Dexterous hand

Abstract

The invention provides a dexterous hand which comprises a palm structure, a plurality of first joint modules and a second joint module, each first joint module comprises a first side swing assembly and a first finger structure, and each first finger structure comprises a plurality of first finger shells and a plurality of first knuckle steering engines arranged in the first finger shells; the first knuckle steering engines drive the first finger shells to rotate in a one-to-one correspondence mode, the second joint module comprises a second side swing assembly and a second finger structure, and the second finger structure comprises a plurality of thumb knuckle shells and a plurality of thumb knuckle steering engines arranged in the thumb knuckle shells. The thumb knuckle steering engines drive the thumb knuckle shells to rotate in a one-to-one correspondence mode. The dexterous hand provided by the invention has more active degrees of freedom, can more accurately simulate the movement of a human hand, and is longer in service life and lower in control difficulty. In addition, the first joint module and the second joint module are both independent modules, so that maintenance and replacement are convenient.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robot technology, and more particularly relates to a dexterous hand. BACKGROUND

[0002] The dexterous hand is an important component of a humanoid robot. In order to make the activity of the dexterous hand closer to the activity of the human hand, the dexterous hand generally has a high degree of freedom. The current dexterous hand generally has the following three schemes: 1. The flexion of the knuckle joint is achieved through a linkage coupling transmission. The low active degree of freedom dexterous hand lacking the four-finger side swing capability cannot well achieve the ability of diversified grasping and fine operation; 2. The multi-degree of freedom dexterous hand driven by a rope. The under-actuated transmission is achieved through rope coupling. This scheme has the problems of difficulty in control, service life caused by rope wear and breakage, elastic deformation, etc., which leads to the fact that the dexterous hand cannot be used in actual handling production environment; 3. The finger pulp and fingertip of the four fingers adopt linkage coupling transmission, and the rest joints adopt a linear push rod direct drive scheme. Because the length of the linear drive is relatively long, the scheme of this type cannot further improve the active degree of freedom in the limited space. SUMMARY

[0003] The purpose of the embodiment of the present application is to provide a dexterous hand to solve the technical problems of low active degree of freedom, difficulty in control, short service life, etc. in the prior art.

[0004] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is to provide a dexterous hand, comprising:

[0005] a palm structure;

[0006] a plurality of first joint modules, each of which is arranged on the palm structure, each first joint module comprising a first side swing assembly and a first finger structure, the first side swing assembly being used to drive the first finger structure to rotate, the first finger structure comprising a plurality of first finger housings and a plurality of first knuckle servos arranged inside the first finger housings, the first side swing assembly being rotationally connected with the adjacent first finger housing, and adjacent two first finger housings in the plurality of first finger housings also being rotationally connected, each first knuckle servo driving the corresponding first finger housing to rotate;

[0007] a second joint module arranged on the palm structure, the second joint module comprising a second side swing assembly and a second finger structure, the second side swing assembly being used to drive the second finger structure to rotate, the second finger structure comprising a plurality of thumb knuckle housings and a plurality of thumb knuckle servos arranged inside the thumb knuckle housings, the second side swing assembly being rotationally connected with the adjacent thumb knuckle housing, and adjacent two thumb knuckle housings in the plurality of thumb knuckle housings also being rotationally connected, each thumb knuckle servo driving the corresponding thumb knuckle housing to rotate.

[0008] Optionally, the palm structure comprises a palm shell and a mounting plate arranged inside the palm shell, the mounting plate divides the internal space of the palm shell into a first space and a second space, each of the first side swing assemblies is arranged in the first space, and the second side swing assembly is arranged in the second space.

[0009] Optionally, the palm structure further comprises a fixing plate arranged inside the palm shell, each of the first side swing assemblies is clamped between the fixing plate and the mounting plate, and the connection position of the fixing plate and the mounting plate is between two adjacent first side swing assemblies.

[0010] Optionally, the dexterous hand further comprises a camera module, the camera module is arranged close to the palm side of the palm structure, and the shooting field of view of the camera module faces the palm side of the palm structure.

[0011] Optionally, the number of the first finger shells and the first finger joint servos is three; the three first finger shells are a first joint shell, a second joint shell and a third joint shell respectively, the movement output end of the first side swing assembly is connected with a finger root base, and the finger root base, the first joint shell, the second joint shell and the third joint shell are rotationally connected in sequence; the three first finger joint servos are a first servo, a second servo and a third servo respectively, the first servo is used to drive the first joint shell to rotate relative to the finger root base, the second servo is used to drive the second joint shell to rotate relative to the first joint shell, the third servo is used to drive the third joint shell to rotate relative to the second joint shell, and the first servo and the second servo are arranged in the first joint shell, and the third servo is arranged in the second joint shell.

[0012] Optionally, the direction of the movement output end of the first servo is opposite to the direction of the movement output end of the second servo.

[0013] Optionally, the number of the thumb joint shells and the thumb joint servos is two; the two thumb joint shells are a fourth joint shell and a fifth joint shell respectively, the movement output end of the second side swing assembly is connected with a thumb connecting piece, and the thumb connecting piece, the fourth joint shell and the fifth joint shell are rotationally connected in sequence; the two thumb joint servos are a fourth servo and a fifth servo respectively, the fourth servo is used to drive the fourth joint shell to rotate relative to the thumb connecting piece, the fifth servo is used to drive the fifth joint shell to rotate relative to the fourth joint shell, and the fourth servo and the fifth servo are arranged in the fourth joint shell.

[0014] Optionally, two ends of the fourth knuckle shell are respectively fixed with a first joint shell and a second joint shell, the thumb connecting piece is provided with a first accommodating groove for the first joint shell to extend into, the fifth knuckle shell is provided with a second accommodating groove for the second joint shell to extend into, the fourth steering engine and the fourth knuckle shell are drivingly connected through a fourth transmission assembly, the fourth transmission assembly is arranged in the first joint shell, and the fifth steering engine and the fifth knuckle shell are drivingly connected through a fifth transmission assembly, the fifth transmission assembly is arranged in the second joint shell.

[0015] Optionally, at least one of the first side swing assembly and the second side swing assembly comprises a side swing steering engine, a side swing shell and a side swing transmission assembly, the side swing transmission assembly is driven by the side swing steering engine, the side swing transmission assembly is arranged in the side swing shell, and the side swing steering engine is arranged in the interior of the palm structure.

[0016] Optionally, a touch sensor is arranged at the finger pulp of each first finger shell and the finger pulp of each thumb knuckle shell.

[0017] The dexterous hand provided by the present application has the beneficial effects that, compared with the prior art, the dexterous hand comprises a palm structure, a first joint module and a second joint module arranged on the palm structure, the first joint module comprises a first side swing assembly, a plurality of first finger shells and a plurality of first knuckle steering engines, each first finger shell is driven to rotate and bend by a corresponding first knuckle steering engine, the second joint module comprises a second side swing assembly, a plurality of thumb knuckle shells and a plurality of thumb knuckle steering engines, each thumb knuckle shell is driven to rotate and bend by a corresponding thumb knuckle steering engine, and the first side swing assembly and the second side swing assembly drive the first finger structure and the second finger structure to swing, respectively. The dexterous hand has more active degrees of freedom, can more accurately simulate the movement of a human hand, does not need to drive the knuckle shells to rotate in the form of rope driving coupling, has a longer service life and lower control difficulty. Moreover, each knuckle steering engine is arranged in the interior of a corresponding knuckle shell, so that the first joint module and the second joint module are independent modules, facilitating maintenance and replacement. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0019] Figure 1 A perspective view of the dexterous hand provided by the present application is shown in the figure.

[0020] Figure 2 Internal structure of the dexterous hand provided for the embodiment of the present application Figure 1 ;

[0021] Figure 3 Internal structure of the dexterous hand provided for the embodiment of the present application Figure 2 ;

[0022] Figure 4 Stereogram of the first joint module provided for the embodiment of the present application

[0023] Figure 5 Stereogram of the first finger joint provided for the embodiment of the present application

[0024] Figure 6 Exploded structural diagram of the first finger joint provided for the embodiment of the present application

[0025] Figure 7 Cross-sectional view of the first transmission assembly provided for the embodiment of the present application

[0026] Figure 8 Stereogram of the second and third finger joints provided for the embodiment of the present application

[0027] Figure 9 Exploded structural diagram of the second and third finger joints provided for the embodiment of the present application

[0028] Figure 10 Internal structure diagram of the first side swing assembly provided for the embodiment of the present application

[0029] Figure 11 Stereogram of the second joint module provided for the embodiment of the present application

[0030] Figure 12 Exploded structural diagram of the second joint module provided for the embodiment of the present application

[0031] In the drawings, various reference signs represent:

[0032] 10 - palm structure; 11 - palm shell; 111 - first space; 112 - second space; 12 - mounting plate; 13 - control plate; 14 - fixed plate; 15 - camera module

[0033] 20 - first joint module; 210 - first finger structure; 211 - first finger housing; 2111 - first phalanx housing; 2112 - second phalanx housing; 21121 - second accommodating space; 2113 - third phalanx housing; 21131 - third accommodating space; 2114 - first connecting member; 2115 - second connecting member; 2116 - embedding portion; 212 - first phalanx servo motor; 2121 - first servo motor; 2122 - second servo motor; 2123 - third servo motor; 213 - first transmission assembly; 2131 - first worm; 2132 - first worm wheel; 2133 - first encoder; 2134 - rotating ring; 214 - second transmission assembly; 2141 - second worm; 2142 - second worm wheel; 215 - third transmission assembly; 2151 - third worm; 2152 - third worm wheel; 216 - tactile sensor; 220 - first side swing assembly; 221 - side swing servo motor; 222 - side swing transmission assembly; 2221 - side swing worm; 2222 - side swing worm wheel; 223 - side swing housing; 230 - finger root base; 231 - finger root base plate; 232 - finger root spacer plate; 233 - first accommodating space;

[0034] 30 - second joint module; 310 - second finger structure; 311 - thumb phalanx housing; 3111 - fourth phalanx housing; 3112 - fifth phalanx housing; 31121 - second accommodating groove; 313 - first joint housing; 314 - second joint housing; 315 - thumb phalanx servo motor; 3151 - fourth servo motor; 3152 - fifth servo motor; 317 - fourth transmission assembly; 3171 - fourth worm; 3172 - fourth worm wheel; 318 - fifth transmission assembly; 3181 - fifth worm; 3182 - fifth worm wheel; 320 - second side swing assembly; 330 - thumb connecting member; 331 - first accommodating groove. DETAILED DESCRIPTION

[0035] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0036] It should be noted that when an element is referred to as being "fixed to" or "set to" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like, indicate directions or positions based on the directions or positions shown in the drawings, and are used for convenience of description and simplification of description only, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0038] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of technical features. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0039] The dexterous hand is an important component of a humanoid robot. In order to make the activity of the dexterous hand closer to the activity of the human hand, the degree of freedom thereof is generally high. The current dexterous hand generally has the following three schemes: 1. The flexion of the knuckle joint is achieved through a linkage coupling transmission. The low active degree of freedom dexterous hand lacking the four-finger side swing ability cannot well achieve the ability of diversified grasping and fine operation; 2. The multi-degree of freedom dexterous hand driven by a rope, through rope coupling, thereby realizing underdrive transmission. This scheme has the problems of difficulty in control, service life caused by rope wear and breakage, elastic deformation, etc., which leads to the fact that the dexterous hand cannot be used in actual handling production environment; 3. The finger pulp and fingertip of the four fingers adopt linkage coupling transmission, and the rest of the joints adopt a linear push rod direct drive scheme. Because the length of the linear drive is relatively long, this type of scheme cannot further improve the active degree of freedom in a limited space.

[0040] The dexterous hand provided by the embodiment of the present application will be described.

[0041] Please refer to Figures 1 to 6 , Figure 11 and Figure 12 together, the dexterous hand comprises:

[0042] a palm structure 10;

[0043] A plurality of first joint modules 20 are arranged on the palm structure 10. Each first joint module 20 comprises a first side swing assembly 220 and a first finger structure 210. The first side swing assembly 220 is configured to drive the first finger structure 210 to rotate. The first finger structure 210 comprises a plurality of first finger housings 211 and a plurality of first knuckle servos 212 arranged in the first finger housings 211. The first knuckle servos 212 are arranged in the first finger housings 211 one by one. The first side swing assembly 220 is rotatably connected to the adjacent first finger housing 211. The adjacent two first finger housings 211 in the plurality of first finger housings 211 are also rotatably connected. Each first knuckle servo 212 drives the corresponding first finger housing 211 to rotate. Preferably, the number of the first joint modules 20 is four. The first joint module 20 can be a four-finger module. The number of the first finger housings 211 and the first knuckle servos 212 is three. This is analogous to the three knuckles and three degrees of freedom of rotation of a human four-finger.

[0044] A second joint module 30 is arranged on the palm structure 10. The second joint module 30 comprises a second side swing assembly 320 and a second finger structure 310. The second side swing assembly 320 is configured to drive the second finger structure 310 to rotate. The second finger structure 310 comprises a plurality of thumb knuckle housings 311 and a plurality of thumb knuckle servos 315 arranged in the thumb knuckle housings 311. The thumb knuckle servos 315 are arranged in the thumb knuckle housings 311 one by one. The second side swing assembly 320 is rotatably connected to the adjacent thumb knuckle housing 311. The adjacent two thumb knuckle housings 311 in the plurality of thumb knuckle housings 311 are also rotatably connected. Each thumb knuckle servo 315 drives the corresponding thumb knuckle housing 311 to rotate. Preferably, the number of the second joint modules 30 is one. The second joint module 20 can be a thumb module. Preferably, the number of the thumb knuckle housings 311 and the thumb knuckle servos 315 is two. This is analogous to the two knuckles and two degrees of freedom of rotation of a human thumb.

[0045] The palm structure 10 is analogous to a human palm. The palm structure 10 is configured to mount the first joint module 20, the second joint module 30, the control board 13, and other structures.

[0046] When the number of the first joint modules 20 is four, they are analogous to the index finger, the middle finger, the ring finger and the little finger of a human being respectively. The first joint module 20 comprises a first side swing assembly 220 and a first finger structure 210, the first side swing assembly 220 is used to drive the first finger structure 210 to rotate, which is equivalent to realizing the side swing movement of the finger. The first finger structure 210 comprises a plurality of first finger housings 211 and a plurality of first knuckle servos 212, each first knuckle servo 212 is used to drive the corresponding first finger housing 211 to rotate and bend, so as to realize the bending movement of each knuckle. Among them, the first knuckle servo 212 is an electrically driven mechanism, which can output rotary motion, and the first finger housing 211 is a housing structure, which is analogous to the knuckles of the four fingers of a human being.

[0047] The second joint module 30 is analogous to the thumb of a human being, and the second joint module 30 comprises a second side swing assembly 320 and a second finger structure 310, the second side swing assembly 320 is used to drive the second finger structure 310 to rotate, which is equivalent to realizing the side swing movement of the thumb. The second finger structure 310 comprises a plurality of thumb knuckle housings 311 and a plurality of thumb knuckle servos 315, each thumb knuckle servo 315 is used to drive the corresponding thumb knuckle housing 311 to rotate and bend, so as to realize the bending movement of each knuckle of the thumb. Among them, the thumb knuckle servo 315 is an electrically driven mechanism, which can output rotary motion, and the thumb knuckle housing 311 is a housing structure, which is analogous to the joints of the thumb of a human being.

[0048] Moreover, each first joint module 20 and second joint module 30 is an independent module, which can be independently detached from the dexterous hand for independent maintenance and replacement.

[0049] When the number of the first joint modules 20 is four, the number of the first finger housings 211 and the first knuckle servos 212 is three, the number of the second joint module 30 is one, and the number of the thumb knuckle housings 311 and the thumb knuckle servos 315 is two, the dexterous hand has 19 active degrees of freedom, which far exceeds the active degrees of freedom of the current dexterous hand.

[0050] The dexterous hand in the above embodiment comprises a palm structure 10, a first joint module 20 and a second joint module 30 arranged on the palm structure 10, the first joint module 20 comprises a first side swing assembly 220, a plurality of first finger housings 211 and a plurality of first knuckle servos 212, the plurality of first finger housings 211 are respectively driven to rotate and bend by the respective first knuckle servos 212, the second joint module 30 comprises a second side swing assembly 320, a plurality of thumb knuckle housings 311 and a plurality of thumb knuckle servos 315, the plurality of thumb knuckle housings 311 are respectively driven to rotate and bend by the plurality of thumb knuckle servos 315, and the first side swing assembly 220 and the second side swing assembly 320 respectively drive the first finger structure 210 and the second finger structure 310 to swing. The dexterous hand has more active degrees of freedom, can more accurately simulate the movement of a human hand, does not need to use a rope driving coupling mode to drive the knuckle housing to rotate, has a long service life and low control difficulty. Moreover, each knuckle servo is arranged in the corresponding knuckle housing, so that the first joint module 20 and the second joint module 30 are independent modules, facilitating maintenance and replacement.

[0051] It should be noted that the structures of the first joint module 20 and the second joint module 30 can be the same or different. When the structures of the first joint module 20 and the second joint module 30 are the same, the number of the first finger housings 211 and the thumb knuckle housings 311 is the same, and the number of the first knuckle servos 212 and the thumb knuckle servos 315 is also the same.

[0052] In some embodiments of the present application, please refer to Figures 1 to 3 The palm structure 10 comprises a palm shell 11 and a mounting plate 12 arranged in the palm shell 11, the mounting plate 12 divides the internal space of the palm shell 11 into a first space 111 and a second space 112, each first side swing assembly 220 is arranged in the first space 111, and the second side swing assembly 320 is arranged in the second space 112. The palm shell 11 and the mounting plate 12 are both shell structures, the shape of the palm shell 11 can be similar to the shape of a palm or can be other shapes, the mounting plate 12 is arranged in the palm shell 11 and is used for mounting the first joint module 20 and the second joint module 30. The mounting plate 12 divides the internal space of the palm shell 11 into the first space 111 and the second space 112, the first space 111 and the second space 112 are relatively closed spaces or can be spaces in communication with each other, that is, the mounting plate 12 can completely divide the internal space of the palm shell 11 or can partially divide the internal space of the palm shell 11.

[0053] By arranging the mounting plate 12 inside the palm shell 11, the interior space of the palm shell 11 is divided into a first space 111 and a second space 112, and the first side swing assembly 220 and the second side swing assembly 320 are arranged in the first space 111 and the second space 112 respectively, which not only conforms to the layout of the second joint module 30 (closer to the palm side) and the first joint module 20 (closer to the back side of the hand), but also can make full use of the interior space of the palm shell 11.

[0054] In some embodiments, referring to Figure 2 and Figure 3 , the mounting plate 12 has a first side and a second side arranged oppositely, the first side faces the first space 111, and the second side faces the second space 112, the first side swing assembly 220 is fixed to the first side, and the second side swing assembly 320 is fixed to the second side.

[0055] When the first side swing assembly 220 or the second side swing assembly 320 fails, the palm shell 11 can be directly disassembled to expose the first side swing assembly 220 and the second side swing assembly 320, and the disassembly of the palm shell 11 will not involve and affect the side swing assembly, so that the maintenance of the side swing assembly and the replacement of the second joint module 30 and the first joint module 20 are more convenient.

[0056] In some embodiments of the present application, referring to Figure 3 , the palm structure 10 further comprises a fixing plate 14 arranged inside the palm shell 11, each first side swing assembly 220 is clamped between the fixing plate 14 and the mounting plate 12, and the connection between the fixing plate 14 and the mounting plate 12 is located between adjacent two first side swing assemblies 220. The fixing plate 14 is a structure arranged on the inner wall of the palm shell 11, and the function of the fixing plate 14 is to fix the first side swing assembly 220. The fixing plate 14 and the mounting plate 12 are fixedly connected with each other, so that each first side swing assembly 220 can be more stable after installation. When installing the first side swing assembly 220, the first side swing assembly 220 can be fixed on the mounting plate 12 first, and then the fixing plate 14 is fixed on the mounting plate 12, so that the first side swing assembly 220 is clamped and fixed. Alternatively, when installing the first side swing assembly 220, the first side swing assembly 220 can be fixed on the fixing plate 14 first, and then the fixing plate 14 and the first side swing assembly 220 are integrally installed on the mounting plate 12.

[0057] By arranging the fixing plate 14, the first side swing assembly 220 can be clamped between the fixing plate 14 and the mounting plate 12, so that the installation of the first side swing assembly 220 is more stable and not easy to shake. Moreover, the connection between the fixing plate 14 and the mounting plate 12 is located between adjacent two first side swing assemblies 220, which can further improve the stability of the first side swing assembly 220.

[0058] In some embodiments, at least one of the fixed plate 14 and the mounting plate 12 extends to form a connecting portion between two adjacent first side swing assemblies 220. When the connecting portion is provided on the fixed plate 14, the mounting plate 12 and the connecting portion are connected to each other; when the connecting portion is provided on the mounting plate 12, the connecting portion and the fixed plate 14 are connected to each other; and when the connecting portion is provided on both the fixed plate 14 and the mounting plate 12, the two connecting portions are connected to each other.

[0059] Optionally, the connecting portion has an outer contour matching the shape of the gap between the two adjacent first side swing assemblies 220, so as to fill the gap between the two first side swing assemblies 220 and prevent the first side swing assemblies 220 from swinging.

[0060] In some embodiments of the present application, as shown in Figure 2 , the second side of the mounting plate 12 is fixedly provided with a control board 13, and the first joint module 20 and the second joint module 30 are electrically connected to the control board 13.

[0061] In some embodiments of the present application, as shown in Figure 2 , the dexterous hand further comprises a camera module 15, which is arranged close to the palm side of the palm structure 10, and the shooting field of view of the camera module 15 faces the palm side of the palm structure 10. The camera module 15 is used to shoot the grasped object to obtain the shape, category and distance between the grasped object and the dexterous hand. The specific type of the camera module 15 is not limited here, which can be a binocular camera, a multi-view camera, etc. The camera module 15 is electrically connected to the control board 13.

[0062] In some embodiments of the present application, as shown in Figures 4 to 9 , the number of the first finger casings 211 and the first finger joints 212 is three, the three first finger casings 211 are respectively a first finger joint casing 2111, a second finger joint casing 2112 and a third finger joint casing 2113, and the movement output end of the first side swing assembly 220 is connected with a finger root base 230, which is rotationally connected with the first finger joint casing 2111, the second finger joint casing 2112 and the third finger joint casing 2113 in sequence; the three first finger joints 212 are respectively a first joint 2121, a second joint 2122 and a third joint 2123, the first joint 2121 is used to drive the first finger joint casing 2111 to rotate relative to the finger root base 230, the second joint 2122 is used to drive the second finger joint casing 2112 to rotate relative to the first finger joint casing 2111, and the third joint 2123 is used to drive the third finger joint casing 2113 to rotate relative to the second finger joint casing 2112, the first joint 2121 and the second joint 2122 are arranged in the first finger joint casing 2111, and the third joint 2123 is arranged in the second finger joint casing 2112.

[0063] The root base 230 is a root structure of the dexterous finger module. The first phalanx shell 2111 rotates relative to the root base 230 under the drive of the first steering engine 2121. The second phalanx shell 2112 rotates relative to the first phalanx shell 2111 under the drive of the second steering engine 2122. The third phalanx shell 2113 rotates relative to the second phalanx shell 2112 under the drive of the third steering engine 2123, so as to realize the bending movement of the three phalanges.

[0064] The first phalanx shell 2111 and the structure inside the first phalanx shell 2111 can be referred to as a first phalanx. The second phalanx shell 2112 and the structure inside the second phalanx shell 2112 can be referred to as a second phalanx. The third phalanx shell 2113 and the structure inside the third phalanx shell 2113 can be referred to as a third phalanx.

[0065] By arranging the first steering engine 2121 and the second steering engine 2122 in the first phalanx shell 2111 and arranging the third steering engine 2123 in the second phalanx shell 2112, the internal space of the first finger shell 211 is reasonably distributed and utilized, so that each first phalanx steering engine 212 can be arranged in the internal space of the first finger shell 211, thereby forming an independent first finger structure 210.

[0066] In some embodiments of the present application, referring to Figure 6 The orientation of the movement output end of the first steering engine 2121 is opposite to the orientation of the movement output end of the second steering engine 2122. The first steering engine 2121 is used to drive the first phalanx shell 2111 to rotate relative to the root base 230. Therefore, the movement output end of the first steering engine 2121 is close to the rotating connection between the first phalanx shell 2111 and the root base 230. The second steering engine 2122 is used to drive the second phalanx shell 2112 to rotate relative to the first phalanx shell 2111. Therefore, the movement output end of the second steering engine 2122 is close to the rotating connection between the first phalanx shell 2111 and the second phalanx shell 2112. That is, the movement output end of the first steering engine 2121 is oriented towards the root of the first phalanx shell 2111 (the rotating connection between the first phalanx shell 2111 and the root base 230), and the movement output end of the second steering engine 2122 is oriented towards the top of the first phalanx shell 2111 (the rotating connection between the first phalanx shell 2111 and the second phalanx shell 2112).

[0067] The orientation of the movement output end of the first steering engine 2121 is opposite to the orientation of the movement output end of the second steering engine 2122, which can make the position distribution of the movement output end of the steering engine more reasonable, and the first steering engine 2121 and the second steering engine 2122 can be arranged in the first phalanx shell 2111.

[0068] In other embodiments, the rotation axis of the motion output end of the first servo motor 2121 is set at an obtuse angle to the rotation axis of the motion output end of the second servo motor 2122, which can also meet the requirement of driving the first finger housing 2111 and the second finger housing 2112 to rotate respectively.

[0069] In some embodiments of the present invention, please refer to Figures 4 to 6 The first finger structure 210 also includes a first connector 2114 and a first transmission assembly 213. A first servo motor 2121 is connected to the first transmission assembly 213. The motion output end of the first transmission assembly 213 is fixedly connected to the first connector 2114. The finger root base 230 has a first receiving space 233. At least a portion of the first transmission assembly 213 is disposed within the first connector 2114 and located within the first receiving space 233. The first connector 2114 is fixedly connected to the first knuckle housing 2111. The first transmission assembly 213 is a transmission component between the first servo motor 2121 and the first knuckle housing 2111. The connection between the first servo motor 2121 and the first transmission assembly 213 means that the motion output end of the first servo motor 2121 is connected to the motion input end of the first transmission assembly 213. When the first servo motor 2121 is operating, the first transmission assembly 213 operates. Since the finger root base 230 is connected to the motion output end of the first transmission assembly 213, and the finger root base 230 is fixed, the movement of the first transmission assembly 213 will drive the first connecting member 2114 and the first knuckle housing 2111 to rotate relative to the finger root base 230. The first connecting member 2114 is a housing structure and is disposed between the finger root base 230 and the first knuckle housing 2111. The function of the first connecting member 2114 is to cover the first transmission assembly 213. The first connecting member 2114 is fixedly connected to the first knuckle housing 2111, and a portion of the first connecting member 2114 is located within the first receiving space 233, thus covering the first transmission assembly 213 located within the first receiving space 233.

[0070] By setting the first transmission component 213, the first servo motor 2121 and the first knuckle housing 2111 can be connected to drive the first knuckle housing 2111 to rotate around the finger root base 230. Moreover, the finger root base 230 has a first accommodating space 233, and the first transmission component 213 is set in the first accommodating space 233 of the finger root base 230, making full use of the internal space of the finger root base 230 and making the internal structure of the dexterous finger module more compact.

[0071] In some embodiments of the present invention, please refer to Figure 6 , Figure 7 and Figure 9The finger root base 230 comprises a finger root base plate 231 and two finger root spacing plates 232 arranged in a first direction, and the finger root base plate 231 connects the two finger root spacing plates 232; the first transmission assembly 213 comprises a first worm 2131 and a first worm wheel 2132 that are engaged with each other, the first steering engine 2121 is connected with the first worm 2131, the first worm wheel 2132 is fixedly connected with the first connecting piece 2114, and the central axis of the first worm wheel 2132 is parallel to the first direction. The two finger root spacing plates 232 and the finger root base plate 231 form a first containing space 233, and the outer diameter of the first worm wheel 2132 is relatively large; when the central axis of the first worm wheel 2132 is parallel to the first direction, the larger plane of the first worm wheel 2132 is parallel to the two finger root spacing plates 232, and therefore, the internal space of the finger root base plate 231 can be fully utilized. When the first steering engine 2121 works, the first worm 2131 rotates to drive the first worm wheel 2132 to rotate, and correspondingly, the first connecting piece 2114 and the first phalanx shell 2111 are driven to rotate to realize the rotation of the first phalanx shell 2111.

[0072] The first transmission assembly 213 comprises the first worm 2131 and the first worm wheel 2132 that are engaged with each other, the cooperation of the first worm 2131 and the first worm wheel 2132 occupies a small space, and the transmission is relatively large, which is more suitable for the fine movement of the fingers, and the first worm wheel 2132 is arranged between the two finger root spacing plates 232 to save and utilize the first containing space 233 as much as possible, so that the structure distribution is more reasonable and compact.

[0073] In some embodiments, the first containing space 233 is a U-shaped groove, which can form a containing space and will not affect the rotation of the first phalanx shell 2111.

[0074] In some embodiments, the axial two ends of the first worm wheel 2132 are directly or indirectly rotationally connected with the two finger root spacing plates 232, so that the first worm wheel 2132 is rotationally arranged between the two finger root spacing plates 232.

[0075] Optionally, the axial one end of the first worm wheel 2132 is provided with a rotating ring 2134, the rotating ring 2134 rotates synchronously with the first worm wheel 2132, and the other end of the rotating ring 2134 is rotationally arranged on one of the finger root spacing plates 232.

[0076] Optionally, the axial other end of the first worm wheel 2132 is provided with a first encoder 2133, and the first encoder 2133 is used for detecting the rotation angle and position of the first phalanx shell 2111.

[0077] Optionally, the other end of the first worm gear 2132 is rotatably connected to the other phalange spacing plate 232 through the first connecting member 2114. The first connecting member 2114 has an embedded portion 2116 extending into the other phalange spacing plate 232, and a bearing is arranged between the embedded portion 2116 and the other phalange spacing plate 232, so as to rotatably connect the first worm gear 2132 and the other phalange spacing plate 232.

[0078] In some embodiments of the present application, referring to Figure 6 and Figure 8 , the second phalange housing 2112 has a second accommodating space 21121 at one end close to the first phalange housing 2111, the first finger structure 210 further comprises a second connecting member 2115 fixedly connected with the first phalange housing 2111, and further comprises a second transmission assembly 214 arranged at least partially in the second connecting member 2115 and located in the second accommodating space 21121. The second transmission assembly 214 is connected with the second steering engine 2122, and a movement output end of the second transmission assembly 214 is fixedly connected with the second phalange housing 2112. The second transmission assembly 214 is a transmission component between the second steering engine 2122 and the second phalange housing 2112, and the second steering engine 2122 is connected with the second transmission assembly 214, i.e., a movement output end of the second steering engine 2122 is connected with a movement input end of the second transmission assembly 214. When the second steering engine 2122 works, the second transmission assembly 214 works to drive the second phalange housing 2112 to rotate relative to the first phalange housing 2111. The second connecting member 2115 is a housing structure arranged between the first phalange housing 2111 and the second phalange housing 2112, and functions to cover the second transmission assembly 214. The second connecting member 2115 is fixedly connected with the second phalange housing 2112, and part of the second connecting member 2115 is located in the second accommodating space 21121, so that the second transmission assembly 214 located in the second accommodating space 21121 is covered.

[0079] The second transmission assembly 214 is arranged in the second accommodating space 21121 of the second phalange housing 2112, so as to make full use of the internal space of the second phalange housing 2112, and make the internal structure of the first finger structure 210 more compact.

[0080] In some embodiments, the second accommodating space 21121 is a groove at the root of the second phalangeal shell 2112 (the end of the second phalangeal shell 2112 close to the first phalangeal shell 2111), so that the second transmission assembly 214 is located right at the rotation joint of the first phalangeal shell 2111 and the second phalangeal shell 2112.

[0081] In some embodiments, the second transmission assembly 214 comprises a second worm 2141 and a second worm wheel 2142 engaged with each other, the second steering engine 2122 is connected with the second worm 2141, the second worm wheel 2142 is fixedly connected with the second connecting piece 2115, and the central axis of the second worm wheel 2142 is parallel to the first direction. When the second steering engine 2122 works, it drives the second worm 2141 to rotate, and then the second worm 2141 drives the second worm wheel 2142 to rotate, and the rotation of the second worm wheel 2142 drives the second connecting piece 2115 and the second phalangeal shell 2112 to rotate relative to the first phalangeal shell 2111. The cooperation of the second worm 2141 and the second worm wheel 2142 occupies a smaller space, and the transmission is larger, which is more suitable for the fine movement of the fingers.

[0082] Optionally, an axial end of the second worm wheel 2142 is provided with a second encoder for detecting the rotation angle and position of the second phalangeal shell 2112.

[0083] In some embodiments of the present application, please refer to Figure 8 and Figure 9 , the end of the third phalangeal shell 2113 close to the second phalangeal shell 2112 has a third accommodating space 21131, and the second phalangeal shell 2112 has an embedded part 2116 extending into the third accommodating space 21131; the first finger structure 210 further comprises a third transmission assembly 215, and the movement output end of the third transmission assembly 215 is fixedly connected with the third phalangeal shell 2113, and the third transmission assembly 215 is at least partially located in the embedded part 2116. The third transmission assembly 215 is a transmission component between the third steering engine 2123 and the third phalangeal shell 2113, and the third steering engine 2123 is connected with the third transmission assembly 215, that is, the movement output end of the third steering engine 2123 is connected with the movement input end of the third transmission assembly 215. When the third steering engine 2123 works, the third transmission assembly 215 works, driving the third phalangeal shell 2113 to rotate relative to the second phalangeal shell 2112. The embedded part 2116 serves to cover the third transmission assembly 215. The embedded part 2116 is fixedly connected with the second phalangeal shell 2112, and part of the embedded part 2116 is located in the third accommodating space 21131, so that the third transmission assembly 215 located in the third accommodating space 21131 is covered.

[0084] The third transmission assembly 215 is arranged in the third accommodation space 21131 of the third phalangeal shell 2113, and the internal space of the third phalangeal shell 2113 is fully utilized, so that the internal structure of the first finger structure 210 is more compact.

[0085] In some embodiments, the third accommodation space 21131 is a groove at the root of the third phalangeal shell 2113 (the end of the third phalangeal shell 2113 close to the second phalangeal shell 2112), so that the third transmission assembly 215 is just located at the rotation connection between the second phalangeal shell 2112 and the third phalangeal shell 2113.

[0086] In some embodiments, the third transmission assembly 215 comprises a third worm 2151 and a third worm wheel 2152 engaged with each other, the third worm 2151 is connected with the third steering engine 2123, and the third worm wheel 2152 is fixedly connected with the third phalangeal shell 2113, and the central axis of the third worm wheel 2152 is parallel to the first direction. When the third steering engine 2123 works, the third worm 2151 is driven to rotate, then the third worm 2151 drives the third worm wheel 2152 to rotate, and the rotation of the third worm wheel 2152 drives the third phalangeal shell 2113 to rotate relative to the second phalangeal shell 2112. The cooperation of the third worm 2151 and the third worm wheel 2152 occupies a smaller space, and the transmission is larger, which is more suitable for the fine movement of the finger.

[0087] Optionally, the third worm wheel 2152 is provided with a third encoder at an axial end, and the third encoder is used for detecting the rotation angle and position of the third phalangeal shell 2113.

[0088] In some embodiments of the present application, the first phalangeal shell 2111, the second phalangeal shell 2112 and the third phalangeal shell 2113 can be connected by one component or multiple components, and the specific shape and structural composition are not limited here.

[0089] In some embodiments of the present application, please refer to Figure 11 and Figure 12There are two thumb knuckle housings 311 and two thumb knuckle servos 315. The two thumb knuckle housings 311 are the fourth knuckle housing 3111 and the fifth knuckle housing 3112, respectively. The motion output end of the second side swing assembly 320 is connected to the thumb connector 330. The thumb connector 330, the fourth knuckle housing 3111 and the fifth knuckle housing 3112 are rotatably connected in sequence. The two thumb knuckle servos 315 are the fourth servo 3151 and the fifth servo 3152, respectively. The fourth servo 3151 is used to drive the fourth knuckle housing 3111 to rotate relative to the thumb connector 330, and the fifth servo 3152 is used to drive the fifth knuckle housing 3112 to rotate relative to the fourth knuckle housing 3111. The fourth servo 3151 and the fifth servo 3152 are both located inside the fourth knuckle housing 3111. When the second side-swing assembly 320 is working, it drives the thumb connector 330 and the second finger structure 310 to side-swing. When the fourth servo motor 3151 is working, it drives the fourth phalanx housing 3111 and the fifth phalanx housing 3112 to rotate and bend. When the fifth servo motor 3152 is working, it drives the fifth phalanx housing 3112 to rotate and bend.

[0090] By placing both the fourth servo motor 3151 and the fifth servo motor 3152 inside the fourth knuckle housing 3111, the thumb knuckle servo motor 315 can be hidden inside the thumb knuckle housing 311, making the internal design of the second finger structure 310 more compact and more modular.

[0091] The fourth phalanx shell 3111 and its internal structure can be referred to as the fourth phalanx, and the fifth phalanx shell 3112 and its internal structure can be referred to as the fifth phalanx.

[0092] In some embodiments, the orientation of the motion output end of the fourth servo motor 3151 is opposite to that of the motion output end of the fifth servo motor 3152, which can make the position distribution of the motion output ends of the servo motors more reasonable. The fourth servo motor 3151 and the fifth servo motor 3152 can both be set in the fourth finger joint housing 3111.

[0093] In other embodiments, the rotation axis of the motion output end of the fourth servo motor 3151 is set at an obtuse angle to the rotation axis of the motion output end of the fifth servo motor 3152, which can also meet the requirement of driving the fourth phalanx housing 3111 and the fifth phalanx housing 3112 to rotate respectively.

[0094] Please refer to the figures in some embodiments of the present invention. Figure 11 and Figure 12The two ends of the fourth knuckle shell 3111 are respectively fixed with a first joint shell 313 and a second joint shell 314, the thumb connecting piece 330 has a first accommodating groove 331 for the first joint shell 313 to extend into, the fifth knuckle shell 3112 has a second accommodating groove 31121 for the second joint shell 314 to extend into, the fourth steering engine 3151 and the fourth knuckle shell 3111 are drivingly connected through a fourth transmission assembly 317, the fourth transmission assembly 317 is arranged in the first joint shell 313, the fifth steering engine 3152 and the fifth knuckle shell 3112 are drivingly connected through a fifth transmission assembly 318, the fifth transmission assembly 318 is arranged in the second joint shell 314. At least part of the first joint shell 313 is located in the first accommodating groove 331, and the first joint shell 313 is used for covering the fourth transmission assembly 317. At least part of the second joint shell 314 is located in the second accommodating groove 31121, and the second joint shell 314 is used for covering the fifth transmission assembly 318.

[0095] By arranging the first accommodating groove 331 on the thumb connecting piece 330, the fourth transmission assembly 317 can be arranged in the first accommodating groove 331, and the space between the thumb connecting piece 330 and the fourth knuckle shell 3111 can be fully utilized. By arranging the second accommodating groove 31121 on the fifth knuckle shell 3112, the fifth transmission assembly 318 can be arranged in the second accommodating groove 31121, and the space between the fourth knuckle shell 3111 and the fifth knuckle shell 3112 can be fully utilized.

[0096] In some embodiments, the first accommodating groove 331 and the second accommodating groove 31121 are both U-shaped grooves, which can accommodate the transmission assemblies and will not affect the rotation of the fourth knuckle shell 3111 and the fifth knuckle shell 3112.

[0097] In some embodiments, the fourth transmission assembly 317 includes a fourth worm 3171 and a fourth worm wheel 3172 that are engaged with each other, the fourth worm 3171 is connected with the fourth steering engine 3151, the fourth worm wheel 3172 is fixedly connected with the fourth knuckle shell 3111, the cooperation of the fourth worm 3171 and the fourth worm wheel 3172 occupies less space and has larger transmission, which is more suitable for fine movement of fingers, and the axial direction of the fourth worm wheel 3172 is the same as the width direction of the first accommodating groove 331, so as to save and utilize the space of the first accommodating groove 331 as much as possible, and make the structure distribution more reasonable and compact.

[0098] In some embodiments, the fifth transmission assembly 318 comprises a fifth worm 3181 and a fifth worm gear 3182 that are engaged with each other, the fifth worm 3181 is connected with the fifth steering engine 3152, the fifth worm gear 3182 is fixedly connected with the fifth phalanx shell 3112, the fifth worm 3181 and the fifth worm gear 3182 have a small occupied space and a large transmission, which is more suitable for the fine movement of the fingers, and the axial direction of the fifth worm gear 3182 is the same as the width direction of the second accommodating groove 31121, so as to save and utilize the space of the second accommodating groove 31121 as much as possible, so that the structure distribution is more reasonable and compact.

[0099] In some embodiments of the present application, please refer to Figure 4 and Figure 10 At least one of the first side swing assembly 220 and the second side swing assembly 320 comprises a side swing steering engine 221, a side swing shell 223 and a side swing transmission assembly 222, the side swing transmission assembly 222 is driven by the side swing steering engine 221, and the side swing transmission assembly 222 is arranged in the side swing shell 223, and the side swing steering engine 221 is arranged in the interior of the palm structure 10. The side swing transmission assembly 222 is arranged in the side swing shell 223, the side swing steering engine 221, the side swing transmission assembly 222 and the first finger structure 210 (the second finger structure 310) are sequentially transmissionally connected. The side swing steering engine 221 is an electric driving mechanism and can output rotary motion. The side swing steering engine 221 outputs rotary motion to drive the side swing transmission assembly 222 to move, the side swing transmission assembly 222 can output rotary motion (side swing motion) in a second direction, and the second direction is perpendicular to the first direction, and then drive the first finger structure 210 or the second finger structure 310 to swing.

[0100] In some embodiments, in the first side swing assembly 220, the movement output end of the side swing transmission assembly 222 is fixedly connected with the finger root base 230, and the first finger structure 210 is rotationally connected with the finger root base 230, so that the finger root base 230 and the first finger structure 210 can swing together when the side swing transmission assembly 222 works.

[0101] Optionally, the movement output end (side swing worm gear) of the side swing transmission assembly 222 is fixedly connected with the finger root base plate 231 of the finger root base 230.

[0102] In some embodiments, in the second side swing assembly 320, the movement output end of the side swing transmission assembly 222 is fixedly connected with the thumb connecting piece 330, and the second finger structure 310 is rotationally connected with the thumb connecting piece 330, so that the thumb connecting piece 330 and the second finger structure 310 can swing together when the side swing transmission assembly 222 works.

[0103] In some embodiments, the lateral drive assembly 222 includes a lateral worm 2221 and a lateral worm wheel 2222 that mesh with each other. The lateral servo 221 is connected to the lateral worm 2221. When the lateral servo 221 is working, the lateral worm 2221 rotates and the lateral worm wheel 2222 rotates, thereby driving the first finger structure 210 or the second finger structure 310 to rotate.

[0104] In some embodiments of the present invention, please refer to Figure 1 A tactile sensor 216 is provided on the fingertip of each first finger shell 211 and the fingertip of each thumb knuckle shell 311. After two adjacent first finger shells 211 and two adjacent thumb knuckle shells 311 are rotated, the dexterous hand is in a bent state, forming a gripping space. The side of the first finger shell 211 facing the gripping space is the fingertip of the first finger shell 211, and the side of the thumb knuckle shell 311 facing the gripping space is the fingertip of the thumb knuckle shell 311. The tactile sensor 216 is located on the fingertip surface of each first finger shell 211 and the fingertip surface of each thumb knuckle shell 311, which helps the dexterous hand to provide more accurate feedback, perception, and grasping.

[0105] The number of tactile sensors 216 is 14, with one tactile sensor 216 installed on each finger joint housing.

[0106] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dexterous hand, characterized in that, include: Palm structure; Multiple first joint modules are disposed on the palm structure. Each first joint module includes a first side swing assembly and a first finger structure. The first side swing assembly is used to drive the first finger structure to rotate. The first finger structure includes multiple first finger shells and multiple first knuckle servos disposed inside the first finger shells. The first side swing assembly is rotatably connected to adjacent first finger shells. Two adjacent first finger shells among the multiple first finger shells are also rotatably connected. Each first knuckle servo drives the corresponding first finger shell to rotate. A second joint module is disposed on the palm structure. The second joint module includes a second side swing assembly and a second finger structure. The second side swing assembly is used to drive the second finger structure to rotate. The second finger structure includes multiple thumb knuckle housings and multiple thumb knuckle servos disposed inside the thumb knuckle housings. The second side swing assembly is rotatably connected to the adjacent thumb knuckle housings. Two adjacent thumb knuckle housings among the multiple thumb knuckle housings are also rotatably connected to each other. Each thumb knuckle servo drives the corresponding thumb knuckle housing to rotate.

2. The dexterous hand as described in claim 1, characterized in that, The palm structure includes a palm shell and a mounting plate disposed inside the palm shell. The mounting plate divides the internal space of the palm shell into a first space and a second space. Each of the first side-swing components is disposed in the first space, and the second side-swing component is disposed in the second space.

3. The dexterous hand as described in claim 2, characterized in that, The palm structure also includes a fixing plate disposed inside the palm shell, each of the first side-swing components is sandwiched between the fixing plate and the mounting plate, and the connection between the fixing plate and the mounting plate is located between two adjacent first side-swing components.

4. The dexterous hand as described in claim 1, characterized in that, The dexterous hand also includes a camera module, which is positioned close to the palm side of the hand structure, and the camera module's field of view faces the palm side of the hand structure.

5. The dexterous hand as described in claim 1, characterized in that, There are three first finger shells and three first knuckle servos. The three first finger shells are a first knuckle shell, a second knuckle shell, and a third knuckle shell. The motion output end of the first side swing assembly is connected to a finger root base. The finger root base, the first knuckle shell, the second knuckle shell, and the third knuckle shell are rotatably connected in sequence. The three first knuckle servos are a first servo, a second servo, and a third servo. The first servo is used to drive the first knuckle shell to rotate relative to the finger root base. The second servo is used to drive the second knuckle shell to rotate relative to the first knuckle shell. The third servo is used to drive the third knuckle shell to rotate relative to the second knuckle shell. The first servo and the second servo are both disposed inside the first knuckle shell, and the third servo is disposed inside the second knuckle shell.

6. The dexterous hand as described in claim 5, characterized in that, The orientation of the motion output end of the first servo motor is opposite to that of the orientation of the motion output end of the second servo motor.

7. The dexterous hand as described in claim 1, characterized in that, The number of thumb knuckle housings and thumb knuckle servos is two in total; the two thumb knuckle housings are the fourth knuckle housing and the fifth knuckle housing, respectively. The motion output end of the second side swing assembly is connected to a thumb connector. The thumb connector, the fourth knuckle housing, and the fifth knuckle housing are rotatably connected in sequence. The two thumb knuckle servos are the fourth servo and the fifth servo. The fourth servo is used to drive the fourth knuckle housing to rotate relative to the thumb connector, and the fifth servo is used to drive the fifth knuckle housing to rotate relative to the fourth knuckle housing. Both the fourth servo and the fifth servo are disposed inside the fourth knuckle housing.

8. The dexterous hand as described in claim 7, characterized in that, The first joint housing and the second joint housing are fixed to both ends of the fourth joint housing respectively. The thumb connector has a first receiving groove into which the first joint housing extends. The fifth joint housing has a second receiving groove into which the second joint housing extends. The fourth servo and the fourth joint housing are connected by a fourth transmission assembly, which is disposed inside the first joint housing. The fifth servo and the fifth joint housing are connected by a fifth transmission assembly, which is disposed inside the second joint housing.

9. The dexterous hand as described in any one of claims 1-8, characterized in that, At least one of the first and second side-swing assemblies includes a side-swing servo, a side-swing housing, and a side-swing transmission assembly. The side-swing transmission assembly is driven by the side-swing servo and is disposed within the side-swing housing. The side-swing servo is disposed inside the palm structure.

10. The dexterous hand as described in any one of claims 1-8, characterized in that, A tactile sensor is provided at the fingertip of each of the first finger shells and at the fingertip of each of the thumb joint shells.

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