A prosthetic hand based on a dual-output winding rope actuator

Abstract

The present invention provides a prosthetic hand based on a dual-output winding rope driver, comprising an arm, a palm, a thumb, an index finger, a middle finger, a ring finger, and a little finger connected to the palm, and the prosthetic hand also comprises a dual-output winding rope assembly for driving the thumb, the index finger, the middle finger, the ring finger, and the little finger to move. The present invention has a compact structure, a small volume, and a light weight, and is convenient for realizing the miniaturization design of a dexterous hand or a prosthetic hand; since the driver adopts a single-motor dual-output driving mode, the control difficulty is greatly reduced, and the development and production costs of the control system can be reduced; by adjusting the number of pre-winding turns of the dual-output rope, the stiffness of the finger can be adjusted, thereby reducing the damage to the finger parts under the external impact load to a minimum; at the same time, the damage caused to the object by the prosthetic hand when grasping the object can also be reduced; since the restoring movement of the finger does not require the auxiliary effect of the spring, the maximum fingertip force of the finger can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a prosthetic hand based on a dual-output winding rope driver. Background Art

[0002] In recent years, with the rapid development of the economy, robots have also developed rapidly and are widely used in various fields. The manipulator is the final actuator of the robot's work, and its performance directly determines the robot's working ability. Similar to humans, the development of a manipulator with high versatility and dexterity is very necessary.

[0003] At present, in the design of robot dexterous hands and medical prosthetic hands, the finger drive schemes can be roughly divided into the following categories:

[0004] 1. A rigid drive solution formed by the combination of motor, reducer and gear;

[0005] 2. The gas or liquid drive solution formed by the pneumatic cylinder or hydraulic cylinder and the matching energy supply device;

[0006] 3. A tendon-like flexible drive solution that uses shape memory alloys, shape memory polymers as drivers, a motor, a reducer, and a traction rope as a driver, and a pneumatic tendon and a matching air source system as a driver.

[0007] However, for the first type of driving scheme, although the finger can be rotated in two directions around the joint by rotating the motor in the forward and reverse directions, the entire finger exhibits rigid characteristics in any state due to the influence of the driving and power transmission system's own characteristics, which causes damage to the finger transmission components when a large external impact load acts on the finger.

[0008] For air- and liquid-driven solutions, the placement of the air pressure source or hydraulic pressure source is still a key constraint limiting their application in robotic dexterous hands, especially in the field of medical prosthetic hands.

[0009] For the tendon-like flexible drive scheme, there are currently two main methods used to achieve bidirectional movement of fingers around joints. The first is to use an antagonistic arrangement of two drivers, but the increase in the number of drivers makes it difficult to reduce the overall mass and volume, and increases the control difficulty, making the control system more complicated. The second is to use a single tendon-like driver combined with a reset spring. The tendon-like driver realizes the inward bending movement of the finger, while the reverse reset movement of the finger is realized by the reset spring. However, due to the existence of the reset spring, part of the output force of the driver will be used to overcome the reverse tension of the spring, resulting in a reduction in the effective force of the driver, which further leads to a reduction in the fingertip force. Summary of the invention

[0010] In view of the deficiencies in the prior art, the present invention provides a prosthetic hand based on a dual-output winding rope driver. The prosthetic hand of the present invention can improve the effective output force of the fingertips under the same conditions and maximize the fingertip force. In addition, since the stiffness coefficient of the winding rope itself adopted in the present invention is limited and the stiffness of the rope can be changed by adjusting the number of pre-wrap turns, the elasticity of the winding rope can play a certain buffering role when subjected to impact loads, thereby achieving a certain degree of protection for the fingers.

[0011] The technical solution of the present invention is: a prosthetic hand based on a dual-output winding rope driver, comprising an arm, a palm, a thumb, an index finger, a middle finger, a ring finger, and a little finger connected to the palm, and the prosthetic hand also includes a dual-output winding rope component for driving the thumb, index finger, middle finger, ring finger, and little finger to move.

[0012] Preferably, the arm includes an arm shell and an arm connecting seat, the arm connecting seat is arranged at one end of the arm shell, and the arm shell has a chamber for installing a dual-output winding rope assembly.

[0013] Preferably, the dual-output winding rope assembly includes multiple winding rope drivers and multiple pairs of output winding ropes, an output end rope seat, and a dual output rope connecting seat. The multiple winding rope drivers are all arranged in the chamber of the arm shell, and the output end rope seat and the dual output rope connecting seat are installed on the inner wall of the arm shell. One ends of the multiple pairs of output winding ropes are respectively connected to the corresponding winding rope drivers, and then respectively pass through the output end rope seat and the dual output rope connecting seat to be connected to the thumb, index finger, middle finger, ring finger, and little finger.

[0014] Preferably, a pair of output winding ropes at both ends of the winding rope driver are pre-wound with a corresponding number of turns, and the winding directions of the two output winding ropes are opposite. When the winding rope driver is in operation, the length of the output winding rope at one output end of the winding rope driver is shortened due to the continuous increase in the number of winding turns, while the length of the output winding rope at the other output end is increased due to the continuous decrease in the number of winding turns.

[0015] Preferably, the plurality of rope winding drivers include a thumb rope winding driver, an index finger rope winding driver, a middle finger rope winding driver, and a ring finger rope winding driver;

[0016] The plurality of pairs of output winding ropes include a thumb double drive rope, an index finger double drive rope, a middle finger double drive rope, and a ring finger double drive rope.

[0017] Preferably, the thumb winding rope driver and the thumb double drive rope are used to drive the thumb movement, the index finger winding rope driver and the index finger double drive rope are used to drive the index finger movement, the middle finger winding rope driver and the middle finger double drive rope are used to drive the middle finger movement, and the ring finger winding rope driver and the ring finger double drive rope are used to drive the ring finger and little finger movement.

[0018] Preferably, the thumb includes a first thumb joint, a second thumb joint, a thumb drive motor, a thumb motor seat, and a thumb main shaft. The thumb motor seat is arranged on the palm, the thumb drive motor is arranged in the thumb motor seat, and a worm is arranged on the motor shaft output end of the thumb drive motor.

[0019] The thumb main shaft is arranged on the palm through thumb bearing a and thumb bearing b, and a thumb swing arm and a turbine are arranged on the thumb main shaft, the second knuckle of the thumb is rotatably arranged on the thumb swing arm through a thumb connecting shaft, and the turbine is meshed with the worm;

[0020] The first knuckle of the thumb is arranged on the second knuckle of the thumb through a thumb connecting shaft, and a thumb connecting rod is also arranged on the first knuckle of the thumb, the thumb and the thumb swing arm, and the first knuckle of the thumb is also connected to a thumb double driving rope.

[0021] Preferably, a thumb rope seat is also provided on the second knuckle of the thumb, and a corresponding through hole is provided on the thumb rope seat, the through hole is connected with the thumb rope conduit, the other end of the thumb rope conduit is connected with the output end rope seat, a thumb output winding rope is provided in the thumb rope conduit, one end of the thumb double drive rope passes through the thumb rope seat and is connected to the first knuckle of the thumb, and the other end of the thumb double drive rope is connected to the thumb winding rope driver.

[0022] Preferably, the thumb bearing a and thumb bearing b are arranged on the palm through thumb bearing seat a and thumb bearing seat b.

[0023] Preferably, E-type retaining springs are provided on both ends of the thumb connecting shaft, and the E-type retaining springs are used to prevent the thumb connecting shaft from loosening.

[0024] Preferably, the index finger includes a first knuckle of the index finger, a second knuckle of the index finger, an index finger base, and an index finger connecting rod. The index finger base is installed on the palm, the second knuckle of the index finger is rotatably arranged on the index finger base via an index finger rotating shaft, the first knuckle of the index finger is connected to the second knuckle of the index finger via the index finger rotating shaft, an index finger connecting rod is also arranged between the first knuckle of the index finger and the index finger base, and the second knuckle of the index finger is also connected to the index finger double drive rope.

[0025] Preferably, the index finger base is also provided with an index finger tube seat and two index finger drive rope tubes, the index finger tube seat is installed on the index finger base by screws, one end of the two index finger drive rope tubes is installed in the through hole of the index finger tube seat, and the other end of the two index finger drive rope tubes is installed in the two circular holes of the output end rope seat, the index finger double drive rope is arranged in the two index finger drive rope tubes, and the index finger double drive rope passes through the through holes on the index finger tube seat and is respectively connected to the second knuckles of the index fingers, and the other end of the index finger double drive rope is connected to the index finger winding rope driver.

[0026] Preferably, the structures of the middle finger, ring finger and little finger are similar to that of the index finger.

[0027] The beneficial effects of the present invention are:

[0028] 1. The present invention adopts a brand-new dual-output winding rope driver as the driving source. The driver has a compact structure, small volume, and light weight, which is convenient for realizing the miniaturization design of a dexterous hand or a prosthetic hand;

[0029] 2. Since the driver of the present invention adopts a single-motor dual-output driving mode, the difficulty of control can be greatly reduced, and the development and production costs of the control system can be reduced;

[0030] 3. The present invention can adjust the stiffness of the finger by adjusting the number of pre-wound turns of the dual-output rope, thereby reducing the damage to the finger parts under the external impact load to a minimum; at the same time, it can also reduce the damage caused to the object by the prosthetic hand when grasping the object;

[0031] 4. Since the finger's restoring motion does not require the auxiliary action of a spring, the fingertip force of the finger can be improved under the same conditions compared with the use of a spring as a reverse reset driving device;

[0032] 5. The present invention reduces the number of actuators required to realize basic daily life operation functions to the greatest extent through innovative structural design, thereby reducing the production cost of the prosthetic hand;

[0033] 6. The present invention introduces a "guide tube" into the design of the prosthetic hand, which not only solves the problem that the traditional winding rope driver can only realize movement and force transmission in a straight line direction, so that the transmission route can be arranged according to the requirements of the application scenario, but also the "guide tube" can protect the rope and prevent damage caused by friction with the outside world or contact with sharp objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1Schematic diagram of the structure of the present invention, wherein A and B are schematic diagrams of the structure of the prosthetic hand of the present invention from different sides;

[0035] Figure 2 It is a structural schematic diagram of the arm of the present invention;

[0036] Figure 3 It is a structural schematic diagram of the thumb of the present invention;

[0037] Figure 4 A is a cross-sectional schematic diagram of the thumb of the present invention;

[0038] Figure 5 FIG. B is a cross-sectional schematic diagram of the thumb of the present invention;

[0039] Figure 6 FIG. C is a cross-sectional schematic diagram of the thumb of the present invention;

[0040] Figure 7 It is a structural schematic diagram of the index finger of the present invention;

[0041] Figure 8 Schematic diagram of the cross-sectional structure of the index finger of the present invention, wherein A and B are structural diagrams from different sides;

[0042] Fig. 9 It is a schematic diagram of the structure of the ring finger and little finger driving rope of the present invention.

[0043] In the picture, 1- thumb, 2- index finger, 3- middle finger, 4- ring finger, 5- little finger, 6- palm, 7- arm,

[0044] 1-1-thumb bearing a, 1-2-worm gear, 1-3-thumb rope shaft, 1-4-thumb swing arm, 1-5-thumb first knuckle, 1-6-thumb connecting shaft a, 1-7-thumb connecting rod, 1-8-thumb traction rope a, 1-9-thumb second knuckle, 1-10-thumb traction rope b, 1-11-thumb guide tube b, 1-12-thumb rope seat, 1-13-thumb motor seat, 1-14-thumb drive motor, 1-15-thumb bearing seat a, 1-16-thumb main shaft, 1-17-thumb connecting shaft b, 1-18-thumb bearing b, 1-19-thumb guide tube a, 1-20-thumb bearing seat b, 1-22-thumb connecting shaft c, 1-23-worm.

[0045] 2-1- first knuckle of index finger, 2-2- index finger rotating shaft a, 2-3- second knuckle of index finger, 2-4- connecting rod of index finger, 2-5- rotating shaft b of index finger, 2-6- base of index finger, 2-7- traction rope of index finger a, 2-8- traction rope of index finger b, 2-9- tube seat of index finger, 2-10- driving rope guide tube of index finger a, 2-11- driving rope guide tube of index finger b, 2-12- rotating shaft of index finger c, 2-13- rotating shaft of index finger d, 2-14- E-shaped retaining spring.

[0046] 71-arm housing, 72-arm connecting seat, 73-winding rope driver, 74-output end rope seat, 75-dual output rope connecting seat; DETAILED DESCRIPTION

[0047] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings:

[0048] This embodiment provides a prosthetic hand based on a dual-output winding rope driver, such as Figure 1 As shown in A and B, the prosthetic hand of this embodiment includes an arm 7, a palm 6, a thumb 1, an index finger 2, a middle finger 3, a ring finger 4, and a little finger 5 connected to the palm 6, and the prosthetic hand also includes a dual-output winding rope assembly for driving the thumb 1, the index finger 2, the middle finger 3, the ring finger 4, and the little finger 5 to move.

[0049] Preferably, Figure 2 As shown, the arm 7 includes an arm shell 71 and an arm connecting seat 72. The arm connecting seat 72 is arranged at one end of the arm shell 71, and the arm shell 71 has a chamber for installing a dual-output winding rope assembly.

[0050] Preferably, the dual-output winding rope assembly includes multiple winding rope drivers 73 and multiple pairs of output winding ropes, an output end rope seat 74, and a dual output rope connecting seat 75. The multiple winding rope drivers 73 are all arranged in the chamber of the arm shell 71, and the output end rope seat 74 and the dual output rope connecting seat 75 are installed on the inner wall of the arm shell 71. One ends of the multiple pairs of output winding ropes are respectively connected to the corresponding winding rope drivers 73, and then respectively pass through the output end rope seat 74 and the dual output rope connecting seat 75 to be connected to the thumb 1, index finger 2, middle finger 3, ring finger 4, and little finger 5.

[0051] Preferably, a pair of output winding ropes at both ends of the winding rope driver 73 are pre-wound with a corresponding number of turns, and the winding directions of the two output winding ropes are opposite. When the winding rope driver 73 is in operation, the length of the output winding rope at one output end of the winding rope driver 73 is shortened due to the continuous increase in the number of winding turns, while the length of the output winding rope at the other output end is increased due to the continuous decrease in the number of winding turns.

[0052] Preferably, the plurality of winding rope drivers 73 include a thumb winding rope driver, an index finger winding rope driver, a middle finger winding rope driver, and a ring finger winding rope driver; the plurality of pairs of output winding ropes include a thumb double drive rope, an index finger double drive rope, a middle finger double drive rope, and a ring finger double drive rope.

[0053] Preferably, the thumb winding rope driver and the thumb double drive rope are used to drive the thumb 1 to move, the index finger winding rope driver and the index finger double drive rope are used to drive the index finger 2 to move, the middle finger winding rope driver and the middle finger double drive rope are used to drive the middle finger 3 to move, and the ring finger winding rope driver and the ring finger double drive rope are used to drive the ring finger 4 and the little finger 5 to move.

[0054] Preferably, Figure 3-6 As shown, the thumb 1 includes a first thumb joint 1-5, a second thumb joint 1-9, a thumb drive motor 1-14, a thumb motor seat 1-13, and a thumb main shaft 1-16. The thumb motor seat 1-13 is set on the palm 6 by screws, and the thumb drive motor 1-14 is set in the thumb motor seat 1-13, and a worm 1-23 is set on the motor shaft output end of the thumb drive motor 1-14.

[0055] The thumb bearing seat a1-15 and the thumb bearing seat b1-20 are fixedly installed on the palm 6 by screws. The thumb bearing seat a1-15 and the thumb bearing seat b1-20 are respectively provided with thumb bearing a1-1 and thumb bearing b1-18. The thumb main rotating shaft 1-16 is provided on the palm 6 through the thumb bearing a1-1 and the thumb bearing b1-18, and the thumb main rotating shaft 1-16 is provided with a thumb swing arm 1-4 and a turbine 1-2. The second phalanx 1-9 of the thumb is rotatably provided on the thumb swing arm 1-4 through the thumb connecting shaft b1-17, and the turbine 1-2 is engaged with the worm gear 1-23. In order to prevent the rotating shaft from loosening, E-shaped retaining springs are respectively installed at both ends of the thumb connecting shaft b1-17.

[0056] A thumb rope seat 1-12 is provided on the second knuckle 1-9 of the thumb, and a corresponding through hole is provided on the thumb rope seat 1-12. A thumb guide tube b1-11 is installed on the through hole of the thumb rope seat 1-12, and the other end of the thumb guide tube b1-11 is respectively installed on the output end rope seat 74. The thumb traction rope b1-10 in the thumb guide tube b1-11 passes through the through hole on the thumb rope seat 1-12 and is connected to the first knuckle 1-5 of the thumb.

[0057] The first knuckle 1-5 of the thumb is arranged on the second knuckle 1-9 of the thumb through the thumb connecting shaft a1-6 and the thumb connecting shaft c1-22, and a thumb connecting rod 1-7 is also arranged on the first knuckle 1-5 of the thumb and the thumb swing arm 1-4, and a thumb guide tube a1-19 is also arranged on the thumb connecting rod 1-7, and a thumb traction rope a1-8 is arranged in the thumb guide tube a1-19, and the thumb traction rope a1-8 in the thumb guide tube a1-19 passes through the through hole in the thumb connecting rod 1-7 and is connected to the first knuckle 1-5 of the thumb.

[0058] Preferably, Figure 7-8 As shown, the index finger 2 includes a first index finger joint 2-1, a second index finger joint 2-3, an index finger base 2-6, and an index finger connecting rod 2-4. The index finger base 2-6 is mounted on the palm 6 by screws.

[0059] The second joint 2-3 of the index finger is rotatably arranged on the index finger base 2-6 through the index finger shaft c2-12, the first joint 2-1 of the index finger is connected to the second joint 2-3 of the index finger through the index finger shaft a2-2, and an index finger connecting rod 2-4 is also arranged between the first joint 2-1 of the index finger and the index finger base 2-6. In this embodiment, the first joint 2-1 of the index finger is connected to the index finger connecting rod 2-4 through the index finger shaft d2-13, and the index finger connecting rod 2-4 is connected to the index finger base 2-6 through the index finger shaft b2-5. In order to prevent the rotating shaft from loosening, E-shaped retaining springs 2-14 are respectively installed at both ends of the rotating shaft; the index finger base 2-6 is also provided with an index finger guide tube seat 2-9, an index finger drive rope guide tube a2-10 and an index finger drive rope guide tube b2-11, the index finger guide tube seat 2-9 is installed on the index finger base 2-6 by screws, and one end of the index finger drive rope guide tube a2-10 and the index finger drive rope guide tube b2-11 are installed in the through hole of the index finger guide tube seat 2-9, and the index finger drive rope guide tube a2-10 and the index finger drive rope guide tube b2-11 are installed in the through hole of the index finger guide tube seat 2-9. The other end of b2-11 is installed in the two circular holes of the output end rope seat 74, and the index finger driving rope guide tube a2-10 and the index finger driving rope guide tube b2-11 are installed with the index finger traction rope a2-7 and the index finger traction rope b2-8, and the index finger traction rope a2-7 and the index finger traction rope b2-8 pass through the through holes on the index finger guide tube seat 2-9 and are respectively connected to the second knuckle 2-3 of the index finger, and the other ends of the index finger traction rope a2-7 and the index finger traction rope b2-8 are connected to the index finger winding rope driver.

[0060] When the length of the index finger traction rope a2-7 led out by the index finger driving rope guide tube a2-10 is shortened, the length of the index finger traction rope b2-8 led out by the index finger driving rope guide tube b2-11 is increased. At this time, the finger realizes an inward bending movement. When the length of the index finger traction rope a2-7 led out by the index finger driving rope guide tube a2-10 is increased, the length of the index finger traction rope b2-8 led out by the index finger driving rope guide tube b2-11 is shortened. At this time, the finger realizes a return movement.

[0061] In this embodiment, the structures of the middle finger 3, the ring finger 4, and the little finger 5 are similar to those of the index finger 2. This embodiment will not be described in detail. In addition, in this embodiment, the rope connection method of the ring finger 4 and the little finger 5 is shown in the attached Fig. 9 , the driving ropes of the ring finger 4 and the little finger 5 are connected together inside the arm 7 and connected to an output end of the corresponding driver, while the return ropes of the ring finger 4 and the little finger 5 are connected together and then connected to another output end of the same driver.

[0062] The above embodiments and descriptions are only for illustrating the principles and best embodiments of the present invention. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and improvements, all of which fall within the scope of the present invention to be protected.

Claims

1. A prosthetic hand based on a dual-output winding rope driver, comprising an arm, a palm, a thumb, an index finger, a middle finger, a ring finger, and a little finger connected to the palm, characterized in that: The prosthetic hand also includes a dual-output winding rope assembly for driving the movements of the thumb, index finger, middle finger, ring finger, and little finger; the arm includes an arm shell and an arm connecting seat, the arm connecting seat is arranged at one end of the arm shell, and the arm shell has a chamber for installing the dual-output winding rope assembly; the dual-output winding rope assembly includes multiple winding rope drivers and multiple pairs of output winding ropes, an output end rope seat, and a dual-output rope connecting seat. Multiple winding rope drivers are all arranged in the chamber of the arm shell, and the output end rope seat and the dual-output rope connecting seat are installed on the inner side of the arm shell. On the wall, one end of a plurality of pairs of output winding ropes is respectively connected to the corresponding winding rope drivers, and then respectively passes through the output end rope seat, the double output rope connection seat and is connected to the thumb, the index finger, the middle finger, the ring finger and the little finger; a pair of output winding ropes at both ends of the winding rope driver are pre-wound with a corresponding number of turns, and the winding directions of the two output winding ropes are opposite. When the winding rope driver is in action, the length of the output winding rope at one output end of the winding rope driver is shortened due to the continuous increase in the number of winding turns, while the length of the output winding rope at the other output end is increased due to the continuous decrease in the number of winding turns; The plurality of winding rope drivers include a thumb winding rope driver, an index finger winding rope driver, a middle finger winding rope driver, and a ring finger winding rope driver; The plurality of pairs of output winding ropes include a thumb double drive rope, an index finger double drive rope, a middle finger double drive rope, and a ring finger double drive rope; The thumb winding rope driver and the thumb double driving rope are used to drive the thumb movement, the index finger winding rope driver and the index finger double driving rope are used to drive the index finger movement, the middle finger winding rope driver and the middle finger double driving rope are used to drive the middle finger movement, and the ring finger winding rope driver and the ring finger double driving rope are used to drive the ring finger and the little finger movement.

2. A prosthetic hand based on a dual-output winding cable driver according to claim 1, characterized in that: The thumb includes a first thumb joint, a second thumb joint, a thumb drive motor, a thumb motor seat, and a thumb main shaft. The thumb motor seat is arranged on the palm, the thumb drive motor is arranged in the thumb motor seat, and a worm is arranged on the motor shaft output end of the thumb drive motor. The thumb main shaft is arranged on the palm through thumb bearing a and thumb bearing b, and a thumb swing arm and a worm gear are arranged on the thumb main shaft, the second knuckle of the thumb is rotatably arranged on the thumb swing arm through the thumb connecting shaft, and the worm gear is meshed with the worm; The first knuckle of the thumb is arranged on the second knuckle of the thumb through a thumb connecting shaft, and a thumb connecting rod is also arranged on the first knuckle of the thumb, the thumb and the thumb swing arm, and the first knuckle of the thumb is also connected to the thumb double driving rope.

3. A prosthetic hand based on a dual-output winding cable driver according to claim 2, characterized in that: A thumb rope seat is also provided on the second knuckle of the thumb, and a corresponding through hole is provided on the thumb rope seat. The through hole is connected to the thumb rope conduit, and the other end of the thumb rope conduit is connected to the output end rope seat. A thumb output winding rope is provided in the thumb rope conduit, and one end of the thumb double drive rope passes through the thumb rope seat and is connected to the first knuckle of the thumb, and the other end of the thumb double drive rope is connected to the thumb winding rope driver.

4. A prosthetic hand based on a dual-output winding cable driver according to claim 1, characterized in that: The index finger includes a first knuckle of the index finger, a second knuckle of the index finger, an index finger base, and an index finger connecting rod. The index finger base is installed on the palm, the second knuckle of the index finger is rotatably arranged on the index finger base through an index finger shaft, the first knuckle of the index finger is connected to the second knuckle of the index finger through the index finger shaft, an index finger connecting rod is also arranged between the first knuckle of the index finger and the index finger base, and the second knuckle of the index finger is also connected to the index finger double drive rope.

5. A prosthetic hand based on a dual-output winding cable driver according to claim 4, characterized in that: The index finger base is also provided with an index finger tube seat and two index finger drive rope tubes. The index finger tube seat is installed on the index finger base by screws, one end of the two index finger drive rope tubes is installed in the through hole of the index finger tube seat, and the other end of the two index finger drive rope tubes is installed in the two round holes of the output end rope seat. The index finger double drive rope is arranged in the two index finger drive rope tubes, and the index finger double drive rope passes through the through holes on the index finger tube seat and is respectively connected to the second knuckles of the index fingers, and the other end of the index finger double drive rope is connected to the index finger winding rope driver.

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