The present application describes apparatus for supporting a mechanical hand, comprising a support member (200) pivotally coupled at a hinge axis (604) to a mounting member (700); and at least one leaf spring (707) configured to resist movement of the support member about the hinge axis. Apparatus for supporting a mechanical hand, comprising a lock arrangement (750) to lock the support member with respect to the mounting member in a rotational position about the hinge axis is also described.

The present application describes apparatus for supporting a mechanical hand, comprising a support member (200) pivotally coupled at a hinge axis (604) to a mounting member (700); and at least one leaf spring (707) configured to resist movement of the support member about the hinge axis. Apparatus for supporting a mechanical hand, comprising a lock arrangement (750) to lock the support member with respect to the mounting member in a rotational position about the hinge axis is also described.

The present application describes a mechanical hand (100) comprising a plurality of finger assemblies (102) each selectively moveable by a respective finger drive assembly about a finger pivot axis along a finger flexion/extension plane and between a finger open position and a finger closed position; a thumb assembly (104) selectively rotatable by a first thumb drive assembly about a first thumb axis between an opposed position and a non-opposed position with respect to the finger assemblies, and selectively moveable by a second thumb drive assembly about a second thumb axis along a thumb flexion/extension plane and between a thumb open position and a thumb closed position; a controller operatively coupled to the finger and thumb drive assemblies; and a selector operatively coupled to the controller for selecting a desired thumb rotational position or a desired grip to be defined by the finger assemblies and the thumb assembly. A method of operating a mechanical hand is also described.

The present application describes a mechanical hand (100) comprising a plurality of finger assemblies (102) each selectively moveable by a respective finger drive assembly about a finger pivot axis along a finger flexion/extension plane and between a finger open position and a finger closed position; a thumb assembly (104) selectively rotatable by a first thumb drive assembly about a first thumb axis between an opposed position and a non-opposed position with respect to the finger assemblies, and selectively moveable by a second thumb drive assembly about a second thumb axis along a thumb flexion/extension plane and between a thumb open position and a thumb closed position; a controller operatively coupled to the finger and thumb drive assemblies; and a selector operatively coupled to the controller for selecting a desired thumb rotational position or a desired grip to be defined by the finger assemblies and the thumb assembly. A method of operating a mechanical hand is also described.

A robot gripping device has finger parts. Each finger part has a finger part body which is comprised of a plurality of plate-shaped elastic members, a first anti-slip part which is provided at an inside surface of a front end side of the finger part body, and a reinforcing member which is arranged along an outer surface of the finger part body, is connected to the front end of the finger part body, and is higher in rigidity than the finger part body. The reinforcing member has a first rotary joint which makes the reinforcing member pivot about a first axis of rotation which is perpendicular to the longitudinal direction of the finger part body. The robot gripping device has a drive part which makes a base end of the finger part body move along the center of grip to make the finger parts open and close.

A robot gripping device has finger parts. Each finger part has a finger part body which is comprised of a plurality of plate-shaped elastic members, a first anti-slip part which is provided at an inside surface of a front end side of the finger part body, and a reinforcing member which is arranged along an outer surface of the finger part body, is connected to the front end of the finger part body, and is higher in rigidity than the finger part body. The reinforcing member has a first rotary joint which makes the reinforcing member pivot about a first axis of rotation which is perpendicular to the longitudinal direction of the finger part body. The robot gripping device has a drive part which makes a base end of the finger part body move along the center of grip to make the finger parts open and close.

Robotic gripping devices and methods for performing a picking operation. The methods described herein may involve positioning a gripping device with respect to an item to be grasped and then executing a first picking operation using the gripping device to obtain a grasp on the item. The methods may then involve executing at least two of a force detection procedure to detect a force applied to a portion of the gripping device, a grasping space detection procedure to detect an item in grasping range of the gripping device, a pressure detection procedure configured to detect pressure in an airflow path, and an item load detection procedure to detect force in a mechanical load path of the gripping device.

A container gripper comprises a housing and a petal assembly configured to be carried in the housing assembly. The petal assembly includes a petal holder and a plurality of circumferentially-spaced rigid articulating petals having upper ends pivotably coupled to the petal holder and lower ends configured to be guided by the lower housing of the housing assembly. The petal assembly further includes a travel brace configured to limit the translation of the petal holder, and a return spring between the travel brace and the petal holder.

A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether. Multiple finger members may be placed in close geometric proximity for gripping a common object

A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether. Multiple finger members may be placed in close geometric proximity for gripping a common object