US 7,341,295 B1
Prehensor device and improvements of same
Bradley Delton Veatch, Westminster, Colo. (US); and Joseph David Scott, Centennial, Colo. (US)
Assigned to ADA Technologies, Inc., Littleton, Colo. (US)
Filed on Jan. 14, 2005, as Appl. No. 11/36,084.
Claims priority of provisional application 60/536667, filed on Jan. 14, 2004.
Int. Cl. B25J 15/08 (2006.01); A61F 2/54 (2006.01)
U.S. Cl. 294—106  [294/111; 623/64] 21 Claims
OG exemplary drawing
 
1. A prehensor device used for engaging an object, the prehensor device operated by a source of tensile force, the prehensor device comprising:
(a) a base member;
(b) at least one longitudinal member engaging said base member;
(c) at least first and second digits, said first and second digits engaging said longitudinal member;
(d) a rotatable biasing member engaging at least one of (i) said first digit and (ii) said longitudinal member, wherein said biasing member comprises a bushing; and
(e) a tendon interconnected to the source of tensile force and said biasing member, wherein said tendon is interconnected to said bushing;
wherein, to provide a first mechanical advantage, at least a first tension is applied using the source of tensile force to rotate said biasing member and said first digit whereby the object is sized between said first and second digits, wherein, to provide a second mechanical advantage, at least a second tension is applied using the source of tensile force to compress said biasing member, whereby a grip pressure is applied to the object, and wherein the first tension is less than the second tension.