Dexterous hand with multi-degree-of-freedom thumb root joint

Abstract

The invention discloses a dexterous hand with a multi-degree-of-freedom thumb root joint, which comprises a palm base body as well as a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly and a little finger assembly which are connected to the palm base body, the first driving part drives the second driving part to rotate around the first transmission axis, the second driving part drives the thumb palm root knuckles to rotate around the second transmission axis, the first transmission axis is perpendicular to the second transmission axis, and the length of the common perpendicular line is a constant. The driving module can drive the thumb assembly to rotate around the two axes which are relatively perpendicular and have the constant distance, the controllability of the thumb assembly can be improved, and the structural design of the dexterous hand is facilitated; the thumb assembly can simulate the action that a thumb in a human palm rotates around the palm, the opening and closing action of a human jaw and the action that the thumb gets close to or away from a palm base body, and better fits the movement performance of the thumb of the human hand.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and particularly to a dexterous hand with a multi-degree-of-freedom thumb metacarpophalangeal joint. Background Art

[0002] The design of a dexterous hand is an important part for a humanoid robot to move towards the application field. In the design of a dexterous hand, the flexibility and design of the thumb are the keys to realizing the hand function. In terms of transmission design, the common practice is to use kinematic pairs in series or parallel mechanisms to realize the motion function of the thumb. However, the motion range of the parallel mechanism is limited, and the change of the axis during the motion of the thumb in the series kinematic pair is relatively complex, which brings inconvenience to the control of the thumb, resulting in poor controllability of the thumb, and it is difficult for the motion of the thumb to reach the motion performance of the human thumb, which is not conducive to the design of the dexterous hand. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. For this purpose, the present invention provides a dexterous hand with a multi-degree-of-freedom thumb metacarpophalangeal joint, which can improve the controllability and motion flexibility of the thumb, and can better conform to the motion performance of the human thumb.

[0004] A dexterous hand with a multi-degree-of-freedom thumb metacarpophalangeal joint according to an embodiment of the present invention includes: A palm base body and a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly and a little finger assembly connected to the palm base body; Wherein, the thumb assembly includes a thumb metacarpal phalanx, a thumb proximal phalanx and a thumb distal phalanx. The thumb distal phalanx is rotatably connected to one end of the thumb proximal phalanx, the other end of the thumb proximal phalanx is rotatably connected to one end of the thumb metacarpal phalanx, and the other end of the thumb metacarpal phalanx is connected to the palm base body through a driving module; The driving module includes a first driving member and a second driving member. The first driving member is installed on the palm base body and is connected to the second driving member. The first driving member drives the second driving member to rotate around a first transmission axis. The second driving member is connected to the thumb metacarpal phalanx and drives the thumb metacarpal phalanx to rotate around a second transmission axis. The first transmission axis is parallel to the vertical direction, the first transmission axis is perpendicular to the second transmission axis, and the length of the common perpendicular of the first transmission axis and the second transmission axis is a constant.

[0005] The dexterous hand with a multi-degree-of-freedom thumb metacarpophalangeal joint according to an embodiment of the present invention has at least the following beneficial effects: In this application, the driving module can drive the thumb component to rotate around two relatively perpendicular axes with a constant spacing, which can improve the controllability of the thumb component and facilitate the structural design of the dexterous hand. The thumb metacarpophalangeal joint has two degrees of freedom. When the thumb component rotates around the first transmission axis X, it can reciprocate between the front side of the palm base and the left and right sides of the palm base, simulating the action of the thumb rotating around the palm in the human palm. When the thumb component rotates around the second transmission axis Y on the left and right sides of the palm base, the thumb component can approach or move away from the palm base on the left and right sides of the palm base to simulate the opening and closing action of the human thumb web. When the thumb component rotates around the second transmission axis Y on the front side of the palm base, the thumb component can move backward and approach the palm base, or move forward and move away from the palm base to simulate the action of the human thumb approaching or moving away from the palm base in the front-back direction, thus being able to better conform to the movement performance of the human thumb. According to some embodiments of the present invention, the first transmission axis intersects with the second transmission axis; Alternatively, the first transmission axis and the second transmission axis are skew lines.

[0006] According to some embodiments of the present invention, the driving module further includes a mounting bracket, the second driving member is mounted on the mounting bracket, and the first driving member is connected to the mounting bracket and drives the mounting bracket to rotate around the first transmission axis; The driving module further includes a first link and a second link. The second driving member is connected to one end of the first link and drives the first link to rotate around a direction parallel to the second transmission axis. The other end of the first link is rotatably connected to one end of the second link, and the other end of the second link is rotatably connected to the thumb metacarpophalangeal joint. The thumb metacarpophalangeal joint is rotatably connected to the mounting bracket around the second transmission axis.

[0007] According to some embodiments of the present invention, the mounting bracket includes a first mounting portion rotatably connected to the thumb metacarpophalangeal joint. The first driving member is located above the second driving member. Among them, the first mounting portion is located on the side of the first driving member, so that the first transmission axis and the second transmission axis are skew lines; Alternatively, the first mounting portion is located above the first driving member, so that the first transmission axis intersects with the second transmission axis.

[0008] According to some embodiments of the present invention, a first mounting space and a second mounting space are provided on the side of the mounting bracket facing away from the thumb component. The first mounting space is located above the second mounting space. At least part of the first driving member is accommodated in the first mounting space, and at least part of the second driving member is fixed in the second mounting space.

[0009] According to some embodiments of the present invention, the palm base includes a finger mounting portion and a support portion. The support portion is connected to the bottom of the finger mounting portion, and a thumb mounting space is defined on one side of the support portion and below the finger mounting portion. The index finger assembly, the middle finger assembly, the ring finger assembly, and the little finger assembly are all mounted on the finger mounting portion. The mounting bracket is located in the thumb mounting space, and the first driving member is mounted on the support portion.

[0010] According to some embodiments of the present invention, the thumb assembly further includes a thumb driving member and a thumb link. The thumb link is disposed crosswise to the thumb proximal phalanx. Two ends of the thumb link are respectively rotatably connected to the thumb metacarpophalangeal joint and the thumb distal phalanx. One end of the thumb proximal phalanx is rotatably connected to the thumb distal phalanx, and the other end of the thumb proximal phalanx is connected to the thumb driving member. The thumb driving member is mounted on the thumb metacarpophalangeal joint and drives the thumb proximal phalanx to rotate.

[0011] According to some embodiments of the present invention, the thumb assembly further includes a transmission torsion spring and a first support shaft. The first support shaft is connected to the thumb metacarpophalangeal joint. One end of the thumb link is connected to the first support shaft. The transmission torsion spring is sleeved outside the first support shaft. One end of the transmission torsion spring is connected to the thumb proximal phalanx, and the other end is connected to the thumb metacarpophalangeal joint. According to some embodiments of the present invention, the thumb assembly further includes a first limit sensor and a second limit sensor. The first limit sensor is mounted on a side of the thumb metacarpophalangeal joint facing the palm base and is used to limit the maximum bending angle of the thumb assembly. The second limit sensor is mounted on a side of the thumb metacarpophalangeal joint facing away from the palm base and is used to limit the maximum extension angle of the thumb assembly; And / or, the thumb assembly further includes a second support shaft and an angle sensor. The second support shaft is connected to the thumb metacarpophalangeal joint. One end of the thumb proximal phalanx is connected to the second support shaft. The angle sensor is disposed at the first support shaft and detects the rotation angle of the thumb proximal phalanx, and / or the angle sensor is disposed at the second support shaft and detects the rotation angle of the thumb link.

[0012] According to some embodiments of the present invention, the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly each include a finger distal phalanx, a finger middle phalanx, a finger proximal phalanx, a finger metacarpophalangeal phalanx, a first finger link, a second finger link and a finger drive member. The finger metacarpophalangeal phalanx is mounted on the palm base body. The first finger link and the finger proximal phalanx are arranged in a crossed manner. The second finger link and the finger middle phalanx are arranged in a crossed manner. Two ends of the first finger link are respectively rotatably connected to the finger metacarpophalangeal phalanx and the finger middle phalanx. One end of the finger proximal phalanx is connected to the finger drive member, and the other end is rotatably connected to one end of the second finger link. The other end of the second finger link is rotatably connected to the finger distal phalanx. Two ends of the finger middle phalanx are respectively rotatably connected to the finger distal phalanx and the finger proximal phalanx.

[0013] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described below in conjunction with the drawings and embodiments, where: Figure 1 is a schematic diagram of an embodiment of a dexterous hand with a multi-degree-of-freedom thumb metacarpophalangeal joint according to the present invention; Figure 2 is a schematic diagram of another embodiment of a dexterous hand with a multi-degree-of-freedom thumb metacarpophalangeal joint according to the present invention; Figure 3 is Figure 1 a schematic diagram of the cooperation between the drive module and the thumb assembly in ; Figure 4 is Figure 2 a schematic diagram of the cooperation between the drive module and the thumb assembly in ; Figure 5 is Figure 3 a schematic diagram of the cooperation between the mounting bracket and the thumb metacarpal phalanx in ; Figure 6 is a schematic diagram of an embodiment of the thumb assembly; Figure 7 is a cross-sectional view of an embodiment of the thumb assembly; Figure 8 is a schematic diagram of the thumb assembly in another direction; Figure 9 is a schematic diagram of an embodiment of the index finger assembly, the middle finger assembly, the ring finger assembly or the little finger assembly; Figure 10 is a cross-sectional view of the index finger assembly, the middle finger assembly, the ring finger assembly or the little finger assembly in the extended state; Figure 11A cross-sectional view of the index finger component, middle finger component, ring finger component, or little finger component in a bent state.

[0015] Reference numerals: Palm base 100, finger mounting portion 110, support portion 120, thumb mounting space 130; thumb component 200, thumb metacarpophalangeal joint 210, thumb proximal phalanx 220, mounting groove 221, proximal phalanx body 222, rod portion 223, thumb distal phalanx 230, drive module 240, first drive member 241, second drive member 242, mounting bracket 243, first mounting portion 2431, first mounting space 2432, second mounting space 2433, mounting protrusion 2434, base 2435, first link 244, second link 245, thumb drive member 250, thumb link 260, limiting protrusion 261, transmission torsion spring 270, first transmission torsion spring 270a, second transmission torsion spring 270b, first support shaft 280, second support shaft 290, first limit sensor 201, second limit sensor 202, angle sensor 203; index finger component 300; middle finger component 400; ring finger component 500; little finger component 600; finger distal phalanx 610, finger middle phalanx 620, finger proximal phalanx 630, finger metacarpophalangeal joint 640, first finger link 650, second finger link 660, finger drive member 670; base 700. Detailed implementation manners

[0016] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0017] In the description of the present invention, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0018] In the description of the present invention, the meaning of several is more than one, and the meaning of multiple is more than two. Understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If the first and second are described only for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0019] In the description of the present invention, unless otherwise clearly defined, terms such as "arrangement", "installation", and "connection" should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0020] In the description of the present invention, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0021] In an embodiment of the present invention, a dexterous hand with a multi-degree-of-freedom thumb metacarpophalangeal joint (hereinafter referred to as the dexterous hand) is provided. Referring to Figure 1 And Figure 2 , the dexterous hand includes a palm base 100 and a thumb assembly 200, an index finger assembly 300, a middle finger assembly 400, a ring finger assembly 500, and a little finger assembly 600 connected to the palm base 100, so as to bionic and simulate the human palm. It can be understood that the thumb assembly 200, the index finger assembly 300, the middle finger assembly 400, the ring finger assembly 500, and the little finger assembly 600 can all curl and bend (such as the index finger assembly 300, the middle finger assembly 400, the ring finger assembly 500, and the little finger assembly 600 shown in Figure 1 ), stretch (such as the index finger assembly 300, the middle finger assembly 400, the ring finger assembly 500, and the little finger assembly 600 shown in Figure 2 ), and can grasp an object in the curled state and release the object in the stretched state.

[0022] Referring to Figure 3 And Figure 4 , the thumb assembly 200 includes a thumb metacarpophalangeal joint 210, a thumb proximal phalanx 220, and a thumb distal phalanx 230. Among them, the thumb distal phalanx 230, the thumb proximal phalanx 220, and the thumb metacarpophalangeal joint 210 are arranged in sequence. The two ends of the thumb proximal phalanx 220 are respectively rotatably connected to one end of the thumb distal phalanx 230 and the thumb metacarpophalangeal joint 210. That is, relative rotation can occur between the thumb distal phalanx 230 and the thumb proximal phalanx 220, and between the thumb proximal phalanx 220 and the thumb metacarpophalangeal joint 210. The relative rotation of each phalanx in the thumb assembly 200 enables the thumb assembly 200 to curl and stretch.

[0023] One end of the thumb metacarpophalangeal joint 210 away from the thumb proximal phalanx 220 is connected to the palm base 100 through the driving module 240. The thumb metacarpophalangeal joint 210 can simulate the metacarpal bone of the thumb in the human palm skeleton. The driving module 240 is used to drive the thumb assembly 200 to move relative to the palm base 100, so as to simulate the actions of the human palm opening and closing the tiger's mouth, the thumb rotating around the palm, and the thumb approaching and then moving away from the palm base 100 in the front-back direction. For the convenience of understanding and description, in the present invention, the orientation of the palm of the palm base 100 is taken as the front, the direction opposite to the palm orientation is taken as the back, the arrangement direction of the index finger assembly 300, the middle finger assembly 400, the ring finger assembly 500 and the little finger assembly 600 is taken as left or right, the direction in which the middle finger assembly 400 extends relative to the palm base 100 is taken as the upper, and the other side opposite thereto is taken as the lower. The index finger assembly 300, the middle finger assembly 400, the ring finger assembly 500 and the little finger assembly 600 can all curl forward and downward on the front side of the palm base 100.

[0024] Specifically, the driving module 240 includes a first driving member 241 and a second driving member 242. The first driving member 241 is installed on the palm base 100 and is connected to the second driving member 242. The first driving member 241 drives the second driving member 242 to rotate around the first transmission axis X. The second driving member 242 is connected to the thumb metacarpophalangeal joint 210 and drives the thumb metacarpophalangeal joint 210 to rotate around the second transmission axis Y. Wherein the first transmission axis X is parallel to the vertical direction, the first transmission axis X is perpendicular to the second transmission axis Y, and the common perpendicular of the first transmission axis X and the second transmission axis Y is a constant. That is, during the process of the driving module 240 driving the thumb assembly 200 to move, the distance between the first transmission axis X and the second transmission axis Y is a fixed value and always remains unchanged. Compared with the traditional setting method in which the axis distance or axis angle changes in real time during the movement of the transmission axis, in the present invention, the first transmission axis X and the second transmission axis Y are always perpendicular and the distance is kept unchanged, which can improve the controllability of the thumb assembly 200 and facilitate the structural design of the dexterous hand.

[0025] The driving module 240 can drive the thumb component 200 to rotate around two relatively perpendicular axes. The thumb metacarpophalangeal joint 210 has two degrees of freedom. When the thumb component 200 rotates around the first transmission axis X, it can reciprocate between the front side of the palm base 100 and the left and right sides of the palm base 100, simulating the action of the thumb rotating around the palm in the human palm. When the thumb component 200 rotates around the second transmission axis Y on the left and right sides of the palm base 100, the thumb component 200 can approach or move away from the palm base 100 on the left and right sides of the palm base 100 to simulate the opening and closing action of the human thumb web. When the thumb component 200 rotates around the second transmission axis Y on the front side of the palm base 100, the thumb component 200 can move backward and approach the palm base 100, or move forward and move away from the palm base 100 to simulate the action of the human thumb approaching or moving away from the palm base 100 in the front and back directions. Thereby, the movement flexibility of the thumb component 200 is improved, and it can better conform to the movement performance of the human thumb.

[0026] It can be understood that when the thumb component 200 is located on the left and right sides of the palm base 100, the second transmission axis Y is perpendicular to the palm base 100. When the thumb component 200 is located directly in front of the palm base 100, the second transmission axis Y is parallel to the palm base 100. When the thumb component 200 transitions between the left and right sides of the palm base 100 and the front side of the palm base 100, the angle between the second transmission axis Y and the palm base 100 is an acute angle.

[0027] It should be noted that when the dexterous hand performs a grasping task, the driving module 240 can drive the thumb component 200 to rotate around the first transmission axis X. By changing the angle of the thumb component 200 rotating around the first transmission axis X, the position of the thumb component 200 relative to the palm base 100 in the left-right direction and the front-back direction can be adjusted, enabling the dexterous hand to grasp objects of different shapes and sizes, and simulate different actions of the human hand, such as pinching, kneading, making a fist, grasping, etc. Exemplarily, when the thumb component 200 is far from the palm base 100 in the left-right direction and / or far from the palm base 100 in the front-back direction, the thumb component 200 can cooperate with the index finger component 300, middle finger component 400, ring finger component 500, and little finger component 600 to grasp a larger object. When the thumb component 200 is close to the palm base 100 in the left-right direction and / or close to the palm base 100 in the front-back direction, the thumb component 200 can cooperate with the index finger component 300, middle finger component 400, ring finger component 500, and little finger component 600 to grasp a smaller object.

[0028] Such as Figure 1 And Figure 3In the illustrated embodiment, the first transmission axis X and the second transmission axis Y are staggered in space and do not intersect in space. The first transmission axis X and the second transmission axis Y are skew lines. In this case, the actual motion form of the thumb assembly 200 is that the second transmission axis Y moves along a circular ring with the common perpendicular as the radius. The thumb assembly 200 has a certain rotation radius relative to the palm base 100, and the movement range of the thumb assembly 200 relative to the palm base 100 is large, which can meet the various grasping requirements of the dexterous hand.

[0029] As Figure 2 And Figure 4 In the illustrated embodiment, the first transmission axis X and the second transmission axis Y intersect and are perpendicular. The foot of the perpendicular from the second transmission axis Y to the first transmission axis X is the rotation position of the thumb assembly 200, and the foot of the perpendicular of the first transmission axis X and the second transmission axis Y remains unchanged, and the distance between them is zero, that is, the length of the common perpendicular is zero, making the transmission of the thumb assembly 200 have a constant characteristic, and the connection between the thumb assembly 200 and the palm base 100 is relatively compact, which can adapt to the grasping scenario in a small space.

[0030] In one embodiment, the second driving member 242 is directly connected to the output end of the first driving member 241, and the thumb metacarpophalangeal phalanx 210 is directly connected to the output end of the second driving member 242. The transmission efficiency between the first driving member 241, the second driving member 242 and the thumb metacarpophalangeal phalanx 210 is high, making the movement of the dexterous hand more sensitive. As Figure 3 And Figure 4 In the illustrated embodiment, the drive module 240 further includes a mounting bracket 243. The second driving member 242 is mounted on the mounting bracket 243. The first driving member 241 is connected to the mounting bracket 243 and directly drives the mounting bracket 243 to rotate around the first transmission axis X. The thumb assembly 200 rotates around the second transmission axis Y relative to the mounting bracket 243. The mounting bracket 243 driven by the first driving member 241 can synchronously drive the thumb assembly 200 to rotate around the first transmission axis X.

[0031] Specifically, the driving module 240 further includes a first connecting rod 244 and a second connecting rod 245. The second driving member 242 is connected to one end of the first connecting rod 244 and drives the first connecting rod 244 to rotate around a direction parallel to the second transmission axis Y. The other end of the first connecting rod 244 is rotatably connected to one end of the second connecting rod 245. The other end of the second connecting rod 245 is rotatably connected to the thumb metacarpophalangeal joint 210. The thumb metacarpophalangeal joint 210 is rotatably connected to the mounting bracket 243 around the second transmission axis Y. There is a gap between the connection position of the thumb metacarpophalangeal joint 210 and the mounting bracket 243 and the connection position of the thumb metacarpophalangeal joint 210 and the second connecting rod 245. The relative rotation directions of the first connecting rod 244 and the second connecting rod 245, and the relative rotation direction of the second connecting rod 245 and the thumb metacarpophalangeal joint 210 are all parallel to the second transmission axis Y. In this way, the thumb metacarpophalangeal joint 210, the mounting bracket 243, the first connecting rod 244 and the second connecting rod 245 are configured to form a four-bar linkage structure. The four-bar linkage structure has high motion stability, controllable motion trajectory and strong load-bearing capacity. The second driving member 242 drives the thumb assembly 200 to rotate through the four-bar linkage structure, which is beneficial to improving the controllability and stability of the motion of the thumb assembly 200.

[0032] Both the first driving member 241 and the second driving member 242 are set as DC geared motors. The DC geared motors have the characteristics of wide speed regulation range, stable and reliable motion, which is beneficial to accurately and stably control the motion of the thumb motion assembly.

[0033] It can be understood that since the first driving member 241 drives the mounting bracket 243 to rotate around the first transmission axis X, by changing the connection position of the thumb metacarpophalangeal joint 210 and the mounting bracket 243, the distance between the first transmission axis X and the second transmission axis Y can be changed. The mounting bracket 243 includes a first mounting portion 2431 rotatably connected to the thumb metacarpophalangeal joint 210. The first mounting portion 2431 is not limited to being set as a rotating shaft, a protruding structure protruding from the surface of the first mounting portion 2431, etc. The thumb assembly 200 rotates around the second transmission axis Y based on the first mounting portion 2431. As Figure 3 In the shown embodiment, the first driving member 241 is located above the second driving member 242, and the first mounting portion 2431 is located on the side of the first driving member 241 in the left-right direction. In this case, the first transmission axis X and the second transmission axis Y are perpendicular and do not intersect in space, and form skew lines. As Figure 4In the illustrated embodiment, the first driving member 241 is located above the second driving member 242, and the first mounting portion 2431 is located above the first driving member 241. In this case, the first transmission axis X is perpendicular to and intersects the second transmission axis Y. In this way, the distance between the first transmission axis X and the second transmission axis Y can be adjusted by changing the position of the first mounting portion 2431 on the mounting bracket 243, thereby enabling the thumb assembly 200 to have different motion forms, making the design of the dexterous hand more flexible.

[0034] Specifically, refer to Figure 5 The mounting bracket 243 has a first mounting space 2432 and a second mounting space 2433 on the side facing away from the thumb assembly 200. The first mounting space 2432 is located above the second mounting space 2433. A portion of the first driving member 241 is connected to the palm base 100, another portion of the first driving member 241 is accommodated in the first mounting space 2432, and at least a portion of the second driving member 242 is installed and fixed in the second mounting space 2433. The mounting bracket 243 provides a mounting position for the installation and connection of the first driving member 241 and the second driving member 242, and makes the structure of the dexterous hand more compact in the left-right direction. The rotation position of the thumb assembly 200 relative to the mounting bracket 243 is located on the side of the index finger assembly 300 facing the little finger assembly 600, so as to better fit the movement characteristics of the human thumb.

[0035] Further, see Figure 3 The palm base 100 includes a finger mounting portion 110 and a support portion 120, the support portion 120 is connected to the bottom of the finger mounting portion 110, the index finger assembly 300, the middle finger assembly 400, the ring finger assembly 500 and the little finger assembly 600 are all installed on the top of the finger mounting portion 110, the bottom of the finger mounting portion 110 and one side of the support portion 120 define a thumb mounting space 130, the mounting bracket 243 is located in the thumb mounting space 130, and the first driving member 241 is installed on one side of the support portion 120; in this way, the support portion 120 avoids the driving module 240, and a space for installing the driving module 240 is set on one side of the palm base 100 close to the thumb assembly 200, so that the rotation position of the thumb assembly 200 relative to the mounting bracket 243 and the rotation position of the mounting bracket 243 relative to the palm base 100 are both located below the finger mounting portion 110, so as to better fit the movement characteristics of the human thumb.

[0036] like Figure 3 and Figure 4In the illustrated embodiment, except that part of the first driving member 241 is installed on the supporting portion 120, other components of the driving module 240 are all located within the thumb installation space 130, so that the driving module 240 is integrated within the thumb installation space 130. When the thumb assembly 200 is located on the side of the palm base 100 in the left-right direction, the metacarpophalangeal joint 210 of the thumb of the thumb assembly 200 is also located within the thumb installation space 130, which can maximize the position where the thumb assembly 200 can rotate relative to the mounting bracket 243 close to the palm center of the palm base 100 to better conform to the movement characteristics of the human thumb.

[0037] In addition, the first driving member 241 and the second driving member 242 are dual-axis driving motors. Specifically, output shafts are provided at both the upper end and the lower end of the first driving member 241. The mounting bracket 243 has two protruding mounting protrusions 2434 which are arranged at intervals in the vertical direction and define a first installation space 2432. The two output shafts of the first driving member 241 are respectively connected to the two mounting protrusions 2434, enabling the mounting bracket 243 to rotate smoothly around the first transmission axis X. The mounting bracket 243 further includes a base 2435. The base 2435 and the mounting protrusions 2434 are arranged on the same side and are located below the mounting protrusions 2434. A second installation space 2433 is defined between the base 2435 and the lower mounting protrusion 2434, and the second driving member 242 is installed on the top of the base 2435.

[0038] The second driving member 242 has two output shafts. When the thumb assembly 200 is located on the side of the palm base 100 in the left-right direction, the two output shafts are respectively located at the front side and the rear side of the second driving member 242. The driving module 240 includes two symmetrically arranged first linkages 244 and two symmetrically arranged second linkages 245. The two first linkages 244 are respectively connected to the two output shafts of the second driving member 242, and the two second linkages 245 are respectively connected to the front side and the rear side of the metacarpophalangeal joint 210 of the thumb. The two first linkages 244 and the two second linkages 245 are respectively located on opposite sides of the mounting bracket 243 in the front-rear direction. In this way, not only can the smoothness of the rotation of the thumb assembly 200 around the second transmission axis Y be improved, but also the mounting bracket 243 can be avoided, making the connection between the thumb assembly 200 and the driving module 240 more compact.

[0039] During the rotation of the second linkage 245 following the first linkage 244, the second linkage 245 can be lifted or lowered relative to the first linkage 244 so as to Figure 4Taking the illustrated embodiment as an example, when the first link 244 rotates in the direction indicated by the arrow, the second link 245 moves upward. When the second link 245 rotates in the direction opposite to the arrow, the second link 245 moves downward. When the first link 244 rotates by a preset angle in the direction indicated by the arrow, the second link 245 rises to a preset position, and the tops of the two second links 245 cross over the top of the mounting bracket 243, and the mounting bracket 243 is inserted between the two second links 245. With this setting, the thumb assembly 200 can rotate without being blocked by the mounting bracket 243 and has a relatively large rotation range about the first transmission axis X.

[0040] Referring to Figure 6 With Figure 7 , the thumb assembly 200 further includes a thumb driving member 250 and a thumb link 260. The thumb link 260 is arranged crosswise with the thumb proximal phalanx 220. The two ends of the thumb link 260 are respectively rotatably connected to the thumb distal phalanx 230 and the thumb metacarpophalangeal phalanx 210. One end of the thumb proximal phalanx 220 is rotatably connected to the thumb distal phalanx 230, and the other end is connected to the thumb driving member 250. The rotational connection positions of the thumb proximal phalanx 220 and the thumb distal phalanx 230 and the rotational connection positions of the thumb distal phalanx 230 and the thumb link 260 are spaced apart. The thumb driving member 250 is mounted on the thumb metacarpophalangeal phalanx 210 and drives the thumb proximal phalanx 220 to rotate.

[0041] The thumb distal phalanx 230, the thumb link 260, the thumb proximal phalanx 220 and the thumb metacarpophalangeal phalanx 210 form an anti-parallelogram mechanism, which can realize the two-way and large-angle movement of the thumb assembly 200, making the movement of the thumb assembly 200 more stable. When the thumb driving member 250 drives the thumb proximal phalanx 220 to rotate, the thumb link 260 and the thumb distal phalanx 230 are linked. That is, by setting a driving component in the thumb assembly 200, the synchronous rotation of the thumb proximal phalanx 220 relative to the thumb metacarpophalangeal phalanx 210 and the thumb distal phalanx 230 relative to the thumb proximal phalanx 220 can be realized. And the thumb driving member 250 directly drives the thumb proximal phalanx 220 to rotate without transmitting power through other structures. The power transmission efficiency of the thumb assembly 200 is relatively high, making the movement of the thumb assembly 200 more sensitive.

[0042] In one embodiment, the proximal phalanx 220 of the thumb is provided with an installation groove 221 penetrating through the upper and lower parts. The thumb link 260 is disposed in the installation groove 221. The upper end of the thumb link 260 protrudes out of the installation groove 221 and is rotatably connected to the distal phalanx 230 of the thumb. The lower end of the thumb link 260 protrudes out of the installation groove 221 and is rotatably connected to the metacarpophalangeal phalanx 210 of the thumb. By using the internal space of the proximal phalanx 220 of the thumb to install the thumb link 260, on the one hand, the structure of the thumb assembly 200 is made more compact, which is convenient for constructing an anti-parallelogram mechanism between the thumb link 260, the proximal phalanx 220 of the thumb, and the distal phalanx 230 of the thumb. On the other hand, the rotation of the thumb link 260 is not restricted, and the thumb assembly 200 can perform large-angle rotation.

[0043] The proximal phalanx 220 of the thumb includes a proximal phalanx body 222 and two rod portions 223 fixed to opposite sides of the proximal phalanx body 222. The upper ends of the two rod portions 223 are respectively rotatably connected to opposite sides of the proximal phalanx 220 of the thumb, and the lower ends of the two rod portions 223 are both connected to the thumb driving member 250. By providing the two rod portions 223, the rotation of the distal phalanx 230 of the thumb and the proximal phalanx 220 of the thumb is made more stable. Moreover, the thumb link 260 is disposed between the two rod portions 223, and there is a stagger between the rod portion 223 and the thumb link 260, and the rotation of the thumb link 260 and the proximal phalanx 220 of the thumb is not interfered.

[0044] In addition, the sides of the proximal phalanx 220 of the thumb and the distal phalanx 230 of the thumb facing the palm base 100 are set as arc surfaces, curved surfaces, etc. to fit the configuration of the human thumb. It should be noted that since the thumb link 260 passes through the inside of the proximal phalanx 220 of the thumb, and when the thumb assembly 200 is located on the left and right sides of the palm base 100, the proximal phalanx body 222 is located on the front and back sides of the rod portion 223, both the rod portion 223 and the thumb link 260 can avoid the side portions of the proximal phalanx 220 of the thumb and the distal phalanx 230 of the thumb facing the palm base 100. During the movement of the thumb assembly 200, there is no convex structure on the side surface of the thumb assembly 200 facing the palm base 100, which is more in line with the movement characteristics of the human palm and is more stable for grasping objects.

[0045] Refer to Figure 8, the thumb assembly 200 further includes a transmission torsion spring 270 and a first support shaft 280. The first support shaft 280 is connected to the thumb metacarpophalangeal joint 210. One end of the thumb link 260 is connected to the first support shaft 280, enabling the thumb link 260 to rotate relative to the thumb metacarpophalangeal joint 210. Exemplarily, the first support shaft 280 is fixedly provided on the thumb metacarpophalangeal joint 210, and one end of the thumb link 260 is rotatably connected to the first support shaft 280. Alternatively, the first support shaft 280 is rotatably connected to the thumb metacarpophalangeal joint 210, and one end of the thumb link 260 is fixed to the first support shaft 280. The transmission torsion spring 270 is sleeved outside the first support shaft 280. One end of the transmission torsion spring 270 is connected to the thumb proximal phalanx 220, and the other end is connected to the thumb metacarpophalangeal joint 210. When the thumb proximal phalanx 220 rotates relative to the thumb metacarpophalangeal joint 210, the transmission torsion spring 270 can store elastic energy and provide an elastic force, enabling the dexterous hand to perform a flexible grasp on an object.

[0046] It should be noted that there is usually a transmission gap between two components connected by transmission, and the transmission gap can cause discontinuous movement, delay and vibration, and the movement accuracy is low. In the present invention, when the thumb assembly 200 is subjected to a grasping resistance, the transmission torsion spring 270 first undergoes elastic deformation, and the thumb driving member 250 continues to drive the thumb proximal phalanx 220 and the thumb distal phalanx 230 to rotate. The larger the rotation angle of the thumb proximal phalanx 220 relative to the thumb metacarpophalangeal joint 210, the greater the resistance against the resistance generated by the transmission torsion spring 270. Thus, by utilizing the transmission gap, the conversion between the rotation angle and the grasping force of the thumb assembly 200 is achieved, enabling the thumb assembly 200 to perform a flexible grasp.

[0047] In an embodiment, the thumb assembly 200 includes two transmission torsion springs 270. The transmission torsion springs 270 are respectively located on both sides of the thumb link 260. The cooperation of the two transmission torsion springs 270 can keep the rotation of the thumb proximal phalanx 220 balanced. Further, the two transmission torsion springs 270 are symmetrically arranged relative to the thumb link 260, that is, the two transmission torsion springs 270 can provide elastic forces in opposite directions to the thumb proximal phalanx 220. Exemplarily, the two transmission torsion springs 270 are defined as a first transmission torsion spring 270a and a second transmission torsion spring 270b respectively. When the thumb assembly 200 gradually bends, the first transmission torsion spring 270a provides a resistance against the resistance to the thumb proximal phalanx 220, and the second transmission torsion spring 270b does not provide an elastic force. When the thumb assembly 200 gradually extends, the second transmission torsion spring 270b provides a resistance against the resistance to the thumb proximal phalanx 220, and the first transmission torsion spring 270a does not provide an elastic force. In this way, the thumb assembly 200 can be subjected to the corresponding resistance against the resistance given by the transmission torsion spring 270 during both the bending and extending processes, enabling the thumb assembly 200 to make flexible contact with an object when rotating in different directions.

[0048] In addition, in the present invention, the connection position of the thumb link 260 and the thumb metacarpophalangeal joint 210 is above the connection position of the rod portion 223 and the thumb driving member 250, and the connection position of the thumb link 260 and the thumb metacarpophalangeal joint 210 is on the side of the connection position of the rod portion 223 and the thumb driving member 250 facing away from the palm base 100. This enables the rod portion 223 and the thumb link 260 to achieve the bending and extension of the thumb assembly 200 within a relatively small range of motion.

[0049] Referring Figures 6 to 8 , the thumb assembly 200 further includes a first limit sensor 201 and a second limit sensor 202. The first limit sensor 201 is installed on the side of the thumb metacarpophalangeal joint 210 facing the palm base 100, and the second limit sensor 202 is installed on the side of the thumb metacarpophalangeal joint 210 facing away from the palm base 100. That is, the first limit sensor 201 and the second limit sensor 202 are respectively located on the opposite sides of the thumb metacarpophalangeal joint 210. The first limit sensor 201 is used to limit the maximum bending angle of the thumb proximal phalanx 220, and the second limit sensor 202 is used to limit the maximum extension angle of the thumb proximal phalanx 220.

[0050] Specifically, when the thumb assembly 200 bends towards the palm base 100 until the thumb proximal phalanx 220 has rotated to the maximum bending angle, the side of the thumb proximal phalanx 220 facing the palm base 100 triggers the first limit sensor 201, and at this time, the thumb driving member 250 stops driving the thumb assembly 200 to continue bending; when the thumb assembly 200 extends away from the palm base 100 until the thumb proximal phalanx 220 has rotated to the maximum extension angle, the side of the thumb link 260 facing away from the palm base 100 triggers the second limit sensor 202, and at this time, the thumb driving member 250 stops driving the thumb assembly 200 to continue extending, thereby achieving circuit protection for the thumb assembly 200 at the extreme rotation positions. And by adjusting the positions of the first limit sensor 201 and the second limit sensor 202, the angle range that the thumb assembly 200 can rotate can be changed to adapt to different task scenarios, which is beneficial to conforming to the motion performance of the human palm.

[0051] A limit protrusion 261 is provided on the side of the thumb link 260 facing away from the palm base 100. The protruding limit protrusion 261 can be conveniently used in cooperation with the second limit sensor 202 for limiting. It can be understood that the first limit sensor 201 and the second limit sensor 202 are not limited to being set as proximity switches, photoelectric switches, touch switches, etc.

[0052] The thumb assembly 200 further includes a second support shaft 290 and an angle sensor 203. The second support shaft 290 is connected to the thumb metacarpophalangeal joint 210, and one end of the thumb proximal phalanx 220 is connected to the second support shaft 290. Specifically, it can be set that the lower end of the rod portion 223 of the thumb proximal phalanx 220 is connected to the second support shaft 290. Exemplarily, the second support shaft 290 is fixedly connected to the output shaft of the thumb drive member 250, and the lower end of the rod portion 223 is rotatably connected to the second support shaft 290. When the thumb drive member 250 drives the second support shaft 290 to rotate, the second support shaft 290 drives the thumb proximal phalanx 220 to rotate synchronously. The angle sensor 203 is disposed at the first support shaft 280 to detect the rotation angle of the thumb proximal phalanx 220. By detecting the angle and position of the thumb joint rotation in real time, precise control of the position of the thumb assembly 200 can be achieved. It can be understood that the angle sensor 203 can also be disposed at the first support shaft 280 to detect the rotation angle of the thumb link 260; or the angle sensor 203 is disposed at the rotational connection between the thumb distal phalanx 230 and the thumb link 260; or the angle sensor 203 is disposed at the rotational connection between the thumb distal phalanx 230 and the upper end of the rod portion 223 to detect the rotation angle of the thumb distal phalanx 230, so as to realize the real-time detection of the rotational positions of different thumb joints and precisely control the movement position of the thumb assembly 200.

[0053] It can be understood that the index finger assembly 300, the middle finger assembly 400, the ring finger assembly 500, and the little finger assembly 600 have one more phalanx than the thumb assembly 200 to fit the actual configuration of the human palm. In one embodiment, referring to Figure 2 , the index finger assembly 300, the middle finger assembly 400, the ring finger assembly 500, and the little finger assembly 600 each include a finger distal phalanx 610, a finger middle phalanx 620, a finger proximal phalanx 630, and a finger metacarpophalangeal joint 640 that are sequentially rotatably connected. The relative rotation of the finger distal phalanx 610, the finger middle phalanx 620, the finger proximal phalanx 630, and the finger metacarpophalangeal joint 640 can achieve the bending (such as Figure 11 ) and extension (such as Figure 10 ) of the index finger assembly 300, the middle finger assembly 400, the ring finger assembly 500, and the little finger assembly 600.

[0054] Referring to Figures 9 to 11, the index finger assembly 300, the middle finger assembly 400, the ring finger assembly 500, and the little finger assembly 600 also each include a first finger link 650, a second finger link 660, and a finger drive member 670. The finger proximal phalanx 640 is mounted on the palm base 100. The first finger link 650 is arranged crosswise with the finger proximal phalanx 630, and the second finger link 660 is arranged crosswise with the finger middle phalanx 620. The two ends of the first finger link 650 are respectively rotatably connected to the finger proximal phalanx 640 and the finger middle phalanx 620. One end of the finger proximal phalanx 630 is connected to the finger drive member 670. The finger proximal phalanx 640, the first finger link 650, the finger middle phalanx 620, and the finger proximal phalanx 630 form an anti-parallelogram mechanism. Similarly, the two ends of the finger middle phalanx 620 are respectively rotatably connected to the finger distal phalanx 610 and the finger proximal phalanx 630. The two ends of the second finger link 660 are respectively rotatably connected to the finger distal phalanx 610 and the finger proximal phalanx 630. The finger middle phalanx 620, the finger distal phalanx 610, the second finger link 660, and the finger proximal phalanx 630 constitute an anti-parallelogram mechanism. That is to say, the index finger assembly 300, the middle finger assembly 400, the ring finger assembly 500, and the little finger assembly 600 each include two anti-parallelogram mechanisms.

[0055] When the finger drive member 670 drives the finger proximal phalanx 630 to rotate, it will synchronously drive the two anti-parallelogram mechanisms to move. That is, the rotation of the finger distal phalanx 610 relative to the finger middle phalanx 620, the rotation of the finger middle phalanx 620 relative to the finger proximal phalanx 630, and the rotation of the finger proximal phalanx 630 relative to the finger proximal phalanx 640 are carried out synchronously. That is, by setting one drive component in the index finger assembly 300, the middle finger assembly 400, the ring finger assembly 500, and the little finger assembly 600, the linkage of the finger proximal phalanx 630, the finger middle phalanx 620, and the finger distal phalanx 610 can be realized. Moreover, the finger drive member 670 directly drives the finger proximal phalanx 630 to rotate without transmitting power through other structures, and the power transmission efficiency is relatively high, making the movement of the dexterous hand more sensitive.

[0056] It can be understood that the construction methods of the two anti-parallelogram mechanisms in the index finger assembly 300, the middle finger assembly 400, the ring finger assembly 500, and the little finger assembly 600 are the same as those of the anti-parallelogram mechanism in the thumb assembly 200, and all can achieve the effects of compact structure, large-angle rotation, non-interference in movement, and stable grasping of objects.

[0057] In addition, torsion springs for flexible grasping by utilizing transmission clearances are provided in each of the index finger assembly 300, middle finger assembly 400, ring finger assembly 500, and little finger assembly 600. The torsion springs can be arranged at the rotational connection between the finger proximal phalanx 630 and the finger metacarpophalangeal phalanx 640. Angle sensors for detecting the rotational angles and positions of finger joints can also be provided in the index finger assembly 300, middle finger assembly 400, ring finger assembly 500, and little finger assembly 600. The angle sensors are not limited to being arranged at the rotational connection between the finger proximal phalanx 630 and the finger metacarpophalangeal phalanx 640, the rotational connection between the finger proximal phalanx 630 and the finger middle phalanx 620, and the rotational connection between the finger middle phalanx 620 and the finger distal phalanx 610. Limit switches for circuit protection at the extreme positions can also be provided in the index finger assembly 300, middle finger assembly 400, ring finger assembly 500, and little finger assembly 600. The limit switches can be arranged on the front side or the rear side of the finger metacarpophalangeal phalanx 640 to limit the maximum angles of bending or extension of the index finger assembly 300, middle finger assembly 400, ring finger assembly 500, and little finger assembly 600.

[0058] The dexterous hand in the present invention further includes a base 700. The palm base body 100 is installed on the top of the base 700. An installation cavity is provided inside the base 700 for accommodating a power source, a control module, etc. A display screen is provided on the surface of the base 700 for displaying the movement information of the fingers and for the operator to input control instructions. In addition, a part of the palm base body 100 and / or part of the drive module 240 can be arranged inside the base 700, so that the base 700 plays a role in protecting the drive module 240.

[0059] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made without departing from the spirit of the present invention within the knowledge scope of those of ordinary skill in the art. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A dexterous hand with a multi-degree-of-freedom thumb base joint, characterized in that: include: A palm base and a thumb component, an index finger component, a middle finger component, a ring finger component and a little finger component connected to the palm base; The thumb assembly includes a thumb palm base knuckle, a thumb proximal knuckle, and a thumb distal knuckle, wherein the thumb distal knuckle is rotatably connected to one end of the thumb proximal knuckle, the other end of the thumb proximal knuckle is rotatably connected to one end of the thumb palm base knuckle, and the other end of the thumb palm base knuckle is connected to the palm base through a driving module; The driving module includes a first driving member and a second driving member, the first driving member is installed on the palm base and connected to the second driving member, the first driving member drives the second driving member to rotate around a first transmission axis, the second driving member is connected to the thumb base knuckle and drives the thumb base knuckle to rotate around a second transmission axis, the first transmission axis is parallel to the vertical direction, the first transmission axis and the second transmission axis are perpendicular to each other, and the length of a common perpendicular line between the first transmission axis and the second transmission axis is a constant.

2. The dexterous hand with multi-DOF thumb base joint according to claim 1, characterized in that: The first transmission axis intersects the second transmission axis; Alternatively, the first transmission axis and the second transmission axis are skew lines.

3. The dexterous hand with multi-DOF thumb base joint according to claim 1, characterized in that: The driving module further comprises a mounting bracket, the second driving member is mounted on the mounting bracket, the first driving member is connected to the mounting bracket and drives the mounting bracket to rotate around the first transmission axis; The driving module also includes a first connecting rod and a second connecting rod. The second driving member is connected to one end of the first connecting rod and drives the first connecting rod to rotate in a direction parallel to the second transmission axis. The other end of the first connecting rod is rotationally connected to one end of the second connecting rod. The other end of the second connecting rod is rotationally connected to the thumb knuckle. The thumb knuckle is rotationally connected to the mounting bracket around the second transmission axis.

4. The dexterous hand with multi-DOF thumb base joint according to claim 3, characterized in that: The mounting bracket includes a first mounting portion rotatably connected to the base of the thumb, the first driving member is located above the second driving member, wherein the first mounting portion is located on the side of the first driving member so that the first transmission axis and the second transmission axis are skew lines; Alternatively, the first mounting portion is located above the first driving member so that the first transmission axis intersects with the second transmission axis.

5. The dexterous hand with multi-DOF thumb base joint according to claim 3, characterized in that: A first installation space and a second installation space are provided on a side of the installation bracket facing away from the thumb assembly, the first installation space is located above the second installation space, at least a portion of the first driving member is accommodated in the first installation space, and at least a portion of the second driving member is fixed in the second installation space.

6. The dexterous hand with multi-DOF thumb base joint according to claim 3, characterized in that: The palm base includes a finger mounting portion and a supporting portion, wherein the supporting portion is connected to the bottom of the finger mounting portion and defines a thumb mounting space on one side of the supporting portion and below the finger mounting portion, the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly are all mounted on the finger mounting portion, the mounting bracket is located in the thumb mounting space, and the first driving member is mounted on the supporting portion.

7. The dexterous hand with multi-degree-of-freedom thumb base joint according to any one of claims 1 to 6, characterized in that: The thumb assembly also includes a thumb driving member and a thumb connecting rod. The thumb connecting rod is cross-arranged with the proximal knuckle of the thumb. The two ends of the thumb connecting rod are rotatably connected to the thumb metacarpal knuckle and the distal knuckle of the thumb respectively. One end of the proximal knuckle of the thumb is rotatably connected to the distal knuckle of the thumb, and the other end of the proximal knuckle of the thumb is connected to the thumb driving member. The thumb driving member is installed on the metacarpal knuckle of the thumb and drives the proximal knuckle of the thumb to rotate.

8. The dexterous hand with multi-DOF thumb base joint according to claim 7, characterized in that: The thumb assembly also includes a transmission torsion spring and a first support shaft, wherein the first support shaft is connected to the thumb metacarpal knuckle, one end of the thumb connecting rod is connected to the first support shaft, the transmission torsion spring is sleeved on the outside of the first support shaft, one end of the transmission torsion spring is connected to the thumb proximal knuckle, and the other end is connected to the thumb metacarpal knuckle.

9. The dexterous hand with multi-DOF thumb base joint according to claim 8, characterized in that: The thumb assembly further includes a first limit sensor and a second limit sensor, wherein the first limit sensor is installed on a side of the thumb knuckle facing the palm base and is used to limit a maximum bending angle of the thumb assembly, and the second limit sensor is installed on a side of the thumb knuckle facing away from the palm base and is used to limit a maximum extension angle of the thumb assembly; And / or, the thumb assembly also includes a second support shaft and an angle sensor, the second support shaft is connected to the palmar base knuckle of the thumb, one end of the proximal knuckle of the thumb is connected to the second support shaft, the angle sensor is arranged at the first support shaft, and detects the rotation angle of the proximal knuckle of the thumb, and / or, the angle sensor is arranged at the second support shaft, and detects the rotation angle of the thumb connecting rod.

10. The dexterous hand with multi-degree-of-freedom thumb base joint according to any one of claims 1 to 6, characterized in that: The index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly all include distal knuckles, middle knuckles, proximal knuckles, root knuckles, a first finger connecting rod, a second finger connecting rod and a finger driving member. The root knuckles of the fingers are installed on the palm base, the first finger connecting rod and the proximal knuckles of the fingers are cross-arranged, the second finger connecting rod and the middle knuckles of the fingers are cross-arranged, the two ends of the first finger connecting rod are rotatably connected to the root knuckles of the fingers and the middle knuckles of the fingers, one end of the proximal knuckle of the finger is connected to the finger driving member, and the other end is rotatably connected to one end of the second finger connecting rod, the other end of the second finger connecting rod is rotatably connected to the distal knuckle of the finger, and the two ends of the middle knuckle of the finger are rotatably connected to the distal knuckle of the finger and the proximal knuckle of the finger.

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