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:
Jan. 01, 2013
Filed:
Dec. 11, 2009
Ji Young Kim, Seoul, KR;
Jong DO Choi, Gyeonggi-do, KR;
Hyun Kyu Kim, Seoul, KR;
Kyung Won Moon, Seoul, KR;
Ji Young Kim, Seoul, KR;
Jong Do Choi, Gyeonggi-do, KR;
Hyun Kyu Kim, Seoul, KR;
Kyung Won Moon, Seoul, KR;
Samsung Electronics Co., Ltd., Suwon-Si, KR;
Abstract
A grasping method of a multi-finger hand including calculating positions of tips of plural actual fingers; calculating positions of tips of plural virtual fingers using the calculated positions of the tips of the plural actual fingers; judging that a central position among the calculated positions of the tips of the plural virtual fingers is a central position of a virtual object based on the calculated positions of the tips of the plural virtual fingers; and controlling joint torques of the respective actual fingers corresponding to the tips of the virtual fingers such that motions of the tips of the plural virtual fingers are carried out while uniformly maintaining the relative positional relationships of the tips of the plural virtual fingers based on the central position of the virtual object.