Preshaping for underactuated fingers
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United States of America Patent
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Mar 13, 2018
Issued Date -
N/A
app pub date -
Feb 22, 2016
filing date -
Feb 22, 2016
priority date (Note) -
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Abstract
A robotic gripping device with a preshaper is provided. The robotic gripping device includes two opposable fingers, each finger having a deformable gripping surface, a base, and a fingertip. The robotic gripping device also includes an actuator coupled to the base of each of the fingers, wherein the actuator is configured to move the fingers toward and away from each other. The robotic gripping device also includes a preshaper component positionable between the fingers, wherein when the fingers are moved toward each other by the actuator and the deformable gripping surface of each finger contacts the preshaper component, the deformable gripping surface of each finger is deformed by the preshaper component such that the fingertips of each finger are curled inward toward each other.
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