A robot hand module includes a palm part and a thumb module coupled to the palm part, wherein the thumb module includes a thumb phalangeal part movably coupled to the palm part, a thumb cable part having a first side connected to the thumb phalangeal part, and a thumb driving part connected to a second side of the thumb cable part and configured to operate the thumb phalangeal part by extending the thumb cable part to the outside or retracting the thumb cable part, and wherein the thumb phalangeal part includes a thumb pre-tensioner configured to pull the thumb cable part, a first side of the thumb pre-tensioner being fixed relative to the thumb phalangeal part, and a second side of the thumb pre-tensioner being fixed to the thumb cable part.

A robot hand module includes a palm part and a thumb module coupled to the palm part, wherein the thumb module includes a thumb phalangeal part movably coupled to the palm part, a thumb cable part having a first side connected to the thumb phalangeal part, and a thumb driving part connected to a second side of the thumb cable part and configured to operate the thumb phalangeal part by extending the thumb cable part to the outside or retracting the thumb cable part, and wherein the thumb phalangeal part includes a thumb pre-tensioner configured to pull the thumb cable part, a first side of the thumb pre-tensioner being fixed relative to the thumb phalangeal part, and a second side of the thumb pre-tensioner being fixed to the thumb cable part.

The invention disclosure a remotely operated pneumatic manipulator based on Kinect, comprising Kinect sensor, computer, D/A embedded board, PWM piezoelectric pneumatic ratio valve, pneumatic triad, air compressor, artificial muscle, spring and finger joint, wherein the Kinect sensor is provided on one side of the finger joint, a camera module of the Kinect sensor is faced to the finger joint. The pneumatic humanoid manipulator of the invention has basically the same dimensions as human hands, can achieve human-computer interaction and remotely operation, the transmission structure thereof is novel, simple and compact, the fingers thereon are convenient to control and flexible to move, the finger movement range is large for wide application, moreover, the PWM piezoelectric pneumatic ratio valve is with advantages of fast dynamic response, low cost, strong resistance to noise, and high detection accuracy of Kinect sensor.

The invention disclosure a remotely operated pneumatic manipulator based on Kinect, comprising Kinect sensor, computer, D/A embedded board, PWM piezoelectric pneumatic ratio valve, pneumatic triad, air compressor, artificial muscle, spring and finger joint, wherein the Kinect sensor is provided on one side of the finger joint, a camera module of the Kinect sensor is faced to the finger joint. The pneumatic humanoid manipulator of the invention has basically the same dimensions as human hands, can achieve human-computer interaction and remotely operation, the transmission structure thereof is novel, simple and compact, the fingers thereon are convenient to control and flexible to move, the finger movement range is large for wide application, moreover, the PWM piezoelectric pneumatic ratio valve is with advantages of fast dynamic response, low cost, strong resistance to noise, and high detection accuracy of Kinect sensor.

In order to extend a life span of a flexible cable passing through a movable portion, provided is a hand mechanism which has a plurality of fingers and grips an object with the fingers, including: a flexible cable; a joint which flexes or extends with the grip of the object, has a path for the flexible cable, and has a first surface and a second surface that is a surface bending from the first surface at a bending portion in the path; and a sheet which is provided between the first surface and the flexible cable to have flexibility and is formed such that a gap is provided between the second surface and the sheet.

A harvesting system includes a vertical frame, a plurality of linear robots, a plurality of cameras and a processor. The vertical frame is configured to be positioned opposite a sector to be harvested. The robots are arranged in pairs stacked vertically in the frame, each pair including first and second robots that are configured to move together along a vertical axis, to move independently of one another along a horizontal axis, and have respective first and second robot arms that are configured to approach the sector and harvest fruit. The plurality of cameras is configured to acquire images of the sector. The processor is configured to identify the fruit in the images and control the robots to harvest the fruit.

A manipulator is provided. The manipulator includes at least two mechanical fingers. Each of the at least two mechanical fingers includes a first finger segment, a second finger segment, and a third finger segment, a bottom portion of the third finger segment of the respective mechanical finger is movably connected to a top portion of the second finger segment of the respective mechanical finger, and a bottom portion of the second finger segment of the respective mechanical finger is movably connected to a top portion of the first finger segment of the respective mechanical finger. The manipulator further includes a finger driving assembly for each of the at least two mechanical fingers. The finger driving assembly for each of the at least two mechanical fingers includes a plurality of motors that are configured to drive a different one of the finger segments of the respective mechanical finger.

A manipulator is provided. The manipulator includes at least two mechanical fingers. Each of the at least two mechanical fingers includes a first finger segment, a second finger segment, and a third finger segment, a bottom portion of the third finger segment of the respective mechanical finger is movably connected to a top portion of the second finger segment of the respective mechanical finger, and a bottom portion of the second finger segment of the respective mechanical finger is movably connected to a top portion of the first finger segment of the respective mechanical finger. The manipulator further includes a finger driving assembly for each of the at least two mechanical fingers. The finger driving assembly for each of the at least two mechanical fingers includes a plurality of motors that are configured to drive a different one of the finger segments of the respective mechanical finger.

A mechanical device for grasping an object includes a lower arm defining a proximal end portion, a distal end portion, an inner profile, and at least one track disposed along a portion of the lower arm between the proximal end portion and the distal end portion. An upper arm is pivotally connected to the lower arm, the upper arm defining a proximal end portion, a distal end portion, and an inner profile. An actuator is pivotally connected to the proximal end portion of the upper arm, the actuator including at least one protrusion slidably disposed within the track of the lower arm.

A system and methods are disclosed for precision placement or insertion of an object using robotic manipulation. A robotic tool includes at least three members, including a first member and a second member that grip the object between opposing faces and a third member that exerts a force on a proximate end of the object to push the object out of the robotic tool. A series of maneuvers is performed with the robotic tool in order to place the object on a surface or insert the object in a hole. The maneuvers include positioning the object against the surface, rotating the object around a contact point between the object and the surface, rotating the robotic tool around a contact point between the object and either the first or second member of the robotic tool, sliding the object horizontally along a surface, and tucking the object into a final desired position.