Patent ID: 8747486
Filing Date: 2014-06-10
Classification: A61F,B25J

Abstract:
1. A humanoid electric hand comprising: a metacarpophalangeal joint configured to perform a bending or extending operation; an interphalangeal joint of a finger configured to bend or extend in response to the bending or extending operation; a link mechanism including a driving link formed by two parts, the link mechanism linking the interphalangeal joint with the metacarpophalangeal joint and configured to bend or extend the interphalangeal joint in response to a bending or extending operation of the metacarpophalangeal joint; a finger motor linked to the metacarpophalangeal joint for performing a bending or extending operation and configured to drive a worm deceleration mechanism including an output gear configured to rotate and bend or extend the metacarpophalangeal joint; and elastic members linking the two parts of the driving link and comprising a first elastic member and a second elastic member, the first elastic member having a first modulus of elasticity and configured to compress in response to a force acting on the driving link in a direction of bending a joint angle of the interphalangeal joint, the second elastic member having a second modulus of elasticity higher than the first modulus of elasticity and configured to compress in response to a force acting on the driving link in a direction of-extending the joint angle of the interphalangeal joint.