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The SingletonHand™ Design Features
(U.S. Patent Number 6,817,641)

A single stepper motor is used because of its variable speed and variable torque. The motor is mounted to the main shaft, which has two sprocket gears rotating in the same direction.

Around the main shaft, there are nine secondary shafts. Each secondary shaft has two rod-through clutch/brake solenoids, which have sprocket gears attached to them rotating in opposite directions.

 
Only one solenoid can be energized at a time. The clockwise solenoid moves a finger joint to a closed position when energized, while the counterclockwise solenoid moves a finger joint to an open position when energized. 

The back end of the secondary shafts has a 10K potentiometer, which is read through a 12 bit A/D converter for positioning.

The front end of the nine secondary shafts is mounted to flex cables, which in turn are mounted to Lead screws that move the finger joints open or closed.
ROBOTIC ARM AND HAND
The SingletonHand™ features detailed, jointed fingers and thumb. This unique, efficient design provides fine motor control capabilities which mimic precise human hand and finger movements. A prototype has been developed that utilizes a compact design with a single stepper motor and rod through clutch/brake assembly. Through the use of a specially designed sensor glove, the SingletonHand™ is able to closely repeat and play back most hand motions that are performed by the human hand.
NEWS:

The SingletonHand™ is now available for sale. Inquiries regarding availability, pricing and purchasing the SingletonHand™ can be made by contacting the inventor, Larry Singleton.
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