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

Claim 2:
3. The robotic system of claim 2, wherein the first kinematic assembly further comprises:
a palm;
a first proximal finger element, wherein the first proximal finger element is pivotally coupled to the palm at a first proximal joint;
a first distal finger element, wherein the first distal finger element is pivotally coupled to the first proximal finger element at a first distal joint;
a second proximal finger element, wherein the second proximal finger element is pivotally coupled to the palm at a second proximal joint;
a second distal finger element, wherein the second distal finger element is pivotally coupled to the second proximal finger element at a second distal joint;
a first passive tendon coupled to the palm and coupled to the first distal finger element, wherein the first passive tendon prevents hyperextension of the first distal joint;
a second passive tendon coupled to the palm and coupled to the second distal finger element, wherein the second passive tendon prevents hyperextension of the second distal joint;
a first active tendon coupled to the first distal finger element; and
a second active tendon coupled to the second distal finger element.