Sanctuary Cognitive Systems Corporation

Kyle J Martin

Carolyn Wales

Adrian L Kaehler

Christopher M Cianci

Jeffrey S Kranski

Provided are mechanisms that mechanically couple finger joint motion in robots.

S-bar mechanism for finger joints

A robot is provided having a kinematic chain comprising a plurality of joints and links, including a root joint connected to a robot pedestal, and at least one end effector. A plurality of actuators are fixedly mounted on the robot pedestal. A plurality of tendons is connected to a corresponding plurality of actuation points on the kinematic chain and to actuators in the plurality of actuators, arranged to translate actuator position and force to actuation points for tendon-driven joints on the kinematic chain with losses in precision due to variability of tendons in the plurality of tendons. A controller operates the kinematic chain to perform a task. The controller is configured to generate actuator command data in dependence on the actuator states and image data in a manner that compensates for the losses in precision in the tendon-driven mechanisms.

Growing community of inventors

Glendale, CA, United States of America

Kyle J Martin