Patent ID: 8857874

Claim:
A robotic hand assembly comprising: a base structure; a finger having first, second, and third 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; and 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; a first tendon being operatively connected to the second phalange such that tension in the first tendon urges the second phalange to rotate about the second axis in a first direction; a second tendon being operatively connected to the second phalange such that tension in the second tendon urges the second phalange to rotate about the second axis in a second direction; a third tendon being operatively connected to the first phalange such that tension in the third tendon urges the first phalange to rotate about the first axis in the first direction; a fourth tendon being operatively connected to the first phalange such that tension in the fourth tendon urges the first phalange to rotate about the first axis in the second direction; wherein the third joint is kinematically linked to the second joint such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.