A computer-implemented dynamic supporting base creation method that interacts with a three-dimensional (3D) printer that prints an object, the method including providing a physical support, via a first robotic gripper, for an object during three-dimensional (3D) printing using a printing head of the 3D printer and transferring the object to a second robotic gripper to provide a physical support at a different location on the object.

A robot hand module includes a thumb module and a finger module each coupled to a palm part, wherein the thumb module or the finger module includes a phalangeal part movably coupled to the palm part and a cable part and a driving part each connected to the phalangeal part, wherein the driving part includes a driving part body extending in one direction and including a rotary shaft configured to rotate by receiving power, a drum member coupled to one side of the driving part body, connected to the rotary shaft, and having an outer periphery surrounded by the cable part, and a tensioner member spaced apart from the drum member in a direction in which the cable part extends outward, wherein the tensioner member is movable in the direction in which the cable part extends to adjust tension of the cable part.

A robot hand module includes a thumb module, a plurality of finger modules, and a palm part to which the thumb module and the finger modules are coupled. The thumb module and the finger modules each include a phalangeal part movably coupled to the palm part, a cable part having a first side connected to the phalangeal part, and a driving part connected to a second side of the cable part and configured to operate the phalangeal part by extending the cable part to the outside or retracting the cable part, wherein each of the driving parts includes an inlet region from which the cable part is extended to the outside, and wherein an acute angle is defined between a first direction in which the inlet region is directed toward the outside and a second direction in which the driving parts are disposed.

A robot hand module includes a finger phalangeal part movably coupled to a palm part, a finger cable part having a first side connected to the finger phalangeal part, and a finger driving part connected to a second side of the finger cable part for operating the finger phalangeal part by extending the finger cable part to the outside or retracting the finger cable part, wherein the finger phalangeal part includes finger link pails including a plurality of link members and a finger link driving part for transmitting power to the finger link parts in a rectilinear direction, and wherein when the finger link pails receive the power from the finger link driving part in the rectilinear direction, some of the link members rotate relative to remaining ones of the link members, such that the finger phalangeal part rotates relative to the palm part.

A robot hand module includes a palm part and a thumb module coupled to the palm part. 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. The thumb cable part includes a first thumb cable extended from the thumb driving part and having a first side fixed in the thumb phalangeal part and a second thumb cable having a first side and a second side fixed in the thumb phalangeal part.

A mechanical tower climber system for performing operations on a cell tower includes a body; a plurality of members disposed or connected to the body and each comprising one or more robotic hands; and a wireless interface and a processing device configured to receive commands from a remote operator; climb the cell tower based on the commands; and perform one or more operations on cell site components associated with the cell tower based on the commands and manipulation of the plurality of members and associated one or more robotic hands.

A mechanical hand mimics a human hand having similar degrees of freedom and sensory abilities while appearing visually similar to human hand. The mechanical hand comprises a mechanical hand skeleton and resilient elastomer (e.g., silicone) skin that fully encloses the mechanical hand skeleton. The mechanical hand skeleton may advantageously be molded directly into the resilient elastomer (e.g., silicone) skin such that the hand appears, moves, and feels very similar to a real human hand. The mechanical hand may have applications in robotics, for example as an end-of-arm tool or end effector, or may have other applications. Robotic applications may include prosthetics applications.

This patent proposal document provides a complete robot hand control scheme using myoelectric intention estimation of the human being using the kernel Principal Component Analysis Algorithm (kPCA). The robot hand system includes a biometric EMG sensor system, a robot hand including with multiple fingers, a controller connected with the biometric EMG sensor system, and a robot hand. The controller acquires the biometric EMG signal by means of a biometric sensor system, estimates myoelectric motion intention by applying the kernel principal component analysis (kPCA) algorithm using a kernel function, and delivers a control command corresponding to the estimated motion intention of the user to the robot hand.

A robot hand includes: a palm section; a first finger extending from the palm section to distal side, and having a finger pad surface opposed to a central axis of the palm section; and a second finger extending from the palm section to the distal side, and having a finger pad surface opposed to the finger pad surface of the first finger with the central axis of the palm section interposed therebetween. The palm section includes a proximal joint that couples the second finger to the palm section pivotably about a first axis. The first finger does not have degrees of freedom in bending and stretching directions. The second finger includes a base phalanx section provided close to the palm section, a distal phalanx section provided closer to the distal side than the base phalanx section, and a middle phalanx section provided between the base phalanx section and the distal phalanx section. Furthermore, the second finger includes a middle joint and a distal joint, the middle joint that couples the middle phalanx section to the base phalanx section bendably and strechably about a second axis, and the distal joint that couples the distal phalanx section to the middle phalanx section bendably and strechably about a third axis.

A retrographic sensor includes a transparent structure, a transparent elastomeric pad, and an at least partially reflective layer. One or more light sources emit light into a side surface of the transparent structure. The light undergoes internal reflection in the transparent structure and is reflected toward a camera oriented toward the transparent structure. The at least partially reflective layer may be semi-specular in some embodiments.