Electrically driven anthropomorphic hand

Abstract

The application discloses an electrically-driven artificial dexterous hand, and belongs to the technical field of robots. The electrically-driven artificial dexterous hand comprises a palm and fingers, the number of the fingers is three, and the fingers are respectively a thumb, an index finger and a self-adapting flexible finger. The thumb and the index finger are both three-degree-of-freedom configurations and can be bent. The finger root of the self-adapting flexible finger is driven to rotate by a driving unit to cooperate with the thumb and the index finger to grasp an object, and the self-adapting flexible finger can adapt to the shape of the object. The electrically-driven artificial dexterous hand adopts fewer active degrees of freedom, and the active degrees of freedom are more distributed to the index finger and the thumb, so that the problem that the cost and the dexterous operation ability are difficult to balance due to the selection and distribution of degrees of freedom of an existing artificial dexterous hand is solved.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to an electrically driven humanoid dexterous hand. Background Technology

[0002] Humanoid dexterous hands, as an important branch of robotics, have profound significance. By mimicking the structure and movement mechanisms of human fingers, they achieve precise grasping, manipulation, and perception capabilities, enabling robots to perform many complex tasks that previously required human manipulation. In fields such as industrial manufacturing and logistics, humanoid dexterous hands can replace humans in repetitive, high-precision, and high-risk tasks, reducing human safety risks. Highly humanoid dexterous hands allow robots to enter more fields requiring human manipulation, such as healthcare, service, and education, thereby expanding the application areas of robots. In particular, with the widespread adoption and application of humanoid robots, they will gradually change people's lifestyles and work patterns. For example, in the home, humanoid dexterous hands can assist people with housework; in the medical field, they can provide rehabilitation training and assisted living for people with disabilities, better serving humanity.

[0003] Existing humanoid dexterous hand technologies can be broadly categorized into two types: one involves placing the finger drive units at the rear of the forearm, exemplified by the Shadow model. Its advantages include a compact and powerful grasping structure, capable of performing almost all human hand movements. However, its large overall size makes it difficult to integrate into a humanoid robotic arm to form a compact robotic arm. The other type places all the drive units within the palm, exemplified by the Harbin Institute of Technology's DLR / HIT II dexterous hand. Its advantages include a compact overall structure, but its disadvantages include less power and an inability to perform all human hand movements.

[0004] To facilitate integration into humanoid robotic arms while balancing cost, existing commonly used electrically driven dexterous hands typically adopt the latter approach, retaining only a portion of the 21 degrees of freedom of a human hand. The most typical configuration is the time-dependent dexterous hand configuration, where each finger except the thumb has one active degree of freedom, with the thumb having two active degrees of freedom, for a total of six degrees of freedom. Chinese invention patent application CN201810863088.8 discloses a finger structure for a humanoid hand, which is a finger of a time-dependent dexterous hand with only one active degree of freedom, and the fingertip can only trace an arc in space. Chinese invention patent application CN201710455031.X discloses a fully degree-of-freedom dexterous hand, with a degree-of-freedom configuration completely mimicking human hands, using a large number of motors, resulting in a complex structure and higher cost.

[0005] The existing humanoid dexterous hands have the following main problems: When a human hand is working, the frequency of use of each finger is different, with the index finger and thumb being the most frequently used fingers. However, the existing dexterous hands distribute the degree of freedom relatively evenly to each finger, which may result in a large degree of freedom for the whole hand, leading to higher costs, or insufficient degree of freedom for key fingers, resulting in weak dexterity. Summary of the Invention

[0006] In view of this, the present invention provides an electrically driven humanoid dexterous hand that uses fewer active degrees of freedom and distributes more of the active degrees of freedom to the index finger and thumb, thus solving the problem that existing humanoid dexterous hands are difficult to balance between cost and dexterity due to the selection and distribution of degrees of freedom.

[0007] This invention is achieved through the following technical solution:

[0008] An electrically driven humanoid dexterous hand includes a palm and fingers, with three fingers: a thumb, an index finger, and an adaptive flexible finger.

[0009] Both the thumb and the index finger are three-degree-of-freedom configurations, capable of bending;

[0010] The base of the adaptive flexible finger is driven to rotate by a drive unit to cooperate with the thumb and index finger to grasp objects, and the adaptive flexible finger can adapt to the shape of the object.

[0011] Furthermore, the root of the adaptive flexible finger is connected to the driving unit;

[0012] The drive unit includes a miniature electric actuator mounting bracket, a miniature electric actuator, a first link, a second link, and a third link;

[0013] The fixed end of the miniature electric actuator is hinged to the miniature electric actuator mounting bracket, and the first connecting rod is hinged to the miniature electric actuator mounting bracket and the push rod of the miniature electric actuator to form a crank-slider mechanism;

[0014] One end of the second link is hinged to the first link, and the other end of the second link is hinged to the third link. The third link is also hinged to the micro electric actuator mounting bracket. The root of the adaptive flexible finger is fixed to the third link, forming a double rocker mechanism.

[0015] Furthermore, both the thumb and the index finger are provided with three connected phalanges, and rotational freedom is formed at the connection point. From the base of the finger, they are the first phalange, the second phalange, and the third phalange in sequence.

[0016] The top of the third joint of the thumb and the index finger is provided with a fixing block as the fingertip.

[0017] Furthermore, the first phalanx, the second phalanx, and the third phalanx have the same composition, each including a motor mounting base, a dual-axis geared motor, an angle sensor mounting bracket, an angle sensor, and a motor control board;

[0018] The dual-axis geared motor is fixedly mounted on the motor base and is used to provide power for the rotation of the corresponding knuckles;

[0019] The angle sensor mounting bracket is fixedly installed on the motor mounting base;

[0020] The angle sensor is fixedly mounted on the angle sensor mounting bracket, and the angle sensor is connected to the output shaft of the dual-axis geared motor. The angle sensor is used to feed back the rotation angle of the output shaft of the dual-axis geared motor to the motor control board.

[0021] The motor control board is fixedly mounted on the motor mounting base and is used to perform servo drive control on the rotation of the output shaft of the dual-axis geared motor.

[0022] Furthermore, in the thumb and the index finger:

[0023] The motor mounting base in the first finger joint is fixedly installed on the miniature electric actuator mounting bracket via a connecting base. The output shaft of the dual-axis geared motor in the first finger joint is fixedly connected to one end of the first finger joint connector, and the other end of the first finger joint connector is connected to the output shaft of the dual-axis geared motor in the second finger joint.

[0024] The motor mounting base in the second phalanx is fixedly connected to one end of the second phalanx connector, and the other end of the second phalanx connector is fixedly connected to the output shaft of the dual-axis reduction motor 1-1 in the third phalanx.

[0025] Furthermore, the first joint of the index finger and the miniature electric actuator are both located inside the palm.

[0026] Furthermore, the palm includes a palm panel and a palm cover;

[0027] The palm panel and the palm cover are respectively fixedly installed on both sides of the miniature electric actuator mounting bracket, serving as the palm surface and the back of the hand, respectively.

[0028] Furthermore, the material of the adaptive flexibility is TPU or polyurethane.

[0029] Beneficial effects:

[0030] (1) The number of fingers of the electrically driven humanoid dexterous hand is three, namely the thumb, the index finger and the adaptive flexible finger; the thumb and the index finger are both three-degree-of-freedom configurations and can be bent; the root of the adaptive flexible finger is driven to rotate through the drive unit to cooperate with the thumb and the index finger to grasp objects, and the adaptive flexible finger can adapt to the shape of the object.

[0031] Thus, the thumb and index finger are designed with a human-like three-degree-of-freedom configuration, giving these two commonly used fingers three active degrees of freedom. The tips of these fingers can reach any position within the workspace, improving operational flexibility. The middle, ring, and little fingers are combined into one, replaced by an adaptive flexible finger. In actual fine-operation scenarios, the thumb, in conjunction with the index finger, utilizes the three-degree-of-freedom characteristics of the fingers to complete movements in any direction within the workspace, thereby performing human-like fine operations such as pinching, twisting, kneading, and rubbing. The adaptive flexible finger provides auxiliary support functions similar to the other three fingers of the human hand. In force-operation scenarios, the index finger, thumb, and adaptive flexible finger work together to complete the three-finger gripping action, and the adaptive flexible finger can provide adaptive envelope capabilities to objects. Therefore, from the perspective of the overall hand structure, an adaptive flexible finger and a rigid multi-degree-of-freedom dexterous finger are combined. The whole hand has a total of seven active degrees of freedom. Compared with the traditional electrically driven humanoid dexterous hand, the present invention, with a similar number of active degrees of freedom, tilts the distribution of degrees of freedom towards the commonly used fingers, thereby achieving more dexterous operation capabilities. It is compatible with both force operation and dexterous operation, and solves the problem that existing humanoid dexterous hands are difficult to balance cost and dexterity operation capabilities due to the selection and distribution of degrees of freedom. It can achieve strong dexterity operation capabilities in a more compact structure.

[0032] (2) The root of the adaptive flexible finger is connected to the drive unit, which includes a micro electric actuator mounting bracket, a micro electric actuator, a first link, a second link, and a third link. The fixed end of the micro electric actuator is hinged to the micro electric actuator mounting bracket. The first link is hinged to the micro electric actuator mounting bracket and the push rod of the micro electric actuator to form a crank-slider mechanism. One end of the second link is hinged to the first link, and the other end of the second link is hinged to the third link. The third link is also hinged to the micro electric actuator mounting bracket. The root of the adaptive flexible finger is fixed to the third link to form a double rocker mechanism.

[0033] In this way, the linear motion of the miniature electric actuator can be converted into a wide range of rotational motion of the adaptive flexible finger through the crank-slider mechanism and the dual rocker mechanism, providing sufficient range of motion for adaptive gripping.

[0034] (3) Both the thumb and index finger are provided with three connected phalanges, and rotational freedom is formed at the connection point. From the base of the finger, they are the first phalange, the second phalange and the third phalange in sequence; the top of the third phalange of the thumb and index finger is provided with a fixing block as the fingertip.

[0035] In this way, the thumb and index finger are connected by their knuckles, and a degree of rotational freedom is formed at the connection point, avoiding the use of complex linkages, wire ropes and other transmission mechanisms, and the structure is easy to maintain.

[0036] (4) The first, second, and third phalanges are composed of the same components, including a motor mounting base, a dual-axis geared motor, an angle sensor mounting bracket, an angle sensor, and a motor control board. The dual-axis geared motor is fixedly mounted on the motor mounting base and is used to provide power for the rotation of the corresponding phalanges. The angle sensor mounting bracket is fixedly mounted on the motor mounting base. The angle sensor is fixedly mounted on the angle sensor mounting bracket and is connected to the output shaft of the dual-axis geared motor. The angle sensor is used to feed back the rotation angle of the output shaft of the dual-axis geared motor to the motor control board. The motor control board is fixedly mounted on the motor mounting base and is used to perform servo drive control on the rotation of the output shaft of the dual-axis geared motor.

[0037] In this way, the thumb and index finger structures are modularized, making them easy to maintain. Moreover, the servo drive control based on a dual-axis geared motor provides high control precision.

[0038] (5) Between the thumb and index finger: The motor mounting base in the first phalanx is fixedly mounted on the miniature electric actuator mounting bracket via a connecting base. The output shaft of the dual-axis geared motor in the first phalanx is fixedly connected to one end of the first phalanx connector. The other end of the first phalanx connector is connected to the output shaft of the dual-axis geared motor in the second phalanx. The output shaft of the dual-axis geared motor in the third phalanx is fixedly connected to one end of the motor mounting base in the second phalanx and the second phalanx connector via the second phalanx connector. The other end of the second phalanx connector is fixedly connected to the output shaft of the dual-axis geared motor in the third phalanx.

[0039] Thus, since the first knuckle and the miniature electric actuator are both fixed on the miniature electric actuator mounting bracket, the first knuckle of the index finger and the miniature electric actuator can be located inside the palm, instead of the palm being located below the base of the fingers, thereby increasing the palm area. Attached Figure Description

[0040] Figure 1 A three-dimensional structural schematic diagram of an electrically driven humanoid dexterous hand provided by the present invention;

[0041] Figure 2 for Figure 1 A three-dimensional structural diagram of an electrically driven humanoid dexterous hand from one angle;

[0042] Figure 3 for Figure 1 A three-dimensional structural diagram of an electrically driven humanoid dexterous hand from another angle;

[0043] Figure 4 for Figure 1 A schematic diagram of the structure of an electrically driven humanoid dexterous hand with the palm panel and palm cover removed at one angle;

[0044] Figure 5 for Figure 1 An exploded view of an adaptive flexible claw finger and its base drive unit in an electrically driven humanoid dexterous hand.

[0045] Figure 6 for Figure 1 A schematic diagram of the structure of the knuckles in an electrically driven humanoid dexterity hand;

[0046] Figure 7 for Figure 6 A schematic diagram of the exploded structure of the middle finger joint;

[0047] Figure 8 for Figure 1 A schematic diagram of the structure of an electrically driven humanoid dexterous hand after removing the palm panel and palm cover plate from another angle;

[0048] Figure 9 for Figure 1 A schematic diagram of an electrically driven humanoid dexterous hand grasping a cylindrical object.

[0049] Figure 10 for Figure 1 A schematic diagram of an electrically driven humanoid dexterous hand grasping a board.

[0050] Figure 11 for Figure 1 A schematic diagram of the state of a small object being grasped by the thumb and forefinger of an electrically driven humanoid dexterity hand.

[0051] Among them, 1-index finger, 1-1-dual-axis geared motor, 1-2-angle sensor, 1-3-angle sensor mounting bracket, 1-4-motor mounting base, 1-5-motor control board, 2-adaptive flexible finger, 2-2-miniature electric actuator mounting bracket, 2-3-miniature electric actuator, 2-4-first connecting rod, 2-5-second connecting rod, 2-6-third connecting rod, 3-finger tip, 4-second knuckle connector, 5-palm cover plate, 6-back of hand panel, 7-thumb, 8-first knuckle, 9-second knuckle, 10-third knuckle, 11-first knuckle connector, 12-connecting base, 13-first pin, 14-second pin, 15-third pin, 16-fourth pin, 17-fifth pin, 18-sixth pin. Detailed Implementation

[0052] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0053] Reference Figures 1 to 11This embodiment provides an electrically driven humanoid dexterous hand, including a palm and fingers. Specifically, it has three fingers: a thumb (7), an index finger (1), and an adaptive flexible finger (2). The thumb (7) and index finger (1) are both three-degree-of-freedom configurations, capable of bending. The adaptive flexible finger (2) is driven to rotate by a drive unit to cooperate with the thumb (7) and index finger (1) in grasping objects. The adaptive flexible finger (2) can adapt to the shape of the object (it should be noted that existing technologies can achieve the functions of the adaptive flexible finger (2)). Furthermore, this embodiment... Figure 8 and Figure 9 The structural design of the adaptive flexible index 2 shown is also part of the existing technology.

[0054] Thus, the thumb (7) and index finger (1) are designed with a human-like three-degree-of-freedom configuration, giving these two commonly used fingers three active degrees of freedom. The tips of these fingers (corresponding to fingertips 3 below) can reach any position within the workspace, improving work flexibility. The middle, ring, and little fingers are combined into one, replaced by an adaptive flexible finger (2), which has one active degree of freedom. In actual fine operation scenarios, the thumb (7) works with the index finger (1) to complete any direction of movement within the workspace using the three-degree-of-freedom characteristics of the fingers, thereby completing human-like fine operations such as pinching, twisting, kneading, and rubbing. The adaptive flexible finger (2) provides auxiliary support functions similar to the other three fingers of the human hand (middle, ring, and little fingers). In force operation scenarios, the index finger (1), thumb (7), and adaptive flexible finger (2) work together to complete the three-finger gripping action, and the adaptive flexible finger (2) can provide adaptive envelope capabilities to objects. Therefore, in terms of the overall hand structure, an adaptive flexible finger 2 is adopted in combination with rigid multi-degree-of-freedom dexterous fingers (thumb 7 and index finger 1), with a total of seven active degrees of freedom. Compared with traditional electrically driven humanoid dexterous hands, the distribution of degrees of freedom is tilted towards the commonly used fingers, achieving more dexterous operation capabilities. It is compatible with both force operation and dexterous operation, solving the problem that existing humanoid dexterous hands are difficult to balance cost and dexterity operation capabilities due to the selection and distribution of degrees of freedom. It can achieve strong dexterity operation capabilities in a more compact structure.

[0055] Reference Figure 4 and Figure 5In this embodiment, the base of the adaptive flexible finger 2 is connected to the driving unit, which drives the adaptive flexible finger 2 to rotate around the base of the finger so as to cooperate with the thumb and index finger to grasp objects. The drive unit includes a miniature electric actuator mounting bracket 2-2, a miniature electric actuator 2-3, a first connecting rod 2-4, a second connecting rod 2-5, and a third connecting rod 2-6. The fixed end of the miniature electric actuator 2-3 is hinged to the miniature electric actuator mounting bracket 2-2 via a first pin 13. The first connecting rod 2-4 is hinged to the miniature electric actuator mounting bracket 2-2 via a second pin 14, and the first connecting rod 2-4 is hinged to the push rod of the miniature electric actuator 2-3 via a third pin 15, forming a crank-slider mechanism. One end of the second connecting rod 2-5 is hinged to the first connecting rod 2-4 via a fourth pin 16, and the other end of the second connecting rod 2-5 is hinged to the third connecting rod 2-6 via a fifth pin 17. The third connecting rod 2-6 is also hinged to the miniature electric actuator mounting bracket 2-2 via a sixth pin 18. The root of the adaptive flexible finger 2 is fixed to the third connecting rod 2-6, forming a double rocker mechanism. Thus, through the crank-slider mechanism and the double rocker mechanism, the linear motion of the micro electric actuator 2-3 can be converted into a wide range of rotational motion (rotating around the sixth pin 18) of the adaptive flexible finger 2, providing sufficient range of motion for adaptive gripping.

[0056] In this embodiment, both the thumb 7 and the index finger 1 have three connected phalanges, forming a rotational degree of freedom at the connection point. Starting from the base of the finger, these are the first phalanx 8, the second phalanx 9, and the third phalanx 10. A fixing block is provided at the top of the third phalanx 10 of both the thumb 7 and the index finger 1, serving as the fingertip. It should be noted that there are many ways to achieve three degrees of freedom for the thumb 7 and index finger 1 in the field of robotic manipulators, such as using linkage mechanisms or wire rope transmission mechanisms. In this embodiment, the thumb 7 and index finger 1 are connected by phalanges, forming a rotational degree of freedom at the connection point, avoiding the use of complex linkages, wire ropes, and other transmission mechanisms, resulting in good structural maintainability.

[0057] Specifically, refer to Figure 6 and Figure 7The first phalanx 8, the second phalanx 9, and the third phalanx 10 have the same composition, each including a motor mounting base 1-4, a dual-axis geared motor 1-1, an angle sensor mounting bracket 1-3, an angle sensor 1-2, and a motor control board 1-5. The dual-axis geared motor 1-1 is fixedly mounted on the motor mounting base 1-4 to provide power for the rotation of the corresponding phalanx. The angle sensor mounting bracket 1-3 is fixedly mounted on the motor mounting base 1-4. The angle sensor 1-2 is fixedly mounted on the angle sensor mounting bracket and is connected to the output shaft of the dual-axis geared motor 1-1. The angle sensor 1-2 is used to feed back the rotation angle of the output shaft of the dual-axis geared motor 1-1 to the motor control board 1-5. The motor control board 1-5 is fixedly mounted on the motor mounting base 1-4 and is used to perform servo drive control on the rotation of the output shaft of the dual-axis geared motor 1-1. In this way, the structure of the thumb 7 and index finger 1 is modular, with good structural maintainability, and the servo drive control based on the dual-axis geared motor 1-1 provides high control accuracy.

[0058] Reference Figure 8 In the thumb 7 and index finger 1: the motor mounting base 1-4 in the first phalanx 8 is fixedly mounted on the miniature electric actuator mounting bracket 2-2 via the connecting base 12. The output shaft of the dual-axis reduction motor 1-1 in the first phalanx 8 is fixedly connected to one end of the first phalanx connector 11, and the other end of the first phalanx connector 11 is fixedly connected to the output shaft of the dual-axis reduction motor 1-1 in the second phalanx 9. The motor mounting base 1-4 in the second phalanx 9 is fixedly connected to one end of the second phalanx connector 4, and the other end of the second phalanx connector 4 is fixedly connected to the output shaft of the dual-axis reduction motor 1-1 in the third phalanx 10. Thus, since both the first phalanx 8 and the miniature electric actuator 2-3 are fixed on the miniature electric actuator mounting bracket 2-2, therefore, referring to... Figures 1-3 This allows the first joint 8 of the index finger 1 and the miniature electric actuators 2-3 to be located inside the palm, instead of only allowing the palm to be located below the base of the fingers, thus increasing the palm area.

[0059] Reference Figures 1-3 In this embodiment, the first phalanx 8 of the index finger 1 and the micro electric actuator 2-3 are both located within the palm. Specifically, in this embodiment, the palm includes a palm faceplate 6 and a palm cover plate 5; the palm faceplate 6 and the palm cover plate 5 are respectively fixedly installed on both sides of the micro electric actuator mounting bracket 2-2, serving as the palm surface and the back of the hand, respectively. Additionally, the bottom of the micro electric actuator mounting bracket 2-2 can be connected to a robotic arm. The adaptive flexible finger 2 can be made of flexible materials such as TPU or polyurethane to adapt to the shape of the object and can be manufactured by 3D printing.

[0060] Reference Figure 9 This demonstrates the state of an electrically driven humanoid dexterous hand grasping a cylindrical object. Figure 10This illustrates the state of an electrically driven humanoid dexterous hand grasping a board. Figure 11 The image shows the state of a small object being grasped by the thumb 7 and index finger 1 in an electrically driven humanoid dexterous hand.

[0061] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention, i.e., combinations of a three-degree-of-freedom thumb 7, index finger 1, and adaptive flexible finger 2, are within the scope of protection of the present invention. For example, three-degree-of-freedom fingers constructed in ways other than through three knuckles connected in series, should be included within the scope of protection of the present invention.

Claims

1. An electrically driven humanoid dexterous hand, comprising a palm and fingers, characterized in that, It has three fingers: the thumb, the index finger, and the adaptive flexible finger. Both the thumb and the index finger are three-degree-of-freedom configurations, capable of bending; The base of the adaptive flexible finger is driven to rotate by a driving unit to cooperate with the thumb and the index finger to grasp objects, and the adaptive flexible finger can adapt to the shape of the object. The root of the adaptive flexible finger is connected to the driving unit; The drive unit includes a miniature electric actuator mounting bracket, a miniature electric actuator, a first link, a second link, and a third link; The fixed end of the miniature electric actuator is hinged to the miniature electric actuator mounting bracket, and the first connecting rod is hinged to the miniature electric actuator mounting bracket and the push rod of the miniature electric actuator to form a crank-slider mechanism; One end of the second link is hinged to the first link, and the other end of the second link is hinged to the third link. The third link is also hinged to the micro electric actuator mounting bracket. The root of the adaptive flexible finger is fixed to the third link, forming a double rocker mechanism. Both the thumb and the index finger are provided with three tandem phalanges, and rotational freedom is formed at the tandem points. From the base of the finger, they are the first phalange, the second phalange, and the third phalange in sequence. The top of the third phalanx of the thumb and the index finger is provided with a fixing block as the fingertip; The first phalanx, the second phalanx, and the third phalanx have the same composition, each including a motor mounting base, a dual-axis geared motor, an angle sensor mounting bracket, an angle sensor, and a motor control board; The dual-axis geared motor is fixedly mounted on the motor mounting base and is used to provide power for the rotation of the corresponding knuckles; The angle sensor mounting bracket is fixedly installed on the motor mounting base; The angle sensor is fixedly mounted on the angle sensor mounting bracket, and the angle sensor is connected to the output shaft of the dual-axis geared motor. The angle sensor is used to feed back the rotation angle of the output shaft of the dual-axis geared motor to the motor control board. The motor control board is fixedly mounted on the motor mounting base and is used to perform servo drive control on the rotation of the output shaft of the dual-axis geared motor. In the thumb and the index finger: The motor mounting base in the first finger joint is fixedly installed on the miniature electric actuator mounting bracket via a connecting base. The output shaft of the dual-axis geared motor in the first finger joint is fixedly connected to one end of the first finger joint connector, and the other end of the first finger joint connector is connected to the output shaft of the dual-axis geared motor in the second finger joint. The motor mounting base in the second phalanx is fixedly connected to one end of the second phalanx connector, and the other end of the second phalanx connector is fixedly connected to the output shaft of the dual-axis reduction motor in the third phalanx.

2. The electrically driven anthropomorphic dexterous hand according to claim 1, characterized in that, The first joint of the index finger and the miniature electric actuator are both located inside the palm.

3. The electrically driven anthropomorphic dexterous hand according to claim 2, characterized in that, The palm includes a palm panel and a palm cover; The palm panel and the palm cover are respectively fixedly installed on both sides of the miniature electric actuator mounting bracket, serving as the palm surface and the back of the hand, respectively.

4. An electrically driven anthropomorphic dexterous hand according to any one of claims 1 to 3, characterized in that, The adaptive flexibility refers to the material being TPU or polyurethane.

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