US 12,440,964 B2
Kinetic and dimensional optimization for a tendon-driven gripper
Matei Ciocarlie, Menlo Park, CA (US); and Scott Stanford, Mountain View, CA (US)
Assigned to Willow Garage, LLC, San Francisco, CA (US)
Filed by Willow Garage, LLC, San Francisco, CA (US)
Filed on Jan. 10, 2024, as Appl. No. 18/409,528.
Application 18/409,528 is a continuation of application No. 18/168,351, filed on Feb. 13, 2023, granted, now 11,911,899.
Application 18/168,351 is a continuation of application No. 17/203,364, filed on Mar. 16, 2021, granted, now 11,613,005, issued on Mar. 28, 2023.
Application 17/203,364 is a continuation of application No. 16/800,413, filed on Feb. 25, 2020, granted, now 10,987,801, issued on Apr. 27, 2021.
Application 16/800,413 is a continuation of application No. 16/414,299, filed on May 16, 2019, abandoned.
Application 16/414,299 is a continuation of application No. 16/059,206, filed on Aug. 9, 2018, abandoned.
Application 16/059,206 is a continuation of application No. 15/827,197, filed on Nov. 30, 2017, abandoned.
Application 15/827,197 is a continuation of application No. 15/497,518, filed on Apr. 26, 2017, abandoned.
Application 15/497,518 is a continuation of application No. 15/069,794, filed on Mar. 14, 2016, abandoned.
Application 15/069,794 is a continuation of application No. 14/618,629, filed on Feb. 10, 2015, granted, now 9,314,932, issued on Apr. 19, 2016.
Application 14/618,629 is a continuation of application No. 14/456,450, filed on Aug. 11, 2014, granted, now 8,979,152, issued on Mar. 17, 2015.
Application 14/456,450 is a continuation of application No. 14/050,075, filed on Oct. 9, 2013, granted, now 8,833,827, issued on Sep. 16, 2014.
Claims priority of provisional application 61/711,729, filed on Oct. 9, 2012.
Prior Publication US 2024/0157545 A1, May 16, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/10 (2006.01); B25J 15/08 (2006.01)
CPC B25J 9/1075 (2013.01) [B25J 15/08 (2013.01); Y10S 901/21 (2013.01); Y10S 901/31 (2013.01); Y10S 901/36 (2013.01); Y10S 901/38 (2013.01)] 34 Claims
OG exemplary drawing
 
1. A method of operating a robotic system, comprising:
energizing an electric motor of a motor pack housed by the housing of the motor pack, the motor pack having an actuation piston fitting,
an engagement ring on the housing around the actuation piston fitting, and
a transmission assembly that drivingly couples the electric motor to the piston fitting to cause the actuation piston fitting to alternatively insert and retract; and
detachably coupling at least a first kinematic assembly of a tool-less coupling mechanism to the motor pack; and
driving the tool-less coupling mechanism with the motor pack without any wires or electrical contacts or tools with the engagement ring interfacing with a proximal assembly of the kinematic assembly to provide counter loading of tensile loads passed through the actuation piston fitting.