Mechanical finger with piezoresistive sensor and dexterous hand

Abstract

The invention discloses a mechanical finger with a piezoresistive sensor and a dexterous hand. The mechanical finger comprises a far knuckle, a near knuckle, the piezoresistive sensor and a cable. An accommodating cavity is formed in the far knuckle, a flexible covering part for sealing and covering the accommodating cavity is arranged on the inner side of the far knuckle, and the piezoresistive sensor is arranged in the accommodating cavity; a connecting part protruding backwards is arranged on the rear end face of the far knuckle, a threading hole is formed in the far knuckle, one end of the threading hole extends to the containing cavity, and the other end of the threading hole extends to the rear end face of the connecting part; a groove formed by sinking the front end face of the near knuckle backwards is formed in the near knuckle, and the connecting part is connected into the groove in a penetrating mode and is in pivot fit with the near knuckle; one end of the cable is connected to the piezoresistive sensor, and the other end of the cable sequentially penetrates through the threading hole, the groove and the inner cavity of the near knuckle. According to the mechanical finger, a cable of the piezoresistive sensor can be prevented from being clamped between the far knuckle and the near knuckle, and it is ensured that the mechanical finger can work normally.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a mechanical finger and a dexterous hand with a piezoresistive sensor. Background Art

[0002] The dexterous hand is the end-effector of a humanoid robot, which is used to enable the humanoid robot to imitate human hands to perform more complex and delicate tasks. The dexterous hand usually includes a palm mounted on the arm of the humanoid robot and multiple mechanical fingers. The multiple mechanical fingers move independently, and each mechanical finger includes two knuckles. The knuckles away from the palm are the distal knuckles, and the knuckles close to the palm are the proximal knuckles. In order to enable the dexterous hand to complete the task to be performed more accurately, a piezoresistive sensor is usually configured on the distal knuckles. When the dexterous hand is working, the piezoresistive sensor is used to sense the pressure on the inner side of the distal knuckles. For example, when the dexterous hand grasps an object, the reaction force exerted by the object on the inner side of the distal knuckles is detected by the piezoresistive sensor. The control unit appropriately controls the drive component based on the detected reaction force, and the drive component drives the distal knuckles to rotate relative to the proximal knuckles to appropriately adjust the rotation angle at the distal knuckle and proximal knuckle joints.

[0003] In existing mechanical fingers, the power supply and signal transmission cables of the piezoresistive sensor pass through the joint where the distal knuckle and the proximal knuckle are connected, and then pass through the proximal knuckle to be connected to the control circuit board located inside the palm of the dexterous hand. When the cable passes through the rotatable joint, it will interfere with the movable parts at the joint. In addition, in order to prevent the cable from being pulled, the overall length is usually set with more redundancy. When more redundancy is set, when the distal knuckle and the proximal knuckle are at a relative rotation angle, the cable will be exposed in the gap formed between the distal knuckle and the proximal knuckle. When the distal knuckle and the proximal knuckle are reset, the cable can easily be stuck between the distal knuckle and the proximal knuckle, resulting in the inability to reset the distal knuckle and the proximal knuckle, thereby affecting the normal work of the dexterous hand. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention aims to provide a mechanical finger and a dexterous hand with a piezoresistive sensor to avoid the cable of the piezoresistive sensor being exposed in the gap between the distal knuckle and the proximal knuckle.

[0005] The purpose of the present invention is achieved by the following technical solutions:

[0006] A mechanical finger with a piezoresistive sensor, including a distal finger joint, a proximal finger joint, a piezoresistive sensor, and a cable;

[0007] A receiving cavity is formed inside the distal phalanx, a flexible covering portion for covering the receiving cavity is arranged on the inner side of the distal phalanx, and a piezoresistive sensor is arranged in the receiving cavity to detect the pressure value from the outside borne by the flexible covering portion when the flexible covering portion is under pressure; a connecting portion protruding backwards is arranged on the rear end surface of the distal phalanx, and a threading hole is arranged on the distal phalanx, one end of the threading hole extends to the receiving cavity, and the other end extends to the rear end surface of the connecting portion;

[0008] The proximal phalanx is provided with a groove formed by the front end thereof being recessed backwards, and the connecting portion is inserted into the groove and is pivotally matched with the proximal phalanx;

[0009] One end of the cable is connected to the piezoresistive sensor, and the other end passes through the threading hole, the groove and the inner cavity of the proximal knuckle in sequence.

[0010] According to the mechanical finger with a piezoresistive sensor of an embodiment of the present invention, a rearwardly protruding connecting portion is provided on the rear end face of the distal knuckle, and the rear end portion of the threading hole extends to the rear end face of the connecting portion, and the connecting portion is embedded in the groove at the front end of the proximal knuckle, that is, the cable is blocked by the connecting portion. When the distal knuckle is swung relative to the proximal knuckle to any state, the cable blocked by the connecting portion will not be exposed in the gap between the rear end face of the distal knuckle and the front end face of the proximal knuckle, thereby preventing the cable from being stuck between the distal knuckle and the proximal knuckle, ensuring that the mechanical finger can work normally, and the threading hole provided on the distal knuckle can protect and guide the cable, avoiding interference between the cable and the distal knuckle, proximal knuckle and other components.

[0011] In a preferred embodiment, the distal knuckle includes a plastic base, a knuckle cover sleeve mounted on the plastic base, the inner side of the plastic base is provided with an outwardly recessed receiving groove, and the portion of the knuckle cover covering the receiving groove forms a flexible covering portion. During assembly, the piezoresistive sensor can be first placed in the receiving groove, so that the piezoresistive sensor is fixed to the plastic base, and then the knuckle cover sleeve is sleeved on the plastic base, thereby facilitating the assembly of the piezoresistive sensor and the distal knuckle.

[0012] In a preferred embodiment, the piezoresistive sensor includes a fixing seat, which is placed in the receiving groove and fixedly connected to the plastic base by screws. The piezoresistive sensor and the plastic base are connected by screws, which further improves the convenience of assembling the piezoresistive sensor and the distal phalanx. At the same time, when the piezoresistive sensor is damaged or fails, it is convenient to replace and repair the piezoresistive sensor.

[0013] In a preferred embodiment, the distal phalanx includes a plastic base and a rotating seat, the rear end wall of the plastic base forms the rear end face of the distal phalanx, the plastic base is provided with a mounting groove formed by the rear end wall thereof being recessed forward, a portion of the rotating seat is embedded in the mounting groove and fixed to the plastic base, another portion of the rotating seat protrudes from the mounting groove to form a connecting portion, a connecting hole is provided on the plastic base, the front end of the connecting hole extends to the accommodating cavity, and the rear end extends to the mounting groove, the rotating seat is provided with a conducting hole extending from the front end face to the rear end face, and the threading hole is composed of the connecting hole and the conducting hole. Since a rotating seat is fixedly connected to the rear end of the plastic base, the rotating seat can be made of a material with strong rigidity (such as a metal material), and the portion where the distal phalanx and the proximal phalanx are pivotally connected to each other has better strength to ensure the stability of the relative rotation between the two, and in addition, by arranging a portion of the threading hole on the rotating seat with strong rigidity, the cable can be better protected.

[0014] In a preferred embodiment, the front end surface of the rotating seat is pressed against the front end wall of the mounting groove, and the rotating seat is fixedly connected to the plastic base by screws. The rotating seat is pressed against the front end wall of the mounting groove, so that the rotating seat and the plastic base have a larger fitting area, ensuring the stability of the connection between the two. The rotating seat and the plastic base are detachably fixed together by screws, and rotating seats of different sizes can be selected according to the proximal phalanges of different sizes to increase the applicable range of the parts.

[0015] In a preferred embodiment, a rigid support is embedded inside the plastic base, the rigid support is located between the mounting groove and the accommodating cavity, and a through hole is provided on the rigid support for the cable to pass through. By embedding the rigid support inside the plastic base, the distal knuckle has better strength, the plastic base is prevented from being deformed, and the cable is protected at the same time.

[0016] In a preferred embodiment, a side wall is provided on the left and right sides of the front end of the proximal knuckle, a top wall is connected between the tops of the two side walls, the groove is surrounded by the two side walls and the top wall, and the connecting part is pivotally connected to the two side walls through a rotating shaft that crosses the three. The two side walls and the top wall are used to form a groove, so that the side of the groove opposite to the top wall (i.e., the inner side of the groove) is a hollow structure, so as to avoid the connecting part from interfering with the proximal knuckle when rotating relative to the proximal knuckle, and then the inward swing angle of the distal knuckle relative to the proximal knuckle is large enough to meet the working requirements of the robot finger, and when the distal knuckle swings inward to the maximum angle relative to the proximal knuckle, the cable is shielded by the top wall to further protect the cable.

[0017] In a preferred embodiment, a stopper is disposed on the inner side of the top wall between the two side walls, and the front side of the stopper is flush with the front end surface of the proximal phalanx or is located behind the front end surface of the proximal phalanx. The stopper is used to further shield the cable at the opening of the groove to prevent the cable from being exposed, and the stopper does not protrude from the front end surface of the proximal phalanx and does not interfere with the distal phalanx, ensuring that the distal phalanx can swing normally.

[0018] In a preferred embodiment, a driving unit is installed inside the proximal knuckle, and the output end of the driving unit is connected to the connecting part to drive the connecting part to rotate relative to the proximal knuckle. The driving unit is arranged inside the proximal knuckle, making the overall structure of the mechanical finger more compact.

[0019] A dexterous hand comprising the above-mentioned mechanical finger with a piezoresistive sensor.

[0020] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0022] Figure 2 It is a cross-sectional view of the present invention and describes a working state of the present invention;

[0023] Figure 3 It is another working state schematic diagram of the present invention;

[0024] Figure 4 for Figure 1 Schematic diagram of the assembly of the mid-distance knuckle;

[0025] Figure 5 for Figure 1 Cross-sectional view of the mid-distal phalanx.

[0026] In the figure: 10, distal knuckle; 101, accommodating cavity; 102, rear end face; 11, plastic base; 111, connecting hole; 112, mounting groove; 113, accommodating groove; 12, rotating seat; 1201, front end face; 1202, rear end face; 121, connecting part; 122, conducting hole; 13, knuckle sleeve; 14, rotating shaft; 15, rigid support member; 151, through hole; 20, proximal knuckle; 201, front end face; 21, groove; 22, side wall; 23, top wall; 24, stopper; 30, piezoresistive sensor; 31, fixing seat; 40, cable. DETAILED DESCRIPTION

[0027] Below, in conjunction with the accompanying drawings and specific embodiments, the present invention is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and the limitations of the present application cannot be understood.

[0028] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0029] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Please refer to Figure 1-5As shown in the figure, a mechanical finger with a piezoresistive sensor of the present invention is installed on a dexterous hand and can be used as the thumb, index finger, middle finger, ring finger or little finger of the dexterous hand. The mechanical finger specifically includes a distal knuckle 10, a proximal knuckle 20, a piezoresistive sensor 30 and a cable 40. A accommodating cavity 101 is formed inside the distal knuckle 10. A flexible covering portion covering the accommodating cavity 101 is provided on the inner side of the distal knuckle 10. The piezoresistive sensor 30 is placed inside the accommodating cavity 101. When the mechanical finger is working, the distal knuckle 20 The inner side of the knuckle 10 contacts the grasped object, and the reaction force exerted by the object on the distal knuckle 10 is transmitted to the detection end of the piezoresistive sensor 30 through the flexible covering part, that is, the piezoresistive sensor 30 can detect the pressure value from the outside on the flexible covering part; the rear end face 102 of the distal knuckle 10 is provided with a connection part 121 protruding backwards, and a threading hole is also provided inside the distal knuckle 10, one end of the threading hole extends to the accommodating cavity 101, and the other end extends to the rear end face 1202 of the connection part 121. The proximal knuckle 20 is provided with a groove 21 formed by the front end face 201 of the proximal knuckle 20, and the size of the groove 21 is set to allow the connection part 121 to be embedded. After the connection part 121 is inserted into the groove 21, the connection part 121 is pivotally matched with the proximal knuckle, so that the distal knuckle 10 can swing in the inner and outer directions relative to the proximal knuckle 20. One end of the cable 40 is connected to the piezoresistive sensor 30, and the other end of the cable 40 passes through the threading hole, the groove 21 and the inner cavity of the proximal knuckle 20 in sequence and is connected to the control circuit board arranged inside the palm of the dexterous hand. The cable 40 is used to connect the piezoresistive sensor 30 to the power supply circuit of the dexterous hand, and at the same time, the piezoresistive sensor 30 is connected to the signal of the dexterous hand control circuit board.

[0032] Figure 2 and Figure 3 The working state of the mechanical finger of the present invention is shown as follows: Figure 2 As shown, the distal knuckle 10 is in a state of swinging to the outermost side relative to the proximal knuckle 20, that is, the mechanical finger is in an extended state; Figure 3As shown in the figure, the distal phalanx 10 is in a state of swinging to the innermost side relative to the proximal phalanx 20. At this time, the cable 40 passes through the rear end face 1202 of the connecting portion 121 and then extends into the groove 21. Since the rear end face 102 of the distal phalanx 10 is provided with a connecting portion 121 protruding backwards, and the rear end of the threading hole extends to the rear end face 1202 of the connecting portion 121, the connecting portion 121 is embedded in the groove 21 at the front end of the proximal phalanx 20, that is, the cable 40 is blocked by the connecting portion 121. When the distal knuckle 10 is swung relative to the proximal knuckle 20 to any state, the cable 40 blocked by the connecting portion 121 will not be exposed in the gap between the rear end face 102 of the distal knuckle 10 and the front end face 201 of the proximal knuckle 20, thereby preventing the cable 40 from being stuck between the distal knuckle 10 and the proximal knuckle 20, ensuring that the mechanical finger can work normally, and the cable 40 can be protected and guided by the threading holes provided on the distal knuckle 10, avoiding interference between the cable 40 and the distal knuckle 10, the proximal knuckle 20 and other components.

[0033] In a preferred embodiment, the distal knuckle 10 includes a plastic base 11 and a knuckle cover 13. The plastic base 11 is the main part of the distal knuckle 10. The knuckle cover 13 is sleeved on the plastic base 11. An outwardly recessed receiving groove 113 is provided on the inner side surface of the plastic base 11. After the knuckle cover 13 is sleeved on the plastic base 11, the part thereof covering the receiving groove 113 forms the above-mentioned flexible covering part. During assembly, the piezoresistive sensor 30 can be placed in the receiving groove 113 first so that the piezoresistive sensor 30 is fixed to the plastic base 11, and then the knuckle cover 13 is sleeved on the plastic base 11, thereby facilitating the assembly of the piezoresistive sensor 30 and the distal knuckle 10. In some embodiments, the knuckle cover 13 may be made of a flexible material. After the knuckle cover 13 is sleeved on the plastic base 11, a portion of the knuckle cover 13 forms the above-mentioned flexible covering portion, and at the same time increases the friction when the distal knuckle 10 contacts an external object; in some other embodiments, the portion of the knuckle cover 13 covering the receiving groove 113 may be set as a flexible material. Of course, in the present invention, the knuckle cover 13 may not be set, and the knuckle may be covered with a flexible sheet connected to the plastic base 11 at the receiving groove 113.

[0034] The piezoresistive sensor 30 includes a fixing seat 31, which is placed in the accommodating groove 113. The fixing seat 31 is connected to the plastic base 11 by screws to keep the piezoresistive sensor 30 fixed to the plastic base 11. The piezoresistive sensor 30 and the plastic base 11 are connected by screws, which further improves the convenience of assembling the piezoresistive sensor 30 and the distal finger joint 10. At the same time, when the piezoresistive sensor 30 is damaged or fails, the piezoresistive sensor 30 can be easily replaced and repaired.

[0035] In the present invention, the distal phalanx 10 further includes a rotating seat 12, the rear end wall of the plastic base 11 is the rear end face 102 of the distal phalanx 10, and a mounting groove 112 is provided on the plastic base 11, which is formed by the rear end wall thereof being recessed forward, a part of the rotating seat 12 is embedded in the mounting groove 112 and is fixedly connected to the plastic base 11, and another part of the rotating seat 12 passes through the mounting groove 112 and protrudes from the mounting groove 112 to form the above-mentioned connecting portion 121, that is, the connecting portion 121 is located on the rotating seat 12 and is formed by the rear end face 112 of the distal phalanx 10. 02 protrudes backwards, a connecting hole 111 is provided on the plastic base 11, the front end of the connecting hole 111 extends to the accommodating cavity 101, and the rear end extends to the mounting groove 112, the rear end face 1202 of the connecting portion 121 is the rear end face of the rotating seat 12, and a conducting hole 122 extending from its front end face 1201 to its rear end face is provided on the rotating seat 12, after the rotating seat 12 is embedded in the mounting groove 112 and the rotating seat 12 is fixed to the plastic base 11, the connecting hole 111 and the conducting hole 122 together form the above-mentioned threading hole. Since a rotating seat 12 is fixedly connected to the rear end of the plastic base 11, the rotating seat 12 can be made of a material with strong rigidity (such as a metal material), and the part where the distal phalanx 10 and the proximal phalanx 20 are pivotally connected to each other has better strength to ensure the stability of the relative rotation between the two. In addition, by setting a part of the threading hole on the rotating seat 12 with strong rigidity, the cable 40 can be better protected.

[0036] The front end surface 1201 of the rotating seat 12 is pressed against the front end wall of the mounting groove 112, and the rotating seat 12 is fixedly connected to the plastic base 11 by screws. The rotating seat 12 is pressed against the front end wall of the mounting groove 112, so that the rotating seat 12 and the plastic base 11 have a larger fitting area, ensuring the stability of the connection between the two. The rotating seat 12 and the plastic base 11 are detachably fixed together by screws, and rotating seats 12 of different sizes can be adaptively selected for proximal phalanges 20 of different sizes to increase the applicable range of components.

[0037] A rigid support member 15 is embedded inside the plastic base 11. The rigid support member 15 is located between the mounting groove 112 and the accommodating cavity 101. At the same time, a through hole 151 is provided on the rigid support member 15 for the cable 40 to pass through. The rigid support member 15 can be made of a material with strong rigidity such as metal material. By embedding the rigid support member 15 inside the plastic base 11, the distal knuckle 10 has better strength, avoiding deformation of the plastic base 11, and protecting the cable 40 at the same time.

[0038] The left and right sides of the front end of the proximal knuckle 20 are respectively provided with a side wall 22, and a top wall 23 is connected between the tops of the two side walls 22. The groove 21 is surrounded by the two side walls 22 and the top wall 23. After the above-mentioned connecting portion 121 is inserted into the groove 21, the connecting portion 121 is pivoted between the two side walls 22 by a rotating shaft 14 that crosses the connecting portion 121 and the two side walls 22, so that the connecting portion 121 can rotate relative to the proximal knuckle 20; the two side walls 22 and the top wall 23 are used to surround the groove 21, so that the side of the groove 21 opposite to the top wall 23 (that is, the inner side of the groove 21) is a hollow structure, so as to avoid the interference of the connecting portion 121 with the proximal knuckle 20 when rotating relative to the proximal knuckle 20, so that the angle of the inward swing of the distal knuckle 10 relative to the proximal knuckle 20 is large enough to meet the working requirements of the mechanical finger, and when the distal knuckle 10 swings inward to the maximum angle relative to the proximal knuckle 20, that is, Figure 3 In the state shown, the cable 40 is shielded by the top wall 23 , thereby further protecting the cable 40 .

[0039] A stopper 24 is also provided on the inner side of the top wall 23 and is located between the two side walls 22. The front side surface of the stopper 24 is flush with the front end surface 201 of the proximal knuckle 20 or is located on the rear side of the front end surface 201 of the proximal knuckle 20. The stopper 24 is used to further block the cable 40 at the opening of the groove 21 to prevent the cable 40 from being exposed. At the same time, the stopper 24 does not protrude from the front end surface 201 of the proximal knuckle 20 and will not interfere with the distal knuckle 10, thereby ensuring that the distal knuckle 10 can swing normally.

[0040] In the present invention, the proximal knuckle 20 is set as a hollow structure, a driving unit is installed in the inner cavity of the proximal knuckle 20, the output end of the driving unit is connected to the connecting part 121, and the connecting part 121 is driven by the driving unit to rotate relative to the proximal knuckle 20 around the above-mentioned rotating shaft 14. The driving unit is arranged inside the proximal knuckle 20, making the overall structure of the mechanical finger more compact.

[0041] The dexterous hand of the present invention includes the above-mentioned mechanical finger with a piezoresistive sensor. The other structures of the dexterous hand are the same as those in the prior art and will not be described in detail here.

[0042] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be conceived by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, material usage, color, orientation, etc.

[0043] The above implementation modes are only preferred implementation modes of the embodiments of the present invention and cannot be used to limit the protection scope of the embodiments of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the embodiments of the present invention shall fall within the scope of protection required by the embodiments of the present invention.

Claims

1. A mechanical finger with a piezoresistive sensor, characterized in that: Including distal knuckle, proximal knuckle, piezoresistive sensor, and cable; A receiving cavity is formed inside the distal phalanx, a flexible covering portion for covering the receiving cavity is arranged on the inner side of the distal phalanx, and a piezoresistive sensor is arranged in the receiving cavity to detect the pressure value from the outside borne by the flexible covering portion when the flexible covering portion is under pressure; a connecting portion protruding backwards is arranged on the rear end surface of the distal phalanx, and a threading hole is arranged on the distal phalanx, one end of the threading hole extends to the receiving cavity, and the other end extends to the rear end surface of the connecting portion; The proximal phalanx is provided with a groove formed by the front end thereof being recessed backwards, and the connecting portion is inserted into the groove and is pivotally matched with the proximal phalanx; One end of the cable is connected to the piezoresistive sensor, and the other end passes through the threading hole, the groove and the inner cavity of the proximal knuckle in sequence.

2. The mechanical finger with a piezoresistive sensor as claimed in claim 1, characterized in that: The distal knuckle comprises a plastic base and a knuckle sleeve sleeved on the plastic base. The inner side of the plastic base is provided with an outwardly recessed receiving groove, and the portion of the knuckle sleeve covering the receiving groove forms a flexible covering portion.

3. The mechanical finger with a piezoresistive sensor as claimed in claim 2, characterized in that: The piezoresistive sensor comprises a fixing seat, which is placed in the receiving groove and fixedly connected to the plastic base by screws.

4. The mechanical finger with a piezoresistive sensor according to claim 1, characterized in that: The distal knuckle includes a plastic base and a rotating seat. The rear end wall of the plastic base forms the rear end face of the distal knuckle. The plastic base is provided with a mounting groove formed by the rear end wall thereof being recessed forward. A part of the rotating seat is embedded in the mounting groove and fixed to the plastic base. The other part of the rotating seat protrudes from the mounting groove to form a connecting portion. A connecting hole is provided on the plastic base. The front end of the connecting hole extends to the accommodating cavity and the rear end extends to the mounting groove. The rotating seat is provided with a conducting hole extending from its front end face to the rear end face. The threading hole is composed of the connecting hole and the conducting hole.

5. The mechanical finger with a piezoresistive sensor as claimed in claim 4, characterized in that: The front end surface of the rotating seat is close to the front end wall of the mounting groove, and the rotating seat is fixedly connected with the plastic base through screws.

6. The mechanical finger with a piezoresistive sensor as claimed in claim 4, characterized in that: A rigid support member is embedded inside the plastic base, and the rigid support member is located between the mounting groove and the accommodating cavity. A through hole for the cable to pass through is arranged on the rigid support member.

7. The mechanical finger with a piezoresistive sensor according to claim 1, characterized in that: A side wall is respectively arranged on the left and right sides of the front end of the proximal knuckle, a top wall is connected between the tops of the two side walls, the groove is surrounded by the two side walls and the top wall, and the connecting part and the two side walls are pivotally connected together through a rotating shaft that crosses the three.

8. The mechanical finger with a piezoresistive sensor as claimed in claim 7, characterized in that: A stopper located between the two side walls is arranged on the inner side of the top wall, and the front side surface of the stopper is flush with the front end surface of the proximal phalanx or is located at the rear side of the front end surface of the proximal phalanx.

9. The mechanical finger with a piezoresistive sensor according to claim 1, characterized in that: A driving unit is installed inside the proximal phalanx, and an output end of the driving unit is connected to the connecting part to drive the connecting part to rotate relative to the proximal phalanx.

10. A dexterous hand, characterized in that A mechanical finger with a piezoresistive sensor comprising any one of claims 1-9.

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