Hand intended to equip a humanoid robot

Giulio Cerruti (1, 2, 3) , Vincent Clerc (3) , Damien Chablat (2, 1) , David Gouaillier (3)

1 LS2N - Laboratoire des Sciences du Numérique de Nantes
2 LS2N - équipe ReV - Robotique Et Vivant
3 Aldebaran Robotics [Paris]

A hand intended to equip a humanoid robot, the hand includes a palm and at least one finger extending along a first axis, the hand being capable of picking up an object, the finger comprising a first phalanx linked to the palm by a first motorized pivot link and a second phalanx consecutive to the first phalanx linked to the first phalanx by a second pivot link. The finger comprises a first mechanism linking the palm to the second phalanx configured such that the rotation of the first phalanx about the second axis causes the second phalanx to rotate about the third axis, and a second mechanism linking the palm to each of the phalanges configured to actuate the finger in such a way that the finger wraps around the object to be picked up, and the second mechanism is configured to deform the first mechanism.

Domaines: Robotique [cs.RO]

Giulio Cerruti, Vincent Clerc, Damien Chablat, David Gouaillier. Hand intended to equip a humanoid robot. United States, Patent n° : US 11,376,746. 2022. ⟨hal-03815581⟩