A robot hand includes a first proximal end finger having a first protrusion at a distal end of the first proximal end finger, a first distal end finger that is connected to the first proximal end finger in a relatively rotatable manner and has a first cutout allowable the first protrusion to pass, a second proximal end finger having a second protrusion at a distal end of the second proximal end finger, a second distal end finger that is connected to the second proximal end finger in a relatively rotatable manner and has a second cutout allowable the second protrusion to pass, an opening and closing drive unit that relatively moves the second proximal end finger with respect to the first proximal end finger, a first rotation drive unit that relatively rotates the first distal end finger with respect to the first proximal end finger, a second rotation drive unit that relatively rotates the second distal end finger with respect to the second proximal end finger, and a controller that actuates the opening and closing drive unit, the first rotation drive unit, and the second rotation drive unit.

A gripper includes at least one movable finger. Each movable finger includes a first motor, a second motor, a first motor link having a first end coupled to a rotor of the first motor, a second motor link having a first end coupled to a rotor of the second motor, a finger link having a first end in pivotal connection with a second end of the second motor link and a gripper pad, and a connecting link having a first end in pivotal connection with a second end of the first motor link and a second end in pivotal connection with the finger link. The gripper further includes at least one controller programmed or configured to actuate the first motor and the second motor of each of the at least one movable finger.

A robotic control system directs a robot to take an object from a human grasp by obtaining an image of a human hand holding an object, estimating the pose of the human hand and the object, and determining a grasp pose for the robot that will not interfere with the human hand. In at least one example, a depth camera is used to obtain a point cloud of the human hand holding the object. The point cloud is provided to a deep network that is trained to generate a grasp pose for a robotic gripper that can take the object from the human's hand without pinching or touching the human's fingers.

A robotic control system directs a robot to take an object from a human grasp by obtaining an image of a human hand holding an object, estimating the pose of the human hand and the object, and determining a grasp pose for the robot that will not interfere with the human hand. In at least one example, a depth camera is used to obtain a point cloud of the human hand holding the object. The point cloud is provided to a deep network that is trained to generate a grasp pose for a robotic gripper that can take the object from the human's hand without pinching or touching the human's fingers.

A robotic control system directs a robot to take an object from a human grasp by obtaining an image of a human hand holding an object, estimating the pose of the human hand and the object, and determining a grasp pose for the robot that will not interfere with the human hand. In at least one example, a depth camera is used to obtain a point cloud of the human hand holding the object. The point cloud is provided to a deep network that is trained to generate a grasp pose for a robotic gripper that can take the object from the human's hand without pinching or touching the human's fingers.

A robot hand is provided. The robot hand includes a first and second drive gears rotated by first actuator and second actuators; a first interlocked gear interlocked with the second drive gear to rotate in opposite directions; a second interlocked gear interlocked with the first drive gear to rotate in opposite directions; a first inner link engaged with rotation of the first drive gear; a first outer link engaged with rotation of the first interlocked gear; a first end link connected to the first inner link and the first outer link opposite the first actuator; a second inner link engaged with rotation of the second interlocked gear; a second outer link engaged with rotation of the second drive gear; and a second end link connected to the second inner link and the second outer link opposite the second actuator.

A gripping assembly for use with an automated sorting or manufacturing assembly is disclosed. The gripping assembly includes two or more fingers and alignment attributes for precisely picking up objects (e.g., objects placed in a random orientation). The gripping assembly includes the intrinsic ability to retrieve and align objects predictably by including fingers machined to specific characteristics, such that when roughly located to pick up the object, the closing of the fingers orients the object precisely allowing further manipulation of the object from a known object orientation. The fingers of the device can be aligned with precision using optional alignment features such as sliding within tabs fixed to one finger or sliding along a stabilizing pin fixed to one finger.

A robot gripper includes: a drive unit to drive a powertrain with active elements, wherein each element has a working region arranged in a body-fixed manner relative to the robot gripper, a respective element being moveable in and capable of reaching the working region; a control unit to control the drive unit; and a sensor system connected to the control unit to ascertain forces/moments applied externally to individual elements, the control unit configured such that collision monitoring is capable of being carried out for the elements, and when a collision is detected for an element, the drive unit is actuated according to a specified operation, including: providing a defined region within the working region for the elements, and collision monitoring for the elements only when the elements are located outside the assigned region, and deactivating collision monitoring when the elements are located at least partly within the assigned region.

A robotic device includes an end effector device, a first sensor, and a controller. The end effector device includes two fingers for gripping a workpiece. The first sensor detects a pressure distribution on a gripping position on the workpiece by the two fingers. The controller performs, based on a temporal variation in the pressure distribution when the workpiece is lifted, posture control including rotation of the end effector device.

An information processor calculates, for a robot hand including a plurality of fingers, a gripping pose at which the robot hand grips a target object. The information processor includes a candidate single-finger placement position detector that detects, based on three-dimensional measurement data obtained through three-dimensional measurement of the target object and hand shape data about a shape of the robot hand, candidate placement positions for each of the plurality of fingers of the robot hand, a multi-finger combination searcher that searches for, among the candidate placement positions for each of the plurality of fingers, a combination of candidate placement positions to allow gripping of the target object, and a gripping pose calculator that calculates, based on the combination of candidate placement positions for each of the plurality of fingers, a gripping pose at which the robot hand grips the target object.