Patent ID: 9505134
Filing Date: 2016-11-29
CPC Classification: B25J,Y10S

Claim Text:
1. A lower robotic arm comprising: a base structure; a plurality of digits, each having first, second, third, and fourth phalanges; wherein the plurality of digits includes a thumb, a first finger, a second finger, and a third finger; wherein a first joint operatively connects the first phalange to the second phalange such that the second phalange is selectively rotatable with respect to the first phalange about a first axis; wherein a second joint operatively connects the second phalange to the third phalange such that the third phalange is selectively rotatable with respect to the second phalange about a second axis; wherein a third joint operatively connects the third phalange to the fourth phalange such that the fourth phalange is selectively rotatable with respect to the third phalange about a third axis; and a plurality of tendons, each operatively connected at one end to a respective fourth phalange; wherein each of the plurality of tendons is configured to selectively apply a first torque to the respective fourth phalange to urge the fourth phalange to rotate in a first direction about the third axis, relative to the respective third phalange; wherein the first phalange of the first finger includes a first portion, a second portion, and a flexible portion, wherein the flexible portion is operatively disposed between the first portion and the second portion; wherein the first portion is operatively attached to the base structure and the second portion is pivotally attached to the second phalange at the first joint; and wherein the flexible portion is configured to allow the first portion and the second portion to flex relative to one another.