Patent Document ID: 9730815
Application ID: 14929800
Patent Status: 1

Claim One:
1. A method for operating a grasping device using a plurality of parallel, bi-directional state flow maps each defining a sequence of poses for a plurality of joints in the grasping device, the method comprising: receiving at least one control signal; determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device; and selectively actuating the plurality of joints to traverse the sequence of poses, wherein a direction for traversing the sequence of poses is based on the at least one control signal, wherein a first of the plurality of state flows comprises a sequence comprising a platform pose with the thumb in repose, a pointing pose, a hook pose, and a lateral pinch pose, wherein prior to the selective actuating of the plurality of joints, the method further comprises ascertaining whether the at least one control signal is a transition signal and, when the at least one control signal is a transition signal and the current pose is a transition pose within the one of the plurality of state flow maps, selecting a different one of the plurality of state flow maps for the grasping device, and wherein the switching between state-flow maps is based on a discrete switching signal.