first end of the actuator tendon, wherein a second end of the actuator tendon is fixed; and an idler pulley connected to the slide, the idler pulley configured to receive the actuator tendon and move the slide in a forward direction and a backward direction within the guiding channel in response to the reel winding and / or unwinding the actuator tendon.6BW5196.DOCX Page 8 of 35Attorney Docket No. 08993-2600939

[0041] Clause 23: The system of any of clauses 12-22, further comprising at least one sensor attached to the second end of the actuator tendon, the at least one sensor configured to measure a force applied to the actuator tendon.

[0042] Clause 24: A device comprising: at least one appendage; at least one tendon connected to the at least one appendage, the at least one tendon comprising an end extending away from the at least one appendage; and an attachment mechanism operatively connected to the end of the at least one tendon, wherein the attachment mechanism comprises at least one alignment device configured for aligning the end of the at least one tendon with a corresponding engagement structure on a separate actuator device configured for effecting movement of the end of the at least one tendon.

[0043] Clause 25: The device of clause 24, wherein the end of the at least one tendon comprises a crimp configured to be removably attached to a separate actuator device.

[0044] These and other features and characteristics of the present disclosure, as well as the methods of operation and functions of the related elements of structures and the combination of parts and economies of manufacture, will become more apparent upon consideration of the following description and the appended claims with reference to the accompanying drawings, all of which form a part of this specification, wherein like reference numerals designate corresponding parts in the various figures. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the invention.BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Additional advantages and details are explained in greater detail below with reference to the non-limiting, exemplary embodiments that are illustrated in the accompanying figures and appendix shown in the separate attachment, in which:

[0046] FIG. 1 is a schematic view of an actuator device for actuating a tendon-driven robotic device according to non-limiting embodiments or aspects, showing the robotic device detached from the actuator device;

[0047] FIG. 2A is a front perspective view of an actuator device for actuating a tendon-driven robotic device according to non-limiting embodiments or aspects, showing a robotic device detached from the actuator device;

[0048] FIG. 2B is a front view of the actuator device of FIG. 2 A;

[0049] FIG. 3 A is a front perspective view of the actuator device of FIG. 2A, showing the robotic device attached to the actuator device6BW5196.DOCX Page 9 of 35Attorney Docket No. 08993-2600939

[0050] FIG. 3B is a front view of the actuator device of FIG. 3 A;

[0051] FIG. 4A is a side view of the actuator device of FIG. 2A;

[0052] FIG. 4B is a front cross-sectional view of the actuator device of FIG. 4A taken along line A-A;

[0053] FIG. 5 A is a side view of actuator device of FIG. 2A;

[0054] FIG. 5B is a front cross-sectional view of the actuator device of FIG. 5A taken along line B-B;

[0055] FIG. 6A is a front view of a slide for use with an actuator device according to nonlimiting embodiments;

[0056] FIG. 6B is a bottom view of slide shown in FIG. 6A;

[0057] FIG. 6C is a side view of the slide shown in FIG. 6A;

[0058] FIG. 7A is a top view of a slide housing according to non-limiting embodiments;

[0059] FIG. 7B is a cross-sectional view of the slide housing of FIG. 7A taken along line D-D;

[0060] FIG. 7C is a cross-sectional view of the slide housing of FIG. 7A taken along line E-E;

[0061] FIG. 8A is a top view of a slide housing according to non-limiting embodiments, showing a slide in a first position;

[0062] FIG. 8B is a top view of a slide housing according to non-limiting embodiments, showing a slide in a second position;

[0063] FIG. 8C is a cross-sectional view of the slide housing of FIG. 8A taken along line F-F;

[0064] FIG. 8D is a cross-sectional view of the slide housing of FIG. 8B taken along line G-G;

[0065] FIG. 9A is a top view of a feeding mechanism used in connection with systems, methods, and devices for actuating a tendon-driven robotic device according to non-limiting embodiments;

[0066] FIG. 9B is a front view of the tendon feeding device of FIG. 9 A;

[0067] FIG. 9C is a sideview of the tendon feeding device of FIG. 9A;

[0068] FIG. 9D is a cross sectional view of the tendon feeding device of FIG. 9C taken along line H-H;

[0069] FIG. 10A is a top view of a tendon feeding device used in connection with systems, methods, and devices for actuating a tendon-driven robotic device according to nonlimiting embodiments;6BW5196.DOCX Page 10 of 35Attorney Docket No. 08993-2600939

[0070] FIG. 1 OB is a bottom view of the tendon feeding device of FIG. 10 A;

[0071] FIG. 10C is a front view of the tendon feeding device of FIG. 10A;

[0072] FIG. 10D is a left side view of the tendon feeding device of FIG. 10A;

[0073] FIG. 10E is a cross-sectional view of the tendon feeding device of FIG. 10D taken along line I-I;

[0074] FIG. 1 OF is a right side view of the tendon feeding device of FIG. 10A;

[0075] FIG. 10G is a cross-sectional view of the tendon feeding device of FIG. 10F taken along line J-J;

[0076] FIG. 11A is a front view of a housing assembly used in connection with systems, methods, and devices for actuating a tendon-driven robotic device according to non-limiting embodiments;

[0077] FIG. 1 IB is a cross-sectional view of the housing assembly of FIG. 11 A;

[0078] FIGS. 12A-12D illustrate a connection sequence of a crimp feeding mechanism of a robotic device from a disconnected state to a connected state according to non-limiting embodiments;

[0079] FIGS. 13A-13D illustrate a connection sequence of a crimp feeding mechanism of a robotic device from a disconnected state to a connected state in relation to an attachment mechanism according to non-limiting embodiments;

[0080] FIG. 14 is a perspective view of a plurality of tendons for use with an actuator device according to non-limiting embodiments;

[0081] FIG. 15A is an exploded top perspective view of a portion of an alignment mechanism for aligning tendons during connection with an actuator device;

[0082] FIG. 15B is a bottom perspective view of the portion of the alignment mechanism shown in FIG. 15 A;

[0083] FIG. 16 is a perspective view of the alignment mechanism and a synchronization device according to non-limiting embodiments;

[0084] FIG. 17 is a perspective view of the alignment mechanism of FIG. 16 shown in connection with a plurality of tendons;

[0085] FIG. 18A is a bottom perspective view of an alignment mechanism with a plurality of tendons in a first position according to non-limiting embodiments;

[0086] FIG. 18B is a bottom perspective view of the alignment mechanism of FIG. 18A with the plurality of tendons in a second position;6BW5196.DOCX Page 11 of 35Attorney Docket No. 08993-2600939

[0087] FIGS. 19A-19C show a sequence of events for connecting a plurality of tendons to a plurality of slides from a disconnected position to a connected position using an alignment mechanism of FIG. 18 A;

[0088] FIG. 20A is a perspective view of a tendon receptacle in a first position according to non-limiting embodiments;

[0089] FIG. 20B is a perspective view of the tendon receptacle of FIG. 20A shown in a second position;

[0090] FIG. 21A is a perspective view of a tool for moving tendon receptacles according to non-limiting embodiments, with the tool shown in an open position;

[0091] FIG. 21B is a top view of the tool of FIG. 21 A shown in a closed position;

[0092] FIGS. 22A-22C illustrate a sequence of movement of tendon receptacles from a withdrawn position to an extended position using the manual tool shown in FIG. 21;

[0093] FIG. 23 is an exploded perspective view of a slide and a tendon according to nonlimiting embodiments;

[0094] FIG. 24 is a partially transparent perspective view showing a connection of a tendon with the slide of FIG. 23;

[0095] FIG. 25A is a perspective view of an alignment device with a plurality of tendons according to non-limiting embodiments;

[0096] FIG. 25B is an exploded view of the alignment device of FIG. 25B; and

[0097] FIGS. 26A-26C show a sequence of events for connecting a plurality of tendons to a plurality of slides from a disconnected position to a connected position using the alignment device of FIG. 25 A.DETAILED DESCRIPTION

[0098] It is to be understood that the embodiments may assume various alternative variations and step sequences, except where expressly specified to the contrary. It is also to be understood that the specific devices and processes described in the following specification are simply exemplary embodiments or aspects of the disclosure. Hence, specific dimensions and other physical characteristics related to the embodiments or aspects disclosed herein are not to be considered as limiting. No aspect, component, element, structure, act, step, function, instruction, and / or the like used herein should be construed as critical or essential unless explicitly described as such.

[0099] The phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. As used herein, the articles “a” and “an” are intended to6BW5196.DOCX Page 12 of 35Attorney Docket No. 08993-2600939include one or more items and may be used interchangeably with “one or more” and “at least one.” Also, as used herein, the terms “has,” “have,” “having,” or the like are intended to be open-ended terms. Further, the phrase “based on” is intended to mean “based at least partially on” unless explicitly stated otherwise. As used herein, the term “plurality” refers to two or more items or components. The terms “comprising,” “including,” “carrying,” “having,” “containing,” and “involving,” whether in the written description or the claims and the like, are open-ended terms, i.e., to mean “including but not limited to.” Thus, the use of such terms is meant to encompass the items listed thereafter, and equivalents thereof, as well as additional items. Only the transitional phrases “consisting of’ and “consisting essentially of,” are closed or semi-closed transitional phrases, respectively, with respect to the claims. Use of ordinal terms such as “first,” “second,” “third,” and the like in the claims to modify a claim element does not by itself connote any priority, precedence, or order of one claim element over another or the temporal order in which acts of a method are performed, but are used merely as labels to distinguish one claim element having a certain name from another element having a same name (but for use of the ordinal term) to distinguish the claim elements.

[0100] For purposes of the description hereinafter, the terms “end,” “upper,” “lower,” “right,” “left,” “vertical,” “horizontal,” “top,” “bottom,” “lateral,” “longitudinal,” and derivatives thereof shall relate to the invention as it is oriented in the drawing figures. However, it is to be understood that the invention may assume various alternative variations and step sequences, except where expressly specified to the contrary.

[0101] For purposes of the description hereinafter, the term “proximal”, when used with reference to a robotic device, refers to an end of the robotic device closest to an attachment mechanism for attaching to a separate actuator device. The term “distal”, when used with reference to a robotic device, refers to an end of the robotic device furthest away from an attachment mechanism for attaching to a separate actuator device.

[0102] For purposes of the description hereinafter, the term “proximal”, when used with reference to an actuator device, refers to an end of the actuator device further away from an attachment mechanism for attaching to a separate robotic device. The term “distal”, when used with reference to an actuator device, refers to an end of the actuator device closest to an attachment mechanism for attaching to a separate robotic device.

[0103] As used herein, the terms “communication” and “communicate” refer to the receipt or transfer of one or more signals, messages, commands, or other type of data. For one unit (e.g., any device, system, or component thereof) to be in communication with6BW5196.DOCX Page 13 of 35Attorney Docket No. 08993-2600939another unit means that the one unit is able to directly or indirectly receive data from and / or transmit data to the other unit. This may refer to a direct or indirect connection that is wired and / or wireless in nature. Additionally, two units may be in communication with each other even though the data transmitted may be modified, processed, relayed, and / or routed between the first and second unit. For example, a first unit may be in communication with a second unit even though the first unit passively receives data and does not actively transmit data to the second unit. As another example, a first unit may be in communication with a second unit if an intermediary unit processes data from one unit and transmits processed data to the second unit. It will be appreciated that numerous other arrangements are possible.

[0104] As used herein, the terms “processor” or “computing device” may refer to one or more electronic devices configured to process data. A processor and / or computing device may include, for example, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a microprocessor, a controller, and / or any other computational device capable of executing logic. A “computer readable medium” may refer to one or more memory devices or other non-transitory storage mechanisms capable of storing compiled or non-compiled program instructions for execution by one or more processors. Reference to “a processor” or “a computing device” as used herein, may refer to a previously-recited computing device and / or processor that is recited as performing a previous step or function, a different server and / or processor, and / or a combination of computing devices and / or processors. For example, as used in the specification and the claims, a first computing device and / or a first processor that is recited as performing a first step or function may refer to the same or different computing device and / or a processor recited as performing a second step or function.

[0105] Provided are systems, methods, and devices for actuating a tendon-driven robotic device that improve how tendon-driven robotics are operated by providing enhanced control and optimizing energy usage. Various other advantages are provided.

[0106] In tendon-driven robot hands, tendons are used to transmit forces from an actuator, such as a motorized actuator or a manual actuator, to the phalanges. Tendons are generally elongated, flexible force-transmission elements configured to transfer tensile forces between the actuator and one or more robotic devices to produce controlled motion. The tendon may comprise a cable, filament, cord, belt, or equivalent structure, and is adapted to operate primarily in tension while being routed along a predefined or variable path, including through guides, sheaths, pulleys, or channels. With reference to FIG. 1, which shows an exemplary tendon-driven robotic system, an actuator device 100 is used to generate a force to6BW5196.DOCX Page 14 of 35Attorney Docket No. 08993-2600939displace an actuator tendon 112 having a first end securely connected to the actuator device 100 and a second end operatively connected to a robotic device 102, such as a robotic hand, finger, or phalange. In order to facilitate maintaining, replacing, and repairing individual parts of the robotic device 102, an attachment mechanism 108 is provided at an interface between the actuator device 100 and the robotic device 102. In some embodiments or aspects, the attachment mechanism 108 can be a quick-connect mechanism that allows separating the actuator device 100 from the robotic device 102 by temporarily and removably joining tendons, and creating a detachable connection, as described herein. Aside from being able to quickly attach and detach the robotic device 102 to and from the actuator device 100, the attachment mechanism 108 also permits attachment and detachment of other robotic devices 102 with varying kinematics and physical properties to the same actuator device 100 in order to suit various desired needs.

[0107] Referring now to FIGS. 2A-3B, shown is a system and device for actuating a tendon-driven robotic device according to non-limiting embodiments or aspects. The actuator device 100 includes an actuator 104 configured for imparting motion to the actuator tendon 112. In some embodiments or aspects, the actuator 104 may be a motor configured for linear or rotational operation such that movement of the actuator 104 causes a corresponding movement of the actuator tendon 112, either directly or indirectly. In other embodiments or aspects, the actuator 104 may be manual actuator requiring manual user input to effect a corresponding movement of the actuator tendon 112. An output member of the actuator 104, such as a shaft, may be connected to a reel 115 configured to windably receive a length of the actuator tendon 112. In this manner, rotational movement of the actuator 104 results in a corresponding rotational movement of the reel 115 to either wind a length of the actuator tendon 112 onto the reel 115 or unwind a length of the actuator tendon 112 from the reel 115. The actuator tendon 112 may be a flexible member having a substantially prismatic shape and sufficient strength and material properties suitable for imparting motion to a robotic device 102.

[0108] With continued reference to FIGS. 2A-3B, the actuator device 100 further includes one or more sensors 106 configured to measure a force applied to the actuator tendon 112. A first end of the actuator tendon 112 may be connected to the actuator 104, such as by being fixedly connected to the reel 112. The opposing second end of the actuator tendon 112 may be connected to the sensor 106, such as by a fixed connection to at least a portion of the one or more sensors 106. The one or more sensors 106 may be configured to sense a force applied thereon by the second end of the actuator tendon 112. As discussed6BW5196.DOCX Page 15 of 35Attorney Docket No. 08993-2600939herein, the force sensed by the one or more sensors 106 may be used to control operation of the actuator device 100, including power output of the actuator 104 to effectuate a desired amount of force to be imparted by the robotic device 102.

[0109] With continued reference to FIGS. 2A-3B, the actuator device 100 further includes a controller 111 for regulating operation of the actuator device 100. The controller 111 comprises a processor configured to execute machine-readable instructions stored in a non-transitory memory, wherein execution of the instructions causes the processor to generate control signals for driving the actuator 104. The processor may be operatively coupled to a motor driver circuit, which converts the control signals into appropriate electrical outputs for controlling speed, torque, and / or position of the motor. In some embodiments or aspects, the controller 111 further includes communication interfaces for receiving external commands and transmitting operational data, thereby enabling integration within a larger control architecture.

[0110] In another embodiment or aspect, the controller 111 is in communication with the at least one sensor 106. The processor is configured to receive and process the sensor signals and to adjust the control signals provided to the actuator 104 based at least in part on the sensed parameter sensed using the sensor 106. For example, the processor may implement a feedback control algorithm that modulates output of the actuator 104 in response to detected force variations.

[0111] With continued reference to FIGS. 2A-3B, the actuator tendon 112 extends into a slide housing 105 that is configured to receive a slide mechanism for engaging and disengaging tendon connections and accommodating tendon displacement by sliding through the slide housing 105. The actuator 104 is connected to the attachment mechanism 108 at a distal end of the slide housing 105 through the actuator tendon 112 via a mechanical slide. As discussed herein, the mechanical slide can move freely along the direction of tendon displacement inside the slide housing 105. The actuator 104, slide housing 105, and sensor 106 may be connected to the actuator device 100 via one or more connection structures 107, such as brackets.

[0112] With continued reference to FIGS. 2A-3B, the robotic device 102 is configured to be removably connectable to the actuator device 100 at the distal end of the slide housing 105 via the attachment mechanism 108. The robotic device 102 may comprise an articulated mechanism configured to emulate the structure and function of a biological appendage, such as a robotic hand, finger, or phalange. In some embodiments, robotic device 102 includes a plurality of interconnected segments 117 coupled by one or more joints 113, each joint 1136BW5196.DOCX Page 16 of 35Attorney Docket No. 08993-2600939permitting controlled movement along one or more axes. The segments may be actuated by tendon-driven mechanisms, as described herein. The robotic device 102 may be controlled by a processor executing instructions to coordinate movement of the joints 113 and segments 117, thereby enabling grasping, manipulation, or interaction with objects in an environment. In some non-limiting embodiments or aspects, the robotic device 102 is configured to replicate human-like kinematics, while in other embodiments it may be optimized for other specific tasks.

[0113] With reference to FIGS. 4A-5B, the actuator device 100 has a slide 116 (shown in FIGS. 4B and 5B) received within a guiding channel 114 within the slide housing 105. The slide 116 has a dual purpose within the actuator device 100. First, the slide 116 is configured for facilitating engagement and disengagement of tendon connections between the actuator device 100 and the robotic device 102. Second, the slide 116 is configured for accommodating tendon displacement via sliding movement within the guiding channel 114 in a direction of arrow A in FIGS. 4B and 5B. In some embodiments or aspects, the slide 116 may be linearly guided within the guiding channel 114 along at least a portion of the length of the guiding channel 114. As shown in FIGS. 4B and 5B, the guiding channel 114 may have a proximal end 114a having a substantially uniform width and a distal end 114b having a width that is greater than the width of the proximal end 114a.

[0114] With reference to FIGS. 6A-6C, the slide 116 has a frame 120 having a proximal end 122 opposite a distal end 124. The proximal end 122 has an opening 126 configured to receive a pin 128 therethrough. The pin 128 serves as a linear guide for the slide 116 as the slide 116 is moved within the proximal end 114a of the guiding channel 114 (shown in FIGS.4B and 5B). The pin 128 is further configured to guide rotating movement of the slide 116 at the distal end 114b of the guiding channel 114. A center axis 130 of the pin 128 defines an axis of rotation of the slide 116 when the slide 116 is positioned within the distal end 114b of the guiding channel 114.

[0115] An idler pulley 132 is disposed on the pin 128 and is configured to receive the actuator tendon 112. In some embodiments or aspects, the idler pulley 132 may have the same or different diameter compared to a diameter of the reel 115 to achieve a desired mechanical advantage. The slide 116 is movable within the guiding channel 114 as the actuator 104 is rotated. With rotation of the actuator 104 in a first direction, the actuator tendon 112 is wound on the reel 115, thereby moving the slide proximally toward the proximal end 114a of the guiding channel 114. With rotation of the actuator in a second6BW5196.DOCX Page 17 of 35Attorney Docket No. 08993-2600939direction opposite the first direction, the actuator tendon 112 is unwound from the reel 115, thereby moving the slide proximally toward the distal end 114b of the guiding channel 114.

[0116] With continued reference to FIGS. 6A-6C, the distal end 124 of the slide 116 has a cavity 133 configured for receiving a tendon of the robotic device 102 when the robotic device 102 is connected to attachment mechanism 108 of the actuator device 100. A distal opening 134 is formed at the distal end 124 of the slide 116 opening into the cavity 133.

[0117] FIG. 7 A shows a top end of the slide housing 105. With reference to FIGS. 7B-7C, a width of the proximal end 114a of the guiding channel 114 may be sized to slidably receive the slide 116 by allowing translational movement of the slide 116 within the guiding channel 114 in the direction of arrow A without allowing rotational movement of the slide 116. As shown in FIG. 7C, a width of the distal end 114b may be sized to slidably receive the slide 116 and permit rotational movement of the slide 116 about the center axis 130 of the pin 128, as discussed herein.

[0118] When the slide 116 is connected to the robotic device tendon and the slide 116 is positioned in the proximal end 114a of the guiding channel 114, the tendon of the robotic device 102 is securely held in the cavity of the slide 116 and cannot be removed therefrom due to a form closure. When the slide 116 is positioned at the distal end 114b of the guiding channel 114, the slide 116 is rotated to allow the tendon of the robotic device 102 to be removed from the cavity of the slide 116 to disconnect the robotic device 102 from the actuator device 100. The rotation of the slide 116 at the distal end 114b of the guiding channel 114 causes a release action that exerts an outward force on the corresponding tendon of the robotic device 102 (shown in FIGS. 2A-2B), facilitating its removal from the slide cavity 133. The design ensures that as the slide 116 rotates, the tendon of the robotic device 102 is not only disconnected from the actuator device 100 but also ejected from the slide 116.

[0119] FIGS. 8A-8B show a top view of the slide housing 105. With reference to FIGS.8C-8D, the distal end of the slide housing 105 has a slidable cover plate 136. In normal operation, the slidable cover plate 136 constrains the pivoting motion of the slide 116 and is positioned such that it moves orthogonally to the direction of tendon displacement. The slidable cover plate 136 is movably coupled to the slide housing 105 and is biased, such as by a spring element 138, toward a first position in which the cover plate 136 substantially covers or obstructs an opening formed in the distal end of the slide housing 105. The spring element 138 may comprise a compression spring, leaf spring, or other resilient member configured to maintain the slidable cover plate 136 in the first position absent an external force. In this configuration, the slidable cover plate 136 serves as a protective or retaining feature,6BW5196.DOCX Page 18 of 35Attorney Docket No. 08993-2600939preventing inadvertent access to the guiding channel 114 of the slide housing 105 and preventing inadvertent disconnection of the tendon of the robotic device 102 (shown in FIGS.2A-2B) from the slide 116.

[0120] With continued reference to FIGS. 8A-8B, the slidable cover plate 136 is configured to be displaced from the first position (FIGS. 8A and 8C) to a second position (FIGS. 8B and 8D) in response to an applied force, thereby at least partially uncovering the opening at the distal end of the slide housing 105. Sliding movement of the slidable cover plate 136 may be restrained by pins 137 provided on the top end of the slide housing 105. The pins 137 may be received within slots 139 on the cover plate 136 to delimit a length of movement of the cover plate 136.

[0121] Movement of the slidable cover plate 136 to the second position provides access to a guiding channel 114 formed within the slide housing 105. In the second position of the slidable cover plate 136, the slide 116 is positioned at the distal end 114b of the guiding channel 114 and is pivoted within the guiding channel 114 to allow connection or disconnection with the tendon of the robotic device 102. In certain embodiments, the spring biasing force returns the slidable cover plate 136 from the second position to the first position upon removal of the applied force, thereby re-covering the guiding channel 114 and preventing disconnection of the tendon of the robotic device 102 from the actuator device 100.

[0122] FIGS. 9A-9D show multiple views of a portion of an attachment mechanism 108 that includes a feeding mechanism 140 used in connection with systems, methods, and devices for actuating a tendon-driven robotic device according to non-limiting embodiments. The actuator device 100 and the robotic device 102 are omitted from FIGS. 9A-9D for clarity. The feeding mechanism 140 may be connected to a distal end of the actuator device 100, such as a distal end of the slide housing 105. The feeding mechanism 140 includes a flat base 142 with a hollow, cylindrical feed guide 144 protruding from the center of the base 142. The feed guide 144 is integrally formed with the base 142 and protrudes substantially perpendicular to the plane of the base 142. The feed guide 144 is designed to direct or guide a feeding rod of the robotic device 102 as it is inserted into the actuator device 100, as described herein. The feed guide 144 features an elongated slot 146 that extends axially along at least a portion of the length of the feed guide 144, providing a passage through which the feeding rod may pass or be positioned. The geometry of the slot 146 may be designed to accommodate a specific profile or size of the feeding rod of the robotic device6BW5196.DOCX Page 19 of 35Attorney Docket No. 08993-2600939102, ensuring proper alignment and guiding of the feeding rod as it moves through the feed guide 144.

[0123] With reference to FIGS. 9B and 9D, a tapered end surface 148 is provided at the termination of the slot 146. This tapered end surface 148 serves to gradually guide the feeding rod of the robotic device 102 into or out of the feed guide 144, easing the transition and minimizing any abrupt contact or friction that could otherwise cause misalignment or damage. The tapered end 148 also helps to center the feeding rod within the feed guide 144.

[0124] FIGS. 10A-10G show multiple views of a tendon feeding device 150 used in connection with systems, methods, and devices for actuating a tendon-driven robotic device according to non-limiting embodiments. The tendon feeding device 150 is configured to be arranged at a proximal end of a separate robotic device 102 (shown in FIGS. 2A-2B). The tendon feeding device is configured to align a plurality of tendons of the robotic device 102, such as the tendons for a hand including multiple fingers and tendons, with the attachment mechanism 108 in order to facilitate a removable connection between the robotic device 102 and the actuator device 100 (shown in FIGS. 2A-2B).

[0125] With reference to FIGS. 10D-10G, the tendon feeding device 150 includes a plate 152 arranged parallel to a plurality of feeding rods 154. The plate 152 may be configured to move up and down in a direction of arrow B, such as away from and toward the base 153 of the tendon feeding device 150. A spring 156 and / or screw may be used to support and move the plate 152. The spring 156 and / or screw biases the plate 152 in a first position. Compressing the spring 156 or winding the screw moves the plate 152 in a direction toward the base of the tendon feeding device 150, thereby further moving the tendons of the robotic device 102 out of the feeding rods 154. In operation, the tendons of the robotic device 102 extend through the feeding rods 154 so that an operator can place the tendon feeding device 150 on an actuator device 100 and apply downward pressure to engage the ends of the tendons with the actuator device 100.

[0126] To facilitate the secure and removable connection between the tendons of the robotic device 102 and actuator tendons 112 of the actuator device 100, one or the actuator device 100 and the robotic device 102 is equipped with an attachment mechanism 108 designed to seamlessly link the two tendon systems. In some embodiments or aspects, a first portion of the attachment mechanism 108 may be provided on the actuator device 100 and a second portion of the attachment device 108 may be provided on the robotic device 102, such that the first portion and the second portion of the attachment mechanism 108 together6BW5196.DOCX Page 20 of 35Attorney Docket No. 08993-2600939function to facilitate the secure and removable connection between the tendons of the robotic device 102 and actuator tendons 112 of the actuator device 100.

[0127] In some non-limiting embodiments or aspects, the feeding mechanism 140 and the tendon feeding device 150 form respective first and second portions of the attachment mechanism 108. This attachment mechanism 108 may be designed to provide reliable, tensioned connections that are easy to connect and disconnect, as needed. In some embodiments or aspects, the attachment mechanism 108 may include a quick-release feature, enabling rapid adjustments or disconnections during setup or maintenance without requiring extensive reconfiguration of the tendons on the actuator device 100 or the robotic device 102.

[0128] FIGS. 11A-11B show front and cross-sectional views of a housing assembly 160 used in connection with systems, methods, and devices for actuating a tendon-driven robotic device according to non-limiting embodiments. The housing assembly 160 is configured to contain an actuator (such as one or more actuators 104 described herein), one or more guiding channels (such as one or more guiding channels 114 described herein), and one or more slides (such as one or more slides 116 described herein). The housing assembly 160 shown in FIGS. 11 A-l IB is configured to be connected to a tendon feeding device 150 as described in connection with FIGS. 10A-10H. The housing assembly 160 may include an actuator mechanism 162 configured to rotate and / or pivot the one or more slides 116 in the guiding channels 114 to allow for the ends of the tendon(s) to be inserted into the cavity formed between the slide 116 and the sidewall of the guiding channel 116, as described herein. Such an arrangement may not include a pressure plate to open the cavity.

[0129] With reference to FIGS. 12A-12D, a connection sequence of a tendon feeding mechanism 166 of a robotic device 102 from a disconnected state to a connected state is shown according to non-limiting embodiments or aspects. The crimp feeding mechanism 166 is configured for controlled feeding and positioning of the tendon of the robotic device 102 relative to the attachment mechanism 108 of the actuator device 100. With initial reference to FIG. 12 A, the robotic device 102 is shown fully detached from the attachment mechanism 108. In this state, the robotic device 102 is ready for attachment to the attachment mechanism 108, with no tension or force applied to a robotic device tendon 168 or a terminal end 170 of the robotic device tendon 168. The terminal end 170 terminating the robotic device tendon 168 is positioned below the end of the feeding rod 110. In some embodiments or aspects, the terminal end 170 may be a crimp, a knot, a swage, or any other tendon termination.6BW5196.DOCX Page 21 of 35Attorney Docket No. 08993-2600939

[0130] With reference to FIG. 12B, as the connection process continues, the feeding rod 110 begins to push the terminal end 170 of the robotic device tendon 168 downward into toward the feeding mechanism 140. The terminal end 170 of the robotic device tendon 168 is aligned with the slot 146 of the feed guide 144, and the operator or automated system applies downward pressure to initiate the tendon feeding action. As the feeding rod 110 is moved linearly downward toward the base 142 of the feeding mechanism, the tapered end surface 148 of the feeding mechanism 140 contacts fins 113 of the feeding rod 110 and causes the feeding rod 110 to rotate due to the helical shape of the tapered end surface. In some embodiments or aspects, the feeding rod 110 may be rotated 90 degrees as it feeds the terminal end 170 through the feeding mechanism 140.

[0131] In the final stages shown in FIGS. 12C-12D, the terminal end 170 of the robotic device tendon 168 is fully fed into position in the guide channel 114, and the feeding rod 110 is rotated by 90 degrees due to the helical guiding rail. This rotation of the rod 110 facilitates the complete insertion of the terminal end 170 of the robotic device tendon 168 into its designated position within the finger cavity. Once the terminal end 170 of the robotic device tendon 168 is securely in place, a compression spring 172 helps return the feeding rod 110 back into the finger cavity, completing the insertion process. The spring 172 provides a biasing force, ensuring that the feeding rod 110 retracts smoothly and is returned to its original position, ready for the next use. With the terminal end 170 of the robotic device tendon 168 positioned in the guiding channel 114, the terminal end 170 of the robotic device tendon 168 can be positioned in the cavity of the slide 116 (shown in FIG. 6 A) for connection with the actuator tendon 112 of the actuator device 100.

[0132] With reference to FIGS. 13A-13D, the same connection sequence of a tendon feeding mechanism 166 of a robotic device 102 from a disconnected state to a connected state is shown along with the components of the attachment mechanism 108 on the actuator device 100. To connect the robotic device 102, the feeding rod 110 is aligned and pushed onto the feed guide 144 of the feeding mechanism 140. As the robotic device 102 is pressed downward, prongs located inside the finger cavity exert downward pressure on the feeding rod 110. This action drives the terminal end 170 of the robotic device tendon 168 downwards, guiding it into the guiding channel 114 toward the slide 116. This movement also moves the horizontal cover plate 136 from the first, unbiased position to the second, biased position, thereby pressing the slide 116 into the open position. This coordinated movement allows the terminal end 170 of the robotic device tendon 168 to be fed into position smoothly, ensuring that the robotic device tendon 168, 170 is aligned with the slide6BW5196.DOCX Page 22 of 35Attorney Docket No. 08993-2600939116 and ready for secure attachment. As the robotic device 102 continues to be pressed fully onto the feeding mechanism 140, the prongs inside the finger cavity have fully pushed the terminal end 170 of the robotic device tendon 168 into the appropriate position inside the tendon cavity of the slide 116, setting the stage for the final connection.

[0133] Once the terminal end 170 of the robotic device tendon 168 is in place, the helical shape of the tapered end surface 148 in the feed guide 144 causes the fins on the feeding rod 110 to rotate by 90 degrees at the bottom of the feed guide 144. This rotation ensures that the feeding rod 110 is properly oriented, allowing it to be retracted. The feeding rod 110 then moves upward freely and is pushed back into the finger cavity by the compression spring 172, leaving the terminal end 170 of the robotic device tendon 168 securely positioned in the slide 116. Upon releasing the biasing force on the cover plate 136, the slide 116, now holding the terminal end 170 of the robotic device tendon 168, snaps back into its original position. This final action secures the connection between the terminal end 170 of the robotic device tendon 168 and the actuator device 100, ensuring that the terminal end 170 of the robotic device tendon 168 remains in place and that the robotic device 102 is fully connected to the actuator, ready for operation.

[0134] With reference to FIG. 14, in practice, the robotic device tendon 168 may not be perfectly cylindrical or uniformly shaped along its length. In some instances, the robotic device tendon 168 may have one or more bends, twists, or deformations 169 that introduce slight variations in the cross-sectional geometry of the robotic device tendon 168, thereby potentially affecting alignment of the robotic device tendon 168 with the actuator device 100.

[0135] With reference to Figs. 15A-15B, the attachment mechanism 108 may include an alignment mechanism 176. The actuator device 100 and the robotic device 102 are omitted from FIGS. 15A-15B for clarity. The alignment mechanism 176 may be provided for aligning the robotic device tendon 168 with respect to the actuator device 100. In some embodiments or aspects, the alignment mechanism 176 has an iris-like structure that initially starts in an open configuration to allow for passage of the robotic device tendon 168 regardless of its geometrical asymmetry. The alignment mechanism 176 may include a housing 178 comprising a top cover 180 and a bottom cover 182 having a plurality of blades 184 disposed therebetween. Each of the top cover 180 and the bottom cover 182 has an aperture 186 sized to receive the tendon 160 having maximum geometrical deformation. The blades 184 are movable to close the aperture 186 between a maximum open area to a minimum open area or to be fully closed. Initially, the blades 184 of the iris are spread apart, providing a clear passage for the robotic device tendons 168. Once the robotic device tendon6BW5196.DOCX Page 23 of 35Attorney Docket No. 08993-2600939168 is inserted through the aperture 186, the alignment mechanism 176 can be activated to at least partially close the blades 184 to align the robotic device tendon 168 to the center of the aperture 186. The blades 184 may be movable by a rotor mechanism, which takes the form of an annular ring with radial cam grooves 188 on one of the top cover 180 and the bottom cover 182. As the rotor rotates, the cam grooves 188 engage with corresponding protrusions 190 on the blades 184, causing them to move radially inward. This motion closes the blades around the robotic device tendon 168, ensuring that the robotic device tendon 168 is securely held in alignment at a center of the aperture 186. The other of the top cover 180 and the bottom cover 182 has a drive cam 192 that is configured for engagement with a drive mechanism to cause a relative rotation between the top cover 180 and the bottom cover 182. With such rotation, the radial cam grooves 188 are engaged with the protrusions 190 on the blades 184, thereby causing the blades 184 to move radially inward to close the aperture 186.

[0136] With reference to FIGS. 16-17, in embodiments where the robotic device 102 has a plurality of tendons 168, a plurality of alignment mechanisms 176 may be provided to define an alignment device 194. In this manner, the alignment device 194 can be used to align multiple tendons 168 simultaneously by moving the tendons 168 to a predetermined orientation relative to the slide 116. In some embodiments or aspects, the alignment device 194 can be used to align at least one tendon 168 by moving the tendon 168 to a predetermined orientation relative to the slide 116.

[0137] As shown in FIG. 16, a plurality of alignment mechanisms 176 are in engagement with a master cam 196 having an annular ring 198 with radial slots 200. As the master cam 196 rotates in a direction of arrow C, the radial slots 200 interact with the corresponding drive cams 192 of the individual alignment mechanisms 176, inducing relative rotation between the top cover 180 and the bottom cover 182. This coordinated motion ensures that all alignment mechanisms 176 close or open in unison. As the master cam 196 rotates, it induces a radial movement in each of the blades 184, causing the blades 184 to open or close simultaneously depending on the direction of rotation of the master cam 196. This setup ensures that the robotic device tendons 168 pass through the apertures 186 of each alignment mechanism 176 when the blades 184 are open and are aligned in the center of the aperture 186 when the blades 184 close.

[0138] With reference to FIGS. 18A-18B, an alternative embodiment of an attachment mechanism 108 is shown as an alignment device 194a. The alignment device 194a includes a housing 202 with a rotary cam 204 that is rotatable within the housing 202 about a central rotation axis in a direction of arrow D. The rotary cam 204 is configured to move a plurality6BW5196.DOCX Page 24 of 35Attorney Docket No. 08993-2600939of tendons 168 of the robotic device 102 (not shown) from a first position, where the robotic device tendons 168 are at a first radial spacing from each other, to a second position, where the robotic device tendons 168 are at a second radial spacing from each other, with the second radial spacing bringing the robotic device tendons 168 closer to each other than the first radial spacing. In this manner, the alignment device 194a is configured to facilitate the quick-change procedure of the robotic device 102 from the actuator device 100 by positioning the robotic device tendons 168 of the robotic device 102 for quick and easy connection / disconnection relative to the attachment mechanism 108 of the actuator device 100.

[0139] With continued reference to FIGS. 18A-18B, the rotary cam 204 includes a pattern of radially decreasing locating slots 206, which are configured to receive at least a portion of the robotic device tendons 168 therethrough. In some embodiments or aspects, the terminal end of the robotic device tendons 168 and the associated terminal end 170 of the robotic device tendon 168 extend through the locating slots 206 of the rotary cam 204. The locating slots 206 are oriented radially on the rotary cam 204, with a first end positioned more radially outward and circumferentially spaced apart from a second end. When the rotary cam 204 is rotated to a first position, the robotic device tendons 168 may be arranged at the first end of the locating slots 206. In this position, shown in FIG. 18 A, the robotic device tendons 168 are arranged in a substantially straight alignment and are generally parallel to one another. This position corresponds to a connection position when the robotic device 102 is securely attached to the actuator device 100 via the attachment mechanism 108.

[0140] As the rotary cam 204 is rotated to the second position, the robotic device tendons 168 move along the radially angled locating slots 206 to a radially inward position, which angles the robotic device tendons 168 toward the center of the alignment device 194a. In this position, shown in FIG. 18B, the robotic device tendons 168 are arranged in a radially-inward alignment and are generally angled toward one another. This tilting action is particularly beneficial during connection / disconnection of the robotic device 102 from the actuator device 100, ensuring that the robotic device tendons 168 can be easily separated from engagement with the corresponding slides 116 on the actuator device 100 without risk of damage or misalignment.

[0141] With reference to FIGS. 19A-19C, a sequence of events for connecting a plurality of the robotic device tendons 168 of the robotic device 102 to the corresponding plurality of slides 116 of the actuator device 100 is shown. In FIG. 19A, the rotary cam 204 is rotated to the second position to angle or tilt the robotic device tendons 168 radially inward to each6BW5196.DOCX Page 25 of 35Attorney Docket No. 08993-2600939other. Such movement provides a clearance space for the alignment device 194a, along with the robotic device 102 (not shown), to be brought axially closer to the slides 116, such that the terminal ends 170 of the robotic device tendons 168 are positioned proximate to the respective cavities 133 of the slides 116 (FIG. 19B). Once aligned as such, the rotary cam 204 can be rotated to the first position, which moves the robotic device tendons 168 radially outward relative to each other such that the robotic device tendons 168 are arranged in a substantially straight alignment and are generally parallel to one another. As shown in FIG.19C, this aligns the robotic device tendons 168 in the respective cavities 133 of the slides 116 to complete the connection of the robotic device 102 to the actuator device 100. In order to disconnect the robotic device 102 from the actuator device 100, the rotary cam 204 can be rotated back to the second position to angle or tilt the robotic device tendons 168 radially inward to each other, thereby providing a clearance space from the slides 116 for withdrawal of the robotic device 102 from the actuator device 100.

[0142] With reference to FIGS. 20A-20B, the attachment device 108 is shown in accordance with another embodiment or aspect. In some examples, the attachment device 108 has a tendon receptacle system 208 that is provided on the slide housing 105 to tilt or angle a plurality of slides 116 in a radially outward direction relative to each other in order to define a clearance space for receiving the robotic device tendons 168. As shown in FIGS.20A-20B, the slides 116 are movable from a first position (FIG. 20 A), in which the slides 116 are arranged substantially parallel to each other in a direction of a longitudinal axis of the slide housing 105, to a second position (FIG. 20B), in which the slides 116 are tilted or angled radially outward relative to the longitudinal axis of the slide housing 105. In the first position, the slides 116 are arranged such that the robotic device tendons 168, if received within the cavity 133 of the slides 116, cannot be removed from the slides 116. On the other hand, in the second position, the slides 116 are angled such that the robotic device tendons 168 can be easily removed from the cavity of the slides 116.

[0143] With continued reference to FIGS. 20A-20B, the tendon receptacle system 208 may have an actuation cam or member 210 positioned between the plurality of slides 116 and in operative engagement with each of the slides 116. The actuation cam 210 is rotatable about the central axis of the slide housing 105 and has a plurality of lobes 212 corresponding to the plurality of slides 116. Each of the lobes 212 is shaped such that it has a first end, which, when in contact with the slide 116, urges the slide 116 to a first position (FIG. 20 A), and a second end, which, when in contact with the slide 116, urges the slide 116 to the second position (FIG. 20B). A return mechanism 214 may be provided to bias the slides 116 to the6BW5196.DOCX Page 26 of 35Attorney Docket No. 08993-2600939first position, such as via a spring force. The tilting action of the slides 116 is particularly beneficial during connect! on / disconnecti on of the robotic device 102 from the actuator device 100, ensuring that the robotic device tendons 168 can be easily separated from engagement with the corresponding slides 116 on the actuator device 100 without risk of damage or misalignment.

[0144] With reference to FIGS. 21A-21B, a tool 216 for moving the slides 116 (i.e., tendon receptacles) within the slide housing 105 to a tendon-receiving position is shown. In the tendon-receiving position, the slides 116 are arranged at the distal end 114a of the guide channel 114 and are configured to connect to or disconnect from the robotic device tendon 168 of the robotic device 102. To facilitate movement of the slides 116 to the tendonreceiving position, the tool 216 can either be manually or automatically operated to engage the slides 116 and move the slides 116 within the slide housing 105 into the tendon-receiving position. In some embodiments or aspects, the tool 216 has a pair of handles 217 for manual operation.

[0145] With continued reference to FIGS. 21A-21B, the tool 216 has a movable cam 218 with a pattern of radially decreasing slots 220 to engage with a static cam 222 featuring radial grooves 224. This interaction between the cams 218, 222 drives the movement of pins 226, which are controlled to move in and out toward the annular center of the tool 216. In the open position of the tool 216, shown in FIG. 21 A, the cams 218, 222 are positioned such that the pins 226 are in a retracted position. In the closed position of the tool, shown in FIG. 2 IB, the cams 218, 222 are positioned such that the pins 226 are in an extended position.

[0146] With reference to FIGS. 22A-22C, a sequence of events for using the tool 216 to move the slides 116 to a tendon-receiving position is shown. In FIG. 22A, the tool 216 is positioned around the slide housing 105 at a proximal end. With reference to FIG. 22B, the cams 218, 222 are rotated, such as by urging the handles 217 toward one another, to initiate the closure of the tool 216. As the tool 216 closes, the pins 226 (shown in FIG. 2 IB) are pushed inward through vertical slits 228 on the slide housing 105. This inward movement of the pins 226 positions them beneath the slides 116. Once the pins 226 are properly located beneath the slides 116, the tool 216 can be moved distally along the slide housing 105, lifting the slides 116 to the tendon -receiving position (FIG. 22C).

[0147] With reference to FIG. 23, at least a portion of the slide 116 and / or at least a portion the robotic device tendon 168, such as the terminal end 170 of the robotic device tendon 168, may have at least one magnet 230 for magnetically retaining the robotic device tendon 168 in the cavity 133 of the frame 120 of the slide 116. In some embodiments or6BW5196.DOCX Page 27 of 35Attorney Docket No. 08993-2600939aspects, a first magnet 230 may be provided on the terminal end 170 of the robotic device tendon 168, such as the terminal end of the terminal end 170 of the robotic device tendon 168, and a second magnet 230 may be provided on the body of the slide 116 and within the cavity 133. In this manner, the first magnet 230 on the terminal end 170 of the robotic device tendon 168 can be magnetically attracted to the second magnet 230 on the slide 116 to retain the terminal end 170 of the robotic device tendon 168 in the slide 116 (see FIG. 24). In other embodiments or aspects, one of the terminal end 170 of the robotic device tendon 168 and the slide 116 can have at least one magnet 230, and the other of the terminal end 170 of the robotic device tendon 168 and the slide 116 can be made of a ferromagnetic material such that the terminal end 170 of the robotic device tendon 168 can be retained in the cavity 133 of the slide 116 via a ferro-magnetic attraction force. Once retained in the cavity 133 of the slide 116, the terminal end 170 of the robotic device tendon 168 cannot be removed therefrom due to interference between the terminal end 170 and the distal opening 134 of the slide 116. For example, the width of the distal opening 134 may be wider than the width of the robotic device tendon 168, but narrower than the width of the terminal end 170.

[0148] With reference to FIGS. 25A-25B, an alternative embodiment of the attachment mechanism 108 is shown. In some embodiments or aspects, the attachment mechanism 108 has an alignment device 194b for aligning tendons 168 of a robotic device 102 with the slides 116 (shown in FIGS. 26A-26C) of the actuator device 100. The actuator device 100 and the robotic device 102 are omitted for clarity. The alignment device 194b may be provided at a distal end of the slide housing 105 (not shown) and between a plurality of slides 116. Alternatively, the alignment device 194b may be provided at a proximal end of the robotic device 102 between a plurality of robotic device tendons 168. The alignment device 194b may include a fixed base plate 232 having a plurality of radial slots 234 (shown in FIG. 25B). A rotatable cam 236 is provided distally of the base plate 232 and is rotatable about a longitudinal axis. The rotatable cam 236 has a plurality of engagement lobes 238 configured for engagement with a corresponding plurality of cam fingers 240, each of which is movable within a respective one of the radial slots 234 and retained therein via a corresponding pin 242. As the rotatable cam 236 rotates about its longitudinal axis, the engagement lobes 238 are configured to push the cam fingers 240 in a radially outward direction in the radial slots 234 of the base plate 232.

[0149] Each of the cam fingers 240 has a tendon-contact surface 244 (shown in FIG.25B) configured to contact at least a portion of the robotic device tendon 168, such as the terminal end 170 of the robotic device tendon 168. As FIGS. 26A-26C show, movement of6BW5196.DOCX Page 28 of 35Attorney Docket No. 08993-2600939the cam fingers 240 in a radially outward direction within the radial slots 234 causes the tendon-contact surface 244 to urge the terminal end 170 of the robotic device tendon 168 in a radially outward direction. In this radially outward direction, the terminal end 170 of the robotic device tendon 168 may be aligned with the cavity 133 of the slide 116 to facilitate engagement between the robotic device 102 and the actuator device 100.

[0150] Although embodiments have been described in detail for the purpose of illustration, it is to be understood that such detail is solely for that purpose and that the disclosure is not limited to the disclosed embodiments, but, on the contrary, is intended to cover modifications and equivalent arrangements that are within the spirit and scope of the appended claims. For example, it is to be understood that the present disclosure contemplates that, to the extent possible, one or more features of any embodiment can be combined with one or more features of any other embodiment.6BW5196.DOCX Page 29 of 35

Claims

Attorney Docket No. 08993-2600939WHAT IS CLAIMED IS1. A device comprising:a guiding channel;a slide arranged inside the guiding channel, the slide configured to move within the guiding channel;an attachment mechanism configured to removably attach a tendon of a separate robotic device to the slide; andan actuator configured to move the slide forward and backward within the guiding channel.

2. The device of claim 1, further comprising a housing, the housing comprising the guiding channel, the slide, and the actuator.

3. The device of claims 1 or 2, wherein the attachment mechanism comprises a feeding mechanism configured to receive an end of the tendon of the separate robotic device and attach the end of the tendon to the slide, and wherein the separate robotic device comprises a feeding rod comprising the end of the tendon, wherein the end of the tendon is external to a proximal end of the feeding rod, and wherein the feeding mechanism comprises a spring arranged to be compressed by the feeding rod as it receives the end of the tendon.

4. The device of claims 1 or 2, wherein the attachment mechanism comprises at least one alignment device configured for aligning an end of the tendon of the separate robotic device with the slide, the at least one alignment device comprising a plurality of blades movable by a cammed rotor mechanism between an open configuration and a closed configuration in which the end of the tendon is aligned in a predetermined orientation relative to the slide.

5. The device of claims 1 or 2, wherein the attachment mechanism comprises at least one alignment device configured for aligning an end of the tendon of the separate robotic device with the slide, the at least one alignment device comprising a rotary cam having at least one radially decreasing locating slot configured to receive the end of the tendon, and wherein movement of the rotary cam is configured to cause the end of the tendon to move within the at least one radially decreasing locating slot between a first position and a6BW5196.DOCX Page 30 of 35Attorney Docket No. 08993-2600939second position in which the end of the tendon is aligned in a predetermined orientation relative to the slide.

6. The device of claims 1 or 2, wherein the attachment mechanism comprises at least one alignment device configured for aligning an end of the tendon of the separate robotic device with the slide, the at least one alignment device comprising a fixed base plate having at least one radial slot slidably receiving a cam finger therein and a rotatable cam having at least one engagement lobe configured for moving the cam finger within the at least one radial slot, and wherein movement of the cam finger within the radial slot causes a corresponding movement of the end of the tendon between a first position and a second position in which the end of the tendon is aligned in a predetermined orientation relative to the slide.

7. The device of claims 1 or 2, wherein the attachment mechanism comprises an actuation member movable between a first position and a second position relative to the slide, and wherein movement of the actuation member from the first position to the second position causes the slide to tilt radially outward relative to a longitudinal axis of a slide housing.

8. The device of claims 1-7, wherein the actuator comprises a motorized actuator or a manual actuator.

9. The device of claim 8, further comprising an actuator tendon attaching the slide to the motorized actuator or the manual actuator.

10. The device of claim 9, further comprising a pulley mechanism configured to pull the actuator tendon to move the slide within the guiding channel, the pulley mechanism comprising:a reel driven by the motorized actuator or the manual actuator and configured to wind the actuator tendon from a first end of the actuator tendon, wherein a second end of the actuator tendon is fixed; andan idler pulley connected to the slide, the idler pulley configured to receive the actuator tendon and move the slide in a forward direction and a backward direction within the guiding channel in response to the reel winding and / or unwinding the actuator tendon.6BW5196.DOCX Page 31 of 35Attorney Docket No. 08993-260093911. The device of claims 9-10, further comprising at least one sensor attached to the second end of the actuator tendon, the at least one sensor configured to measure a force applied to the actuator tendon.

12. A system comprising:a robotic device comprising: at least one tendon, and at least one appendage configured to be manipulated with the at least one tendon, the at least one tendon comprising an end extending away from the at least one appendage;an actuator device separate from the robotic device, the actuator device comprising: an actuator configured to actuate the at least one tendon; andan attachment mechanism configured to removably attach the end of the at least one tendon to the actuator.

13. The system of claim 12, wherein the actuator device further comprises:a guiding channel; anda slide arranged inside the guiding channel, the slide configured to move within the guiding channel, wherein the end of the at least one tendon removably attaches to the actuator by being removably attached to the slide.

14. The system of claims 12-13, wherein the actuator device comprises a housing, the housing comprising the guiding channel, the slide, and the actuator.

15. The system of claims 13-14, wherein the attachment mechanism comprises a feeding mechanism configured to receive the end of the at least one tendon of the robotic device and attach the end of the at least one tendon to the slide, and wherein the robotic device comprises a feeding rod comprising the end of the at least one tendon, wherein the end of the at least one tendon is external to a proximal end of the feeding rod, and wherein the feeding mechanism comprises a spring arranged to be compressed by the feeding rod as it receives the end of the at least one tendon.

16. The system of claims 13-14, wherein the attachment mechanism comprises at least one alignment device configured for aligning the end of the at least one tendon of the robotic device with the slide, the at least one alignment device comprising a plurality of blades movable by a cammed rotor mechanism between an open configuration and a closed6BW5196.DOCX Page 32 of 35Attorney Docket No. 08993-2600939configuration in which the end of the at least one tendon is aligned in a predetermined orientation relative to the slide.

17. The system of claims 13-14, wherein the attachment mechanism comprises at least one alignment device configured for aligning the end of the at least one tendon of the robotic device with the slide, the at least one alignment device comprising a rotary cam having at least one radially decreasing locating slot configured to receive the end of the at least one tendon, and wherein movement of the rotary cam is configured to cause the end of the at least one tendon to move within the at least one radially decreasing locating slot between a first position and a second position in which the end of the at least one tendon is aligned in a predetermined orientation relative to the slide.

18. The system of claims 13-14, wherein the attachment mechanism comprises at least one alignment device configured for aligning an end of the at least one tendon of the robotic device with the slide, the at least one alignment device comprising a fixed base plate having at least one radial slot slidably receiving a cam finger therein and a rotatable cam having at least one engagement lobe configured for moving the cam finger within the at least one radial slot, and wherein movement of the cam finger within the radial slot causes a corresponding movement of the end of the at least one tendon between a first position and a second position in which the end of the at least one tendon is aligned in a predetermined orientation relative to the slide.

19. The system of claims 13-14, wherein the attachment mechanism comprises an actuation member movable between a first position and a second position relative to the slide, wherein movement of the actuation member from the first position to the second position causes the slide to tilt radially outward relative to a longitudinal axis of a slide housing.

20. The system of claims 12-19, wherein the actuator comprises a motorized actuator or a manual actuator.

21. The system of claim 19, wherein the actuator device further comprises an actuator tendon attaching the slide to the motorized actuator or the manual actuator.6BW5196.DOCX Page 33 of 35Attorney Docket No. 08993-260093922. The system of claims 20-21, wherein the actuator device further comprises a guiding channel, a slide arranged in the guiding channel, and a pulley mechanism configured to pull the actuator tendon to move the slide within the guiding channel, the pulley mechanism comprising:a reel driven by the motorized actuator or the manual actuator and configured to wind the actuator tendon from a first end of the actuator tendon, wherein a second end of the actuator tendon is fixed; andan idler pulley connected to the slide, the idler pulley configured to receive the actuator tendon and move the slide in a forward direction and a backward direction within the guiding channel in response to the reel winding and / or unwinding the actuator tendon.

23. The system of claims 20-22, further comprising at least one sensor attached to the second end of the actuator tendon, the at least one sensor configured to measure a force applied to the actuator tendon.

24. A device comprising:at least one appendage;at least one tendon connected to the at least one appendage, the at least one tendon comprising an end extending away from the at least one appendage; andan attachment mechanism operatively connected to the end of the at least one tendon, wherein the attachment mechanism comprises at least one alignment device configured for aligning the end of the at least one tendon with a corresponding engagement structure on a separate actuator device configured for effecting movement of the end of the at least one tendon.

25. The device of claim 23, wherein the end of the at least one tendon comprises a crimp configured to be removably attached to the separate actuator device.6BW5196.DOCX Page 34 of 35

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