Patent ID: 8424941
Filing Date: 2013-04-23
Classification: B25J,Y10T

Abstract:
1. A robotic hand assembly comprising: a base structure; first, second, third, and fourth phalanges; a first joint operatively connecting the first phalange to the base structure such that the first phalange is selectively rotatable with respect to the base structure about a first axis; a second joint operatively connecting the second phalange to the first phalange such that the second phalange is selectively rotatable with respect to the first phalange about a second axis; a third joint operatively connecting the third phalange to the second phalange such that the third phalange is selectively rotatable with respect to the second phalange about a third axis; and a fourth joint operatively connecting the fourth phalange to the third phalange such that the fourth phalange is selectively rotatable with respect to the third phalange about a fourth axis; five tendons that are operatively connected to the phalanges to selectively exert force thereon and thereby generate torque at the joints; said tendons being configured such that the torque at each of the joints is independently controllable by the five tendons.