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US Patent 8231158 Robust compliant adaptive grasper and method of manufacturing same

Patent 8231158 was granted and assigned to President and Fellows of Harvard College on July, 2012 by the United States Patent and Trademark Office.

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Patent abstract

A multi-fingered underactuated mechanical grasping system driven by a single actuator, yet can grasp objects spanning a wide range of size, shape, and mass. A member for moving a link relative to a base acts in parallel to a direction of compliance of a joint between the link and the base. The joint has a plurality of degrees of freedom. The number of members for moving links in the grasping system is less than the number of degrees of freedom in the grasping system.

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