Novel humanoid five-finger dexterous hand

Abstract

The invention belongs to the technical field of manipulators, and discloses a novel humanoid five-finger dexterous hand which simulates the shape of a human hand and comprises a palm part and five finger parts, a driving part, a sensor and a transmission part are integrated in the palm part, and supporting and power transmission are provided for fingers; the five finger parts comprise a thumb structure and four finger structures, namely a little finger, a ring finger, a middle finger and an index finger, the five finger parts adopt modular design, each finger part is provided with three phalanges which respectively correspond to a proximal phalange, a middle phalange and a distal phalange of a human hand, and the phalanges are connected through joints to realize flexion and extension movement. According to the five-finger dexterous hand, flexion, extension, side-sway and other motions of the fingers are achieved through reasonable transmission mechanism and motor control, the motion range is wide, and the requirement for complex operation can be met. And a single finger can load a heavy object exceeding 500g, and the whole hand can load a heavy object exceeding 2kg, so that the mechanical hand has higher practical value.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a novel humanoid five-finger dexterous hand. Background Art

[0002] With the continuous development of robotics, humanoid robots are increasingly being used in industry, healthcare, and service sectors. As a crucial medium for humanoid robots to interact with their environment, manipulate objects, and gather information, dexterous humanoid hands require high flexibility, precise manipulation capabilities, and good adaptability to meet the demands of various complex tasks. However, existing dexterous humanoid hands suffer from structural deficiencies, such as limited range of joint motion, low force feedback accuracy, redundant and bulky structures, and high overall cost, which limit their widespread adoption in practical applications. Specifically, tendon-based dexterous hands remove the drive components from the hand to achieve full-motion motion with high degrees of freedom and flexibility. However, this results in complex structure and control, low force transmission efficiency, and a low grip-to-weight ratio. Furthermore, tendon deformation and pre-tensioning can lead to motion transmission lag and insufficient force transmission stiffness, resulting in significant deficiencies in position and force control accuracy. Although the current structure using connecting rods as transmission has solved some of the problems, due to volume limitations, this transmission method can generally only achieve 5-6 degrees of freedom of movement, and therefore can only achieve limited grasping and operation modes. In particular, when realizing the two-degree-of-freedom joints of metacarpophalangeal flexion and lateral swing, the lateral swing movement usually has to be ignored, thus restricting the dexterous hand from achieving flexible movements similar to those of the human hand. Summary of the Invention

[0003] The purpose of the present invention is to provide a novel humanoid five-fingered dexterous hand to solve the above-mentioned technical problems.

[0004] To solve the above technical problems, the specific technical solutions of the novel humanoid five-finger dexterous hand of the present invention are as follows: A novel anthropomorphic five-fingered dexterous hand mimics the appearance of a human hand and has an anthropomorphic structure, including a palm part and five finger parts. The palm part integrates drive components, sensors and transmission components to provide support and power transmission for the fingers; the five finger parts include a thumb structure and four finger structures: the little finger, ring finger, middle finger and index finger. The five finger parts adopt a modular design, and each finger part has three phalanges, corresponding to the proximal phalanx, middle phalanx and distal phalanx of the human hand respectively. The phalanges are connected by joints to achieve flexion and extension movements.

[0005] Furthermore, the palm part includes a palm shell, which has a driving component inside. The proximal end of the palm part is connected to a robotic arm and a controller, and the controller is used to control the operation of the internal driving component. The connection between the palm part and the finger part adopts a base joint support transition to achieve axial orthogonality of the two degrees of freedom of movement of metacarpophalangeal joint flexion and lateral swing.

[0006] Furthermore, the structures of the four finger structures are the same. Each finger structure includes a base joint support and three phalanges. The base joint supports of the little finger, ring finger and index finger are rotatably connected to the palm part front and back through a pin, and the base joint support of the middle finger is fixedly connected to the palm part front and back. The left and right sides of the lower end of the proximal phalanx are rotatably connected to the left and right sides of the base joint support through a pin, and this connection is the metacarpophalangeal joint. The left and right sides of the lower end of the middle phalanx are rotatably connected to the left and right sides of the upper end of the proximal phalanx through a pin, and this connection is the proximal interphalangeal joint. The left and right sides of the lower end of the distal phalanx are rotatably connected to the left and right sides of the upper end of the middle phalanx through a pin, and this connection is the distal interphalangeal joint. There is a finger transmission mechanism in the three phalanges, and the finger transmission mechanism adopts a cross four-bar linkage mechanism to realize the coupled movement of the proximal interphalangeal joint and the distal interphalangeal joint, thereby realizing the flexion of the middle phalanx and the distal phalanx.

[0007] Furthermore, the finger transmission mechanism includes a micro hollow cup motor fixedly installed in the proximal phalanx, a cross four-bar linkage installed in the middle phalanx and the distal phalanx, the output end of the micro hollow cup motor is connected to a worm, the worm is engaged with a worm wheel, and the worm wheel is fixedly connected to one end of the cross four-bar linkage. The rotation of the micro hollow cup motor drives the cross four-bar linkage through the worm and worm wheel, thereby driving the middle phalanx and the distal phalanx to rotate, thereby realizing the flexion and extension of the middle phalanx and the distal phalanx.

[0008] Furthermore, the metacarpophalangeal joint flexion movement of the finger structure adopts a spherical four-bar mechanism, which includes a flexion freedom motor fixedly installed in the palm part, an eccentric block installed in the base joint support, a 7-shaped connecting rod and a retaining ring. The output end of the flexion freedom motor is eccentrically fixedly connected to the eccentric block, one end of the 7-shaped connecting rod is fixedly connected to the eccentric block, and the other end is fixedly installed with a retaining ring. The retaining ring is fixedly connected to the base joint support. The rotation of the flexion freedom motor drives the rotation of the eccentric block, and the lower end of the 7-shaped connecting rod rotates driven by the eccentric block to realize the forward and backward movement of the upper end, thereby driving the base joint support to move forward and backward, and realizing the decoupling of the flexion and extension of the proximal phalanx.

[0009] Further, the metacarpophalangeal joint side swing movement of the finger structure adopts a planar link structure, the planar link structure comprises a side swing degree of freedom motor fixedly installed in the palm part and a planar four-bar mechanism, the output end of the side swing degree of freedom motor is fixedly connected with one end of the planar four-bar mechanism, each node of the planar four-bar mechanism is respectively connected with the base joint support of the index finger and the little finger, and the base joint support base between the ring finger and the little finger is connected through a back connecting rod, the side swing degree of freedom motor rotates to drive the planar four-bar mechanism transmission, and linkage of the index finger, the ring finger and the little finger moving away from and moving close to the middle finger is realized.

[0010] Further, the thumb structure comprises a thumb joint base and three phalanges, one end of the thumb joint base is fixedly installed in the shell of the palm part through a pin shaft, the lower ends of the left and right sides of the proximal phalanx are rotatably connected with the two sides of the thumb joint base through pin shafts, the lower ends of the left and right sides of the middle phalanx are rotatably connected with the left and right sides of the upper end of the proximal phalanx through pin shafts, and the lower ends of the left and right sides of the distal phalanx are rotatably connected with the left and right sides of the upper end of the middle phalanx through pin shafts.

[0011] Further, the flexion movement of the thumb structure adopts a thumb transmission mechanism, the thumb transmission mechanism comprises a flexion movement motor fixedly installed in the thumb joint base and a double-cross four-bar linkage mechanism fixedly installed in the proximal phalanx, the middle phalanx and the distal phalanx, the output end of the flexion movement motor is connected with a gear set, the gear set is connected with the double-cross four-bar linkage mechanism, and the flexion movement motor rotates to drive the double-cross four-bar linkage mechanism linkage, so that the three phalanges of the thumb structure are controlled to perform flexion movement.

[0012] Further, the output end of the micro hollow cup motor and the output end of the flexion movement motor are provided with angle sensors, the finger pad of the distal phalanx is provided with an FSR pressure sensor, the pressure sensor is wrapped with silica gel, the motion state of the finger is fed back through the angle sensors and the FSR pressure sensor, and the motion of the finger is accurately controlled.

[0013] Further, the side swing movement of the thumb structure is realized through a planar hinge link mechanism, the planar hinge link mechanism comprises a side swing degree of freedom rudder fixedly installed in the thumb joint base and a planar hinge link mechanism group installed in the palm part, the output end of the side swing degree of freedom rudder is fixedly connected with the planar hinge link mechanism group, the planar hinge link mechanism group is fixedly connected with the thumb joint base, the rotation axis of the side swing degree of freedom rudder has a certain angle with the palm plane, and the side swing degree of freedom rudder rotates to drive the planar hinge link mechanism group transmission, so that the side swing movement of the thumb joint base is realized.

[0014] The novel humanoid five-finger dexterous hand has the following advantages: High degrees of freedom and high integration: The dexterous hand has a total of 11 active degrees of freedom and 19 joint degrees of freedom. By integrating the drivers, sensors and transmission mechanisms into the fingers or palm, a high-degree-of-freedom and high-integration structural design is achieved, which simplifies external connections and improves the compactness and reliability of the system.

[0015] Deep bionics: The structural design of the fingers and thumb deeply imitates the physiological structure and movement of the human hand, and can achieve a variety of grasping modes similar to those of the human hand, such as cylindrical grasping, fingertip grasping, hook grasping, palm grasping, spherical grasping and side pinching, etc., which improves the adaptability and operational flexibility of the dexterous hand to grasp objects of different shapes, sizes and materials.

[0016] Low-cost design: While ensuring the performance of the dexterous hand, optimizations are made in terms of materials, processing, drive devices and sensing elements to achieve a low-cost design, reduce production costs and improve market competitiveness.

[0017] Excellent kinematic performance: Finger flexion, extension, and lateral swing are achieved through a rational transmission mechanism and motor control, resulting in a wide range of motion and the ability to handle complex operations. Furthermore, the dexterous hand boasts a strong load capacity, with individual fingers capable of carrying over 500g and the entire hand over 2kg, demonstrating its high practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of the novel humanoid five-finger dexterous hand of the present invention; Figure 2 This is a schematic diagram of the internal structure of the palm of the novel humanoid five-finger dexterous hand of the present invention; Figure 3 This is a schematic diagram of the palm structure of the present invention; Figure 4 This is a schematic diagram of the internal structure of the palm portion of the present invention; Figure 5 Schematic diagram of the internal structure of the finger structure of the present invention; Figure 6 Schematic diagram of the flexion and extension of the middle phalanx and distal phalanx of the finger structure of the present invention; Figure 7 This is a schematic diagram of the spherical four-bar mechanism structure of the finger structure of the present invention; Figure 8 Schematic diagram of the internal structure of the spherical four-bar mechanism of the present invention; Figure 9 A schematic diagram of the bending process of the metacarpophalangeal joint of the finger structure of the present invention; Figure 10 Schematic diagram of the lateral swing process of the metacarpophalangeal joint of the finger structure of the present invention; Figure 11This is a schematic structural diagram of the thumb transmission mechanism of the present invention; Figure 12 This is a schematic diagram of the internal structure of the thumb transmission mechanism of the present invention; Figure 13 A schematic diagram of the flexion movement of the three phalanges of the thumb structure of the present invention; Explanation of the marks in the figure: 1. Palm part; 2. Finger part; 21. Thumb structure; 211. Thumb joint base; 212. Flexion motion motor; 213. Double cross four-bar linkage; 214. Gear set; 215. Roll freedom servo; 216. Planar hinge rod unit; 22. Finger structure; 221. Base joint support; 222. Micro hollow cup motor; 223. Cross four-bar linkage; 224. Worm; 225. Worm gear; 226. Flexion freedom motor; 227. Eccentric block; 228. 7-shaped connecting rod; 229. Retaining ring; 230. Roll freedom motor; 231. Planar four-bar linkage; 232. Back connecting rod; A. Proximal phalanx; B. Middle phalanx; C. Distal phalanx; a. Metacarpophalangeal joint; b. Proximal interphalangeal joint; c. Distal interphalangeal joint. DETAILED DESCRIPTION

[0019] In order to better understand the purpose, structure and function of the present invention, the novel humanoid five-finger dexterous hand of the present invention is further described in detail below with reference to the accompanying drawings.

[0020] like Figure 1 As shown in the figure, the novel anthropomorphic five-fingered dexterous hand of the present invention comprises a palm portion 1 and five finger portions 2. It mimics the human hand's appearance and features an anthropomorphic structure. It integrates drive components, sensors, and transmission components to provide support and power transmission for the fingers. The overall dimensions are comparable to an adult male hand: approximately 240mm long, 165mm wide, and 60mm thick. It weighs only 520g and can deliver a fingertip force output of 10N.

[0021] The palm portion 1 primarily comprises a palm shell, the interior of which is rationally arranged to provide mounting locations for drive components such as motors and servos. The proximal end of the palm portion 1 is connected to a robotic arm and controller, which controls the internal drive components. The shape of the palm shell is designed with anthropomorphic considerations in mind, enabling the palm to better conform to the shape of large objects when grasping them, improving grasping stability and reliability. The connection between the palm portion 1 and the finger portion 2 utilizes a base joint support transition to achieve axial orthogonality for the two degrees of freedom of motion: metacarpophalangeal flexion and lateral swing.

[0022] like Figure 2As shown, the five finger parts 2 include a thumb structure 21 and four finger structures 22 of the little finger, ring finger, middle finger, and index finger. The five finger parts 2 adopt a modular design. Each finger part 2 has three phalanges, which correspond to the proximal phalanx A, middle phalanx B and distal phalanx C of the human hand respectively. The phalanges are connected by joints to achieve flexion and extension movements.

[0023] like Figure 2-4 As shown, the structures of the four finger structures 22 are identical. Each finger structure 22 includes a base joint support 221 and three phalanges. The base joint supports 221 of the little finger, ring finger, and index finger are rotatably connected to the palm portion 1 front to back via a pin, while the base joint support 221 of the middle finger is fixedly connected to the palm portion 1 front to back. In the present invention, the base joint support 221 of the middle finger is fixed, while the other three fingers can swing left and right relative to the middle finger, saving the drive components of the middle finger and facilitating a small and lightweight design of the manipulator. The left and right sides of the lower end of the proximal phalanx A are rotatably connected to the left and right sides of the base joint support 221 via a pin, and this connection is the metacarpophalangeal joint a. The left and right sides of the lower end of the middle phalanx B are rotatably connected to the left and right sides of the upper end of the proximal phalanx A via a pin, and this connection is the proximal interphalangeal joint b. The left and right sides of the lower end of the distal phalanx C are rotatably connected to the left and right sides of the upper end of the middle phalanx B via a pin, and this connection is the distal interphalangeal joint c. The three phalanges have a finger transmission mechanism, which uses a cross-four-bar linkage to achieve the coupled motion of the proximal interphalangeal joint b and the distal interphalangeal joint c, thereby achieving the flexion of the middle phalanx B and the distal phalanx C. It imitates the natural bending motion of human fingers, such as Figure 6 shown.

[0024] like Figure 5 As shown, the finger transmission mechanism includes a micro hollow cup motor 222 fixedly installed in the proximal phalanx A and a cross four-bar linkage 223 installed in the middle phalanx B and the distal phalanx C. The output end of the micro hollow cup motor 222 is connected to a worm 224, which is engaged with a worm gear 225. The worm gear 225 is fixedly connected to one end of the cross four-bar linkage 223, as shown in FIG. Figure 6 As shown, the micro coreless motor 222 rotates through the worm 224 and worm gear 225 to drive the cross-four-bar linkage 223, driving the middle phalanx B and distal phalanx C to rotate, achieving flexion and extension of the middle phalanx B and distal phalanx C. The output end of the micro coreless motor 222 has an angle sensor, and the distal phalanx C has an FSR pressure sensor on the finger pad. The pressure sensor is coated with silicone. The angle sensor and FSR pressure sensor provide feedback on the movement status of the finger, thereby precisely controlling the finger movement.

[0025] The metacarpophalangeal joints a of the four finger structures 22 can achieve two degrees of freedom of movement: flexion and lateral swing. The flexion movement of the metacarpophalangeal joints a of the finger structures 22 adopts a spherical four-bar mechanism, such as Figure 7 Figure 8As shown, the spherical four-bar linkage includes a flexion freedom motor 226 fixedly mounted in the palm portion 1, an eccentric weight 227 mounted in the base joint support 221, a seven-shaped connecting rod 228, and a retaining ring 229. The output end of the flexion freedom motor 226 is eccentrically fixedly connected to the eccentric weight 227. One end of the seven-shaped connecting rod 228 is fixedly connected to the eccentric weight 227, and the other end is fixedly mounted with a retaining ring 229. The retaining ring 229 is fixedly connected to the base joint support 221. Figure 9 As shown, the flexion freedom motor 226 rotates to drive the eccentric block 227 to rotate, and the lower end of the 7-shaped connecting rod 228 rotates under the drive of the eccentric block 227 to achieve the forward and backward movement of the upper end, thereby driving the base joint support 221 to move forward and backward, realizing the decoupling of the flexion and extension of the proximal phalanx A, as shown in FIG. Figure 9 shown.

[0026] The lateral swing motion of the metacarpophalangeal joint a of the finger structure 22 adopts a planar rod structure, such as Figure 4 As shown, the planar rod structure includes a lateral swing freedom motor 230 and a planar four-bar mechanism 231 fixedly installed in the palm part 1. The output end of the lateral swing freedom motor 230 is fixedly connected to one end of the planar four-bar mechanism 231. Each node of the planar four-bar mechanism 231 is connected to the base joint support 221 of the index finger and the little finger respectively. The base of the base joint support 221 of the ring finger and the little finger is connected through the back connecting rod 232. Figure 10 As shown, the lateral swing motor 230 rotates to drive the planar four-bar linkage 231, enabling the index finger, ring finger, and pinky finger to simultaneously move away from and toward the middle finger. The spherical four-bar linkage and the planar rod structure of the present invention are independently configured, allowing for greater flexibility by allowing the flexion and lateral swing motions of the proximal phalanx A to interact independently.

[0027] Thumb structure design: The thumb structure 21 has a unique structure and function. It is designed as a three-phalange structure. It uses lateral swing movement to achieve changes similar to the palm arch of the hand, and flexion movement to achieve a natural grip.

[0028] like Figure 2 As shown, the thumb structure 21 includes a thumb joint base 211 and three phalanges. One end of the thumb joint base 211 is fixedly mounted in the housing of the palm portion 1 via a pin. The left and right sides of the lower end of the proximal phalanx A are rotatably connected to the two sides of the thumb joint base 211 via a pin. The left and right sides of the lower end of the middle phalanx B are rotatably connected to the left and right sides of the upper end of the proximal phalanx A via a pin. The left and right sides of the lower end of the distal phalanx C are rotatably connected to the left and right sides of the upper end of the middle phalanx B via a pin. Figure 11 Figure 12As shown, the flexion movement of the thumb structure 21 adopts a thumb transmission mechanism, which includes a flexion movement motor 212 fixedly installed in the thumb joint base 211 and a double cross four-bar linkage 213 fixedly installed in the proximal phalanx A, the middle phalanx B and the distal phalanx C. The output end of the flexion movement motor 212 is connected to a gear set 214, and the gear set 214 is connected to the double cross four-bar linkage 213. Figure 13 As shown, the flexion motor 212 rotates to drive the double-cross four-bar linkage 213 to work in conjunction, thereby controlling the three phalanges of the thumb structure 21 to perform flexion movement.

[0029] The output end of the flexion motor 212 is provided with an angle sensor, and the distal phalanx C is provided with an FSR pressure sensor. The pressure sensor is wrapped with silicone. The movement state of the finger is fed back through the angle sensor and the FSR pressure sensor, thereby accurately controlling the thumb movement.

[0030] The sideways swinging motion of the thumb structure 21 is realized by a planar hinge rod mechanism, such as Figure 2 As shown, the planar hinge lever mechanism includes a roll freedom servo 215 fixedly mounted within the thumb joint base 211 and a planar hinge lever assembly 216 mounted within the palm portion 1. The output end of the roll freedom servo 215 is fixedly connected to the planar hinge lever assembly 216, which is also fixedly connected to the thumb joint base 211. The rotation axis of the roll freedom servo 215 is at a predetermined angle to the palm plane, resulting in spherical-conical motion. The rotation of the roll freedom servo 215 drives the planar hinge lever assembly 216, achieving roll motion of the thumb joint base 211.

[0031] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A novel anthropomorphic five-finger dexterous hand, which imitates the appearance of a human hand and has an anthropomorphic structure, comprises a palm portion (1) and five finger portions (2), wherein the palm portion (1) internally integrates a driving component, a sensor and a transmission component to provide support and power transmission for the fingers; the five finger portions (2) comprise a thumb structure (21) and four finger structures (22) of the little finger, ring finger, middle finger and index finger, characterized in that: The five finger parts (2) adopt a modular design. Each finger part (2) has three phalanges, which correspond to the proximal phalanx (A), the middle phalanx (B) and the distal phalanx (C) of the human hand respectively. The phalanges are connected by joints to achieve flexion and extension movements.

2. The novel humanoid five-finger dexterous hand according to claim 1 is characterized in that: The palm portion (1) comprises a palm shell, wherein a driving component is provided inside the palm shell. The proximal end of the palm portion (1) is connected to a robotic arm and a controller, and the controller is used to control the operation of the internal driving component. The connection between the palm portion (1) and the finger portion (2) adopts a base joint support (221) for transition, thereby realizing axial orthogonality of the two degrees of freedom of the metacarpophalangeal joint flexion and lateral swing.

3. The novel humanoid five-finger dexterous hand according to claim 2 is characterized in that: The structures of the four finger structures (22) are all the same. Each finger structure (22) includes a base joint support (221) and three phalanges. The base joint supports (221) of the little finger, ring finger and index finger are connected to the palm part (1) through a pin in a front-to-back rotational manner. The base joint support (221) of the middle finger is fixedly connected to the palm part (1) in a front-to-back manner. The left and right sides of the lower end of the proximal phalanx (A) are connected to the left and right sides of the base joint support (221) through a pin in a front-to-back rotational manner. This connection is the metacarpophalangeal joint (a). The left and right sides of the lower end of the middle phalanx (B) are connected to the The two sides are rotatably connected to the left and right sides of the upper end of the proximal phalanx (A) through a pin shaft, and this connection is the proximal interphalangeal joint (b). The left and right sides of the lower end of the distal phalanx (C) are rotatably connected to the left and right sides of the upper end of the middle phalanx (B) through a pin shaft, and this connection is the distal interphalangeal joint (c). There is a finger transmission mechanism in the three phalanges, and the finger transmission mechanism adopts a cross four-bar linkage mechanism (223) to realize the coupled movement of the proximal interphalangeal joint (b) and the distal interphalangeal joint (c), thereby realizing the flexion of the middle phalanx (B) and the distal phalanx (C).

4. The novel humanoid five-finger dexterous hand according to claim 3 is characterized in that: The finger transmission mechanism comprises a micro hollow cup motor (222) fixedly installed in the proximal phalanx (A), and a cross four-bar linkage (223) installed in the middle phalanx (B) and the distal phalanx (C). The output end of the micro hollow cup motor (222) is connected to a worm (224), the worm (224) is meshed with a worm wheel (225), and the worm wheel (225) is fixedly connected to one end of the cross four-bar linkage (223). The micro hollow cup motor (222) rotates through the worm (224) and the worm wheel (225) to drive the cross four-bar linkage (223) to drive the middle phalanx (B) and the distal phalanx (C) to rotate, thereby realizing the flexion and extension of the middle phalanx (B) and the distal phalanx (C).

5. The novel humanoid five-finger dexterous hand according to claim 3 is characterized in that: The flexion movement of the metacarpophalangeal joint (a) of the finger structure (22) adopts a spherical four-bar mechanism, which includes a flexion freedom motor (226) fixedly installed in the palm part (1), an eccentric block (227) installed in the base joint support (221), a 7-shaped connecting rod (228) and a retaining ring (229), wherein the output end of the flexion freedom motor (226) is eccentrically fixedly connected to the eccentric block (227), and one end of the 7-shaped connecting rod (228) is fixedly connected to the eccentric block (227). The block (227) is fixedly connected, and a retaining ring (229) is fixedly installed at the other end. The retaining ring (229) is fixedly connected to the base joint support (221) in a limited position. The flexion freedom motor (226) rotates to drive the eccentric block (227) to rotate. The lower end of the 7-shaped connecting rod (228) rotates under the drive of the eccentric block (227), realizing the front and back movement of the upper end, thereby driving the base joint support (221) to move back and forth, realizing the decoupling of the flexion and extension of the proximal phalanx (A).

6. The novel humanoid five-finger dexterous hand according to claim 3 is characterized in that: The sideways swing motion of the metacarpophalangeal joint (a) of the finger structure (22) adopts a planar rod structure, and the planar rod structure comprises a sideways swing freedom motor (230) and a planar four-bar mechanism (231) fixedly installed in the palm part (1); the output end of the sideways swing freedom motor (230) is fixedly connected to one end of the planar four-bar mechanism (231); each node of the planar four-bar mechanism (231) is respectively connected to the base joint support (221) of the index finger and the little finger; the bases of the base joint support (221) of the ring finger and the little finger are connected via a back connecting rod (232); the sideways swing freedom motor (230) rotates to drive the planar four-bar mechanism (231) to achieve the linkage of the index finger, the ring finger and the little finger to move away from and approach the middle finger at the same time.

7. The novel humanoid five-finger dexterous hand according to claim 4 is characterized in that: The thumb structure (21) comprises a thumb joint base (211) and three phalanges, one end of the thumb joint base (211) is fixedly mounted in a housing of the palm portion (1) via a pin, the left and right sides of the lower end of the proximal phalanx (A) are rotatably connected to the two sides of the thumb joint base (211) via a pin, the left and right sides of the lower end of the middle phalanx (B) are rotatably connected to the left and right sides of the upper end of the proximal phalanx (A) via a pin, and the left and right sides of the lower end of the distal phalanx (C) are rotatably connected to the left and right sides of the upper end of the middle phalanx (B) via a pin.

8. The novel humanoid five-finger dexterous hand according to claim 7 is characterized in that: The flexion movement of the thumb structure (21) adopts a thumb transmission mechanism, which includes a flexion movement motor (212) fixedly installed in the thumb joint base (211) and a double-cross four-bar linkage (213) fixedly installed in the proximal phalanx (A), the middle phalanx (B) and the distal phalanx (C). The output end of the flexion movement motor (212) is connected to a gear set (214), and the gear set (214) is connected to the double-cross four-bar linkage (213). The rotation of the flexion movement motor (212) drives the double-cross four-bar linkage (213) to move in conjunction, thereby controlling the flexion movement of the three phalanges of the thumb structure (21).

9. The novel humanoid five-finger dexterous hand according to claim 8, characterized in that: The output end of the micro hollow cup motor (222) and the output end of the flexion motion motor (212) are provided with angle sensors, and the distal phalanx (C) is provided with an FSR pressure sensor, the pressure sensor being wrapped with silicone. The motion state of the finger is fed back through the angle sensor and the FSR pressure sensor, thereby accurately controlling the finger motion.

10. The novel humanoid five-finger dexterous hand according to claim 7, characterized in that: The side-swing motion of the thumb structure (21) is realized by a planar hinge rod mechanism, wherein the planar hinge rod mechanism comprises a side-swing freedom steering engine (215) fixedly installed in the thumb joint base (211) and a planar hinge rod unit (216) installed in the palm part (1); the output end of the side-swing freedom steering engine (215) is fixedly connected to the planar hinge rod unit (216); the planar hinge rod unit (216) is fixedly connected to the thumb joint base (211); the rotation axis of the side-swing freedom steering engine (215) has a certain angle with the palm plane, and moves in a spherical cone surface; the rotation of the side-swing freedom steering engine (215) drives the planar hinge rod unit (216) to transmit, thereby realizing the side-swing motion of the thumb joint base (211).

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