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US08504205B2 Robotic grasping device with multi-force sensing at base of fingers 有权
手指底部采用多力感应机器人抓握装置

Robotic grasping device with multi-force sensing at base of fingers
Abstract:
A robotic grasping device (10) has a first finger (20), a second finger (30) and an actuator (40). The first finger has a first fingertip (22), a first base (24) and a first actuator engagement end (26). A first gripping surface (21) of the first finger lies between the first fingertip and the first base. Similarly, the second finger has a second fingertip (32), a second base (34), a second actuator engagement end (36). A second gripping surface (31) of the second finger is between the second fingertip and the second base. The actuator (40) mechanically engages with the first actuator engagement end and the second actuator engagement end to open and close the fingers. A first force sensor (28) is disposed on the base of the first finger to measure a first operative force on the first finger, and a second force sensor (38) is disposed on the base of the second finger to measure a second operative force on the second finger.
Abstract(Chinese):

机器人抓握装置（10）具有第一手指（20），第二手指（30）和致动器（40）。 第一指状物具有第一指尖（22），第一基座（24）和第一致动器接合端（26）。 第一手指的第一抓握表面（21）位于第一指尖和第一基座之间。 类似地，第二手指具有第二指尖（32），第二基座（34），第二致动器接合端（36）。 第二手指的第二抓握表面（31）在第二指尖和第二基座之间。 致动器（40）与第一致动器接合端和第二致动器接合端机械接合以打开和关闭手指。 第一力传感器（28）设置在第一手指的基部上以测量第一手指上的第一操作力，并且第二力传感器（38）设置在第二手指的基部上以测量第二操作力 在第二根手指上。

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