Robotic finger
A prosthetic finger, comprising: a first axis of movement comprising a moving magnet; a second axis of movement comprising a moving coil, wherein the second axis is generally orthogonal to the first axis; and a third axis of movement comprising a moving magnet, wherein the third axis of movement is generally oriented in the same direction as the first axis of movement.
1. A prosthetic finger, comprising:
a first axis of movement comprising a moving magnet and a shaft;
a second axis of movement comprising a direct drive actuator including a moving coil, wherein the second axis is generally orthogonal to the first axis and wherein the moving coil is attached to the shaft; and
a third axis of movement comprising a moving magnet, wherein the third axis of movement is generally oriented in a same direction as the first axis of movement.
2. The prosthetic finger of claim 1 wherein the first axis of movement further comprises a coil arranged around a coil bobbin and a permanent magnet.
3. The prosthetic finger of claim 1 wherein the first axis of movement further comprises rotary bearings.
4. The prosthetic finger of claim 1 wherein the second axis of movement further comprises an encoder code disk and an encoder read head.
5. The prosthetic finger of claim 1 wherein the first axis of movement further comprises an encoder read head and a rotary encoder code disk attached to a first magnet plate.
6. A prosthetic finger, comprising:
a distal elongate member comprising a distal tip and a proximal tip;
an intermediate elongate member comprising a proximal tip and a distal tip, wherein the proximal tip of the distal elongate member is coupled to the distal tip of the intermediate elongate member;
a proximal elongate member comprising a distal tip, wherein the proximal tip of the intermediate elongate member is coupled to the distal tip of the proximal elongate member; and
a plurality of actuators, wherein the distal elongate member is moved in a first direction by a rotating moving magnet actuator, wherein the intermediate elongate member is moved in the first direction by a rotating moving magnet actuator, and wherein the proximal elongate member is moved in a second direction generally orthogonal to the first direction by a direct drive actuator including a moving coil attached to the proximal elongate member.
7. A prosthetic finger of claim 6 wherein the direct drive actuator includes an encoder code disk and an encoder read head.