Patent ID: 9327412
Filing Date: 2016-05-03
CPC Classification: B25J,Y10S

Claim Text:
1. A compliant underactuated grasper comprising: a palm base; first and second fingers, wherein each of the first and second fingers comprises: first and second rotation joints connecting the first and second fingers, respectively, to the palm base to enable rotation of the first and second fingers relative to the palm base, wherein the first and second fingers can be rotated relative to the palm base about the first and second rotation joints to reorient the first and second fingers with respect to the palm base and to change an angle defined between a pivot axis of the first finger and a pivot axis of the second finger; wherein the distal phalanx of each of the first and second fingers includes: wherein each of the first and second fingers further includes a tendon cable for moving the proximal and distal phalanges such that movement of the tendon cable generates angular motion of the proximal phalanx about the pivot axis of the finger at a greater rate than angular motion of the distal phalanx about the flexure joint; and wherein, with respect to each of the first and second fingers: