Patent ID: 6247738
Filing Date: 2001-06-19
Classification: A61B,B25J

Abstract:
A robot hand comprising:a thumb including:a thumb base phalanx; a thumb middle phalanx; a thumb distal phalanx;a first pivotal thumb joint between the thumb distal phalanx and the thumb middle phalanx;a second pivotal thumb joint between the thumb middle phalanx and the thumb base phalanx;a first thumb cable passing through the thumb base phalanx and the thumb middle phalanx and attaching to the thumb distal phalanx, and a second thumb cable passing through the thumb base phalanx and attaching to the thumb middle phalanx, the thumb being transversely movable with respect to movement of the thumb phalanxes about the first and second thumb joints; andat least two fingers disposed on an opposite side of the thumb, each of the fingers including:a finger base phalanx; a finger middle phalanx; a finger distal phalanx;a first pivotal finger joint between the finger distal phalanx and the finger middle phalanx; a second pivotal finger joint between the finger middle phalanx and the finger base phalanx;a first finger cable passing through the finger base phalanx and the finger middle phalanx and attaching to the finger distal phalanx and a second finger cable passing through the finger base phalanx and attaching to the finger middle phalanx; andat least one spiral spring disposed at at least one of the pivotal thumb and finger joints to spring-bias the at least one of the thumb and finger joints in a straight position;wherein one of the at least one of the pivotal thumb and finger joints is bent upon exertion of a force on a cable associated with the one of the at least one of the pivotal thumb and finger joints.