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

Claim 0:
1. A robotic system, comprising:
a first kinematic assembly including a first finger assembly, a second finger assembly, a proximal assembly having a recess including a plurality of grooved coupling features, a first flexor tendon coupled to the first finger assembly to actuate the first finger assembly to move with respect to the proximal assembly, and a second flexor tendon coupled to the second finger assembly to actuate the second finger assembly to move with respect to the proximal assembly;
a motor pack, the motor pack comprising:
housing;
an actuation piston fitting for engaging with the plurality of grooved coupling features;
an electric motor housed by the housing;
a transmission assembly that drivingly couples the electric motor to the piston fitting to cause the actuation piston fitting to alternatively insert and retract, the electric motor actuating the piston fitting to move with respect to the engagement ring;
a tool-less coupling mechanism where at least a first kinematic assembly is detachably coupleable to the motor pack to be driven thereby without any wires or electrical contacts or tools; and
an engagement ring for interfacing with the proximal assembly, wherein when the actuation piston fitting is engaged with the plurality of grooved coupling features, the engagement ring is interfaced with the proximal assembly, and the piston fitting is actuated by the motor to move with respect to the engagement ring, the piston fitting causes the first flexor tendon to actuate the first finger assembly to move with respect to the proximal assembly and the piston fitting causes the second flexor tendon to actuate the second finger assembly to move with respect to the proximal assembly.