Robotic Hand Tendon Actuation for Compact Dexterity
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Solution Overview
Problem
Existing robotic hands are complex and bulky due to the need for multiple joints and extensive wiring, which reduces dexterity and makes it difficult to mimic the human hand's wide range of movements and gripping capabilities.
Innovation Solution
A robotic hand design with a distal finger joint, middle finger joint, extend tendon, and flex tendon, where the actuation device moves both tendons the same distance to flex and extend the finger, reducing the number of required actuation devices and simplifying control, while incorporating a tensioner module and sensing module for precise force control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple joints are added to mimic human hand movements, then the range of movement and dexterity are improved, but the number of wires, power supplies, and control means increase, making the robotic hand bulky and complex
Solution Approach 1:
The patent combines multiple tendons (flexor and extensor) into a single bundled structure that shares common wiring and control infrastructure. By merging the actuation systems for multiple joints, the patent reduces the total number of separate wires and control means required, thereby reducing bulkiness while maintaining multi-joint capability
Solution Approach 2:
The patent implements a universal control system where a single actuator can control multiple joints through the shared tendon bundle. This multi-functional approach allows one control mechanism to perform multiple functions (flexing and extending different fingers), reducing the overall complexity of the robotic hand
2Adaptability or versatility
If multiple joints are added to improve gripping functionality, then the ability to mimic human hand gripping is improved, but the robotic hand becomes more bulky, reducing dexterity
Solution Approach 1:
The patent merges the tendon structures for multiple joints into a compact bundled arrangement, allowing multiple gripping functions to be achieved within a smaller volume. This consolidation reduces the space required for wiring and actuation mechanisms, thereby reducing overall bulkiness while maintaining gripping capability
Solution Approach 2:
The patent employs a nested arrangement where tendons are routed through shared channels and spaces within the hand structure. By nesting the tendon bundles and sharing common structural elements across multiple joints, the patent achieves multiple gripping functions without proportionally increasing the overall volume
Data Source
AI summary
Aspects of the subject technology relate to a robotic finger digit including a distal finger joint coupled between a distal finger part and a middle finger part, a middle finger joint coupled between the middle finger part and a proximal finger part and an extend tendon coupled at a first end to the distal finger joint, and coupled at a second end to an actuation device. In certain aspects, the robotic finger can further include a flex tendon coupled at a first end to the distal finger joint, and coupled at a second end to the actuation device, wherein the actuation device is configured to move the extend tendon and the flex tendon substantially the same distance in order to flex and/or extend the robotic finger digit.