Patent ID: 9272425
Filing Date: 2016-03-01
CPC Classification: B25J,F16H,H02N,Y10S,Y10T

Claim Text:
1. A robotic finger assembly comprising: a finger skeleton with one or more joints; a motor generating rotary motion of a rotor; a twisted string comprised of a pair of cords, one end of the twisted string being attached to the rotor and an opposite end of the twisted string being coupled to the finger skeleton, the cords being twisted about each other for a first section of the twisted string and untwisted for a second section of the twisted string; and a cord guide fixedly disposed between the cords, wherein the first section of the twisted string is on a first side of the cord guide, the second section of the twisted string is on a second side of the cord guide, and rotary motion of the rotor in one direction operates to twist the pair of cords on the first side of the cord guide while pulling a portion of the pair of cords from the second side of the cord guide into the first side of the cord guide.