Patent ID: 11911899
Assignee: WILLOW GARAGE, LLC
Field: Handling (Mechanical engineering)
Classification: CPC B  Y | IPC B

Claim 31:
32. The robotic system of claim 1, wherein the first kinematic assembly further comprises:
means that mechanically constrain respective gripping surfaces of the distal first finger link and the distal second finger link to remain in parallel with one another along a range of movement in a fingertip grip configuration in an absence of contact by either the proximal first finger link or the proximal second finger link with an object to be grasped, and in response to contact by either or both of the proximal first finger link or the proximal second finger link with the object to be grasped, passively rotate the distal first finger link and the distal second finger link toward one another in an enveloping grasp configuration.