A robot hand includes: a first link; a first fixed pulley and a second fixed pulley, respectively provided at a proximal end pivot part of the first link and rotatable around a first axis; a second link, supported at an intermediate pivot part by the first link to be rotatable around a second axis; a lever link, supported by the proximal end pivot part of the first link to be rotatable around the first axis; a lever pulley, supported by the lever link; a hanging cable, hung on the first fixed pulley, the lever pulley, and the second fixed pulley; a conversion mechanism, connecting the lever link and the second link, and converting rotation of the lever link into rotation of the second link; and a second link driving mechanism, rotating the lever link around the first axis by pulling the hanging cable.

An articulated finger. The articulated finger comprises a first phalange; a second phalange; a self-locking joint coupling the first phalange to the second phalange, wherein the self-locking joint is configured to allow motion in a first rotational direction of the first phalange relative to the second phalange and prevent motion in a second rotational direction of the first phalange relative to the second phalange, wherein the first rotational direction is opposite the second rotational direction; and a compliant actuator configured to actuate the first phalange in the first rotational direction relative to the second phalange.

A grasper can include a first pantograph cell and a second pantograph cell coupled with the first pantograph cell. The first and second pantograph cells can be coupled together at a first pivot and a second pivot. The grasper can also include a finger extendable in a direction extending between the first pivot and the second pivot. The grasper can include a support base, where one or more links of the first pantograph cell can be slidably coupled with the support base for extending the grasper. In some embodiments, the grasper can be configured to extend along a curved path. In some embodiments, the finger can be biased in a direction away from an object to be grasped by the grasper, and also biased in a direction toward an object to be grasped by the grasper when the grasper is extended.

The invention concerns a device forming a robotic finger comprising a base (100) forming a palm, at least one knuckle (500, 700, 900) articulated on the base (100) about two separate joints (200, 400) non-parallel to each other, at least two actuators (110, 120, 130, 140) and cable-linking means (112, 122) respectively linking the two actuators (110, 120) to drive elements of said two joints (200, 400), characterised in that the device comprises guide means (150, 151, 152) designed to guide the cables involved in the control of each joint (400, 600, 800) located after the first joint (200) on the base (100), in a common plane passing through the axis (202) of said first joint (200).

A piezoelectric actuator includes a plurality of piezoelectric elements that generate a driving force to be transmitted to a driven portion; and a power supply portion that supplies power to the plurality of piezoelectric elements. The plurality of piezoelectric elements are electrically connected to the power supply portion in parallel.

The invention relates to a gripping device, such as an automated hand, comprising a plurality of metacarpal members, each metacarpal member having a first end attached to a support frame via a universal joint and having a second end attached to a gripping member, wherein the metacarpal members are able to pivot upwardly, downwardly and laterally. Where adjacent metacarpal members together form a palm of the hand, the ability of the metacarpal members to move up, down and laterally helps the palm to grip an object and also helps the palm to withstand at least some forces from above, below and from the side.

A robotic gripping device is provided. The device includes a finger having a worm gear coupled to its base end. The device also includes an actuator having a motor and a shaft, wherein the shaft is configured to rotate a worm coupled to the worm gear, and the actuator is mounted on a carriage such that the actuator is configured to slide along an axis. The device also includes a spring having first and second ends, wherein the first end is coupled to the motor and the second end is fixed. Further, the actuator is configured to (i) rotate the shaft relative to the motor by a first amount to move the finger toward an object, and (ii) when the finger is in contact with the object and is prevented from further movement, further rotate the shaft relative to the motor to slide the actuator along the axis.

A mechanical finger has a base adapted to be connected to an actuator for being displaced in at least one degree of actuation, and has two or more phalanges. A first phalanx is rotationally connected at a proximal end to the base, and a second phalanx is rotationally connected at a proximal end to a distal end of the first phalanx. A transmission linkage providing at least one rotational degree of freedom (DOF) between the base and a distal-most one of the phalanges. Passive rotational DOF joints are between the phalanges, between the base and the first phalanx, and in the transmission linkage, whereby the mechanical finger has a passive state of actuation in which the base, the at least two phalanges and the transmission linkage remain in a constant orientation relative to one another through displacement of the base caused by the actuator absent a contact of one of the phalanges with an object, and a grasping state of actuation in which a contact of at least one of the phalanges with an object causes a variation of the orientation of at least one of the phalanges relative to the base through displacement of the base caused by the actuator.

A robot includes a first member having a first mounting surface facing upward and a second member having an opening at an upside of the first member and facing the first member and a second mounting surface at the upside, and a joint actuator coupling the first and second members. The joint actuator has a flange fixed to the second mounting surface, a motor placed at the upside with respect to the flange, and a reducer placed at a downside with respect to the flange, projecting downward from the opening, and fixed to the first mounting surface. The joint actuator is mounted on the second mounting surface from the upside and the reducer is projected downward from the opening, and the flange is fastened to the second member from the upside using first screws and the reducer is fastened to the first member from the downside using second screws.

Provided is a robot hand that has a simple structure, can be used in a versatile way, changes shape depending on a physical object, and is less likely to damage the physical object. A robot hand that includes two or more finger portions making contact with a physical object and grips the physical object between the finger portions, wherein a gripping direction is nearly orthogonal to an extension direction of the finger portion and an outer shape of at least one phalanx portion is formed of a wire rod group configured with a plurality of loop-like wire rods having elasticity and arranged at predetermined intervals, and, wherein, in the wire rod group, the wire rods are arranged such that a loop shape extends in the extension direction of the finger portion and have an opening, which extends in the extension direction of the finger portion, between the wire rods.