• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a hand intended to equip a humanoid robot. The hand (10) comprises a palm (11) and several fingers (13, 14, 15, 16, 17) motorized relative to the palm (11). According to the invention, the hand (10) comprises an actuator (101). , 102) common to several fingers (14, 15, 16, 17) and a spreader bar (103, 104) for distributing a force exerted by the actuator (101, 102) to the fingers (14, 15, 16, 17 ).
    公开号:FR3016542A1
    申请号:FR1450531
    申请日:2014-01-22
    公开日:2015-07-24
    发明作者:Jeremy Laville；Vincent Clerc；Bruno Maisonnier
    申请人:Aldebaran Robotics SA；
    IPC主号:
    专利说明:

    [0001] The invention relates to a hand for equipping a robot with a humanoid character. The human hand is a very complex part of the human body. It includes several fingers articulated around the palm of the hand. In addition, each finger has several phalanges hinged together. Each joint is mobile by means of muscles. The various articulations of the hand make it possible to grip objects of various shapes. Many attempts have been made in humanoid robots to get closer to the human features. The gripping function is one of the most difficult functions to perform by a robotic system, it requires a large number of independent actuators to grip various objects. This increases the complexity of the robot both in terms of the number of independent actuators to be provided at the level of the control of these various actuators that must be controlled in a coordinated manner. The object of the invention is to provide a hand of a humanoid robot having a plurality of fingers and making it easy to adapt to the shape of various objects by reducing the number of independent actuators for each of the fingers of the hand. For this purpose, the subject of the invention is a hand intended to equip a robot with a humanoid character, the hand comprising a palm and several fingers motorized with respect to the palm, characterized in that it comprises a common actuator with several fingers and a spreader 25 for distributing a force exerted by the actuator to the fingers. The term rudder is often used in the aeronautical field. By analogy, the term "lifter" means any mechanical part for distributing efforts. The distribution is made according to the geometric disposition of the bearing points of each of the forces on the mechanical part. The distribution maintains a state of equilibrium of the mechanical part. When the forces applied to the mechanical part evolve slowly, it is possible to determine the different forces from static equilibrium equations. In the invention, the spreader makes it possible to distribute the force of a single actuator to several fingers. The presence of a rudder improves the compliance of the hand vis-à-vis the shape of the objects it is likely to meet. Hand compliance means its ability to adjust to the stresses and forces that are exerted on it. The implementation of a rudder allows the hand to close by reproducing a fluid and natural movement close to that of a human. The fact of associating a single actuator with a rudder makes it possible to perfectly synchronize the movement of the different fingers connected to the rudder bar. The invention also relates to a humanoid robot comprising a hand according to the invention. By humanoid robot is meant a robot with similarities to the human body. It may be the upper body, or only an articulated arm ending in a clamp comparable to a human hand. In the present invention, the operation of the robot's hand is similar to that of a human hand. A hand according to the invention makes it possible to grasp objects thanks to the movements of its fingers 20 and the efforts they can exert on an object. The invention will be better understood and other advantages will become apparent upon reading the detailed description of an exemplary embodiment, which is illustrated by the accompanying drawing in which: FIG. intended to equip a robot with a humanoid character; Figures 2a, 2b and 2c show a rudder of the hand in different plan views; Figures 3a, 3b and 3c show the hand grasping an object; Figure 4 shows the hand grasping another object; Figures 5, 6 and 7 show in perspective several variants of the hand; Figure 8 shows the open hand palm side view; FIG. 9 represents a robot with a humanoid nature implementing the hand of the invention.
    [0002] For the sake of clarity, the same elements will bear the same references in the different figures. Figure 1 shows a hand 10 for equipping a robot with a humanoid character. The hand 10 comprises a palm 11 and five fingers 13 to 17. The fingers are articulated to the palm 11 so as to allow the gripping of objects between the fingers 13 to 17. In the image of a human hand, the finger 13 is an inch. An object grasped by the hand is held between the thumb 13 and the other fingers 14-17. The invention is not limited to a hand having five fingers. It is possible to reduce the number of fingers to simplify the design of the hand or even to increase the number of fingers to allow the gripping of particular objects. More generally, a hand of the invention may be formed of a gripper for grasping an object. The clip comprises at least two articulated fingers allowing several points of contact with the grasped object. In view of these articulated fingers, it is possible to have a fixed finger or even directly the palm of the hand. According to the invention, the hand 10 comprises a common actuator with several fingers and a spreader for distributing a force exerted by the actuator to the fingers. In the example shown in FIG. 1, the hand 10 comprises two actuators 101 and 102 as well as two spreaders 103 and 104. The actuator 101 is connected to the spreader 103 by means of a tie rod 105 and the actuator 102 is connected to the rudder 104 by means of a tie rod 106. The rudder 103 can exert a force on the four fingers 14 to 17 respectively by means of tie rods 107, 108, 109 and 110. Similarly, the rudder bar 104 can exert a force on the four fingers 14 to 17 respectively via tie rods 117, 118, 119 and 120. The actuators 101 and 102 may be linear actuators 30 such as cylinders. Any other type of actuator can be used in the context of the invention, such as rotary actuators or artificial muscles. In the example shown in FIG. 1, the spreaders 103 and 104 make it possible to distribute a force towards four fingers representing the index 14, the middle finger 15, the ring finger 16 and the little finger 17. It is also possible to include the 13 inches in the distribution. In a more general manner or the spreaders 103 and 104 allow to distribute a force exerted by the actuator (s) 101 and 102 to the thumb 13 and at least one other finger 14 to 17.
    [0003] The two spreaders 103 and 104 each extend mainly in a plane called a horizontal plane containing a direction in which the force exerted by the associated actuator is directed and in which the palm of the hand extends mainly. be operated by two tie rods, for example the tie rods 107 and 117 for the index 14, one to stretch the finger 14 and the other to fold it. The two tie rods 107 and 117 then act in a coordinated manner. The actuators 101 and 102 also act in a coordinated manner. One can use a double-acting actuator that pulls on one of the tie rods 105 or 106 and pushes on the other simultaneously. In other words the hand comprises two pedals 103 and 104 for motorizing each of the fingers 14, 15, 16 and 17 in double effect. It defines a reference linked to the palm 11 of the hand 10. The palm extends mainly in a plane 125 called horizontal plane. When the fingers 14 to 17 are completely unfolded or open, they extend in the plane 125. In the configuration shown in FIG. 1, the spreaders 103 and 104 extend mainly in the horizontal plane 125. The tie rods 105 and 106 also extend in the horizontal plane 125. Consequently, the directions in which the forces are exerted by the actuators 101 and 102 are contained in the plane 125. A frontal plane 126 perpendicular to the horizontal plane 125 and to the directions in which are oriented the forces exerted by the actuators 101 and 102. Finally defines a third plane 127 said vertical plane 30 perpendicular to the planes 125 and 126. When the fingers 14 to 17 close or extend, the phalanges move essentially in a vertical plane. Figure 2a shows one of the spreaders, for example the spreader 103 in projection in a frontal plane.
    [0004] Figure 2b shows the same beam 103 in projection in a horizontal plane and Figure 2c shows the beam 103 in a vertical plane. The lifter 103 extends mainly in a horizontal plane. It may nevertheless have a certain curve with respect to this plane. This curve is clearly visible in FIG. 2a. This figure shows the projections, in the frontal plane, of the points of application of the various forces on the spreader 103. More specifically, the tie rods 105, 107, 108, 109 and 110 may be cables whose ends have growths, respectively 135, 137, 138, 139 and 140 crimped or molded on one end of the cable. The protuberances of each of the cables are held in grooves formed in the rudder 103. The points of application of the forces are the points of contact of the excrescences with the rudder 103. The force exerted by the actuator 101 on the rudder 103 is spotted F5. The forces exerted by the fingers 14, 15, 16 and 17 are respectively labeled F1, F2, F3 and F4. The point of application of the force exerted by the actuator 101 by means of the tie rod 105 bears the mark 145. The point of application of the force exerted by the tie rod 107 bears the mark 147. The point of application application of the force exerted by the tie rod 108 bears the mark 148. The point of application of the force exerted by the tie rod 109 bears the mark 149 and the point of application of the force exerted by the tie rod 110 bears the 150. In the frontal plane 126, a vertical direction 142 perpendicular to the intersection of the frontal plane 126 and the horizontal plane 125 is defined. The projection of the application point 145 of the force exerted by the actuator 101 is advantageously disposed substantially at the centroid of the projections of the application points 137 to 140 of the forces exerted by the fingers 14 to 17. More precisely, in the vertical direction 142, the origin is defined as the abscissa of the projection of the point of application 145 The sum of the 30 abscissa s projections of the application points 147 to 150 is zero. This relative position of the different points of application of the forces F1 to F5 on the spreader 103 makes it possible to maintain a stable position of the spreader 103 in the palm 11 of the hand 10. Indeed, the forces F1 to F4 exerted by the fingers on the The rudder 103 may change depending on the shape of an object grasped by the hand 10. The relative position of the different points of application of the forces F1 to F5 on the rudder 103 thus defined makes it possible to maintain the rudder 103 in a relative position. relative to the horizontal plane 125 substantially constant. The rudder 103 can move in translation in a direction substantially carried by the horizontal plane 125. Furthermore, it defines a front direction 152, visible in Figure 2b. The direction 152 is parallel to the direction in which the force F5 exerted by the actuator 101 is oriented. According to the frontal direction 152, the projection of the point of application 145 on the rudder 103 of the force F5 exerted by the actuator 101 as the origin, and as a positive sense the direction in which the actuator 101 pulls on the spreader 103. The abscissa projections of the application points 147 to 150 on the spreader 103 forces F1 to F4 exerted by the fingers 14 to 17 are all negative. This relative position of the different points of application of the forces F1 to F5 on the rudder 103 makes it possible to avoid any jamming of the rudder 103 in the palm 11 of the hand 10. Finally, it is possible to define a third direction 162 perpendicular to the directions 142 and 152. In direction 162, the projection of the application point 145 of the force exerted by the actuator 101 is advantageously arranged substantially in the middle of the projections of the application points 148 and 149. Also, according to In the direction 162, the projection of the point of application 145 is advantageously disposed substantially in the middle of the projections of the application points 147 and 150. In other words, along the direction 162, several distances are defined separating the projection from the point of application. 145 of the other projections: L1 for the projection of point 148, L2 for the projection of point 149, L3 for the projection of point 147 and L4 for the projection of point 150. Avantageuseme nt, we have L1 = L2 and L3 = L4. Respecting the position of the application point 145 in the middle of the fingers two by two makes it possible to distribute the forces of the actuator 101 in a balanced manner towards the different fingers 14 to 17. In other words, for a given traction produced by the actuator 101, the force exerted on each of the four fingers 14 to 17 is equal to a quarter of the force exerted by the actuator 101. It is possible to generalize this arrangement regardless of the number of fingers connected to the rudder 103. More specifically, in the direction 162, the projection of the application point 145 of the force exerted by the actuator 101 is located at the centroid of the projection of the points of application of the forces exerted by the fingers 14 to 17 connected to the spreader 103 .
    [0005] A balanced distribution of the forces on the different fingers connected to the rudder makes it possible to adopt a gripping of the seized objects close to a human grip whatever their shape, even in the presence of a single actuator 101. FIGS. 3a, 3b and 3c represent the hand 10 grasping an object 165 of rectangular shape, such as a mobile phone. The five fingers 13 to 17 are in contact with the object 165. The shape of the object 165 requires a different folding for each of the fingers 14 to 17 connected to the pedals 103 and 104. More specifically, the index 14 is slightly folded and in contrast, the little finger 17 is strongly folded. In Figure 1, in the absence of grasped object, the fingers 14 to 17 connected to the spreaders 103 and 104 are substantially folded in the same way. The presence of the object 165 modifies the folding of the fingers 14 to 17 while maintaining a substantially constant force exerted by each of the fingers 14 to 17 on the object 165. A rotation was made between pedals 103 and 104 for s 165. This rotation is visible between, on the one hand, FIG. 1, in the absence of an object grasped, and on the other hand FIGS. 3a to 3c in the presence of the object 165. one or two spreaders allows the hand to adjust to the shape of the object grasped. Figure 4 shows the hand 10 gripping an object 166 of circular shape, such as a cup. The object 166 is held only by three fingers out of five. The object 166 is held between on the one hand the thumb 13 and on the other hand the index 14 and the middle finger 15. Thanks to the pedals 103 and 104, the two other fingers 16 and 17 fold completely until they come into for example against the palm of the hand 10. The equality of the forces exerted by the fingers 14 to 17 is not perfect in the case of an object such as the cup 166. Nevertheless, the efforts of the various fingers 14 to 17 are more balanced than when there is no lifter. In general, the implementation of a spreader makes it possible to distribute the force exerted by the actuator associated with this spreader on the various fingers. Thus the different fingers can exert a substantially constant force on an object grasped by the hand even if the shape of the object is variable. Alternatively, it is possible to move away from the equilibrium obtained by positioning the application point 145 of the actuator 101 at the center of gravity of the application points 147 to 150 of the tie rods connected to the fingers 14 to 17. It is possible, for example move the application point 145 to the index 14 and thus distribute more effort to the index 14. The index 14 will tend to close in advance of the other fingers. The index 14 then exerts a greater effort than the other fingers on the seized object.
    [0006] At the extreme it is possible to align the point of application 147 of the index with hand 10 with the point of application 145 of the actuator 101. This makes it possible to ensure a gripping of an object only between the inch 13 and the index 14.
    [0007] FIG. 5 represents a variant of the hand 10 in which a double acting actuator 170 acts on the two pedals 103 and 104. The two tie rods 105 and 106 shown in the variant of FIG. 1 are replaced by a cable 171 having two fixed ends. each one to one of the spreaders 103 and 104. More precisely one end of the cable is formed by the protrusion 135. The other end of the cable 171, not visible in Figure 3, is similar and is fixed to the lifter 104. L Actuator 170 is common to both pedals 103 and 104. Actuator 170 is for example a rotary actuator which rotates a pulley 172. Cable 171 winds over pulley 172. Rotation of pulley 172 displaces cable 171 which pulls on one of the pedals 103 and 104 and pushes on the other. When the two spreaders 103 and 104 are substantially parallel the cable 171 is in contact with the pulley 172 about half the diameter of the pulley 172. The winding of the cable 171 on the pulley 172 makes it possible to transmit a torque depending on the length of the cable 171 in contact with the pulley 172. The transmitted torque is also a function of the coefficient of friction of the cable 171 relative to the pulley 171 and therefore the nature of the materials in contact chosen for the cable 171 and the pulley 172. It it is possible to define these materials to achieve a torque limiter and therefore a force limiter on the fingers 14 to 17. For example, if a large external force is applied to the fingers 14 to 17, the cable 171 can be allowed to slide by relative to the pulley 172, in particular to protect the actuator 170. Alternatively, it may be desirable to prevent any slippage of the cable 171 relative to the pulley 172, particularly if the actuator 170 is equipped with i of a position sensor for determining the position of the fingers 14 to 17. To prevent slippage, one can for example wind up the cable 171 on more than one for around the pulley 171. It is also possible to fix the cable 171 to the pulley. FIG. 6 represents another variant of the hand 10 having only one spreader 103 actuated by a cable 175 and an actuator 176. Each finger 14 to 17 comprises an elastic element, such as a spring tending to hold the fingers 14 at 17 in an extreme position, either folded or extended. Through the rudder 103, the actuator 176 allows each of the fingers to move away from its extreme position. For example, the fingers 14 to 17 held in extended position by a spring are folded by means of the actuator 176. Figure 7 shows a variant of Figure 6 in which the return spring is common to all fingers 14 17. In this variant are found the two spreaders 103 and 104. As in the variant of Figure 6, the spreader 103 is connected to the actuator 176 via the cable 175. In addition the lifter 104 is connected to the body of the palm 11 by means of a spring 178. Thus when the actuator 176 pulls on the spreader 103, a return force common to the fingers 14 to 17 is applied thanks to the spreader 104. The return force is distributed to the fingers 14 to 17 by the spreader bar 104. Another configuration consists in using the two spreaders 103 and 104 to each act on different phalanges of the fingers 14 to 17. The two actuators 101 and 102 are then independent.
    [0008] In the variants shown in FIGS. 5, 6 and 7, the actuator 170 or 176 exerts a force on the thumb 13 independently of the pedals 103 and 104. For this purpose, in the variant of FIG. 5, the actuator 170 rotates a second pulley 180 on which is wound a cable 181 for transmitting a force to the thumb 13. Like the cable 171, the cable 181 allows to fold and extend the thumb 13. It can provide two pulleys the cables 181 and 181 each associated with a pulley 172 and 180 are configured to fold the thumb 13 and the other fingers 14 to 17 at the same rotation of the actuator 170. A reverse rotation of the actuator 170 extends the thumb 13 and the other fingers 14 to 17. Thus a single actuator can close the hand 10 or the open on entered object.
    [0009] This configuration where the thumb 13 and the other four fingers 14 to 17 are controlled by the same actuator is transferable in the other variants of Figures 6 and 7. Thus in the variant of Figure 6, the thumb 13 is actuated by a cable 185 connected to the actuator 176 independently of the lifter 103. In the variant of Figure 7, a return force is exerted on the thumb 13 by means of a spring 188. This recall force opposes the effort exerted by the cable 185. Advantageously, the hand 10 comprises stops limiting the displacement of the or pedals 103 and 104. The abutments 161 and 162 are formed for example in the palm 10 at the fingers 14 and 17 The pedals 103 and 104 bear against one or against the two stops 161 and 162 when the corresponding tie rods are at the end of the race. More specifically, the lifter 104 abuts against the stop 161 when the index 14 is stretched to the desired maximum. The support of the spreader 104 on the stop 161 prevents a reversal of the index 14 beyond its extended position. This reversal would be similar to a dislocation of one of the joints of the phalanges in human anatomy. In other words the support on the stop limits the angular movement of the joints of the finger considered. The support of the spreader 104 against the abutment 162 allows, in the same way, to limit the extension of the little finger 17. The two stops 161 and 162 arranged at the end fingers 14 and 17 are sufficient to limit the extension of all the fingers associated with the rudder bar 104. Similarly, the rudder bar 103 can also bear on the abutments 161 and 162 in order to limit the folding of the fingers 14 to 17.35; FIG. 8 represents the open hand seen on the palm side. This view allows to specify the position of the application points of the fingers connected to the rudder and the orientation of the fingers between them. More specifically, using FIG. 2b, it has been specified that with respect to the frontal direction 152, the abscissa of the projections of the application points 147 to 150 on the spreader 103 are all negative. The origin of the abscissa is the projection of the application point 145 of the force applied by the actuator. It is possible to get closer to the human anatomy by differentiating the different abscissae from the projections of the application points 147 to 150 on the frontal direction 152. More precisely, in absolute value, the abscissa of the application point 150 of the effort F4 exerted by the little finger 17 is the smallest. In absolute value, the abscissa of the point of application 148 of the force F2 exerted by the middle finger 15 is the largest. In absolute value, the abscissa of the application points 147 and 149 of the forces F1 and F3 exerted by the index 14 and the annular 16 have intermediate values between the abscissa of the application points 148 and 150. Advantageously, the four fingers 14 to 17 connected to the lifter are identical. This simplifies their manufacture by standardizing the mechanical parts that compose them. Although the fingers of the hand 10 are identical, which is not the case in a human hand, the fact of shifting the application points 147 to 150 and thus the attachment of the fingers on the palm 11 allows the 10 of the fingertips 14 to 17. In addition, it is possible to orient the four fingers 14 to 17 differently in the frontal plane so that, when the fingers close, the ends of each finger tend to get closer. More precisely, with respect to the direction in which the force F5 is applied, the directions along which the fingers extend, connected to the rudder considered, are angularly open, especially since the point of application of the finger in question is remote. from the direction according to which the effort F5 is applied. By direction in which extends a finger, means a main direction of the finger when it is extended. In the example shown, the middle finger and the ring finger extend in directions each making an angle of about 6 ° with the direction in which the force F5 is applied. The annular 16 and the little finger 17 extend in directions forming an angle of about 12 ° between them. Likewise, the index 14 and the middle finger 15 extend in directions that make an angle of about 12 ° between them. By closing the ends of the fingers are approaching, which facilitates the gripping between the four fingers 14 to 17 and the thumb 13. It is understood that these angular values are given by way of example. Other values are of course possible. FIG. 8 represents a humanoid robot 200 having two hands 10.10
    权利要求:
    Claims (14)
    [0001]
    REVENDICATIONS1. Hand intended to equip a robot with a humanoid character, the hand (10) comprising a palm (11) and several fingers (13, 14, 15, 16, 17) motorized with respect to the palm (11), characterized in that it comprises an actuator (101, 102; 170; 176) common to several fingers (13, 14, 15, 16, 17) and a spreader bar (103, 104) for distributing a force (F5) exerted by the actuator ( 101, 102) to the fingers (14, 15, 16, 17).
    [0002]
    2. Hand according to claim 1, characterized in that defines in a plane said front plane (126) perpendicular to a direction in which is oriented the force exerted by the actuator (101, 102), the projection of the point applying (145) on the spreader bar (103) the force (F5) exerted by the actuator (101) and the projections of the application points (147, 148, 149, 150) on the spreader beam (103) forces (F1, F2, F3, F4) exerted by the fingers (14, 15, 16, 17), in that defined in the frontal plane (126) a direction said vertical direction (142) perpendicular to the intersection of the frontal plane (126) and a plane said horizontal plane (125) containing a direction in which is oriented the force (F5) exerted by the actuator (101) and in which extends mainly the palm (11). ) of the hand (10) and in that in the vertical direction (142), the projection of the point of application (145) on the spreader bar (103) of the force (F5) exerted by the actuator (101) is disposed substantially at the center of gravity projections of the application points (147, 148, 149, 150) on the spreader (103) efforts (F1, F2, F3, F4) exerted by the fingers (14, 15, 16, 17 ).
    [0003]
    3. Hand according to one of the preceding claims, characterized in that defines in a plane said horizontal plane (125) containing a direction in which is oriented the force (F5) exerted by the actuator (101) and in which extends mainly the palm (11) of the hand (10), the projection of the point of application (145) on the spreader bar (103) of the force (F5) exerted by the actuator (101) and the projections of the application points (147, 148, 149, 150) on the spreader (103) of the forces (F1, F2, F3, F4) exerted by the fingers (14, 15, 16, 17), in that a direction is defined as said front direction (152) parallel to the direction in which the force (F5) exerted by the actuator (101) is oriented, and in that in the frontal direction (152), considering the projection of the application point (145) on the spreader beam (103) of the force (F5) exerted by the actuator (101) as the origin, and as a positive direction the direction in which the actuator (101) pulls on the the abscissa projections of the application points (147, 148, 149, 150) on the spreader (103) of the forces (F1, F2, F3, F4) exerted by the fingers (14, 15, 16, 17) are all negative.
    [0004]
    4. Hand according to claim 3, characterized in that it comprises four fingers (14, 15, 16, 17) connected to the spreader (103, 104), a first finger forms an index (14), a second form a major (15) a third form an annular (16) and a fourth form an atrial (17), in that, with respect to the frontal direction (152) and in absolute value, the abscissa of the point of application (150 ) of the effort (F4) exerted by the little finger (17) is the smallest, the abscissa of the point of application (148) of the force (F2) exerted by the middle finger (15) is the largest and, the abscissae of the application points (147, 149) of the forces (F1, F3) exerted by the index (14) and the annulus (16) have intermediate values.
    [0005]
    5. Hand according to claim 4, characterized in that the four fingers (14, 15, 16, 17) connected to the spreader (103, 104) are identical.
    [0006]
    6. Hand according to one of the preceding claims, characterized in that defines in a plane said horizontal plane (125) containing a direction in which is oriented the force (F5) exerted by the actuator (101) and 25 in which extends mainly the palm (11) of the hand (10), the projection of the point of application (145) on the spreader bar (103) of the force (F5) exerted by the actuator (101) and the projections of the application points (147, 148, 149, 150) on the spreader bar (103) of the forces (F1, F2, F3, F4) exerted by the fingers (14, 15, 16, 17), according to a direction (162) of the horizontal plane (125) perpendicular to the direction in which the force (F5) exerted by the actuator (101) is oriented, the projection of the point of application (145) of the force exerted by the actuator (101) is located at the centroid of the projection of the application points of the forces (F1, F2, F3, F4) exerted by the fingers (14, 15, 16, 17) connected to the spreader (103). 35
    [0007]
    7. Hand according to one of the preceding claims, characterized in that the spreader (103, 104) extends mainly in a plane said horizontal plane (125) containing a direction in which is oriented the force (F5) exerted by the actuator (101) and in which extends mainly the palm (11) of the hand (10).
    [0008]
    8. Hand according to one of the preceding claims, characterized in that the actuator is a double-acting actuator (176) and in that it comprises a single lifter (103) connected to the double-acting actuator (176).
    [0009]
    9. Hand according to one of claims 1 to 7, characterized in that it comprises two pedals (103, 104) for motorizing each of the fingers (14, 15, 16, 17) double effect.
    [0010]
    10. Hand according to claim 9, characterized in that it comprises a double-acting actuator (170) common to both pedals (103, 104).
    [0011]
    11. Hand according to claim 10, characterized in that the common actuator (170) to the two pedals (103, 104) acts on the two pedals (103, 104) via a cable (171) s' winding on a pulley (172) rotated by the common actuator (170) to the two pedals (103, 104).
    [0012]
    12. Hand according to one of the preceding claims, characterized in that it comprises stops (161, 162) limiting the movement of the spreader (103, 104).
    [0013]
    13. Hand according to one of the preceding claims, characterized in that it comprises a thumb (13) and in that the actuator (170; 176) exerts a force on the thumb (13) independently of the rudder (103). , 104).
    [0014]
    14. A humanoid robot characterized in that it comprises a hand (10) according to one of the preceding claims. 35
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    RU2016133971A3|2018-03-05|
    CN106457574A|2017-02-22|
    RU2016133971A|2018-03-05|
    NZ722309A|2017-08-25|
    JP6466460B2|2019-02-06|
    DK3105018T3|2018-09-17|
    JP2017503668A|2017-02-02|
    SG11201605955VA|2016-09-29|
    CN106457574B|2019-03-08|
    US20160325437A1|2016-11-10|
    EP3105018B1|2018-06-13|
    EP3105018A1|2016-12-21|
    KR102067869B1|2020-01-17|
    AU2015208156B2|2017-07-06|
    AU2015208156A1|2016-08-04|
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    法律状态:
    2015-12-23| PLFP| Fee payment|Year of fee payment: 3 |
    2016-12-29| PLFP| Fee payment|Year of fee payment: 4 |
    2017-12-21| PLFP| Fee payment|Year of fee payment: 5 |
    2018-12-27| PLFP| Fee payment|Year of fee payment: 6 |
    2020-10-16| ST| Notification of lapse|Effective date: 20200905 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1450531|2014-01-22|
    FR1450531A|FR3016542B1|2014-01-22|2014-01-22|ACTUATION OF A HAND INTENDED TO EQUIP A HUMANOID ROBOT|FR1450531A| FR3016542B1|2014-01-22|2014-01-22|ACTUATION OF A HAND INTENDED TO EQUIP A HUMANOID ROBOT|
    MX2016009357A| MX2016009357A|2014-01-22|2015-01-22|Actuation of a hand intended for being provided on a humanoid robot.|
    AU2015208156A| AU2015208156B2|2014-01-22|2015-01-22|Actuation of a hand intended for being provided on a humanoid robot|
    SG11201605955VA| SG11201605955VA|2014-01-22|2015-01-22|Actuation of a hand intended for being provided on a humanoid robot|
    DK15701009.1T| DK3105018T3|2014-01-22|2015-01-22|ACTIVATION OF A HAND CALCULATED TO PROVIDE A HUMANOID CHARACTER ROBOT|
    KR1020167022653A| KR102067869B1|2014-01-22|2015-01-22|Actuation of a hand intended for being provided on a humanoid robot|
    RU2016133971A| RU2016133971A3|2014-01-22|2015-01-22|
    CN201580009932.5A| CN106457574B|2014-01-22|2015-01-22|Actuating for the hand being located on anthropomorphic robot|
    CA2937582A| CA2937582C|2014-01-22|2015-01-22|Actuation of a hand intended for being provided on a humanoid robot|
    EP15701009.1A| EP3105018B1|2014-01-22|2015-01-22|Actuation of a hand intended for being provided on a humanoid robot|
    JP2016547867A| JP6466460B2|2014-01-22|2015-01-22|Hand movement intended to be installed on a humanoid robot|
    PCT/EP2015/051235| WO2015110521A1|2014-01-22|2015-01-22|Actuation of a hand intended for being provided on a humanoid robot|
    NZ722309A| NZ722309A|2014-01-22|2015-01-22|Actuation of a hand intended for being provided on a humanoid robot|
    US15/111,475| US9840009B2|2014-01-22|2015-01-22|Actuation of a hand intended for being provided on a humanoid robot|
    ES15701009.1T| ES2685961T3|2014-01-22|2015-01-22|Actuation of a hand destined to equip a humanoid robot|
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