S-bar mechanism for finger joints
Provided are mechanisms that mechanically couple finger joint motion in robots.
1. A robotic finger comprising:
a distal phalange;
an intermediate phalange including a cam; and
a distal interphalangeal joint formed between the distal phalange and the intermediate phalange, the distal interphalangeal joint comprising an s-bar having a first end coupled to the distal phalange and a second end coupled to the intermediate phalange, the s-bar including a curved bar section with a curved surface slidably engaged with the cam.
2. The robotic finger of claim 1 , wherein the intermediate phalange is coupled to a proximal interphalangeal joint.
3. The robotic finger of claim 2 , wherein the s-bar and the cam are configured such that rotation of one of the distal and proximal interphalangeal joints causes a different amount of rotation of the other of the distal and proximal interphalangeal joints.
4. The robotic finger of claim 3 , wherein an amount of rotation of the distal interphalangeal joint is smaller than an amount of rotation of the proximal interphalangeal joint.
5. The robotic finger of claim 2 , wherein the s-bar and the cam are configured such that the distal interphalangeal joint tracks the proximal interphalangeal joint in rotation through a first range of rotation and stops tracking the proximal joint when a maximum rotation is reached.
6. The robotic finger of claim 1 , wherein the s-bar is made of a flexible material.
7. The robotic finger of claim 1 , wherein the s-bar is made of a rubber material.
8. A robotic hand comprising:
a wrist; and
at least one finger coupled to the wrist, the at least one finger comprising:
a distal phalange;
an intermediate phalange including a cam; and
a distal interphalangeal joint formed between the distal phalange and the intermediate phalange, the distal interphalangeal joint comprising an s-bar having a first end coupled to the distal phalange and a second end coupled to the intermediate phalange, the s-bar including a curved bar section with a curved surface slidably engaged with the cam.
9. The robotic hand of claim 8 , wherein the intermediate phalange is coupled to a proximal interphalangeal joint.
10. The robotic hand of claim 9 , wherein the s-bar and the cam are configured such that rotation of one of the distal and proximal interphalangeal joints causes a different amount of rotation of the other of the distal and proximal interphalangeal joints.
11. The robotic hand of claim 10 , wherein an amount of rotation of the distal interphalangeal joint is smaller than an amount of rotation of the proximal interphalangeal joint.
12. The robotic hand of claim 9 , wherein the s-bar and the cam are configured such that the distal interphalangeal joint tracks the proximal interphalangeal joint in rotation through a first range of rotation and stops tracking the proximal joint when a maximum rotation is reached.
13. The robotic hand of claim 8 , wherein the s-bar is made of a flexible material.
14. The robotic hand of claim 8 , wherein the s-bar is made of a rubber material.