The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 04, 2008
Filed:
Oct. 07, 2005
Ryo Nihei, Fujiyoshida, JP;
Kazunori Ban, Yamanashi, JP;
Takashi Sato, Yamanashi, JP;
Toshinari Tamura, Gotenba, JP;
Kokoro Hatanaka, Yamanashi, JP;
Ryo Nihei, Fujiyoshida, JP;
Kazunori Ban, Yamanashi, JP;
Takashi Sato, Yamanashi, JP;
Toshinari Tamura, Gotenba, JP;
Kokoro Hatanaka, Yamanashi, JP;
Fanuc Ltd, Minamitsuru-gun, Yamanashi, JP;
Abstract
A gripping type hand including a plurality of finger mechanisms provided respectively with finger joints, actuators for driving the finger joints, and links supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms. The operation controlling section coordinately controls the actuators of the plurality of finger mechanisms to adjust gripping force generated by the plurality of finger mechanisms, based on the operating positions of the finger joints detected by the position detecting section and the strains of the links detected by the strain detecting sections.