A humanoid multi-fingered hand with adjustable form and joint stiffness

Abstract

A humanoid multi-fingered hand with adjustable morphology and joint stiffness, belonging to the field of robotics technology, includes a metacarpal part and a four-finger part that can be adjusted in installation position and is connected to the metacarpal part. The metacarpal part is slidably connected with a thumb part. The finger structure of each finger in the four-finger part and the finger structure of the thumb part both include a distal phalanx, a middle phalanx, and a proximal phalanx. The distal phalanx, middle phalanx, and proximal phalanx respectively include a phalanx bracket and a phalanx housing slidably connected to the outside of the phalanx bracket. The phalanx bracket is sleeved with an elastic flexion and extension joint mechanism. The phalanx bracket of the distal phalanx is hinged to the phalanx housing of the middle phalanx and the elastic flexion and extension joint mechanism of the distal phalanx is inserted into the phalanx housing of the middle phalanx. The phalanx bracket of the middle phalanx is hinged to the phalanx housing of the proximal phalanx and the elastic flexion and extension joint mechanism of the middle phalanx is inserted into the phalanx housing of the proximal phalanx. The present invention can adjust the stiffness of each phalanx and the morphology of the whole hand, adopts a modular design, and is conducive to maintenance and installation.

Description

Technical Field

[0001] The present invention relates to the technical field of robotics, and more particularly to a humanoid multi-fingered hand with adjustable form and joint stiffness. Background Art

[0002] A robotic dexterous hand is an end effector that mimics a human hand. Its shape is similar to that of a human hand and can replace humans in performing dangerous or impossible operations. Structurally, it can be divided into an externally-driven robotic multi-fingered dexterous hand and an internally-driven robotic multi-fingered dexterous hand. For the externally-driven robotic multi-fingered dexterous hand, there is no need to consider the volume space, and larger drive motors can be used to increase the output force of the fingers. The fingers can also be made relatively slender. However, there are also problems such as sensors being unable to reflect joint information, high controller difficulty, difficult calibration, non-modular design, and poor maintainability. Correspondingly, the advantage of the internally-driven type is fewer transmission components and higher integration, thus having higher mechanical reliability. However, the design difficulty is high within limited space, especially for a fully-driven dexterous hand with four active degrees of freedom for a single finger.

[0003] Existing robotic dexterous hands cannot simultaneously meet the adjustment of joint stiffness and the form of the entire hand. Especially in terms of stiffness control, separate control of each finger joint has not been achieved. When a robotic dexterous hand performs human hand operation capabilities, including actions such as grasping, pinching, holding, twisting, screwing, tearing, pushing, grabbing, scraping, dialing, pressing, digging, flicking, clapping, clamping, threading, wiping, patting, and shaking, different stiffnesses are usually required for different finger joints. For example, for the pinching action, the middle joint of the thumb and the upper joint of the index finger need to have strong stiffness, while other joints do not require strong stiffness; for grasping an object, the middle joints need relatively large stiffness, while the upper and lower joints do not; for performing continuous operations, each joint also needs to change its stiffness according to the task execution to complete the task. Summary of the Invention

[0004] The purpose of the present invention is to propose a humanoid multi-fingered hand with adjustable form and joint stiffness to solve the shortcomings that the robotic dexterous hand cannot adjust the stiffness of each finger joint and the form of the entire hand. Moreover, the key parts adopt a modular design, which is conducive to maintenance, installation, and extended design.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A humanoid multi-fingered hand with adjustable form and joint stiffness, comprising a metacarpal part and a four-finger part connected to the metacarpal part and capable of adjusting the installation position. The metacarpal part is slidably connected with a thumb part. Each finger structure of the four-finger part and the finger structure of the thumb part include a distal phalanx, a middle phalanx, and a proximal phalanx. The distal phalanx, middle phalanx, and proximal phalanx respectively include a phalanx bracket and a phalanx housing slidably connected to the outside of the phalanx bracket;

[0007] The phalanx bracket is sleeved with an elastic flexion and extension joint mechanism. The phalanx bracket of the distal phalanx is hinged to the phalanx shell of the middle phalanx, and the elastic flexion and extension joint mechanism of the distal phalanx is inserted into the phalanx shell of the middle phalanx. The phalanx bracket of the middle phalanx is hinged to the phalanx shell of the proximal phalanx, and the elastic flexion and extension joint mechanism of the middle phalanx is inserted into the phalanx shell of the proximal phalanx. The elastic flexion and extension joint mechanism is used to control the flexion and extension of the distal phalanx and the middle phalanx.

[0008] As a further solution of the present invention: The elastic flexion and extension joint mechanism includes a flexion and extension motor and a flexion and extension crank. The flexion and extension motor is sleeved in the phalanx bracket. One side of the flexion and extension motor is fixedly connected to the crankshaft end of the flexion and extension crank. The end of the curved rod of the flexion and extension crank is hinged to a flexion and extension U-shaped bracket. The flexion and extension U-shaped bracket is threadedly connected to a flexion and extension connecting rod. A stiffness adjustment nut is threadedly connected to the end of the flexion and extension connecting rod near the flexion and extension U-shaped bracket. The other end of the flexion and extension connecting rod is threadedly connected to a rod end joint. A stiffness spring is also sleeved on the flexion and extension connecting rod. One end of the stiffness spring is connected to the stiffness adjustment nut, and the other end is connected to the rod end joint. The rod end joint is inserted into the interior of the phalanx shell.

[0009] As a further solution of the present invention: The elastic flexion and extension joint mechanism of the proximal phalanx of the four-finger part is inserted with a first cross shaft through the rod end joint, and the elastic flexion and extension joint mechanism of the proximal phalanx of the thumb part is inserted with a second cross shaft through the rod end joint.

[0010] As a further solution of the present invention: Each finger structure of the four-finger part further includes a side swing joint mechanism hinged to the other side of the first cross shaft. The side swing joint mechanism includes a side swing motor and a side swing crank fixed on one side of the side swing motor. The end of the curved rod of the side swing crank is hinged to a side swing U-shaped bracket. The side swing U-shaped bracket is threadedly connected to a side swing connecting rod. The other end of the side swing connecting rod is hinged to the first cross shaft.

[0011] As a further solution of the present invention: A chute is provided in the phalanx bracket, a slider is fixedly provided in the phalanx shell, the slider is slidably matched with the chute along the axial direction, a chute setscrew hole is provided on the side of the chute, and a chute setscrew is inserted into the chute setscrew hole to fix the slider through the chute setscrew.

[0012] As a further solution of the present invention: The metacarpal part includes a little finger metacarpal base, a ring finger metacarpal base, a middle finger metacarpal base, an index finger metacarpal base, a metacarpal baffle and a damping hinge. The little finger metacarpal base is connected to the ring finger metacarpal base through the damping hinge. The ring finger metacarpal base is connected to the middle finger metacarpal base through the damping hinge. The middle finger metacarpal base is fixedly connected to the index finger metacarpal base. The middle of each first cross shaft is fixedly connected to the top of the metacarpal baffle. A metacarpal setscrew hole is provided in the middle of the longitudinal axis of each side of the metacarpal baffle, and a metacarpal setscrew is inserted into the metacarpal setscrew hole.

[0013] As a further solution of the present invention: the four-finger part respectively refers to the index finger, middle finger, ring finger and little finger, and the finger structures of the four-finger part are respectively connected to the metacarpal bases with corresponding names through metacarpal baffles, and the metacarpal baffles are fixed on the metacarpal bases through metacarpal set screws.

[0014] As a further solution of the present invention: the middle metacarpal base and the bottom of the index metacarpal base are provided with a thumb sliding groove, the bottom of the thumb part is provided with a thumb slider, the thumb sliding groove is slidably matched with the thumb slider, the back of the index metacarpal base is provided with a thumb set screw hole, a thumb set screw is inserted into the thumb set screw hole, after the thumb sliding groove moves to a certain position, it is fixed through the thumb set screw, the bottom of the thumb slider is fixedly connected with a rotating column, and the second cross shaft of the thumb part is rotatably connected with the rotating column.

[0015] As a further solution of the present invention: the metacarpal part is fixedly connected with a circuit board, an anthropomorphic multi-fingered hand assembly MCU is arranged on the circuit board, and a finger MCU for controlling the finger structure is integrated on each finger structure of the four-finger part and the thumb part. The assembly MCU and the finger MCU realize master-slave control through SPI. The finger MCU is electrically connected to the flexion and extension motors and side swing motors on each finger structure, obtains the currents of the four flexion and extension motors of the finger through a current sensor, and outputs the control quantity of the four-channel flexion and extension motors through PWM.

[0016] In summary, an anthropomorphic multi-fingered hand with adjustable form and joint stiffness of the present invention has the following advantages:

[0017] Each phalanx structure of the four-finger part and the thumb part uses an elastic flexion and extension joint mechanism. The higher the joint stiffness, the higher the control precision and the weaker the compliance. On the contrary, the compliance is strong and the control precision is low. The variable joint stiffness allows the whole hand to imitate more fine movements of a human, not limited to actions such as grasping, pinching, holding, twisting, screwing, tearing, pushing, grasping, scraping, dialing, pressing, digging, flicking, clapping, clamping, threading, wiping, patting, shaking, etc., comprehensively improving the adaptability of the fully actuated dexterous hand to different occasions;

[0018] The finger structure of the four-finger part is provided with a side-swing joint mechanism, which can control the left and right movement of the four-finger part; a slider is fixedly connected inside the finger joint housing, and a chute is provided on the finger joint bracket. The slider and the chute are slidably matched to realize the length adjustment of each finger joint; a thumb chute is provided at the bottom of the middle finger metacarpal base and the index finger metacarpal base. The thumb chute is slidably matched with the thumb slider of the thumb part and fixed by a set screw, and the installation position of the thumb part can be adjusted; the middle of the first cross shaft of the four-finger part is fixedly connected with a metacarpal baffle, and the metacarpal baffle can move longitudinally along the metacarpal base. The metacarpal baffle and the corresponding metacarpal base are fixed by a set screw, so that the installation position of each finger structure of the four-finger part can be adjusted; the metacarpal base of the metacarpal part is connected by a damping hinge, and the curvature of the palm can be adjusted. The length of each finger joint, the installation position of each finger (including the thumb), and the curvature of the palm can all be adjusted. By adjusting the installation position of the four-finger part and the length of the finger joints, a finger height distribution similar to that of a human hand is formed, and a dexterous hand with the same size as an artificial hand is realized, which can effectively grasp objects in the human environment.

[0019] A rotating column is fixedly connected to the sliding bottom of the thumb part. The second cross shaft of the thumb part is rotatably connected to the rotating column, which can realize the rotation of the thumb and change the orientation of the thumb. Therefore, the thumb can not only flex and extend but also rotate, with a high degree of freedom, realizing opposed grasping.

[0020] The index finger, middle finger, ring finger, and little finger are all composed of modular fingers with exactly the same structure, which can be replaced with each other. Moreover, according to the differences in the actual working conditions of the fingers, further, the corresponding finger joint structures of the four-finger part and the thumb part also adopt the same structure, with a general design, which is convenient for maintenance and installation. Brief Description of the Drawings

[0021] Figure 1 It is a schematic structural diagram of the present invention from the perspective of the palm of the hand;

[0022] Figure 2 It is a schematic structural diagram of the finger structure of the present invention;

[0023] Figure 3 It is a schematic structural diagram of the present invention when the finger joint length contracts and extends;

[0024] Figure 4 It is Figure 3 A sectional view taken along line A-A of

[0025] Figure 5 It is a schematic structural diagram of the side-swing joint mechanism of the present invention;

[0026] Figure 6 It is a schematic structural diagram of the metacarpal part of the present invention;

[0027] Figure 7 It is a schematic structural diagram of the simple installation of the present invention;

[0028] Figure 8 This is the circuit diagram of the present invention;

[0029] In the figure: 1. Four-finger part; 2. Thumb part; 3. Metacarpal part; 4. Proximal phalanx; 5. Middle phalanx; 6. Distal phalanx; 7. Elastic flexion and extension joint mechanism; 8. Side swing joint mechanism; 9. Phalanx housing; 10. Phalanx bracket; 11. First cross shaft; 12. Chute; 13. Slide block; 14. Chute set screw hole; 15. Chute set screw; 21. Second cross shaft; 22. Thumb slide block; 23. Rotating column; 24. Thumb set screw hole; 25. Thumb set screw; 31. Little finger metacarpal base; 32. Ring finger metacarpal base; 33. Middle finger metacarpal base; 34. Index finger metacarpal base; 35. Metacarpal baffle; 36. Thumb chute; 37. Damping hinge; 38. Metacarpal set screw hole; 39. Metacarpal set screw; 71. Flexion and extension motor; 72. Flexion and extension crank; 73. Flexion and extension U-shaped bracket; 74. Stiffness adjustment nut; 75. Stiffness spring; 76. Flexion and extension connecting rod; 77. Rod end joint; 81. Side swing motor; 82. Side swing connecting rod; 83. Side swing crank; 84. Side swing U-shaped bracket. Detailed implementation manners

[0030] In order to better understand the purpose, structure and function of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and implementation cases. The following is an explanation of the present invention rather than a limitation.

[0031] Please refer to Figure 1 and Figure 7 As shown in

[0032] Please refer to Figure 2 and Figure 7, each finger structure of the four - finger part 1 and the finger structure of the thumb part 2 include a distal phalanx 6, a middle phalanx 5, and a proximal phalanx 4. The distal phalanx 6, the middle phalanx 5, and the proximal phalanx 4 respectively include a phalanx bracket 10 and a phalanx housing 9 slidably connected to the outside of the phalanx bracket 10. An elastic flexion - extension joint mechanism 7 is sleeved inside the phalanx bracket 10. The phalanx bracket 10 of the distal phalanx 6 is hinged to the phalanx housing 9 of the middle phalanx 5, and the elastic flexion - extension joint mechanism 7 of the distal phalanx 6 is inserted into the phalanx housing 9 of the middle phalanx 5. The phalanx bracket 10 of the middle phalanx 5 is hinged to the phalanx housing 9 of the proximal phalanx 4, and the elastic flexion - extension joint mechanism 7 of the middle phalanx 5 is inserted into the phalanx housing 9 of the proximal phalanx 4. The elastic flexion - extension joint mechanism 7 of the proximal phalanx 4 of the four - finger part 1 is inserted with a first cross - shaft 11, and the elastic flexion - extension joint mechanism 7 of the proximal phalanx 4 of the thumb part 2 is inserted with a second cross - shaft 21.

[0033] Please refer to Figure 2-4 and Figure 7 , the elastic flexion - extension joint mechanism 7 includes a flexion - extension motor 71 and a flexion - extension crank 72. The flexion - extension motor 71 is sleeved inside the phalanx bracket 10. One side of the flexion - extension motor 71 is fixedly connected to the crankshaft end of the flexion - extension crank 72. The end of the curved rod of the flexion - extension crank 72 is hinged to a flexion - extension U - shaped bracket 73. The flexion - extension U - shaped bracket 73 is threadedly connected to a flexion - extension connecting rod 76. The end of the flexion - extension connecting rod 76 near the flexion - extension U - shaped bracket 73 is threadedly connected to a stiffness - adjusting nut 74. The other end of the flexion - extension connecting rod 76 is threadedly connected to a rod - end joint 77. The flexion - extension connecting rod 76 is also sleeved with a stiffness spring 75. One end of the stiffness spring 75 is connected to the stiffness - adjusting nut 74, and the other end is connected to the rod - end joint 77. The rod - end joint 77 is inserted into the inside of the phalanx housing 9 for transmitting the driving force of the elastic flexion - extension joint mechanism. Counter - clockwise rotation of the stiffness - adjusting nut 74 can make the stiffness - adjusting nut 74 move downward. At this time, the rod - end joint 77 is subject to the double constraints of the pressure of the stiffness spring 75 and the support at the lower end of the flexion - extension connecting rod 76. This double - acting binding force is called the antagonistic force. The stronger the antagonistic force, the weaker the mechanical compliance and the stronger the stiffness. On the contrary, clockwise rotation of the stiffness - adjusting nut 74 can make the stiffness - adjusting nut 74 move upward, the antagonistic force is weaker, the mechanical compliance is stronger, and the stiffness is weaker.

[0034] Please refer to Figure 5 and Figure 7 , each finger structure of the four - finger part 1 further includes a side - swing joint mechanism 8 hinged to the other side of the first cross - shaft 11. The side - swing joint mechanism 8 includes a side - swing motor 81 and a side - swing crank 83 fixed to one side of the side - swing motor 81. The end of the curved rod of the side - swing crank 83 is hinged to a side - swing U - shaped bracket 84. The side - swing U - shaped bracket 84 is threadedly connected to a side - swing connecting rod 82. The other end of the side - swing connecting rod 82 is hinged to the first cross - shaft 11. By setting the side - swing joint mechanism 8, the left - right swing of the finger structure of the four - finger part 1 can be realized.

[0035] Please refer to Figure 4 , a chute 12 is provided inside the knuckle bracket 10, a slider 13 is fixedly provided inside the knuckle housing 9, the slider 13 is in sliding fit with the chute 12 along the axial direction, a chute setscrew hole 14 is provided on the side of the chute 12, a chute setscrew 15 is inserted inside the chute setscrew hole 14, and the slider 13 is fixed by the chute setscrew 15, so as to control the length of any knuckle within a certain range.

[0036] Please refer to Figure 6 and Figure 7 , the metacarpal part 3 includes a little finger metacarpal base 31, a ring finger metacarpal base 32, a middle finger metacarpal base 33, an index finger metacarpal base 34, a metacarpal baffle 35, a damping hinge 37. The little finger metacarpal base 31 is connected to the ring finger metacarpal base 32 through the damping hinge 37, the ring finger metacarpal base 32 is connected to the middle finger metacarpal base 33 through the damping hinge 37, the middle finger metacarpal base 33 is fixedly connected to the index finger metacarpal base 34. The middle of each first cross shaft 11 is fixedly connected to the metacarpal baffle 35, and the metacarpal baffle 35 can slide along the metacarpal base, so as to drive the entire finger structure to slide. A metacarpal setscrew hole 38 is provided in the middle of the longitudinal axis on the side of the metacarpal baffle 35, a metacarpal setscrew 39 is inserted inside the metacarpal setscrew hole 38. The finger structures of the four-finger part 1 are respectively connected to the metacarpal bases with corresponding names through the metacarpal baffle 35, and the metacarpal baffle 35 is fixed to the metacarpal bases with corresponding names through the metacarpal setscrew 39.

[0037] The curvature of the palm can be adjusted by adjusting the tightness of the rotating shaft of the damping hinge 37 to achieve the adjustment of the palm curvature. After determining the palm curvature, tighten and fix the palm curvature.

[0038] A thumb chute 36 is provided at the bottoms of the middle finger metacarpal base 33 and the index finger metacarpal base 34, a thumb slider 22 is provided at the bottom of the thumb part 2, and the thumb chute 36 is in sliding fit with the thumb slider 22. A thumb setscrew hole 24 is provided on the back of the index finger metacarpal base 34, a thumb setscrew 25 is inserted inside the thumb setscrew hole 24. After the thumb chute 36 moves to a certain position, it is fixed by the thumb setscrew 25. A rotating column 23 is fixedly connected to the bottom of the thumb slider 22, and the second cross shaft 21 of the thumb part 2 is rotatably connected to the rotating column 23, so that the thumb part 2 can rotate flexibly.

[0039] As Figure 8As shown, the metacarpal part 3 is fixedly connected with a circuit board, on which a humanoid multi-fingered hand assembly MCU is arranged. Each finger structure of the four-finger part 1 and the thumb part 2 is integrated with a finger MCU for controlling the finger structure. The assembly MCU and the finger MCU achieve master-slave control through SPI. The finger MCU is electrically connected to the flexion and extension motors 71 and the side swing motors 81 on each finger structure, obtains the currents of the four motors 71 of the finger through a current sensor, and outputs the control quantity of the four channels of the motors 71 through PWM. The assembly MCU and the finger MCU are connected to the power supply and are regulated by a linear voltage regulator.

[0040] Preferably, the main board chips of the assembly MCU and the finger MCU adopt STM32.

[0041] In terms of the configuration of driving degrees of freedom, a humanoid multi-fingered hand with adjustable form and joint stiffness of the present invention is a fully-driven dexterous hand. The advantages are that the stiffness of each flexion and extension joint, the length of each phalanx, the installation position of the finger structure, and the curvature of the palm can be adjusted. There are a total of 37 mechanical parameters of the whole humanoid multi-fingered hand that can be adjusted, including 15 phalanx length parameters, 5 installation position parameters, 2 palm curvature parameters, and 15 joint stiffness parameters.

[0042] In terms of the sensing configuration, each finger is configured with an STM32 chip as the MCU, which is used to control the PWM output of the four motors 71 of a single finger and detect the current feedback of the four motors 71. The communication between the five fingers and the palm chip is achieved through SPI in a master-slave manner.

[0043] In terms of modular design, the index finger, middle finger, ring finger, and little finger are all composed of modular fingers with exactly the same structure, which can be replaced with each other. Moreover, according to the differences in the actual working conditions of the fingers, further, the corresponding phalanx structures of the four-finger part 1 and the thumb part 2 also adopt the same structure, with a general design, which is convenient for maintenance and installation.

Claims

1. A humanoid multi-fingered hand with adjustable form and joint stiffness, comprising a metacarpal part (3) and a four-finger part (1) connected to the metacarpal part (3) and adjustable in installation position, wherein the metacarpal part (3) is slidably connected with a thumb part (2), characterized in that, Each finger structure of the four-finger part (1) and the finger structure of the thumb part (2) include a distal phalanx (6), a middle phalanx (5), and a proximal phalanx (4). The distal phalanx (6), the middle phalanx (5), and the proximal phalanx (4) respectively include a phalanx bracket (10) and a phalanx housing (9) slidably connected to the outside of the phalanx bracket (10). The phalanx bracket (10) is sleeved with an elastic flexion and extension joint mechanism (7). The phalanx bracket (10) of the distal phalanx (6) is hinged to the phalanx housing (9) of the middle phalanx (5), and the elastic flexion and extension joint mechanism (7) of the distal phalanx (6) is inserted into the phalanx housing (9) of the middle phalanx (5). The phalanx bracket (10) of the middle phalanx (5) is hinged to the phalanx housing (9) of the proximal phalanx (4), and the elastic flexion and extension joint mechanism (7) of the middle phalanx (5) is inserted into the phalanx housing (9) of the proximal phalanx (4). The elastic flexion and extension joint mechanism (7) is used to control the flexion and extension of the distal phalanx (6) and the middle phalanx (5). The elastic flexion and extension joint mechanism (7) includes a flexion and extension motor (71) and a flexion and extension crank (72). The flexion and extension motor (71) is sleeved in the phalanx bracket (10). One side of the flexion and extension motor (71) is fixedly connected to the crankshaft end of the flexion and extension crank (72). The end of the curved rod of the flexion and extension crank (72) is hinged to a flexion and extension U-shaped bracket (73). The flexion and extension U-shaped bracket (73) is threadedly connected to a flexion and extension connecting rod (76). The end of the flexion and extension connecting rod (76) close to the flexion and extension U-shaped bracket (73) is threadedly connected to a stiffness adjustment nut (74). The other end of the flexion and extension connecting rod (76) is threadedly connected to a rod end joint (77). The flexion and extension connecting rod (76) is also sleeved with a stiffness spring (75). One end of the stiffness spring (75) is connected to the stiffness adjustment nut (74), and the other end is connected to the rod end joint (77). The rod end joint (77) is inserted into the interior of the phalanx housing (9).

2. The anthropomorphic multi-fingered hand with adjustable form and joint stiffness according to claim 1, characterized in that, The elastic flexion and extension joint mechanism (7) of the proximal phalanx (4) of the four-finger part (1) is inserted with a first cross shaft (11) through the rod end joint (77). The elastic flexion and extension joint mechanism (7) of the proximal phalanx (4) of the thumb part (2) is inserted with a second cross shaft (21) through the rod end joint (77).

3. The anthropomorphic multi-fingered hand with adjustable morphology and joint stiffness according to claim 2, characterized in that , Each finger structure of the four-finger part (1) further includes a side swing joint mechanism (8) hinged to the other side of the first cross shaft (11). The side swing joint mechanism (8) includes a side swing motor (81) and a side swing crank (83) fixed to one side of the side swing motor (81). The end of the curved rod of the side swing crank (83) is hinged to a side swing U-shaped bracket (84). The side swing U-shaped bracket (84) is threadedly connected to a side swing connecting rod (82). The other end of the side swing connecting rod (82) is hinged to the first cross shaft (11).

4. The anthropomorphic multi-fingered hand with adjustable form and joint stiffness according to claim 1, wherein , A chute (12) is provided inside the phalange bracket (10). A slider (13) is fixedly provided inside the phalange housing (9). The slider (13) is slidably engaged with the chute (12) along the axial direction. A chute setscrew hole (14) is provided on the side of the chute (12). A chute setscrew (15) is inserted into the chute setscrew hole (14), and the slider (13) is fixed by the chute setscrew (15).

5. The anthropomorphic multi-fingered hand with adjustable shape and joint stiffness according to claim 2, characterized in that , The metacarpal part (3) includes a little finger metacarpal base (31), a ring finger metacarpal base (32), a middle finger metacarpal base (33), an index finger metacarpal base (34), a metacarpal baffle (35) and a damping hinge (37). The little finger metacarpal base (31) is connected to the ring finger metacarpal base (32) through the damping hinge (37). The ring finger metacarpal base (32) is connected to the middle finger metacarpal base (33) through the damping hinge (37). The middle finger metacarpal base (33) is fixedly connected to the index finger metacarpal base (34). The middle of each first cross shaft (11) is fixedly connected to the top of the metacarpal baffle (35). A metacarpal setscrew hole (38) is provided in the middle of the longitudinal axis on the side of each metacarpal baffle (35). A metacarpal setscrew (39) is inserted into the metacarpal setscrew hole (38).

6. The anthropomorphic multi-fingered hand with adjustable form and joint stiffness according to claim 5, characterized in that , The four-finger part (1) refers to the index finger, middle finger, ring finger and little finger respectively. The finger structures of the four-finger part (1) are respectively connected to the metacarpal bases with corresponding names through the metacarpal baffle (35), and the metacarpal baffle (35) is fixed on the metacarpal base by the metacarpal setscrew (39).

7. The anthropomorphic multi-fingered hand with adjustable form and joint stiffness according to claim 6, characterized in that , A thumb chute (36) is provided at the bottoms of the middle finger metacarpal base (33) and the index finger metacarpal base (34). A thumb slider (22) is provided at the bottom of the thumb part (2). The thumb chute (36) is slidably engaged with the thumb slider (22). A thumb setscrew hole (24) is provided on the back of the index finger metacarpal base (34). A thumb setscrew (25) is inserted into the thumb setscrew hole (24). After the thumb chute (36) moves to a certain position, it is fixed by the thumb setscrew (25). A rotating column (23) is fixedly connected to the bottom of the thumb slider (22). The second cross shaft (21) of the thumb part (2) is rotatably connected to the rotating column (23).

8. The anthropomorphic multi-fingered hand with adjustable form and joint stiffness according to claim 1, characterized in that , The metacarpal part (3) is fixedly connected with a circuit board. An anthropomorphic multi-fingered hand assembly MCU is arranged on the circuit board. A finger MCU for controlling the finger structure is integrated on each finger structure of the four-finger part (1) and the thumb part (2). The assembly MCU and the finger MCU realize master-slave control through SPI. The finger MCU is electrically connected to the flexion and extension motors (71) and the side swing motors (81) on each finger structure. The current of the four flexion and extension motors (71) of the finger is obtained through a current sensor, and the control quantity of the four-channel flexion and extension motors (71) is output through PWM.

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