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:
Aug. 31, 2010
Filed:
Oct. 30, 2007
Kazuyuki Takahashi, Wako, JP;
Kazuyuki Takahashi, Wako, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
A robot hand able to change the manner of holding an object while force applied from a plurality of finger mechanisms to the object is adjusted without using an auxiliary finger mechanism. When force Fis applied to object w from a certain finger mechanismamong the plurality of finger mechanismstois changed, the operation of each finger mechanism is controlled such that a 'contact' of each of the finger mechanismstoin the object w and an 'application force vector' from each of the finger mechanismstoto the object w satisfy a “stable gripping condition”. The “stable gripping condition” is a condition in which (1) the sum of each of forces and moments applied from the plurality of finger mechanismstoto the object w becomes zero, and (2) a slip index fr becomes minimum.