Bionic finger, manipulator and robot

Abstract

The invention discloses a bionic finger, a robot hand and a robot. The bionic finger comprises a base part, a finger part and a driving part, the tactile knuckles are provided with tactile sensors; the connecting assembly is rotationally connected with the base part and the touch knuckles respectively; the driving assembly is arranged on the base part; the control assembly is electrically connected with the touch sensor and the driving assembly; the control assembly controls the driving assembly to rotate the connecting assembly and drives the tactile knuckles to rotate on the basis of tactile information collected by the tactile sensor. The driving assembly can drive the connecting assembly to rotate and drive the touch knuckles to rotate. The control assembly can obtain tactile information of the tactile sensor and control the driving assembly to rotate the connecting assembly, bending and stretching of the bionic finger are achieved, and the bionic finger has a better bionic effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a bionic finger, a robot hand and a robot. BACKGROUND

[0002] The robot hand is applied to the field of robots or artificial limbs, so that the robot can form a bionic robot and the artificial limb can assist the daily life of the disabled.

[0003] The bionic finger in the prior art mainly imitates the real finger in appearance size, and still has defects in imitating the biological function of the real finger, so that the bionic effect of the bionic finger still needs to be improved.

[0004] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a bionic finger, a robot hand and a robot aiming at solving the problem that the bionic effect of the bionic finger in the prior art still needs to be improved.

[0006] The technical scheme adopted by the present application to solve the technical problem is as follows: A bionic finger, comprising: a base; a tactile phalanx provided with a tactile sensor; a connecting assembly rotatably connected with the base and the tactile phalanx respectively; a driving assembly arranged on the base; a control assembly electrically connected with the tactile sensor and the driving assembly respectively; Wherein, the control assembly controls the driving assembly to rotate the connecting assembly and drive the tactile phalanx to rotate based on the tactile information collected by the tactile sensor.

[0007] The bionic finger, wherein the tactile sensor comprises: a palm tactile sensor and a back tactile sensor.

[0008] The bionic finger, wherein the tactile phalanx comprises: a mounting bracket; The palm tactile sensor comprises: a first circuit board mounted on the mounting bracket; a palm inductor mounted on the palm side of the mounting bracket; The back tactile sensor comprises: a back inductor mounted on the back side of the mounting bracket; The finger palm inductor and the finger back inductor correspond to the positions of two sides of the first circuit board respectively.

[0009] The bionic finger, wherein the tactile sensor comprises a fingertip tactile sensor; the fingertip tactile sensor comprises: A second circuit board is installed on the mounting frame. A fingertip inductor is installed on the mounting frame. The fingertip inductor corresponds to the position of the second circuit board.

[0010] The bionic finger, wherein the base is provided with a first rotating shaft, and the tactile phalange is provided with a second rotating shaft; the connecting assembly comprises: A finger barrel, the first end of the finger barrel is rotatably connected with the base through a ball bearing, and the second end of the finger barrel is rotatably connected with the tactile phalange through a third rotating shaft; A connecting rod, both ends of the connecting rod are rotatably connected with the first rotating shaft and the second rotating shaft respectively; A torsional spring, the torsional spring is sleeved with the third rotating shaft and provides an elastic force for the tactile phalange and the connecting assembly to relax; The driving assembly comprises: A driving member is arranged on the base; A worm is arranged on the output shaft of the driving member; A worm wheel is rotatably arranged on the first rotating shaft and is engaged with the worm; The finger palm side of the worm wheel is not provided with worm teeth and abuts against the end surface of the connecting rod.

[0011] A control method of the bionic finger according to any one of the preceding embodiments, wherein the control method comprises the following steps: Based on the tactile information collected by the tactile sensor, the driving assembly is controlled to rotate the connecting assembly and drive the tactile phalange to rotate.

[0012] The control method of the bionic finger, wherein the control method comprises the following steps: Based on the finger back tactile information collected by the finger back tactile sensor, the driving assembly is controlled to rotate the connecting assembly, so that the bionic finger is bent to a curled state within a first preset time; Based on the finger palm tactile information collected by the finger palm tactile sensor, the driving assembly is controlled to rotate the connecting assembly, so that the bionic finger is bent to the target tactile information within a second preset time; wherein the first preset time is less than the second preset time.

[0013] The control method of the bionic finger, wherein the tactile information collected by the tactile sensor is used to control the driving assembly to rotate the connecting assembly and drive the tactile knuckle to rotate, and the control method further comprises the following steps of: The tactile information collected by the fingertip tactile sensor is used to control the driving assembly to rotate the connecting assembly so that the tactile knuckle rotates a preset acute angle.

[0014] A machine hand, comprising the bionic finger according to any one of the above.

[0015] A robot, comprising the bionic finger according to any one of the above or the machine hand according to the above.

[0016] Beneficial effects: the driving assembly can drive the connecting assembly to rotate and drive the tactile knuckle to rotate; the control assembly can acquire the tactile information of the tactile sensor and control the driving assembly to rotate the connecting assembly, so as to realize the bending and stretching of the bionic finger, and make the bionic finger have a better bionic effect. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a functional principle diagram of the bionic finger in the embodiment of the present application.

[0018] Figure 2 is a structural schematic diagram of the bionic finger in the embodiment of the present application.

[0019] Figure 3 is an exploded view of the bionic finger in the embodiment of the present application.

[0020] Figure 4 is a sectional view of the tactile knuckle in the embodiment of the present application.

[0021] Figure 5 is a flowchart of the control method of the bionic finger in the embodiment of the present application.

[0022] Figure 6 is a structural schematic diagram of the machine hand in the embodiment of the present application.

[0023] Figure 7 is a structural schematic diagram of the robot in the embodiment of the present application.

[0024] REFERENCE SIGNS: 10, base; 11, first rotating shaft; 20, tactile knuckle; 201, mounting frame; 202, second rotating shaft; 21, finger palm tactile sensor; 211, first circuit board; 212, finger palm inductor; 22, finger back tactile sensor; 221, finger back inductor; 23, fingertip tactile sensor; 231, second circuit board; 232, fingertip inductor; 30, connecting assembly; 31, finger barrel; 311, ball bearing; 312, third rotating shaft; 32, connecting rod; 33, torsion spring; 40, driving assembly; 41, worm; 42, worm wheel; 50, control assembly. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present application clearer and more apparent, the present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not intended to limit the present application.

[0026] Please also refer to Figures 1-4 The present application provides some embodiments of a bionic finger.

[0027] As Figures 1-2 shown, the bionic finger of the present application comprises: a base 10; a tactile phalanx 20 provided with a tactile sensor; a connecting assembly 30 rotatably connected with the base 10 and the tactile phalanx 20 respectively; a driving assembly 40 arranged on the base 10; a control assembly 50 electrically connected with the tactile sensor and the driving assembly 40 respectively; wherein the control assembly 50 controls the driving assembly 40 to rotate the connecting assembly 30 and drive the tactile phalanx 20 to rotate based on the tactile information collected by the tactile sensor.

[0028] Specifically, the base 10 is located at the bottom end of the bionic finger, and the base 10 can be configured on the palm. The tactile phalanx 20 is located at the top end of the bionic finger, and the tactile sensor is configured on the tactile phalanx 20. The tactile sensor is used to obtain tactile information, which can be information formed when contacting or approaching an object, such as pressure information, etc. The tactile phalanx 20 and the base 10 are connected through the connecting assembly 30. The driving assembly 40 can drive the connecting assembly 30 to rotate and drive the tactile phalanx 20 to rotate. The control assembly 50 can obtain the tactile information of the tactile sensor and control the driving assembly 40 to rotate the connecting assembly 30, so as to realize the bending and stretching of the bionic finger, so that the bionic finger has better bionic effect. For example, when performing a grasping task, based on the tactile information of the tactile sensor, it can be determined that the bionic finger contacts an object, then the grasping operation can be performed, and the tightness of the grasped object can be determined. For another example, when the bionic finger accidentally touches an obstacle, based on the tactile information of the tactile sensor, it can be determined that the bionic finger contacts the obstacle, then the contraction operation can be performed.

[0029] In a preferred implementation manner of the embodiment of the present application, asFigure 1 and Figure 4 As shown in The tactile sensor includes: The palm tactile sensor 21 and the back tactile sensor 22.

[0030] Specifically, the tactile sensor can have the palm tactile sensor 21 and the back tactile sensor 22, the palm tactile sensor 21 is located at the palm position of the tactile knuckle 20, and the back tactile sensor 22 is located at the back position of the tactile knuckle 20. The palm tactile sensor 21 can collect tactile information of the object to be grabbed, and the back tactile sensor 22 can collect tactile information of the obstacle. The tactile information collected by the palm tactile sensor 21 is recorded as palm tactile information, and the tactile information collected by the back tactile sensor 22 is recorded as back tactile information.

[0031] In a preferred implementation form of the embodiment of the present application, as shown in Figure 4 The tactile knuckle 20 includes:

[0032] Specifically, the mounting frame 201 is rotationally connected with the connecting assembly 30.

[0033] In a preferred implementation form of the embodiment of the present application, as shown in Figure 4 The palm tactile sensor 21 includes: A first circuit board 211 is mounted on the mounting frame 201; A palm inductor 212 is mounted on the palm side of the mounting frame 201; The back tactile sensor 22 includes: A back inductor 221 is mounted on the back side of the mounting frame 201; The palm inductor 212 and the back inductor 221 correspond to the positions on both sides of the first circuit board 211, respectively.

[0034] Specifically, the first circuit board 211 is electrically connected with the control assembly 50, the palm electrode and the back electrode are formed on the first circuit board 211, the palm electrode is located at the position corresponding to the palm inductor 212, and the back electrode is located at the position corresponding to the back inductor 221. When the palm inductor 212 and the back inductor 221 contact other objects, the palm inductor 212 and the back inductor 221 can be deformed and moved under pressure, and are respectively inducted by the palm electrode and the back electrode, for example, the capacitance of the palm electrode and the back electrode changes.

[0035] In a preferred implementation form of the embodiment of the present application, as shown in Figure 1 and Figure 4 The tactile sensor includes a fingertip tactile sensor 23.

[0036] Specifically, the fingertip tactile sensor 23 is located at the fingertip position of the tactile knuckle 20, and the fingertip tactile sensor 23 can collect the tactile information of the object to be touched. The tactile information collected by the fingertip tactile sensor 23 is denoted as fingertip tactile information.

[0037] In a preferred implementation form of the embodiment of the present application, as shown in Figure 4 the fingertip tactile sensor 23 comprises: a second circuit board 231 mounted on the mounting frame 201; a fingertip sensing body 232 mounted on the mounting frame 201; wherein the fingertip sensing body 232 corresponds to the position of the second circuit board 231.

[0038] Specifically, the second circuit board 231 is electrically connected with the control assembly 50, and a fingertip electrode is formed on the second circuit board 231, which is located at the corresponding position of the fingertip sensing body 232. When the fingertip sensing body 232 contacts other objects, the fingertip sensing body 232 can be deformed and moved under pressure and be sensed by the fingertip electrode, for example, the capacitance of the fingertip electrode changes.

[0039] In a preferred implementation form of the embodiment of the present application, as shown in Figures 2-3 the base 10 is provided with a first rotating shaft 11, and the tactile knuckle 20 is provided with a second rotating shaft 202; the connecting assembly 30 comprises: a finger barrel 31, a first end of the finger barrel 31 is rotatably connected with the base 10 through a ball bearing 311, and a second end of the finger barrel 31 is rotatably connected with the tactile knuckle 20 through a third rotating shaft 312; a connecting rod 32, two ends of the connecting rod 32 are rotatably connected with the first rotating shaft 11 and the second rotating shaft 202, respectively; a torsional spring 33, which is sleeved with the third rotating shaft 312 and provides the tactile knuckle 20 and the connecting assembly 30 with a relaxed elastic force.

[0040] Specifically, a first rotating shaft 11 is provided on the base 10, and a second rotating shaft 202 is provided on the mounting bracket 201. The two ends of the connecting rod 32 are rotatably connected to the first rotating shaft 11 and the second rotating shaft 202, respectively. A third rotating shaft 312 is provided on the finger cylinder 31, and the mounting bracket 201 is rotatably connected to the third rotating shaft 312. A ball bearing 311 is also provided on the finger cylinder 31, and the finger cylinder 31 is rotatably connected to the base 10 through the ball bearing 311. A torsion spring 33 is sleeved on the third rotating shaft 312. Under the elastic force of the torsion spring 33, the tactile knuckle 20 and the connecting component 30 are in an extended state. When the back of the bionic finger comes into contact with an obstacle, it will drive the tactile knuckle 20 and the connecting component 30 to rotate, the torsion spring 33 will rotate and deform, and the bionic finger will bend, thus preventing damage to the bionic finger. When the obstacle leaves the back of the bionic finger, the torsion spring 33 returns to its original shape and causes the tactile knuckle 20 and the connecting component 30 to rotate in the opposite direction and extend into a stretched state.

[0041] Since the connecting component 30 rotates when grasping objects and accidentally hitting obstacles, the use of ball bearings 311 can improve the stability and wear resistance of the finger cylinder 31 relative to the base 10. The bionic finger can rotate smoothly for a long time with less noise.

[0042] In a preferred implementation of this invention, such as Figure 3 As shown, the driving component 40 includes: A driving component is disposed on the base 10; Worm gear 41 is disposed on the output shaft of the drive component; The worm gear 42 is rotatably mounted on the first rotating shaft 11 and meshes with the worm 41. The worm gear 42 has no worm teeth on its fingertip side, and the top of the worm gear 42 abuts against the end face of the connecting rod 32.

[0043] Specifically, the worm gear 42 is located on the first rotating shaft 11. The worm gear 42 is an incomplete worm gear; it has worm teeth on the dorsal side but not on the ventral side. The top of the worm gear 42 is the junction of the ventral and dorsal sides, and it abuts against the end face of the connecting rod 32. The ventral side of the worm gear 42, without worm teeth, does not interfere with the end face of the connecting rod 32. When the connecting rod 32 rotates, the top of the worm gear 42 separates from the end face of the connecting rod 32, and the end face of the connecting rod 32 rotates to the corresponding position on the ventral side of the worm gear 42. The rotation of the worm 41 drives the worm gear 42 to rotate, which in turn drives the connecting rod 32, the finger cylinder 31, and the tactile knuckle 20 to rotate.

[0044] Based on the bionic finger described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method for the bionic finger.

[0045] like Figure 5As shown, the bionic finger control method of this invention includes the following steps: Step S100: Based on the tactile information collected by the tactile sensor, control the drive component to rotate the connecting component, and drive the tactile knuckle to rotate.

[0046] Specifically, based on tactile information collected by tactile sensors, a drive component controls the rotation of connecting components and tactile knuckles to perform tasks. When performing different tasks, the tactile information collected by the tactile sensors differs, allowing the drive component to perform corresponding operations to complete the task. When performing tasks, the bionic finger can perform a single task, multiple bionic fingers can perform tasks, or the bionic finger can cooperate with other structures to perform tasks.

[0047] Prior to step S100, the control method includes the following steps: S10. Determine the task to be performed and acquire the tactile information collected by the tactile sensor.

[0048] Specifically, the tasks to be performed by the bionic finger include at least one of grasping, active obstacle avoidance, or touching. During the execution of various tasks, active obstacle avoidance may be required, necessitating the continuous acquisition of tactile information from the back of the finger via a tactile sensor. When performing a grasping task, to prevent excessive gripping force, continuous acquisition of tactile information from the fingertip via a tactile sensor is needed. When performing a touching task, tactile information from the fingertip via a tactile sensor is required. Therefore, when performing a grasping task, continuous acquisition of tactile information from both the back of the finger and the fingertip is necessary. When performing a touching task, continuous acquisition of tactile information from both the back of the finger and the fingertip is required. When performing other tasks, such as posing the bionic finger, which is equivalent to performing an active obstacle avoidance task, continuous acquisition of tactile information from the back of the finger is required.

[0049] Step S100 specifically includes: Step S110: Based on the finger back tactile information collected by the finger back tactile sensor, control the drive component to rotate the connecting component so that the bionic finger bends to a curled state within a first preset time. Step S120: Based on the fingertip tactile information collected by the fingertip tactile sensor, control the drive component to rotate the connecting component so that the bionic finger bends within a second preset time until the fingertip tactile information reaches the target tactile information; wherein, the first preset time is less than the second preset time.

[0050] Specifically, to prevent the bionic finger from accidentally hitting obstacles and getting damaged, a torsion spring and worm gear are used to achieve passive obstacle avoidance. A finger back tactile sensor and a drive assembly are further configured to achieve active obstacle avoidance. When the back of the bionic finger touches an obstacle, although the obstacle may push the tactile knuckle and connecting component to rotate for passive obstacle avoidance, the finger back tactile sensor can collect tactile information and perform active obstacle avoidance. Specifically, based on the tactile information, the drive assembly is controlled to rotate the connecting component and the tactile knuckle, causing the bionic finger to bend to a curled state within a first preset time, completing the active obstacle avoidance task. The curled state is the maximum bending state of the bionic finger; in the curled state, the bionic finger cannot bend or curl further. During the movement of either the bionic finger or the obstacle, the bionic finger may accidentally hit the obstacle. For example, the bionic finger may accidentally hit the ground when it falls.

[0051] When the fingertip of the bionic finger touches the object to be grasped, the fingertip tactile sensor can collect the tactile information and perform a grasping operation. Specifically, based on the fingertip tactile information, the drive component is controlled to rotate the connecting component and the tactile knuckle, causing the bionic finger to bend within a second preset time until the fingertip tactile information reaches the target tactile information, thus completing the grasping task. The target tactile information refers to the tactile information formed when gripping the object to be grasped. Reaching the target tactile information will not damage the object to be grasped or the bionic finger. The target tactile information can be configured and adjusted according to the object to be grasped, so that the bionic finger does not generate excessive gripping force that could damage the object to be grasped or the bionic finger. In active obstacle avoidance tasks, the bionic finger needs to bend to a curled state within a short time. In grasping tasks, the bionic finger needs to gradually bend to grasp the object to be grasped; therefore, the second preset time is longer than the first preset time.

[0052] Step S110 specifically includes: Step S111: Based on the finger back tactile information collected by the finger back tactile sensor, control the drive component to rotate the connection component, and obtain the finger pad tactile information collected by the finger pad tactile sensor. Step S112: When the fingertip tactile information reaches the target tactile information, control the drive component to stop rotating the connection component; Step S113: When the fingertip tactile information does not reach the target tactile information, control the drive component to continue rotating the connecting component so that the bionic finger bends into a curled state.

[0053] Specifically, when the bionic finger accidentally hits an obstacle, it may grab other objects during the bending process. It is also necessary to avoid damage to other objects and the bionic finger. When obtaining tactile information from the back of the finger, in addition to controlling the drive component to rotate the connecting component, it is also necessary to continuously obtain tactile information from the fingertip. If the tactile information from the fingertip reaches the target tactile information, the bionic finger is controlled to stop bending; if the tactile information from the fingertip does not reach the target tactile information, the bionic finger can be controlled to continue bending until it curls up.

[0054] Step S120 specifically includes: Step S121: Based on the fingertip tactile information collected by the fingertip tactile sensor, control the drive component to gradually rotate the connecting component, and continue to acquire the fingertip tactile information from the fingertip tactile sensor. Step S122: When the fingertip tactile information reaches the target tactile information, control the drive component to stop rotating the connection component.

[0055] Specifically, after acquiring tactile information from the fingertip, it indicates that the bionic finger has contacted the object to be grasped. Further rotation of the connecting component is needed to firmly grasp the object, and multiple bionic fingers may be required to cooperate in grasping it. After one bionic finger contacts the object, the drive components controlling multiple bionic fingers gradually rotate the connecting component. If the fingertip tactile information reaches the target tactile information, the drive components are controlled to stop rotating the connecting component.

[0056] Step S100 also includes: Step S130: Based on the fingertip tactile information collected by the fingertip tactile sensor, control the drive component to rotate the connecting component so that the tactile knuckle rotates at a preset acute angle.

[0057] Specifically, in some applications, bionic fingers need to approach and touch objects, such as clicking or playing the piano. During this process, the bionic finger moves with a small amplitude and applies minimal force. When the bionic finger approaches and touches the object, the fingertip tactile sensor collects tactile information. Based on this information, the drive component is controlled to rotate the connecting component and the tactile knuckle, causing the tactile knuckle to rotate at a preset acute angle.

[0058] Based on the bionic finger described in any of the above embodiments, the present invention also provides an embodiment of a robotic hand.

[0059] The robotic hand of the present invention includes a bionic finger as described in any of the above embodiments. The robotic hand can be a single-finger robotic hand or a multi-finger robotic hand, such as a two-finger robotic hand or a three-finger robotic hand. The robotic hand can perform tasks such as grasping or moving objects, operating tools, and displaying different gestures. Figure 6The robotic hand has five fingers, any one of which can be a bionic finger as described in any of the above embodiments. For example, the index finger, middle finger, ring finger, and little finger can be bionic fingers as described in any of the above embodiments.

[0060] Based on the bionic finger or robotic hand described in any of the above embodiments, the present invention also provides an embodiment of a robot.

[0061] The robot of this invention includes: a bionic finger as described in any of the above embodiments, or a robotic hand as described in any of the above embodiments. The robot can be a special robot, a wheeled robot, a legged robot, a crawler robot, a squirming robot, a flying robot, a floating robot, a diving robot, a ground robot, an underground robot, a space robot, a SCARA robot, a parallel robot, a master-slave robot, a collaborative robot, etc. The robot can be a single-armed robot or a multi-armed robot. Figure 7 It is a wheeled robot with bionic arms, wherein either bionic arm can be the robotic hand or the bionic finger described in any of the above embodiments.

[0062] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A bionic finger, characterized in that, The application relates to a bionic finger. The bionic finger comprises a base, a tactile finger joint provided with a tactile sensor, a connecting assembly rotatably connected with the base and the tactile finger joint respectively, a driving assembly arranged in the base, and a control assembly electrically connected with the tactile sensor and the driving assembly respectively. The control assembly controls the driving assembly to rotate the connecting assembly and drive the tactile finger joint to rotate based on tactile information collected by the tactile sensor. The tactile sensor comprises a palm tactile sensor and a back tactile sensor. The tactile finger joint comprises a mounting frame. The palm tactile sensor comprises a first circuit board arranged in the mounting frame and a palm inductor arranged on the palm side of the mounting frame. The back tactile sensor comprises a back inductor arranged on the back side of the mounting frame.

2. The bionic finger according to claim 1, characterized in that, The palm inductor and the back inductor correspond to the positions on the two sides of the first circuit board respectively. The tactile sensor comprises a fingertip tactile sensor.

3. The bionic finger according to claim 2, characterized in that, The fingertip tactile sensor comprises a second circuit board arranged in the mounting frame and a fingertip inductor arranged on the mounting frame. The fingertip inductor corresponds to the position of the second circuit board. The base is provided with a first rotating shaft, and the tactile finger joint is provided with a second rotating shaft. The connecting assembly comprises a finger barrel, a connecting rod, and a torsional spring. The driving assembly comprises a driving part arranged in the base, a worm arranged on the output shaft of the driving part, and a worm wheel rotatably arranged on the first rotating shaft and engaged with the worm. The palm side of the worm wheel is not provided with worm teeth and abuts against the end surface of the connecting rod. The control assembly controls the driving assembly to rotate the connecting assembly and drive the tactile finger joint to rotate based on tactile information collected by the tactile sensor. The control assembly controls the driving assembly to rotate the connecting assembly and drive the tactile finger joint to rotate based on the back tactile information collected by the back tactile sensor, so that the bionic finger is bent to a curled state within a first preset time.

4. The bionic finger according to claim 3, characterized in that, The control assembly controls the driving assembly to rotate the connecting assembly and drive the tactile finger joint to rotate based on the palm tactile information collected by the palm tactile sensor, so that the bionic finger is bent to the target tactile information within a second preset time. The control assembly controls the driving assembly to rotate the connecting assembly and drive the tactile finger joint to rotate based on the fingertip tactile information collected by the fingertip tactile sensor, so that the tactile finger joint is rotated by a preset acute angle. The application relates to a bionic finger. The application relates to a bionic finger.

5. The bionic finger according to claim 2, characterized in that, The application relates to a bionic finger. ​ ​ ​ ​ ​ ​ ​ ​ 6. A control method of the bionic finger according to any one of claims 1 to 5, characterized in that, ​ ​ 7. The control method of the bionic finger according to claim 6, characterized in that, ​ ​ ​ 8. The control method of the bionic finger according to claim 6, characterized in that, ​ ​ 9. A robot hand, characterized in that ​ ​ 10. A robot, characterized in that ​ ​

Images