Knot-tying device and method
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United States of America Patent
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Nov 5, 2013
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N/A
app pub date -
Jul 26, 2012
filing date -
Dec 6, 2011
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Abstract
A multi-actuator robotic device for performing knot-tying is provided herein. The device performs an automatic knot-tying to mimic human hand making a clove hitch knot using a sequence of coordinated string delivery and capturing actions and is particularly useful in the field of hop twining. In one example, the device uses four pneumatic actuators to perform nine coordinated knot-tying actions.
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