• 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 for equipping a robot with a humanoid character, the hand comprising a palm and several fingers (12, 13, 14), each of the fingers (12, 13, 14) being movable relative to the palm between a rest position maintained by spring effect and a compressed position obtained by driving a connecting piece (22, 23, 24) with the palm counteracting the spring effect, characterized in that it comprises a motorized shaft (20) connected to the connecting piece (22, 23, 24) of each of the fingers (12, 13, 14), and configured to respectively move at least one first finger (12) and at least one second finger (13) from the rest position to the compressed position, by rotation of the motor shaft (20) respectively in a first direction of rotation and in an opposite direction.
    公开号:FR3020775A1
    申请号:FR1454162
    申请日:2014-05-07
    公开日:2015-11-13
    发明作者:Jeremy Laville；Gilles Fauchet
    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. More specifically, it relates to a hand whose fingers can be moved from a rest position to two different positions by means of a single actuator.
    [0002] 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 different articulations of the hand allow the gripping of objects of various forms. The relative position of the fingers and the palm also makes it possible to produce signs or symbols making it possible to communicate a message, for example the index stretched to designate an object or a direction, the thumb extended to signify an approval, etc. The mastery of the movements of the fingers of the hand is therefore of particular interest to reinforce the humanoid character of a robot and its interaction capabilities. A difficulty lies in the large number of actuators needed to provide independent control of finger movements. It is unrealistic to independently control the movement of each of the phalanges of each of the fingers of the hand, both for the grasping of objects and for the communication of a visual message. In practice, it is sought to give the greatest number of possibilities of movements with the smallest number of actuators. In known manner, a mechanism is said to be under-actuated when the number of controllable actuators A is smaller than the number of degrees of freedom N, ie when N> A. The degree of underaction is then defined as the difference (NA) . For example, an under actuated hand is known in which four fingers with three phalanges and a finger with two phalanges can be closed by a single actuator. By enabling the steering of fourteen degrees of freedom - via fourteen pivot links - by means of a single actuator, such a hand has a high degree of under-actuation. Attempts have been made to improve the control capacity of a hand by maintaining a high degree of under-actuation of the hand. We know for example the implementation of a spreader, disposed between the actuator and the fingers so as to distribute the gripping force on each of the fingers. The hand can thus, by means of a single actuator, to enter objects of various shapes. The hand is however controllable only between an open position and a closed position; the respective position of each of the fingers in the closed position depending on the shape of the grasped object. If no object is interposed between the fingers, they close to a position representing a closed point. To reinforce the humanoid character and its interaction capabilities of a robot, it remains desirable to increase the possibilities of controlling the movements of a hand while maintaining a high degree of under-actuation. Of course, the solution must be able to fit into the structural and functional environment of the robot.
    [0003] 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, each of the fingers being able to be moved relative to the palm between a rest position maintained by spring effect. and a compressed position obtained by driving a connecting piece between said finger and the palm, counteracting the spring effect. The hand further comprises a motorized shaft, connected to the connecting part of each of the fingers, and configured to move respectively at least one first finger and at least one second finger, from the rest position to the compressed position, by rotation of the motorized shaft respectively in a first direction of rotation and in an opposite direction. Advantageously, the shaft comprises a first and a second radial profile, respectively on a first and a second portion of its circumference, configured to drive the connecting piece of a finger, during a rotation of the shaft respectively in the first sense and the opposite direction of rotation. Advantageously, one of the fingers of the hand is moved by rotation of the shaft only in one of the two directions of rotation. Advantageously, the fingers in the rest position represent, with the palm, an open hand. Advantageously, two of the fingers are implanted in the palm so as to resemble respectively a thumb and an index finger, the thumb or forefinger being held in the rest position during a rotation of the shaft in a first direction, and whose rotation of the shaft in an opposite direction moves all the fingers of the hand to a compressed position so as to represent with the palm a closed hand.
    [0004] Advantageously, the connecting part of one of the fingers comprises a cable connected on the one hand to the finger and on the other hand to the shaft by means of a crimping housed in a cavity of the shaft; the cable traversing the shaft radially through a conduit connecting the cavity and an end of one of the radial profiles, so that the rotation of the shaft in a direction of rotation winds the cable on said radial profile, causing the displacement of the finger pulling the cable. Advantageously, the radial profile of one of the fingers is substantially circular on a portion of circumference close to a semicircle centered on the axis of rotation of the shaft, and on which the cable of said finger can come to wind; the diameter of the radial profile determining the stroke of the cable and the amplitude of the movement of the finger between the rest position and the compressed position.
    [0005] Advantageously, the connecting part of one of the fingers comprises a crimp freely rotatably mounted in the cavity centered on the axis of rotation of the shaft; the conduit being configured to allow the cable to traverse the shaft radially throughout a radial profile, so that the finger is held in the rest position during a rotation of the shaft. Advantageously, the shaft has a plurality of first and second radial profiles arranged successively along the axis of rotation of the shaft, for the simultaneous movement of several fingers. Advantageously, the hand comprises two identical fingers connected to the shaft by two cables. of identical lengths and two identical crimps. The shaft comprises two housing cavities arranged in the shaft at two distances distinct from the axis of rotation of the shaft, making it possible to implant the two fingers in the palm of the hand at two distances distinct from the axis of the shaft. rotation of the tree. Advantageously, the connecting part of one of the fingers is rigid and the shaft comprises a first and a second cams; the rigid connecting piece being moved respectively by means of the first and second cams by rotation of the shaft respectively in the first direction and in the opposite direction. The invention also relates to a robot with a humanoid character equipped with a hand having the characteristics described above.
    [0006] The invention will be better understood and other advantages will appear on reading the detailed description of an embodiment given by way of example in the following figures. FIGS. 1a and 1b show two examples of humanoid robots that can be equipped with two hands according to the invention; FIGS. 2a, 2b and 2c show an example of a humanoid robot hand comprising a palm and fingers positioned in such a way as to represent the hand in the "open hand", "closed hand" and "stretched index" configuration. FIGS. 3a and 3b show an example of a humanoid robot finger consisting of several phalanges, respectively in the "fingertip" and "folded finger" position. FIGS. 4a and 4b illustrate the principle according to the invention of the movement of the fingers of the hand from the "open hand" configuration 30 respectively to the "closed hand" configuration and the "stretched index" configuration, FIG. 5 represents a motorized shaft and connecting pieces used in the humanoid robot hand according to the invention, Figures 6a and 6b show in two views the motorized shaft 35 and the connecting pieces between the shaft and three fingers of the robot hand.
    [0007] For the sake of clarity, the same elements will bear the same references in the different figures. Figures la and lb represent two examples of humanoid robots developed by ALDEBARAN ROBOTICSTM. The humanoid robot 1 shown in FIG. 1a comprises a head 10, a trunk 2, two arms 3, two hands 4, two legs 5 and two feet 6. The humanoid robot 1 'represented in FIG. 1b comprises a head 10, a trunk 2 , two arms 3, two hands 4 and a skirt 7. The invention relates to a hand that can equip these 10 types of humanoid robots. The invention is described hereinafter in the particular case of a hand comprising four fingers implanted in a palm. Three fingers consisting of three phalanges are similar to an index finger, a middle finger and an annular finger. A fourth finger consisting of two phalanges is akin to a thumb. It is understood that the invention is not limited to this particular example, but more broadly covers a hand comprising a palm and several motorized fingers allowing, in the manner of a human, to move the fingers relative to the palm. In addition, the invention is implemented in one hand to enhance the humanoid character of the robot, for example by enabling improved visual communication. It is understood that the invention can be implemented according to the same principle and with the same benefits for other organs, for example a humanoid robot foot or a robot leg of an animal nature. In the following, the term hand generally refers to an organ comprising a palm and motorized fingers relative to the palm. FIGS. 2a, 2b and 2c show an example of a humanoid robot hand according to the invention comprising a palm and fingers positioned so as to represent the hand in the "open hand", "closed hand" and "stretched index" configuration. In the example shown in the figures, the hand comprises a palm 15, three fingers 12, 13 and 14 consisting of three phalanges and a finger 11 consisting of two phalanges. By their shape and their implantation in the palm of the hand, the fingers 11, 12, 13 and 14 constitute respectively the thumb, the index finger, the middle finger and the ring finger of the hand 4. FIG. "open hand" configuration, FIG. 2b in "closed hand" configuration and FIG. 2c in "stretched index" configuration. FIGS. 3a and 3b show an example of a humanoid robot finger consisting of several phalanges, respectively in the "fingertip" and "folded finger" position. Various types of sub-actuated hands are known that seek to control, by means of a limited number of actuators, the greatest number of degrees of freedom of the fingers of the hand. In a widespread design illustrated in the figures, each finger comprises several phalanges successively connected to each other. For example, the finger 12 comprises successively a proximal phalanx 61, connected to the palm 15, a middle phalanx 62, and a distal phalanx 63, the farthest from the palm. The phalanges are interconnected and with the palm by a connection to one or more degrees of freedom, for example a pivot connection. For example, the palm 15 and the phalanx 61 are connected by a pivot link 71a; the knuckles 61 and 62 are connected by a pivot link 72a; and the knuckles 62 and 63 are connected by a pivot link 73a. In a default position, hereinafter called rest position, the knuckles of the fingers are held in position by spring effect. This maintenance can be obtained at each pivot connection by means of a mechanical stop limiting the angular movement of the pivot connection and a spring mechanism to position the phalanges mechanical stop. Thus, the knuckles 61, 62 and 63 are held in a rest position representing a finger extended, by means of the helical springs 71b 72b and 73b wrapped around the pivot links 71a, 72a and 73a. Each finger further comprises a connecting piece between the finger and the palm configured to cause the finger to move relative to the palm, from the rest position to another position by exerting a force counteracting the spring effect. For example, the connecting piece may comprise a cable 75 passing through the phalanges of the finger and connected on the one hand to the distal phalanx 63, for example by means of a crimping 75a, and on the other hand to an electric actuator (not represented) in the palm. By exerting a traction force greater than the restoring force of the springs the actuator causes the rotation of each of the phalanges, and moves the finger from its rest position to an extreme position, said compressed position, shown in Figure 3b. In a sub-actuated hand limiting the maximum number of actuators, the cables of each of the fingers are connected to a single actuator, able to simultaneously move all the fingers from the rest position to the compressed position. To allow gripping objects of various shapes, it has also been considered as mentioned above to interpose a spreader between the actuator and the cables of each of the fingers, so as to distribute the traction force transmitted to the various cables. 1 0 We will describe in the following a hand under actuated according to the invention in this particular case of a hand comprising several fingers, each finger comprising several phalanges held in one position by a spring mechanism and a connecting cable whose traction by an actuator makes it possible to rotate each phalanx in rotation by counteracting the spring effect. This implementation is not limiting of the present invention. Other implementations are also envisaged. The fingers may for example comprise a single phalanx movable between two extreme positions. When a finger comprises several phalanges, the effect now springing the finger in the rest position can be obtained by means of a set of helical springs associated with each of the pivot links of the different phalanges, as illustrated by FIGS. 3a and 3b. or by means of a spring mechanism formed of a single piece connecting each of the phalanges and exerting a restoring force maintaining all the phalanges in the rest position. Similarly, the connecting piece between the finger and the palm may comprise a flexible cable 75, such as a wire rope, connecting the motorized actuator ensuring the traction of the cable to the distal phalanx. It is also envisaged a connecting piece consisting of a rigid mechanical part in contact at one end with a motorized actuator comprising a shaft provided with cams whose rotation causes the rigid part to move in order to move the finger. In the following, the rest position of each of the fingers corresponds to a finger extended for a human hand. All the fingers are in the rest position in the "open hand" configuration shown in FIG. 2a. The compressed position of each of the fingers corresponds to a finger 35 folded against the palm. All the fingers are in the compressed position in the "closed hand" configuration shown in FIG. 2b. This position of each of the fingers relative to the palm for the rest position and the compressed position is chosen by convention; this choice having certain advantages in terms of engine consumption, lifetime, or resistance to a fall. It is however possible, without departing from the scope of the invention, to choose for rest position of one or all the fingers the position where the finger or fingers are folded against the palm. The motorized actuator then allowing to open the finger or fingers of the hand.
    [0008] The general idea of the present invention is to add a possibility of movement to a hand while maintaining the same degree of under-actuation. The invention consists in driving one or more fingers out of their rest position, by rotation of a motorized shaft in a first direction, and one or more fingers by rotation in the opposite direction of rotation. The invention advantageously exploits the two motor capacities of a rotary actuator to allow two distinct movements of the fingers of the hand from the same initial configuration. In the embodiment shown in the figures, a rotation of the rotary actuator in a first direction makes it possible to switch from the "open hand" configuration to the "closed hand" configuration, a rotation in the opposite direction makes it possible to switch from "open hand" configuration to "stretched index" configuration. As before, the position of each of the fingers for the three configurations is arbitrary. The hand can be adapted so that each of the fingers can be moved during a rotation in a first direction of rotation, in the opposite direction of rotation, in both directions of rotation or neither of the two directions of rotation. In general, the invention relates to a motorized shaft configured to respectively move at least one first finger and at least one second finger, from their rest position to their compressed position, by rotation of the motorized shaft respectively in a first direction of rotation and in the opposite direction. FIGS. 4a and 4b illustrate the principle according to the invention of the movement of the hand fingers of the "open hand" configuration 35 respectively to the "closed hand" configuration and the "stretched index" configuration. On the two figures are represented three fingers of the hand, the index finger 12, the middle finger 13 and the ring finger 14. The palm and the thumb are not represented. In the left part of the two figures, the three fingers are in their rest position, maintained by spring effect. In the right part of Figure 4a, the three fingers are in their compressed position (configuration "closed hand"). In the right part of Figure 4b, the middle 13 and the ring 14 are in their compressed position, the index 12 is maintained in the rest position ("stretched index" configuration). The hand comprises a motorized shaft 20 connected to each of the fingers 12, 13 and 14 by a connecting piece 22, 23 and 24, here consisting of a flexible cable connected on the one hand to the finger and on the other hand to the motorized shaft 20. The motorized shaft 20 can be implanted in the palm of the hand, or in the forearm of the robot, or even in the torso of the robot by adjusting the length of the connecting pieces. In the initial configuration shown in the left part, the connecting cables are stretched by the restoring force exerted by the springs of the fingers. Starting from this initial configuration, the motorized shaft 20 can be driven in two directions of rotation around a principal axis referenced X. The rotation of the shaft causes the cable which is wound around the shaft by exerting a tensile force counteracting the spring effect. The finger folds, moving from its rest position to its compressed position. Advantageously, the shaft may have a first radial profile on which the cable is wound during a rotation in a first direction of rotation, and a second radial profile on which the cable is wound during a rotation in an opposite direction of rotation. Similarly, the shaft may have a plurality of first and second profiles arranged successively along the main axis X; each finger being associated with first and second radial profiles, on which the cable of each of the fingers can come to wind. The definition of the first and second radial profiles makes it possible to define with great flexibility of design, the two movements of the hand controllable by the same rotary actuator. Figure 5 shows the motorized shaft and the connecting parts used in the example of hand. In the left part of the figure are shown in exploded view the motorized shaft 20, formed of an upper portion 20a and a lower portion 20b, and the connecting piece 22 of the finger 12 comprising a flexible cable 122a and a crimping 122b. The connecting piece 22 is connected on the one hand to the finger 12 and on the other hand to the shaft 20, by means of the crimp 122b housed in a cavity 202 of the shaft 20.
    [0009] In the central part of the figure are shown in side view the shaft 20 and the connecting pieces 22 and 24 of the fingers 12 and 14. In the right portion of the figure are represented these same components by means of two sectional views, AA and BB. As shown in these figures, the cable 122a traverses the shaft radially through a conduit 202a connecting the cavity 202 and one end of the first radial profile 32a and one end of the second radial profile 32b. Thus, according to the direction of rotation of the shaft, the cable 22 of the index 12 can be wound on one of the two radial profiles 32a or 32b shown in the sectional view A-A. Similarly, the cables 23 and 24 of the major 13 and the little finger 14 are wound on one of the two radial profiles 34a or 34b shown in the sectional view A-A. Note that for each finger, the first and second radial profiles extend over a first and a second portion of the circumference. The first and second radial profiles have one end in common, corresponding to one end of the passage conduit traversed by the cable. The first and second radial profiles may be substantially circular and on a portion of circumference close to a semicircle, as is the case for the radial profiles 34a and 34b associated with the fingers 13 and 14. The diameters of the first and second second radial profiles then determine the stroke of the cable and the amplitude of the movement of the finger. This choice is not limiting of the invention. Non-circular radial profiles can be envisaged, making it possible to adapt the speed of movement of the finger during a rotation of the shaft. Similarly, the shaft can be driven to travel the entire length of the radial profile or just a portion thereof.
    [0010] It is also possible to configure the motorized shaft to hold a finger in the rest position during a rotation of the motorized shaft. This is particularly the case illustrated by Figure 3b for the index 12 which remains in the rest position despite the rotation of the shaft in the first direction of rotation. For this, the crimping 122b of the connecting piece 22 is shaped having a possible axis of rotation, for example substantially cylindrical or spherical, and rotatably mounted in the cavity 202 about an axis coincident with the axis of rotation main tree. In addition, the duct passes through the shaft radially over the entire circumference portion of the first radial profile. Thus configured, the cable 122a can traverse the shaft radially over the entire circumference portion of the first radial profile. The rotation of the shaft in the first direction of rotation causes a rotation of the crimp 122b with respect to its housing cavity 202, the cable 122a remaining stretched by spring effect. The finger remains held in the rest position during the rotation of the shaft in the first direction of rotation. On the contrary, rotation of the shaft in the opposite direction winds the cable against the second radial profile 32b, causing the movement of the index finger. Advantageously, the definition of the first and second radial profiles offer great design flexibility for both movements of the hand fingers. Some fingers may advantageously be connected to the shaft by a common radial profile, so that the fingers are moved in the same speed profile and the same amplitude. In the example shown, this is the case for the middle finger 13 and the ring finger 14.
    [0011] Figures 6a and 6b show in two views the motorized shaft and the connecting pieces between the shaft and three fingers of the robot hand. To simplify the manufacture of the robot and reduce its production costs, it is contemplated by the present invention a hand employing several strictly identical fingers. In the example shown, the index 12, the middle finger 13 and the ring finger 14 are three fingers with three identical phalanges and consisting of the same components. The three fingers are distinguished only by their location in the palm of the hand. To reinforce the humanoid nature of the hand, the three fingers are connected to the palm of the hand at three points forming substantially an arc; the index finger 12 and the ring finger 14 being set back from the middle finger 13. Advantageously, the shaft is implanted in the palm of the hand so that the index finger 12 and the ring finger 14 are substantially at an angle same distance from the axis of rotation of the shaft. Thus, two connecting pieces 22 and 24 strictly identical can be implemented for these two fingers.
    [0012] As shown in Figure 5a, the crimping of the connecting pieces 22 and 24 are housed in two cavities 202 and 204 arranged in the shaft on the main axis of the shaft. An identical connecting piece 23 can also be used for the middle finger 13. For this, the crimping of the connecting piece 23 is housed in a cavity 203 arranged in the shaft at a distance referenced "d" of the axis. main tree. Thus the distance "d" corresponds to the offset of implantation of the fingers in the palm, thus forming the arc mentioned above. Although the housing cavities of the connecting means 23 and 24 are arranged in the shaft at two distances distinct from the axis of rotation of the shaft, the stroke of the cables during a rotation is identical insofar as the radial profiles are identical. The movements of the middle finger and the ring finger are therefore identical. Advantageously, the connecting means may be strictly identical, in particular the length of the connecting cable; their distinct location on the motorized shaft allowing remote implantation distinct from the motorized shaft. Note finally that it is also envisaged to connect all the fingers of the hand to the motor shaft, and in particular the thumb by means of a connecting piece 21 shown in Figure 5b. As mentioned above, the implementation of a connecting piece comprising a flexible cable causing the movement of the finger by winding around a motorized pulley is only one particular example.
    [0013] Other forms of connecting piece are also envisaged, for example a rigid connection driven by means of a first and a second cam of the shaft, by rotation of the shaft in a first direction and in the direction opposite. These various embodiments advantageously exploit the two motor capabilities of a rotary actuator to impart two possible motions to the fingers of an under-actuated hand. For this, these different embodiments have in common the particular features set forth in the main claim below.
    权利要求:
    Claims (12)
    [0001]
    REVENDICATIONS1. Hand intended to equip a humanoid robot, the hand (4) comprising a palm (15) and several fingers (12, 13, 14), each of the fingers (12, 13, 14) being movable relative to the palm (15) between a spring rest position and a compressed position obtained by driving a connecting piece (22, 23, 24) between said finger (12, 13, 14) and the palm (15), by counteracting the spring effect, characterized in that it comprises a motorized shaft (20), connected to the connecting piece (22, 23, 24) of each of the fingers (12, 13, 14), and configured so respectively moving at least one first finger (12) and at least one second finger (13), from the rest position to the compressed position, by rotation of the motor shaft (20) respectively in a first direction of rotation and in an opposite direction.
    [0002]
    A hand according to claim 1, wherein the shaft (20) comprises first and second radial profiles (34a, 34b), respectively on first and second portions of its circumference, configured to drive the connecting piece ( 24) of a finger (14), during a rotation of the shaft (20) respectively in the first direction and the opposite direction of rotation. 20
    [0003]
    3. Hand according to claim 2, wherein one of the fingers (12) is moved by rotation of the shaft (20) only in one of the two directions of rotation.
    [0004]
    4. Hand according to one of claims 2 or 3, whose fingers (11, 25 12, 13, 14) in the rest position represent with the palm (15) an open hand.
    [0005]
    A hand according to claim 4, wherein two of the fingers (11, 12) are implanted in the palm (15) so as to resemble respectively a thumb (11) and an index (12), the index (12) or the thumb (11) being held in the rest position upon a rotation of the shaft in a first direction, and the rotation of the shaft (20) in an opposite direction moves all the fingers (11). , 12, 13, 14) of the hand (4) to a compressed position so as to represent with the palm (15) a closed hand.
    [0006]
    6. Hand according to one of claims 2 to 5, wherein the connecting piece (22) of one of the fingers (12) comprises a cable (122a) connected on the one hand to the finger (12) and other part of the shaft (20) by crimping (122b) housed in a cavity (202) of the shaft (20); the cable (122a) traversing the shaft (20) radially through a conduit (202a) connecting the cavity (202) and an end of one of the radial profiles (32b) so that the rotation of the shaft (20) in one direction of rotation, the cable (122a) is wound on said radial profile (32b), causing the finger (12) to move by pulling the cable (122b).
    [0007]
    A hand according to claim 6, wherein said radial profile (32b) is substantially circular on a circumference portion near a half-circle centered on the axis (X) of rotation of the shaft (20), and on which the cable (122a) of a finger (12) can come to wind; the diameter of the radial profile determining the stroke of the cable (122a) and the amplitude of the movement of the finger (12) between the rest position and the compressed position. 20
    [0008]
    8. Hand according to one of claims 6 or 7, wherein the connecting piece (22) of one of the fingers (12) comprises a crimp (122b) rotatably mounted in the cavity (202) centered on the axis (X) rotation of the shaft (20); the conduit (202a) being configured to allow the cable (122a) to traverse the shaft (20) radially throughout a radial profile (32a), so that the finger (12) is held in the position of rest during a rotation of the shaft (20).
    [0009]
    9. Hand according to one of claims 6 to 8, the shaft (20) has a plurality of first and second radial profiles (32a, 32b, 34a, 34b) arranged successively along the axis (X) of rotation of the shaft (20) for the simultaneous movement of several fingers (12, 14).
    [0010]
    10. Hand according to one of claims 6 to 9, comprising two identical fingers (13, 14) connected to the shaft by two cables of identical lengths and two identical crimps; the shaft (20) comprising two housing cavities (203, 204) arranged in the shaft (20) at two distinct distances (d) from the axis (X) of rotation of the shaft (20), allowing implanting the two fingers (13, 14) in the palm (15) of the hand (4) at two distances distinct from the axis (X) of rotation of the shaft (20).
    [0011]
    11. Hand according to one of claims 2 to 5, wherein the connecting part of one of the fingers is rigid and whose shaft comprises a first and a second cams; the rigid connecting piece being moved respectively by means of the first and second cams by rotation of the shaft respectively in the first direction and in the opposite direction.
    [0012]
    12. A humanoid robot equipped with a hand (4) according to any one of the preceding claims.
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    法律状态:
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    2015-11-13| PLSC| Search report ready|Effective date: 20151113 |
    2016-04-26| PLFP| Fee payment|Year of fee payment: 3 |
    2017-04-27| PLFP| Fee payment|Year of fee payment: 4 |
    2018-05-01| PLFP| Fee payment|Year of fee payment: 5 |
    2019-04-29| PLFP| Fee payment|Year of fee payment: 6 |
    2021-02-12| ST| Notification of lapse|Effective date: 20210105 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1454162A|FR3020775B1|2014-05-07|2014-05-07|ACTUATION OF A HAND INTENDED TO EQUIP A HUMANOID ROBOT|
    FR1454162|2014-05-07|FR1454162A| FR3020775B1|2014-05-07|2014-05-07|ACTUATION OF A HAND INTENDED TO EQUIP A HUMANOID ROBOT|
    CA2948073A| CA2948073C|2014-05-07|2015-05-07|Actuation of a hand to be provided on a humanoid robot|
    DK15723457.6T| DK3140085T3|2014-05-07|2015-05-07|ACTIVATION OF A HAND CALCULATED TO PROVIDE A HUMANOID CHARACTER ROBOT|
    PCT/EP2015/060022| WO2015169886A1|2014-05-07|2015-05-07|Actuation of a hand to be provided on a humanoid robot|
    MX2016013597A| MX2016013597A|2014-05-07|2015-05-07|Actuation of a hand to be provided on a humanoid robot.|
    SG11201608727VA| SG11201608727VA|2014-05-07|2015-05-07|Actuation of a hand to be provided on a humanoid robot|
    US15/304,038| US9821471B2|2014-05-07|2015-05-07|Actuation of a hand to be provided on a humanoid robot|
    JP2016566788A| JP6329647B2|2014-05-07|2015-05-07|Operation of the hand provided on the humanoid robot|
    CN201580024012.0A| CN106488833B|2014-05-07|2015-05-07|It is provided in the actuating of the hand on humanoid robot|
    EP15723457.6A| EP3140085B1|2014-05-07|2015-05-07|Actuation of a hand to be provided on a humanoid robot|
    ES15723457.6T| ES2686199T3|2014-05-07|2015-05-07|Actuation of a hand destined to equip a humanoid robot|
    KR1020167034213A| KR101906700B1|2014-05-07|2015-05-07|Actuation of a hand to be provided on a humanoid robot|
    RU2016147707A| RU2662851C2|2014-05-07|2015-05-07|Actuation of hand mechanism which is intended for humanoid robot equipment|
    AU2015257679A| AU2015257679B2|2014-05-07|2015-05-07|Actuation of a hand to be provided on a humanoid robot|
    NZ725477A| NZ725477A|2014-05-07|2015-05-07|Actuation of a hand to be provided on a humanoid robot|
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