Irobot Corporation

Nicholas Roy Corson

Mark Robert Claffee

Annan Michael Mozeika

Erik Steltz

Christopher Vernon Jones

Mark Claffee

A compliant underactuated grasper includes a palm base and two fingers. Each of the fingers comprises: a proximal phalanx; a distal phalanx; a compliant flexure joint connecting the distal phalanx to the proximal phalanx; and a pin joint connecting the proximal phalanx to the palm base, the pin joint constraining angular movement of the proximal phalanx relative to the palm base to rotation about a pin pivot axis. The grasper further includes at least one actuator to move the fingers. The grasper has fewer actuators than degrees of freedom.

Compliant underactuated grasper

A grasper includes a base, a finger, a tendon cable and a magnetic breakaway mechanism. The finger has a proximal end connected to the base by a proximal joint. The tendon cable is configured to move the finger relative to the base. The magnetic breakaway mechanism releasably couples the finger to the base.

A compliant underactuated grasper includes a base and a plurality of fingers. At least one of the plurality of fingers includes: a proximal phalanx; a proximal joint connecting the proximal phalanx to the base; a distal phalanx; a distal joint connecting the distal phalanx to the proximal phalanx; and a member for moving the phalanges. At least one of the proximal joint and the distal joint includes a flexure joint having a first compliance in a first direction and a second compliance in a second direction, the second compliance being stiffer than the first compliance. The distal phalanx includes: a rounded end face; and a lifting portion including a lifting edge adjacent the rounded end face. The member acts in parallel to the first direction. The grasper further includes at least one actuator associated with the member. The grasper has fewer actuators than degrees of freedom.

A method and device for manipulating an object is provided. In an exemplary embodiment, a gripping device configured to grasp the object includes a housing, a jamming material inside the housing, a first actuator to actuate the jamming material, a first pressure activation device disposed on a first outer portion of the housing and configured to exert a constricting force on the first outer portion of the housing, and a second actuator to actuate the first pressure activation device. After the end effector is pressed against the object, the second actuator actuates the first pressure activation device to exert an inward force on the first outer portion of the housing and the first actuator actuates the jamming material to grasp the object.

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Hollis, NH, United States of America

Nicholas Roy Corson