公开(公告)号：US11926061B2

公开(公告)日：2024-03-12

申请号：US17606773

申请日：2020-04-29

Applicant: UNIVERSITA' DI PISA

Inventor： Manolo Garabini ,  Danilo Caporale ,  Alessandro Settimi ,  Lucia Pallottino ,  Manuel Giuseppe Catalano ,  Giorgio Grioli ,  Vinicio Tincani ,  Antonio Bicchi

IPC: B25J13/08 ,  B25J5/00 ,  B25J9/00 ,  B25J9/16 ,  B25J15/00 ,  B65G47/90 ,  B65G61/00

CPC classification number: B25J9/1682 ,  B25J5/007 ,  B25J9/0087 ,  B25J9/0093 ,  B25J13/08 ,  B25J13/085 ,  B25J15/0009 ,  B25J15/0014 ,  B65G47/907 ,  B65G61/00

Abstract: Logistic device, for handling a package being collected that defines a contact surface with items not being collected, including a first robotic arm including adaptive gripper having at least three degrees of freedom to modify adaptive gripper position and spatial orientation; a second robotic arm including an end effector defining a resting surface and three degrees of freedom to modify end effector position and spatial orientation; control unit to command the first robotic arm to contact the adaptive gripper and package, to deform the adaptive gripper according to adhesion surface between the package and move the package from a storage position wherein the contact surface contacts the items and a collection position wherein the contact surface does not contact the items; the second robotic arm bringing the end effector resting surface into contact with the contact surface; and then the second robotic arm to move the package.

公开(公告)号：US10912661B2

公开(公告)日：2021-02-09

申请号：US16302227

申请日：2017-05-09

Applicant: UNIVERSITA' DI PISA ,  FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA

Inventor： Antonio Biicchi ,  Manuel Giuseppe Catalano ,  Giorgio Grioli ,  Manolo Garabini ,  Cristina Piazza ,  Cosimo Della Santina

IPC: A61F2/58 ,  A61F2/68 ,  B25J15/10 ,  B25J15/00 ,  A61F2/72 ,  A61F2/50 ,  A61F2/74

Abstract: An artificial hand is provided. The artificial includes phalanges suitable to reproduce at least one finger, hinges hinging a first element identifying a phalanx to a second element identifying a second phalanx, and an implementation mechanism suitable to command a reciprocal rotation between the hinges defining a mutual rotation speed between the first and second element. The hinges define different damping coefficients so that, during a mutual rotation of the first and second element, they are subject to distinct damping forces opposing mutual rotation and proportional to the mutual rotation speed so as to vary the movement of the artificial hand as a function of the mutual rotation speed.