A humanoid dexterous hand and robot

Abstract

This invention discloses a humanoid dexterous hand and robot, specifically relating to the field of humanoid robot technology. It includes a hand support, finger modules mounted on the hand support, and a control module signal-connected to the finger modules. The finger modules include a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly, and a little finger assembly. The thumb assembly includes a flexible thumb and a thumb drive device for bending and retracting the thumb. The index finger assembly includes a flexible index finger and an index finger drive device for bending and retracting the index finger. The middle finger assembly includes a flexible middle finger and a middle finger drive device for bending and retracting the middle finger. The ring finger assembly includes a flexible ring finger and a ring finger drive device for bending the ring finger. The little finger assembly includes an octopus-tentacle-like appendage and an octopus-tentacle drive device for bending the appendage. This invention improves the dexterity of the little finger, enhances the grasping ability and operational versatility of the entire hand, and features low manufacturing cost and high maintenance convenience.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and in particular to a humanoid dexterous hand and robot. Background Technology

[0002] As an important component of humanoid robot technology, humanoid dexterous hands have broad application prospects in fields such as industrial automation, service robots, and medical rehabilitation.

[0003] However, existing humanoid dexterous hands generally have many unresolved problems: the little finger of traditional humanoid dexterous hands is mostly used as an auxiliary to other fingers, failing to break through the capabilities of human hands. It lacks an independent and efficient drive and control mechanism, and cannot perform key operations such as precise grasping and pinching like the thumb and other core fingers, directly limiting the adaptability and operational diversity of the whole hand to complex tasks. At the same time, most dexterous hands use a multi-joint rigid transmission structure, resulting in a large number of parts and complex assembly processes, leading to high manufacturing costs. Moreover, the high degree of component integration means that once a single joint or transmission component is damaged, it is often necessary to disassemble and replace the entire finger or even the entire hand, which significantly increases the later maintenance costs and prolongs the equipment downtime. Summary of the Invention

[0004] The purpose of this invention is to provide a humanoid dexterous hand and robot to solve the problems existing in the prior art, improve the dexterity of the little finger, enhance the grasping ability and operational diversity of the whole hand; the structure is simple, with low manufacturing cost and high maintenance convenience.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a humanoid dexterous hand, including a palm support, finger modules, and a control module. The finger modules are mounted on the palm support, and the control module is signal-connected to the finger modules. The finger modules include a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly, and a little finger assembly. The thumb assembly includes a flexible thumb and a thumb drive device for driving the flexible thumb to bend and retract. The index finger assembly includes a flexible index finger and an index finger drive device for driving the flexible index finger to bend and retract. The middle finger assembly includes a flexible middle finger and a middle finger drive device for driving the flexible middle finger to bend and retract. The ring finger assembly includes a flexible ring finger and a ring finger drive device for driving the flexible ring finger to bend. The little finger assembly includes an octopus-tentacle-like component and an octopus tentacle drive device for driving the octopus-tentacle-like component to bend.

[0007] Preferably, the number of octopus tentacle driving devices is two. Each octopus tentacle driving device includes an octopus tentacle servo motor, an octopus tentacle spool, and an octopus tentacle spool mounting base. The output end of the octopus tentacle servo motor is fixedly connected to the octopus tentacle spool, and the octopus tentacle spool mounting base is fixedly connected to the octopus tentacle servo motor. The octopus tentacle spool is rotatably mounted on the octopus tentacle spool mounting base, which has a through hole. The palm side and back side of the simulated octopus tentacle are... Microchannels are provided along the axial direction. The tendons of the two octopus tentacle coils are respectively threaded through the microchannels on the corresponding sides. One end of the tendon of each octopus tentacle coil is fixedly connected to the octopus tentacle coil, and the other end passes through the through hole and the microchannel in sequence and is fixedly connected to the tip of the imitation octopus tentacle. When the two octopus tentacle coils rotate simultaneously in opposite directions under the drive of the two octopus tentacle servos, the imitation octopus tentacle can be bent towards the palm or back of the hand through the two tendons.

[0008] Preferably, the octopus tentacles have a logarithmic spiral structure in their bending shape.

[0009] Preferably, the index finger drive device includes an index finger servo, an index finger spool, and an index finger spool mounting base. The output end of the index finger servo is fixedly connected to the index finger spool, and the index finger spool mounting base is fixedly connected to the index finger servo. The index finger spool is rotatably mounted on the index finger spool mounting base. The index finger spool mounting base has a first elongated hole, the length direction of which is perpendicular to the rotation axis of the index finger spool. The flexible index finger includes an integrally formed flexible index finger joint and an index finger base. The index finger base is rotatably connected to the index finger servo, and the rotation axis of the index finger base is parallel to the rotation axis of the index finger spool. One end of the tendon cord of the index finger spool is fixedly connected to the index finger spool, and the other end... After passing through the first elongated hole and the internal channel of the flexible index finger joint, the tendon cord is fixed to the fingertip of the flexible index finger joint. When the index finger servo rotates clockwise, the index finger coil winds the tendon cord clockwise, causing the tendon cord to deflect towards the first elongated hole closer to the middle finger. This causes the index finger base to cause the flexible index finger joint to retract inward towards the middle finger, while simultaneously bending the flexible index finger joint towards the palm. When the index finger servo rotates counterclockwise, the index finger coil winds the tendon cord counterclockwise, causing the tendon cord to deflect towards the first elongated hole away from the middle finger. This causes the index finger base to cause the flexible index finger joint to extend outward away from the middle finger, while simultaneously bending the flexible index finger joint towards the palm.

[0010] Preferably, the middle finger drive device includes a middle finger servo, a middle finger spool, and a middle finger spool mounting base. The output end of the middle finger servo is fixedly connected to the middle finger spool, and the middle finger spool mounting base is fixedly connected to the middle finger servo. The middle finger spool is rotatably mounted on the middle finger spool mounting base. The middle finger spool mounting base has a second elongated hole, the length direction of which is perpendicular to the rotation axis of the middle finger spool. The flexible middle finger includes an integrally formed flexible middle finger joint and a middle finger base. The middle finger base is rotatably connected to the middle finger servo, and the rotation axis of the middle finger base is parallel to the rotation axis of the middle finger spool. One end of the tendon cord of the middle finger spool is fixedly connected to the middle finger spool, and the other end is sequentially... After passing through the second elongated hole and the internal channel of the flexible middle finger joint, it is fixed to the fingertip of the flexible middle finger joint. When the middle finger servo rotates clockwise, the middle finger coil winds the tendon rope clockwise, causing the tendon rope to deflect towards the second elongated hole towards the ring finger. This causes the middle finger base to cause the flexible middle finger joint to retract inward towards the ring finger, while simultaneously causing the flexible middle finger joint to bend towards the palm. When the middle finger servo rotates counterclockwise, the middle finger coil winds the tendon rope counterclockwise, causing the tendon rope to deflect towards the second elongated hole away from the ring finger. This causes the middle finger base to cause the flexible middle finger joint to extend outward away from the ring finger, while simultaneously causing the flexible middle finger joint to bend towards the palm.

[0011] Preferably, the ring finger driving device includes a ring finger servo, a ring finger reel, and a ring finger reel mounting base. The output end of the ring finger servo is fixedly connected to the ring finger reel, and the ring finger reel mounting base is fixedly connected to the ring finger servo. The ring finger reel is rotatably mounted on the ring finger reel mounting base, which has a circular hole. The flexible ring finger includes an integrally formed flexible ring finger joint and a ring finger base. The ring finger base is fixedly connected to the ring finger servo. One end of the tendon cord of the ring finger reel is fixedly connected to the ring finger reel, and the other end passes through the circular hole and the internal channel of the flexible ring finger joint in sequence before being fixed to the fingertip of the flexible ring finger joint. When the ring finger servo rotates, the ring finger reel winds up the tendon cord, causing the flexible ring finger joint to bend towards the palm.

[0012] Preferably, the thumb drive device includes a thumb servo, a thumb coil, and a thumb coil mounting base. The output end of the thumb servo is fixedly connected to the thumb coil, and the thumb coil mounting base is fixedly connected to the thumb servo. The thumb coil is rotatably mounted on the thumb coil mounting base. The thumb coil mounting base has a third elongated hole, the length direction of which is perpendicular to the rotation axis of the thumb coil. The flexible thumb includes an integrally formed flexible thumb knuckle and a retraction base. The retraction base can swing towards the palm or back of the hand, thereby realizing the retraction and extension action of the flexible thumb knuckle. The retraction axis of the retraction base is parallel to the rotation axis of the thumb coil. One end of the tendon cord of the thumb coil is connected to the thumb... The finger thread is fixedly connected, and the other end passes through the third elongated hole, the retractable base, and the internal channel of the flexible thumb knuckle in sequence before being fixed to the fingertip of the flexible thumb knuckle. When the thumb servo rotates clockwise, the thumb thread coil winds the tendon rope clockwise, causing the tendon rope to deflect towards the third elongated hole closer to the palm, thereby causing the retractable base to cause the flexible thumb knuckle to retract inward towards the palm, while simultaneously causing the flexible thumb knuckle to bend towards the palm. When the thumb servo rotates counterclockwise, the thumb thread coil winds the tendon rope counterclockwise, causing the tendon rope to deflect towards the third elongated hole closer to the back of the hand, thereby causing the retractable base to cause the flexible thumb knuckle to extend outward towards the back of the hand, while simultaneously causing the flexible thumb knuckle to bend towards the back of the hand.

[0013] Preferably, the retractable base includes two symmetrically arranged right triangular prisms, and the two right triangular prisms have a common side edge. The common side edge is perpendicular to the length direction of the third elongated hole. The side of one right triangular prism away from the common side edge is connected to the flexible thumb knuckle, and the side of the other right triangular prism away from the common side edge is connected to the palm support. The thumb servo can rotate forward or backward, enabling the flexible thumb knuckle to retract around the common side edge as an axis.

[0014] Preferably, the flexible thumb, flexible index finger, flexible middle finger, flexible ring finger, and octopus-like tentacles are all made of thermo-sensitive color-changing TPU or thermo-sensitive color-changing PEBA.

[0015] The present invention also provides a robot, including the aforementioned humanoid dexterous hand.

[0016] The present invention achieves the following technical effects compared to the prior art:

[0017] This invention provides a humanoid dexterous hand and robot. By replacing the traditional articulated structure of the little finger with an octopus-tentacle-like structure, the little finger can perform important grasping and manipulation functions like other fingers. Furthermore, the continuous structure of the octopus-tentacle-like hand has no obvious joints, and through internal drive, it can achieve 360° omnidirectional bending, twisting, and wrapping, allowing it to conform to irregular object surfaces or penetrate narrow crevices, expanding the dexterous hand's operational versatility and adaptability in complex environments. The hand support and each finger component are designed as standardized modules. When any component is damaged, there is no need to disassemble the entire hand; only the corresponding faulty module needs to be replaced to quickly restore function. This modular design significantly shortens repair time, lowers the technical threshold for maintenance, and effectively improves the availability and operational efficiency of the equipment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A structural diagram of a humanoid dexterous hand;

[0020] Figure 2 A front view of a humanoid dexterous hand;

[0021] Figure 3 A diagram illustrating the outward extension of the thumb, index finger, and middle finger of a human dexterous hand;

[0022] Figure 4 This is a structural diagram of the little finger component;

[0023] Figure 5 This is a schematic diagram of the index finger component.

[0024] Figure 6 This is a cross-sectional view of the index finger component;

[0025] Figure 7 This is a schematic diagram of the middle finger component;

[0026] Figure 8 A diagram illustrating another perspective of a humanoid dexterous hand;

[0027] Figure 9 A diagram illustrating the thumb of a human-shaped dexterous hand tucking inwards towards the palm;

[0028] Figure 10 for Figure 9 Side view;

[0029] Figure 11A diagram illustrating the thumb of a human-shaped dexterous hand extending outwards towards the back of the hand;

[0030] Figure 12 for Figure 11 Side view;

[0031] Figure 13 This is a schematic diagram showing the little finger assembly installed at the bottom of the palm support.

[0032] In the diagram: 1. Hand support; 2. Thumb assembly; 21. Flexible thumb; 22. Thumb drive mechanism; 23. Flexible thumb knuckle; 24. Retractable base; 25. Right triangular prism; 26. Common side edge; 3. Index finger assembly; 31. Flexible index finger; 32. Index finger drive mechanism; 33. Flexible index finger knuckle; 34. Index finger base; 35. Index finger servo; 36. Index finger spool; 37. Index finger spool mounting base; 38. First long strip 4. Hole; 5. Middle finger assembly; 6. Flexible middle finger; 7. Middle finger drive device; 8. Flexible middle finger knuckle; 9. Middle finger base; 10. Middle finger servo; 11. Middle finger coil; 2. Middle finger coil mounting base; 3. Second elongated hole; 42. Ring finger assembly; 53. Flexible ring finger; 64. Ring finger drive device; 7. Little finger assembly; 8. Imitation octopus tentacle; 9. Octopus tentacle drive device; 10. Microchannel; 11. Tendon ligament; 12. Octopus tentacle drive device; 13. Microchannel; 14. Tendon ligament. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] The purpose of this invention is to provide a humanoid dexterous hand and robot to solve the problems existing in the prior art, improve the dexterity of the little finger, enhance the grasping ability and operational diversity of the whole hand; the structure is simple, with low manufacturing cost and high maintenance convenience.

[0035] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Example 1

[0037] This embodiment provides a humanoid dexterous hand, such as Figures 1-3As shown, the device includes a palm support 1, a finger module, and a control module. The finger module is fixedly mounted on the palm support 1. The control module is signal-connected to the finger module. The finger module includes a thumb assembly 2, an index finger assembly 3, a middle finger assembly 4, a ring finger assembly 5, and a little finger assembly 6. The thumb assembly 2 includes a flexible thumb 21 and a thumb drive device 22 that drives the flexible thumb 21 to bend and retract. The index finger assembly 3 includes a flexible index finger 31 and an index finger drive device 32 that drives the flexible index finger 31 to bend and retract. The middle finger assembly 4 includes a flexible middle finger 41 and a middle finger drive device 42 that drives the flexible middle finger 41 to bend and retract. The ring finger assembly 5 includes a flexible ring finger 51 and a ring finger drive device 52 that drives the flexible ring finger 51 to bend. The little finger assembly 6 includes an octopus-like tentacle 61 and an octopus tentacle drive device 62 that drives the octopus-like tentacle 61 to bend. By replacing the traditional articulated structure of the little finger with an octopus-tentacle-like appendage 61, the continuous structure of the octopus-tentacle 61, without obvious joints, allows for 360° bending, twisting, and wrapping through internal drive. This enables it to conform to irregular surfaces or penetrate narrow crevices, improving the traditional dexterous hand's ability to handle non-standard shapes and objects in small spaces. The little finger is upgraded from an auxiliary function to a core component capable of independent grasping and manipulation, thus enhancing the overall task completion capability of the dexterous hand. The hand support 1 and each finger component are designed as standardized modules. When any component is damaged, the entire hand can be quickly restored without disassembling it; only the faulty module needs to be replaced. This rapid repair and low-barrier maintenance reduce downtime due to equipment failure, effectively ensuring the dexterous hand's continuous working capability and lowering overall operating costs.

[0038] In the implementation of this embodiment, it is further preferred that, as follows: Figure 4As shown, there are two octopus tentacle driving devices 62. Each octopus tentacle driving device includes an octopus tentacle servo motor, an octopus tentacle spool, and an octopus tentacle spool mounting base. The output end of the octopus tentacle servo motor is fixedly connected to the octopus tentacle spool, and the octopus tentacle spool mounting base is fixedly connected to the octopus tentacle servo motor. The octopus tentacle spool is rotatably mounted on the octopus tentacle spool mounting base. The octopus tentacle spool mounting base has through holes, that is, the palm side and the back side of the octopus tentacle 61 are each reserved for tendon ropes 7. The microchannel 63 is provided, and the tendons 7 of the two octopus tentacle coils are respectively threaded through the microchannel 63 on the corresponding sides. One end of the tendon 7 of each octopus tentacle coil is fixedly connected to the octopus tentacle coil, and the other end passes through the through hole and the microchannel 63 in sequence and is fixedly connected to the tip of the imitation octopus tentacle 61. When the two octopus tentacle coils rotate simultaneously in opposite directions driven by the two octopus tentacle servos, the imitation octopus tentacle 61 can bend towards the palm or back of the hand through the two tendons 7. The two octopus tentacle servos are started at the same time and rotate in opposite directions, such as one clockwise and one counterclockwise. The output end of the octopus tentacle servo drives the corresponding coil to rotate synchronously. One octopus tentacle coil winds up the tendon 7, shortening the tendon 7 on that side, while the other octopus tentacle coil releases the tendon 7, lengthening the tendon 7 on that side. The two tendon ropes 7, one tight and one loose, apply tension through the microchannels 63 on both sides of the tentacle, ultimately causing the octopus-like tentacle 61 to bend towards the side where the tendon ropes 7 are shortened, thus achieving a movement towards the palm or back of the hand. The two octopus tentacle servos apply appropriate torque, which can maintain a certain tension on the two tendon ropes 7, thereby maintaining the rigidity and specific bending angle of the octopus tentacle.

[0039] In this embodiment, it is further preferred that the octopus tentacles bend in a logarithmic spiral structure. The continuous curve of the logarithmic spiral makes the bending process of the tentacles smoother and more seamless, allowing them to precisely conform to the surface of irregular objects, reducing the squeezing damage to objects during grasping. Furthermore, the logarithmic spiral structure has a certain degree of torsional and bending strength, maintaining its shape stability even when grasping heavy objects or applying force in confined spaces, and is not prone to deformation failure.

[0040] In the implementation of this embodiment, it is further preferred that, as follows: Figures 5-6As shown, the index finger drive device 32 includes an index finger servo 35, an index finger spool 36, and an index finger spool mounting base 37. The output end of the index finger servo 35 is fixedly connected to the index finger spool 36, and the index finger spool mounting base 37 is fixedly connected to the index finger servo 35. The index finger spool 36 is rotatably mounted on the index finger spool mounting base 37. The index finger spool mounting base 37 has a first elongated hole 38, the length direction of which is perpendicular to the rotation axis of the index finger spool 36. The flexible index finger 31 includes an integrally formed flexible index finger joint 33 and an index finger base 34. The index finger base 34 is rotatably connected to the index finger servo 35, and the rotation axis of the index finger base 34 is parallel to the rotation axis of the index finger spool 36. One end of the tendon 7 of the index finger spool 36 is fixedly connected to the index finger spool 36. The other end passes through the internal channel of the first elongated hole 38 and the flexible index finger joint 33, and is then fixed to the fingertip of the flexible index finger joint 33. When the index finger servo 35 rotates clockwise, the index finger coil 36 winds the tendon cord 7 clockwise, causing the tendon cord 7 to deflect towards the first elongated hole 38 closer to the middle finger. This causes the index finger base 34 to cause the flexible index finger joint 33 to retract inward towards the middle finger, while simultaneously bending the flexible index finger joint 33 towards the palm. When the index finger servo 35 rotates counterclockwise, the index finger coil 36 winds the tendon cord 7 counterclockwise, causing the tendon cord 7 to deflect away from the middle finger towards the first elongated hole 38. This causes the index finger base 34 to cause the flexible index finger joint 33 to extend outward away from the middle finger, while simultaneously bending the flexible index finger joint 33 towards the palm. By utilizing the difference in winding direction when the index finger servo 35 rotates clockwise and counterclockwise, dual motion coupling under a single power source is achieved. When the index finger servo 35 rotates forward, guided by the first elongated hole 38, the tendon cord 7 deflects towards the middle finger, causing the index finger base 34 to retract inward towards the middle finger side. When the index finger servo 35 rotates backward, guided by the first elongated hole 38, the tendon cord 7 deflects towards the thumb, causing the base to retract towards the thumb side. This gives the index finger active freedom to open and close left and right within the palm plane, enhancing the lateral adjustment ability during grasping. At the same time, regardless of whether it rotates forward or backward, the coil will wind up the tendon cord 7, driving the flexible knuckle to bend towards the palm through tension, forming active freedom of bending. This significantly reduces the number of driving components while ensuring the dexterity of the index finger, effectively reducing the overall hand weight and control difficulty.

[0041] In the implementation of this embodiment, it is further preferred that, as follows: Figure 7As shown, the middle finger drive device 42 includes a middle finger servo 45, a middle finger spool 46, and a middle finger spool mounting base 47. The output end of the middle finger servo 45 is fixedly connected to the middle finger spool 46. The middle finger spool mounting base 47 is fixedly connected to the middle finger servo 45. The middle finger spool 46 is rotatably mounted on the middle finger spool mounting base 47. The middle finger spool mounting base 47 has a second elongated hole 48, the length direction of which is perpendicular to the rotation axis of the middle finger spool 46. The flexible middle finger 41 includes an integrally formed flexible middle finger knuckle 43 and a middle finger base 44. The middle finger base 44 is rotatably connected to the middle finger servo 45. The rotation axis of the middle finger base 44 is parallel to the rotation axis of the middle finger spool. One end of the tendon 7 of the middle finger spool 46 is fixedly connected to the middle finger spool 46, and the other end... The middle finger servo 45 passes through the internal channel of the second elongated hole 48 and the flexible middle finger knuckle 43, and is then fixed to the fingertip of the flexible middle finger knuckle 43. When the middle finger servo 45 rotates clockwise, the middle finger coil 46 winds the tendon cord 7 clockwise, causing the tendon cord 7 to deflect towards the second elongated hole 48 towards the ring finger. This causes the middle finger base 44 to cause the flexible middle finger knuckle 43 to retract inward towards the ring finger, while simultaneously bending the flexible middle finger knuckle 43 towards the palm. When the middle finger servo 45 rotates counterclockwise, the middle finger coil 46 winds the tendon cord 7 counterclockwise, causing the tendon cord 7 to deflect away from the ring finger towards the second elongated hole 48. This causes the middle finger base 44 to cause the flexible middle finger knuckle 43 to extend outward away from the ring finger, while simultaneously bending the flexible middle finger knuckle 43 towards the palm. By utilizing the difference in winding direction when the middle finger servo 45 rotates clockwise and counterclockwise, dual motion coupling under a single power source is achieved. When the middle finger servo 45 rotates forward, guided by the second elongated hole 48, the tendon cord 7 deflects towards the ring finger, causing the middle finger base 44 to retract inward towards the ring finger side. When the middle finger servo 45 rotates backward, guided by the second elongated hole 48, the tendon cord 7 deflects towards the index finger, causing the base to retract towards the index finger side. This gives the middle finger active freedom to open and close left and right within the palm plane, enhancing its lateral adjustment ability when grasping. At the same time, regardless of whether it rotates forward or backward, the coil will wind up the tendon cord 7, driving the flexible knuckle to bend towards the palm through tension, forming active freedom of bending. This achieves a significant reduction in the number of drive components while ensuring the dexterity of the middle finger, effectively reducing the overall hand weight and control difficulty.

[0042] In a further preferred embodiment of this invention, the ring finger driving device 52 includes a ring finger servo, a ring finger reel, and a ring finger reel mounting base. The output end of the ring finger servo is fixedly connected to the ring finger reel, and the ring finger reel mounting base is fixedly connected to the ring finger servo. The ring finger reel is rotatably mounted on the ring finger reel mounting base, which has a circular hole. The flexible ring finger 51 includes an integrally formed flexible ring finger joint and a ring finger base. The ring finger base is fixedly connected to the ring finger servo. One end of the tendon cord 7 of the ring finger reel is fixedly connected to the ring finger reel, and the other end passes through the circular hole and the internal channel of the flexible ring finger joint in sequence before being fixed to the fingertip of the flexible ring finger joint. When the ring finger servo rotates, the ring finger reel winds up the tendon cord 7, causing the flexible ring finger joint to bend towards the palm. When the ring finger servo rotates, the ring finger coil winds up the tendon rope 7, which directly drives the one-piece flexible ring finger joint to bend towards the palm through tension. The flexible ring finger joint only achieves a single degree of freedom of bending, which complements the compound degree of freedom of the middle finger and together improves the operational adaptability of the dexterous hand.

[0043] In the implementation of this embodiment, it is further preferred that, as follows: Figures 8-12As shown, the thumb drive device 22 includes a thumb servo, a thumb coil, and a thumb coil mounting base. The output end of the thumb servo is fixedly connected to the thumb coil, and the thumb coil mounting base is fixedly connected to the thumb servo. The thumb coil is rotatably mounted on the thumb coil mounting base. The thumb coil mounting base has a third elongated hole, the length direction of which is perpendicular to the rotation axis of the thumb coil. The flexible thumb 21 includes an integrally formed flexible thumb knuckle 23 and a retraction base 24. The retraction base 24 can swing towards the palm or back of the hand, thereby realizing the retraction and extension of the flexible thumb knuckle. The retraction axis of the retraction base 24 is parallel to the rotation axis of the thumb coil. One end of the tendon 7 of the thumb coil is fixedly connected to the thumb coil. Next, the other end passes through the internal channels of the third elongated hole, the retractable base 24, and the flexible thumb knuckle 23, and is then fixed to the fingertip of the flexible thumb knuckle 23. When the thumb servo rotates clockwise, the thumb coil winds the tendon rope 7 clockwise, causing the tendon rope 7 to deflect towards the third elongated hole closer to the palm, thereby causing the retractable base 24 to cause the flexible thumb knuckle 23 to retract inward towards the palm, while simultaneously causing the flexible thumb knuckle 23 to bend towards the palm. When the thumb servo rotates counterclockwise, the thumb coil winds the tendon rope 7 counterclockwise, causing the tendon rope 7 to deflect towards the third elongated hole closer to the back of the hand, thereby causing the retractable base 24 to cause the flexible thumb knuckle 23 to extend outward towards the back of the hand, while simultaneously causing the flexible thumb knuckle 23 to bend towards the back of the hand. When the thumb servo rotates forward, the tendon cord 7, guided by the third elongated hole, deviates towards the palm side, simultaneously causing the retractable base 24 and the flexible thumb knuckle 23 to retract inward towards the palm side. As the base begins to deflect, the tendon cord 7 continues to be wound, and the tension is transmitted to the inside of the thumb knuckle, driving the flexible thumb knuckle 23 to bend towards the palm. The thumb retracts towards the palm to conform to the object, enabling it to grasp the object in coordination with other fingers. When the thumb servo rotates in reverse, the tendon cord 7, guided by the third elongated hole, deviates towards the back of the hand, simultaneously causing the retractable base 24 and the flexible thumb knuckle 23 to extend outward towards the back of the hand. As the base begins to deflect, the tendon cord 7 continues to be wound, and the tension is transmitted to the inside of the thumb knuckle, driving the flexible thumb knuckle 23 to bend towards the back of the hand. The thumb extends outward towards the back of the hand to create space, enabling some special operational tasks. Achieving dual motion with a single servo motor, coupling the thumb's extension and flexion movements, reduces the number of drive components, lowers the overall hand weight, simplifies control logic, and complements the drive schemes for the index and ring fingers, balancing dexterity and system complexity.

[0044] In a further preferred embodiment of this invention, the retractable base 24 includes two symmetrically arranged right triangular prisms 25, each sharing a common side edge 26. This common side edge 26 is perpendicular to the length direction of the third elongated hole. The side of one right triangular prism 25 away from the common side edge 26 is connected to the flexible thumb knuckle 23, while the side of the other right triangular prism 25 away from the common side edge 26 is connected to the palm support 1. The thumb servo can rotate clockwise or counterclockwise, enabling the flexible thumb knuckle 23 to retract and extend around the common side edge 26. The symmetry and shared edge of the two right triangular prisms 25 ensure structural stability during rotation. The right triangular prism 25 connected to the flexible thumb knuckle 23 is responsible for driving the knuckle to retract and extend synchronously, while the right triangular prism 25 connected to the palm support 1 provides fixed support for the entire retractable base 24. When the thumb servo rotates forward or backward, the tendon cord 7 pulls on the two straight triangular prisms 25, which are flexible at the common side edge 26. This pull forces the straight triangular prisms 25 on the entire knuckle side to deflect around the common side edge 26 toward the palm or back of the hand, thereby driving the flexible thumb knuckle 23 to perform the retraction and extension movements.

[0045] In this embodiment, it is further preferred that the flexible thumb 21, flexible index finger 31, flexible middle finger 41, flexible ring finger 51, and octopus-like tentacle 61 are all made of thermochromic TPU or thermochromic PEBA, and are formed using an integrated 3D printing process. This type of thermochromic material can accurately trigger color changes within a preset temperature range. When the fingers or tentacles come into contact with objects of different temperatures, such as during handshakes or object transfers, they can provide immediate and intuitive visual feedback through color changes, helping users quickly perceive the contact status. This improves interaction safety and allows for intuitive perception of the working state of the humanoid dexterous hand.

[0046] The hand support 1 is manufactured using sheet metal, machining, carbon fiber processing, or 3D printing integrated molding processes, balancing lightweight and structural strength while possessing strong functional expandability. The surface of the hand support 1 has multiple pre-drilled threaded holes, allowing direct mounting of servo motors and connection of finger components, adapting to modular assembly requirements. Furthermore, the hand support 1 can be adapted to common universal robotic hand interfaces via a standard interface, effectively breaking down equipment compatibility barriers and achieving flexible compatibility with different robot platforms, thus expanding the overall application range of the humanoid dexterous hand.

[0047] The tendon cord 7 uses high-strength steel wire rope or nylon rope, and its wiring is completed through a pre-formed channel inside the finger. The ends of the tendon cord 7 are secured with adhesive, knots, or screws to form a firm connection with the fingertip and the cord reel, ensuring efficient and reliable power transmission. The wiring design of each finger ensures that the tendon cord 7 will not interfere with each other during finger movement, and also facilitates maintenance and replacement.

[0048] The control module is integrated inside the hand support 1, including a microcontroller, servo drive circuitry, and communication interface. The system adopts a ROS2-based control architecture, receiving commands from the host computer via USB serial communication and converting them into servo control signals. The control module also integrates temperature detection, which, combined with color-changing TPU material, enables intuitive human-machine interaction feedback. Through ingenious underactuated design and wire-wound direction control, the humanoid dexterous hand can achieve nine active degrees of freedom using six servos, improving the system's cost-effectiveness and control efficiency.

[0049] The octopus tentacle servo can be fixed to the top of the hand support 1 along with the servos of other fingers, or the octopus tentacle servo can be fixed to the bottom of the hand support 1 near the wrist, such as... Figure 13 As shown, this makes the overall appearance of the hand closer to the size of a normal human hand, while maintaining full functionality.

[0050] Example 2

[0051] This embodiment provides a robot, including the humanoid dexterous hand of Embodiment 1.

[0052] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A humanoid dexterous hand, characterized in that: The device includes a palm support, finger modules, and a control module. The finger modules are mounted on the palm support, and the control module is signal-connected to the finger modules. Each finger module includes a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly, and a little finger assembly. The thumb assembly includes a flexible thumb and a thumb drive device for bending and extending the flexible thumb. The index finger assembly includes a flexible index finger and an index finger drive device for bending and extending the flexible index finger. The middle finger assembly includes a flexible middle finger and a middle finger drive device for bending and extending the flexible middle finger. The ring finger assembly includes a flexible ring finger and a ring finger drive device for bending the flexible ring finger. The little finger assembly includes an octopus-shaped component. The device includes two octopus-like tentacles and a drive mechanism for bending them. Each drive mechanism comprises an octopus-like tentacle servo, an octopus-like tentacle reel, and an octopus-like tentacle reel mounting base. The output end of the octopus-like tentacle servo is fixedly connected to the octopus-like tentacle reel, and the octopus-like tentacle reel mounting base is fixedly connected to the octopus-like tentacle servo. The octopus-like tentacle reel is rotatably mounted on the octopus-like tentacle reel mounting base, which has a through hole. Microchannels are provided axially on both the palm and back sides of the octopus-like tentacle. The tendons of the two octopus-like tentacle reels are respectively threaded through the corresponding microchannels. One end of the tendon of each octopus-like tentacle reel is connected to the... The octopus tentacle reels are fixedly connected, with the other end passing through the through-hole and the microchannel and fixedly connected to the tip of the imitation octopus tentacle. When the two octopus tentacle reels rotate simultaneously in opposite directions driven by the two octopus tentacle servos, the imitation octopus tentacle can bend towards the palm or back of the hand via two tendon ropes. The index finger drive device includes an index finger servo, an index finger reel, and an index finger reel mounting base. The output end of the index finger servo is fixedly connected to the index finger reel, and the index finger reel mounting base is fixedly connected to the index finger servo. The index finger reel is rotatably mounted on the index finger reel mounting base, which has a first elongated hole whose length direction is perpendicular to that of the index finger reel. The rotation axis is vertical. The flexible index finger includes an integrally formed flexible index finger joint and an index finger base. The index finger base is rotatably connected to the index finger servo. The rotation axis of the index finger base is parallel to the rotation axis of the index finger coil. One end of the tendon cord of the index finger coil is fixedly connected to the index finger coil, and the other end passes through the first elongated hole and the internal channel of the flexible index finger joint in sequence and is fixed to the fingertip of the flexible index finger joint. When the index finger servo rotates clockwise, the index finger coil winds the tendon cord clockwise and drives the tendon cord to deflect towards the first elongated hole in the direction closer to the middle finger. This causes the index finger base to drive the flexible index finger joint to retract inward towards the direction closer to the middle finger, while simultaneously causing the flexible index finger joint to bend towards the palm.When the index finger servo reverses, the index finger coil winds the tendon rope counterclockwise, causing the tendon rope to deflect away from the middle finger towards the first elongated hole. This causes the index finger base to extend the flexible index finger joint outwards away from the middle finger, while simultaneously bending the flexible index finger joint towards the palm. The thumb drive device, the middle finger drive device, and the index finger drive device have the same structure.

2. The humanoid dexterous hand according to claim 1, characterized in that: The octopus tentacles are curved in a logarithmic spiral structure.

3. The humanoid dexterous hand according to claim 1, characterized in that: The middle finger drive device includes a middle finger servo, a middle finger spool, and a middle finger spool mounting base. The output end of the middle finger servo is fixedly connected to the middle finger spool, and the middle finger spool mounting base is fixedly connected to the middle finger servo. The middle finger spool is rotatably mounted on the middle finger spool mounting base. The middle finger spool mounting base has a second elongated hole, the length direction of which is perpendicular to the rotation axis of the middle finger spool. The flexible middle finger includes an integrally formed flexible middle finger joint and a middle finger base. The middle finger base is rotatably connected to the middle finger servo, and the rotation axis of the middle finger base is parallel to the rotation axis of the middle finger spool. One end of the tendon cord of the middle finger spool is fixedly connected to the middle finger spool, and the other end passes through the tendon cord in sequence. The second elongated hole and the internal channel of the flexible middle finger joint are fixed to the fingertip of the flexible middle finger joint. When the middle finger servo rotates forward, the middle finger coil winds the tendon rope clockwise, causing the tendon rope to deflect towards the second elongated hole closer to the ring finger. This causes the middle finger base to cause the flexible middle finger joint to retract inward towards the ring finger, while simultaneously bending the flexible middle finger joint towards the palm. When the middle finger servo rotates in reverse, the middle finger coil winds the tendon rope counterclockwise, causing the tendon rope to deflect towards the second elongated hole away from the ring finger. This causes the middle finger base to cause the flexible middle finger joint to extend outward away from the ring finger, while simultaneously bending the flexible middle finger joint towards the palm.

4. The humanoid dexterous hand according to claim 1, characterized in that: The ring finger drive device includes a ring finger servo, a ring finger reel, and a ring finger reel mounting base. The output end of the ring finger servo is fixedly connected to the ring finger reel, and the ring finger reel mounting base is fixedly connected to the ring finger servo. The ring finger reel is rotatably mounted on the ring finger reel mounting base, which has a circular hole. The flexible ring finger includes an integrally formed flexible ring finger joint and a ring finger base. The ring finger base is fixedly connected to the ring finger servo. One end of the tendon cord of the ring finger reel is fixedly connected to the ring finger reel, and the other end passes through the circular hole and the internal channel of the flexible ring finger joint in sequence before being fixed to the fingertip of the flexible ring finger joint. When the ring finger servo rotates, the ring finger reel winds up the tendon cord, causing the flexible ring finger joint to bend towards the palm.

5. The humanoid dexterous hand according to claim 1, characterized in that: The thumb drive device includes a thumb servo, a thumb spool, and a thumb spool mounting base. The output end of the thumb servo is fixedly connected to the thumb spool, and the thumb spool mounting base is fixedly connected to the thumb servo. The thumb spool is rotatably mounted on the thumb spool mounting base. The thumb spool mounting base has a third elongated hole, the length direction of which is perpendicular to the rotation axis of the thumb spool. The flexible thumb includes an integrally formed flexible thumb knuckle and a retraction / extension base. The retraction / extension base can swing towards the palm or back of the hand, thereby realizing the retraction / extension action of the flexible thumb knuckle. The retraction / extension axis of the retraction / extension base is parallel to the rotation axis of the thumb spool. One end of the tendon cord of the thumb spool is connected to the thumb spool. The first end is fixedly connected to the third elongated hole, the retractable base, and the internal channel of the flexible thumb knuckle, and then fixed to the fingertip of the flexible thumb knuckle. When the thumb servo rotates clockwise, the thumb reel winds the tendon rope clockwise, causing the tendon rope to deflect towards the third elongated hole closer to the palm. This causes the retractable base to cause the flexible thumb knuckle to retract inward towards the palm, while simultaneously bending the flexible thumb knuckle towards the palm. When the thumb servo rotates counterclockwise, the thumb reel winds the tendon rope counterclockwise, causing the tendon rope to deflect towards the third elongated hole closer to the back of the hand. This causes the retractable base to cause the flexible thumb knuckle to extend outward towards the back of the hand, while simultaneously bending the flexible thumb knuckle towards the back of the hand.

6. The humanoid dexterous hand according to claim 5, characterized in that: The retractable base includes two symmetrically arranged right triangular prisms, and the two right triangular prisms have a common side edge. The common side edge is perpendicular to the length direction of the third elongated hole. The side of one right triangular prism away from the common side edge is connected to the flexible thumb knuckle, and the side of the other right triangular prism away from the common side edge is connected to the palm support. The thumb servo can rotate forward or backward, enabling the flexible thumb knuckle to retract and extend around the common side edge as the axis.

7. The humanoid dexterous hand according to claim 1, characterized in that: The flexible thumb, flexible index finger, flexible middle finger, flexible ring finger, and the octopus-like tentacles are all made of thermo-sensitive color-changing TPU or thermo-sensitive color-changing PEBA.

8. A robot, characterized in that: Including the humanoid dexterous hand as described in any one of claims 1-7.

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