Patent ID: 8662552
Filing Date: 2014-03-04
Classification: B25J

Abstract:
1. A robotic finger having two levels of compliance, comprising: a proximal phalange having first and second joint ends; a distal phalange having a joint end and a tip end, wherein the joint end of the distal phalange is coupled to the second joint of the proximal phalange in a hinged manner; a first compliant actuator configured to exert a torque on the proximal phalange about the first joint end and a second compliant actuator configured to exert a torque on the proximal phalange about the second joint end, the first and second compliant actuators including wires arranged to compress springs within a chamber thereby providing a first level of compliance; and at least one compliant touch sensor mounted on the distal phalange, the at least one compliant touch sensor configured to contact an object before the distal phalange and to compliantly conform to the object and to sense the object, the at least one compliant touch sensor providing a second level of compliance.