US3927424A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Mechanical hand
Assignee: National Institute of Advanced Industrial Science and Technology
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Filing: 1974-01-21
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Granted: 1975-12-23
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Expires: 1994-01-21
Abstract
Abstract A mechanical hand comprises a palm element and at least two finger elements and incorporates a closed link mechanism. The two finger elements are connected at their basal ends, each with a joint, the first one to the palm element and the second one to the forward end of the first finger element, respectively. The closed link mechanism is constructed of the first finger element in combination with a projecting bar which stems at a certain angle from the basal end of the second finger element and constitutes a unitary part in conjunction with the second finger element. Driving this closed link mechanism by an actuator sets the finger elements to movement. When any portion of the finger elements comes into contact with an obstacle standing in its way, the closed link mechanism begins to change its form. In consequence of this change of form, the first finger element and/or the second finger element begins to turn round the joint as a pivot and continues, while adapting the form of the mechanical hand to the immediate environment, to converge in the direction of gradually conforming to the exterior contour of an object desired to be gripped and eventually gripping the object.
Inventors
- 👤 Hideyo Itoh
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-31 12:52
CPC Classifications
A; A61; A61F; A61F2/00; A61F2/50; A61F2/54; A61F2/58; A61F2/583; B; B25; B25J; B25J15/00; B25J15/02; B25J15/0206; B25J15/022
Claims Analysis
Total Claims: 8
Claim 1
Independent Claim
193 words
A mechanical hand comprising: a first free rotation joint; a second free rotation joint; a third free rotation joint; a fourth free rotation joint; a fifth free rotation joint; a sixth free rotation joint; a seventh free rotation joint; a first rod; a second rod; a third rod; a projecting rod; a projecting bar; a first finger element; a second finger element; a fiRst stationary surface; a second stationary surface; said second finger element and said projecting bar being rigidly joined at a predetermined angle; said first joint joining said first finger element to said first stationary surface; said second joint joining said first finger element to the junction of said second finger element and said projecting bar; said third joint joining said first rod and said projecting bar; said fourth joint joining said second rod, said first rod and said projecting rod; said fifth joint joining said first finger element and said projecting rod; said sixth joint joining said second rod to said third rod; said seventh joint joining said third rod to said second stationary surface; whereby an object may be gripped upon the application of pressure to said third rod.
Claim 2
Dependent Claim
193 words
A mechanical hand comprising: a first free rotation joint; a second free rotation joint; a third free rotation joint; a fourth free rotation joint; a fifth free rotation joint; a sixth free rotation joint; a seventh free rotation joint; a first rod; a second rod; a third rod; a projecting rod; a projecting bar; a first finger element; a second finger element; a fiRst stationary surface; a second stationary surface; said second finger element and said projecting bar being rigidly joined at a predetermined angle; said first joint joining said first finger element to said first stationary surface; said second joint joining said first finger element to the junction of said second finger element and said projecting bar; said third joint joining said first rod and said projecting bar; said fourth joint joining said second rod, said first rod and said projecting rod; said fifth joint joining said first finger element and said projecting rod; said sixth joint joining said second rod to said third rod; said seventh joint joining said third rod to said second stationary surface; whereby an object may be gripped upon the application of pressure to said third rod.
Claim 3
Dependent Claim
21 words
A mechanical hand in accordance with claim 1 wherein two mechanical hands are symmetrically disposed and joined at said seventh joint.
Claim 4
Dependent Claim
37 words
A mechanical hand in accordance with claim 1, wherein said first and said fifth joints comprise a single joint joining said first finger element and said projecting rod and connecting the same to said first stationary surface.
Claim 5
Dependent Claim
21 words
A mechanical hand in accordance with claim 3 wherein two mechanical hands are symmetrically disposed and joined at said seventh joint.
Claim 6
Dependent Claim
295 words
A mechanical hand comprising: a first free rotation joint; a second free rotation joint; a third free rotation joint; a fourth free rotation joint; a fifth free rotation joint; a sixth free rotation joint; a seventh free rotation joint; an eighth free rotation joint; a ninth free rotation joint; a tenth free rotation joint; a first rod; a second rod; a third rod; a fourth rod; a projecting rod; a first projecting bar; a second projecting bar; a first finger element; a second finger element; a third finger element; a first stationary surface; a second stationary surface; said second finger element and said first projecting bar being rigidly joined at a predetermined angle; said third finger element and said second projecting bar being rigidly joined at a predetermined angle; said first joint joining said first finger element rotatively to said first stationary surface; said second joint joining said first finger element and the junction of said first projecting bar and second finger element; said third joint joining said first rod and said first projecting bar; said fourth joint joining said second rod, said first rod and said projecting rod; said fifth joint joining said projecting rod and said first finger element; said sixth joint joining said second rod and said third rod; said seventh joint joining said third rod and said second stationary surface; said eighth joint joining said second finger element and the junction of said third finger element and said second projecting bar; said ninth joint joining said fourth rod and said second projecting bar; said tenth joint joining said fourth rod to said first finger element at a point intermediate the ends of said first finger element; whereby an object may be gripped upon the application of pressure to said third rod.
Claim 7
Dependent Claim
295 words
A mechanical hand comprising: a first free rotation joint; a second free rotation joint; a third free rotation joint; a fourth free rotation joint; a fifth free rotation joint; a sixth free rotation joint; a seventh free rotation joint; an eighth free rotation joint; a ninth free rotation joint; a tenth free rotation joint; a first rod; a second rod; a third rod; a fourth rod; a projecting rod; a first projecting bar; a second projecting bar; a first finger element; a second finger element; a third finger element; a first stationary surface; a second stationary surface; said second finger element and said first projecting bar being rigidly joined at a predetermined angle; said third finger element and said second projecting bar being rigidly joined at a predetermined angle; said first joint joining said first finger element rotatively to said first stationary surface; said second joint joining said first finger element and the junction of said first projecting bar and second finger element; said third joint joining said first rod and said first projecting bar; said fourth joint joining said second rod, said first rod and said projecting rod; said fifth joint joining said projecting rod and said first finger element; said sixth joint joining said second rod and said third rod; said seventh joint joining said third rod and said second stationary surface; said eighth joint joining said second finger element and the junction of said third finger element and said second projecting bar; said ninth joint joining said fourth rod and said second projecting bar; said tenth joint joining said fourth rod to said first finger element at a point intermediate the ends of said first finger element; whereby an object may be gripped upon the application of pressure to said third rod.
Claim 8
Dependent Claim
21 words
A mechanical hand in accordance with claim 5 wherein two mechanical hands are symmetrically disposed and joined at said seventh joint.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1978-12-22 | 1979-06-23 | 1979-12-23 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1982-12-22 | 1983-06-23 | 1983-12-23 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1986-12-22 | 1987-06-23 | 1987-12-23 | $7700.00 | Window Closed / Lapsed |