Tendon drive systems, robotic arms and robots

Abstract

This application provides a tendon-driven system, including a first joint, a tendon, a tendon sheath, and an actuating device; a first component of the first joint is connected to a second component and rotates about an axis relative to the second component; a first end of the tendon is connected to the first component, the tendon passes through the tendon sheath, and a second end of the tendon is connected to the actuating device; a first end of the tendon sheath is fixed relative to the second component, and a second end is connected to a tendon sheath seat at the actuating device; the tendon sheath seat is movably disposed, and the second end of the tendon sheath can drive the tendon sheath seat to move, which helps to prevent the tendon sheath from arching. This application also provides a manipulator and a robot including the above-described tendon-driven system.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and more specifically, relates to tendon drive systems, manipulators, and robots. Background Technology

[0002] A bionic dexterous hand refers to a robotic hand whose fingers, degrees of freedom, shape, and function closely resemble those of a human hand. A dexterous hand can drive joint movements via tendons. In some dexterous hands, a tendon sheath is also fitted over the tendon, allowing the tendon to pass through and slide within the sheath. The tendon sheath serves to constrain the tendon's direction and provide protection.

[0003] Tendon-driven dexterous hands have multiple joints, and the tendon sheath of the first joint needs to pass through some moving parts, such as the second joint. The tendon sheath of the first joint typically passes through the outside of the second joint. When the first joint of the dexterous hand moves, the movement of other moving parts, such as the second joint, will affect the tendon sheath of the first joint. For example, when the second joint bends, it will stretch the tendon sheath of the first joint, and when the second joint extends, the tendon sheath of the first joint is prone to arching. Summary of the Invention

[0004] The purpose of this invention is to provide a tendon drive system to solve the technical problems of the prior art.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: a tendon drive system is provided, including a first joint, a tendon, a tendon sheath, and an actuating device; the first joint includes a first component, the first component is connected to a second component and rotates about an axis relative to the second component; a first end of the tendon is connected to the first component, the tendon passes through the tendon sheath, and a second end of the tendon is connected to the actuating device;

[0006] The first end of the tendon sheath is fixed relative to the second component, and the second end is connected to the tendon sheath seat at the actuation device; the tendon sheath seat is movably disposed, and the second end of the tendon sheath can drive the tendon sheath seat to move.

[0007] In one embodiment of this application, the actuating device is fixedly connected to the tendon sheath seat and can move with the tendon sheath seat.

[0008] In one embodiment of this application, the tendon drive system includes a first sliding portion located at the actuation device, and the tendon sheath seat is a sliding seat, the tendon sheath seat being slidably disposed on the first sliding portion. In a specific embodiment, the first sliding portion may be a sliding groove.

[0009] In one embodiment of this application, the tendon drive system includes a rotating portion located at the actuation device, and the tendon sheath seat is a rotating seat, which is rotatably disposed in the rotating portion. In a specific embodiment, the rotating portion may be a rotating groove.

[0010] In one embodiment of this application, the tendon sheath seat is fixedly connected to the actuation device, the tendon drive system includes a hinge seat, and the bottom of the actuation device is hinged to the hinge seat.

[0011] In one embodiment of this application, the tendon driving system includes a second sliding portion located at the actuation device, and the tendon sheath seat is slidably disposed on the second sliding portion; the actuation device includes an actuator and a rotating member directly or indirectly driven by the actuator, the rotating member sliding together with the tendon sheath seat; a second end of the tendon is connected to the rotating member, the rotating member being used to wind or unwind the driving tendon. In a specific embodiment, the second sliding portion may be a linear guide rail.

[0012] In one embodiment of this application, the actuation device further includes a drive shaft, a first gear, and a second gear; the drive shaft is driven to rotate by the actuator; the first gear is disposed on the drive shaft and driven to rotate by the drive shaft, and simultaneously, the first gear is rotatably disposed on the tendon sheath seat and can slide together with the tendon sheath seat; the first gear drives the second gear to rotate, and the second gear is rotatably disposed on the tendon sheath seat and can slide together with the tendon sheath seat; the rotating member is fixed relative to the second gear.

[0013] In one embodiment of this application, the actuating device is fixedly disposed, and the tendon sheath seat moves relative to the actuating device.

[0014] In one embodiment of this application, the tendon drive system includes a second joint, and the middle portion of the tendon sheath passes through the second joint and moves with the second joint.

[0015] In one embodiment of this application, the tendon includes a first tendon and a second tendon, the tendon sheath includes a first tendon sheath and a second tendon sheath, and the actuating device includes a first actuating device and a second actuating device;

[0016] The first end of the first tendon is connected to the first joint, the first tendon passes through the first tendon sheath, and the second end of the first tendon is connected to the first actuation device; the first end of the second tendon is connected to the first joint, the second tendon passes through the second tendon sheath, and the second end of the second tendon is connected to the second actuation device; the first tendon and the second tendon antagonistically drive the first joint to rotate.

[0017] In one embodiment of this application, a reset device is further provided at the tendon sheath seat of the tendon drive system; when the second end of the tendon sheath drives the tendon sheath seat to move in a first direction, the reset device is compressed; when the second end of the tendon sheath drives the tendon sheath seat to move in a second direction, the reset device is released and drives the tendon sheath seat to reset.

[0018] This application also provides a robotic hand, including a finger module, characterized in that the robotic hand includes a tendon drive system as described above.

[0019] This application also provides a robot including multiple joints, characterized in that the robot includes a tendon-driven system as described above.

[0020] The beneficial effects of this application are as follows:

[0021] This application provides a tendon drive system in which the first end of a tendon sheath is fixed relative to a second component of a first joint, and the second end of the tendon sheath is connected to a tendon sheath seat at the actuation device; the tendon sheath seat is movably disposed such that when the tendon sheath is subjected to an external force, such as tension or pressure, the second end of the tendon sheath can drive the tendon sheath seat to move, which helps to prevent the tendon sheath from arching. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of a tendon drive system provided in an embodiment of this application;

[0024] Figure 2 This is a schematic diagram of a tendon drive system provided in an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of a tendon drive system provided in an embodiment of this application;

[0026] Figure 4 This is a schematic diagram of a tendon drive system provided in an embodiment of this application;

[0027] Figure 5 This is a schematic diagram of a tendon drive system provided in an embodiment of this application;

[0028] Figure 6 for Figure 5 The diagram shows a partial structural schematic of a tendon drive system.

[0029] Figure 7 for Figure 6 The diagram shows another embodiment of a tendon drive system in a partial structure.

[0030] Figure label:

[0031] 1-First component; 2-Second component; 3-Tendon; 4-Tendon sheath; 51-Actuator; 52-Rotating component; 53-Push-pull rod; 6-Tendon sheath seat; 71-First sliding part; 72-Rotating part; 73-Hinge seat; 74-Hinge; 75-Second sliding part; 76-Drive shaft; 761-Groove; 77-First gear; 78-Second gear; 8-Fixed seat; 9-Elastic element. Detailed Implementation

[0032] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0033] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0034] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0036] Please see Figures 1-6 The present application will now describe a tendon drive system.

[0037] like Figures 1-6As shown, this application provides a tendon-driven system including a first joint, a tendon 3, a tendon sheath 4, and an actuating device. The first joint includes a first component 1. The first component 1 is a rotating portion 72 of the joint, connected to a second component 2 and rotating relative to the second component 2 about an axis. A first end or a portion of the tendon 3 is connected to the first component 1, the tendon 3 passes through the tendon sheath 4, and a second end of the tendon 3 is connected to the actuating device. The actuating device can drive the first joint to move via the tendon 3.

[0038] The tendon 3 passes through the tendon sheath 4 and can slide within the tendon sheath 4, which serves to constrain the direction of the tendon 3 and provide protection. The first end of the tendon sheath 4 is fixed relative to the second member 2, and the second end of the tendon sheath 4 is connected to the tendon sheath seat 6 at the actuation device. The tendon sheath seat 6 is used to fix the second end of the tendon sheath 4; its specific shape is not limited. In this application, the tendon sheath seat 6 is movably disposed, and the second end of the tendon sheath 4 can drive the tendon sheath seat 6 to move.

[0039] The tendon sheath 4 described in this application possesses both compression and tensile resistance properties. When the tendon sheath 4 is subjected to an external force, such as tension or compression, the second end of the tendon sheath 4 can drive the tendon sheath seat 6 to move, which helps prevent the tendon sheath 4 from arching. Simultaneously, because the tendon drive system provided in this application helps prevent the tendon sheath 4 from arching, it reduces the frictional force between the tendon 3 and the tendon sheath 4 inside the tendon sheath, thereby improving the lifespan of the tendon sheath. The tendon sheath 4 can be a tightly wound spring tube, but it is understood that the tendon sheath 4 can also be other structures with compression and tensile resistance properties.

[0040] The tendon drive system scheme will be further described below with several embodiments:

[0041] In some embodiments, such as Figures 1-4 As shown, the actuating device is fixedly connected to the tendon sheath seat 6 and can move with the tendon sheath seat 6.

[0042] As the first specific implementation plan, such as Figures 1-2 As shown, the actuating device is fixedly connected to the tendon sheath seat 6, which is slidably disposed. The tendon driving system includes a first sliding portion 71 located at the actuating device, and the tendon sheath seat 6 is a sliding seat, slidably disposed on the first sliding portion 71. In one specific embodiment, the first sliding portion 71 may be a sliding groove. The tendon driving system may include a fixed seat 8, and the sliding groove may be disposed on the fixed seat 8.

[0043] The actuation device may include a rotary actuator 51 and a rotating component 52 driven by the actuator 51, such as... Figure 1 As shown. The second end of the tendon 3 is connected to the rotating component 52 of the actuation device. The rotating component 52 can be a winch or a shaft.

[0044] Alternatively, the actuation device may include a linear actuator 51 and a push-pull rod 53 driven by the actuator 51, such as... Figure 2 As shown. The second end of the tendon 3 is connected to the push-pull rod 53 of the actuation device. The push-pull rod bracket, which serves as the tendon sheath seat 6, is fixedly connected to the linear actuator 51, and the push-pull rod bracket can slide linearly relative to the sliding groove.

[0045] As a second specific implementation plan, such as Figure 3 As shown, the actuating device is fixedly connected to the tendon sheath seat 6, and the tendon sheath seat 6 is rotatably disposed. The tendon driving system includes a rotating part 72 located at the actuating device, and the tendon sheath seat 6 is a rotating seat, rotatably disposed in the rotating part 72. In one specific embodiment, the rotating part 72 can be a rotating groove. The tendon driving system may include a fixed seat 8, and the rotating groove can be disposed on the fixed seat 8. As a third specific embodiment, such as Figure 4 As shown, the tendon sheath seat 6 is fixedly connected to the actuating device; the tendon driving system includes a hinge seat 73, the bottom of the actuating device is hinged to the hinge seat 73, and the bottom of the actuating device may be provided with a hinge portion 74. The actuating device may include a rotary actuator 51 and a rotating component 52 driven by the actuator 51. The second end of the tendon 3 is connected to the rotating component 52 of the actuating device. The rotating component 52 may be a winch or a shaft. The actuating device and the tendon sheath seat 6 can swing together around the hinge seat 73.

[0046] As an alternative, in some other embodiments, the actuation device is fixedly mounted, and the tendon sheath seat 6 is movable relative to the actuation device.

[0047] In one specific embodiment, the tendon sheath seat 6 is slidably disposed. Figure 1 Unlike the tendon drive system shown, it can... Figure 1 The tendon drive system shown is modified by changing the fixed connection between the actuator 51 and the tendon sheath seat 6 to a fixed mounting on the fixed base 8, so that the first sliding part 71 (such as a sliding groove) is fixed relative to the actuator 51, and the tendon sheath seat 6 can slide relative to the actuator 51. The fixed base 8 can also be replaced by a fixed bracket. The actuator 51 can be a rotary actuator 51, or it can be a linear actuator 51.

[0048] In another embodiment, such as Figure 5 , Figure 6As shown, the tendon driving system includes a second sliding portion 75 located at the actuation device, and the tendon sheath seat 6 is slidably disposed on the second sliding portion 75. The actuation device includes a fixedly disposed actuator 51 and a rotating member 52 directly or indirectly driven by the actuator 51, the rotating member 52 sliding together with the tendon sheath seat 6. The second end of the tendon 3 is connected to the rotating member 52, the rotating member 52 being used to wind or unwind the drive tendon 3. In one specific embodiment, the second sliding portion 75 can be a linear guide rail. The linear guide rail is fixed relative to the fixed base 8, or the linear guide rail can be disposed on the fixed base 8.

[0049] In a more specific implementation plan, such as Figure 5 , Figure 6 As shown, the actuation device further includes a drive shaft 76 and a gear set, which may include a first gear 77 and a second gear 78. The drive shaft 76 is driven to rotate by the actuator 51; the first gear 77 is mounted on the drive shaft 76 and driven to rotate by the drive shaft 76, and is rotatably mounted on the tendon sheath seat 6 and can slide with the tendon sheath seat 6. The first gear 77 meshes with the second gear 78, and the first gear 77 can drive the second gear 78 to rotate. The second gear 78 is rotatably mounted on the tendon sheath seat 6 and can slide with the tendon sheath seat 6. The rotating member 52 is fixed relative to the second gear 78, and the second gear 78 can drive the rotating member 52 to rotate.

[0050] This specific embodiment, and Figures 1-4 The actuating device shown is fixedly connected to the tendon sheath seat 6 and can move with the tendon sheath seat 6. By fixing the actuating device, the tendon sheath seat 6 can move relative to the actuating device, which can reduce the increase in motion inertia caused by the movement of the actuating device together.

[0051] The middle portion of the tendon sheath 4 of the first joint also passes through some moving parts, such as a second joint. The middle portion of the tendon sheath 4 passes through the second joint and moves with the second joint. Taking a dexterous hand as an example, when the distal interphalangeal joint is used as the first joint, the second joint may include the proximal interphalangeal joint. When the proximal interphalangeal joint moves, the second end of the tendon sheath of the distal interphalangeal joint can drive the tendon sheath seat 6 to move because the tendon sheath of the distal interphalangeal joint is affected by the movement of the proximal interphalangeal joint. Figure 1 In the tendon drive system shown, the tendon sheath seat 6 is fixedly connected to the actuating device and drives the actuating device to move together. The large moment of inertia of the tendon sheath seat 6 and the actuating device is not conducive to the control of the tendon drive system. Figure 5 , Figure 6The tendon drive system shown can reduce the inertia of the actuation device during movement when the tendon sheath is affected by other joints. The inertia during reciprocating motion can be further reduced by making the tendon sheath seat 6 and the gear set have a smaller mass.

[0052] The axis of the first gear 77 is perpendicular to the axis of the second gear 78. The drive shaft 76 is parallel to the linear guide rail. The drive shaft 76 may have grooves 761 or protrusions, and the first gear 77 has a structure that matches the grooves 761 or protrusions, so that the drive shaft 76 is mechanically coupled to the first gear 77 and drives the first gear 77 to rotate. The first gear 77 can move linearly relative to the drive shaft 76 under the drive of the tendon sheath seat 6. The tendon sheath seat 6 may have mounting holes, and the second end of the tendon sheath 4 is fixed in the mounting holes. After the tendon 3 passes through the tendon sheath 4, the second end of the tendon 3 is connected to the rotating member 52. The rotating member 52 can be a winch or a shaft.

[0053] Regarding the joint drive mechanism:

[0054] Two actuators can be used in each of the two directions of joint rotation to form an antagonistic drive pair. Alternatively, an actuator can be used in one direction of joint rotation, and an elastic element, such as a torsion spring, can be placed at the axial position of the joint.

[0055] In one embodiment of this application, the joint is driven by an antagonistic driving method, such as... Figures 1-5 As shown. The tendon 3 includes a first tendon 3 and a second tendon 3, and the tendon sheath 4 includes a first tendon sheath 4 and a second tendon sheath 4; the actuating device includes a first actuating device and a second actuating device. A first end of the first tendon 3 is connected to the first joint, the first tendon 3 passes through the first tendon sheath 4, and a second end of the first tendon 3 is connected to the first actuating device. A first end of the second tendon 3 is connected to the first joint, the second tendon 3 passes through the second tendon sheath 4, and a second end of the second tendon 3 is connected to the second actuating device. The first tendon 3 and the second tendon 3 antagonistically drive the first joint to rotate.

[0056] In some embodiments, the middle portion of the tendon sheath 4 of the first joint also passes through some moving parts, such as a second joint. The middle portion of the tendon sheath 4 passes through the second joint and moves with the second joint. Taking a dexterous hand as an example, when the distal interphalangeal joint is the first joint, the second joint may include the proximal interphalangeal joint; in addition, the second joint may also include the metacarpophalangeal joint. It is understood that, in addition to the second joint, the moving parts may also be other parts that affect the tendon sheath 4 during movement.

[0057] Taking the tendon sheath 4 located on the back of the hand of a dexterous hand as an example, when the second joint (such as the proximal interphalangeal joint) changes from an extended state to a flexed state, the length of the tendon sheath 4 passing through the second joint (such as the proximal interphalangeal joint) on the back of the hand needs to be longer. The tendon sheath 4 of the first joint is under tension. Due to the tensile resistance of the tendon sheath 4, the second end of the tendon sheath 4 will pull the tendon sheath seat 6 towards the joint to compensate for the increased length required for the tendon sheath 4 to pass through the joint. Conversely, when the second joint (such as the proximal interphalangeal joint) changes from a flexed state to an extended state, the length of the tendon sheath 4 passing through the second joint (such as the proximal interphalangeal joint) on the back of the hand needs to be shorter. The tendon sheath 4 of the first joint is under pressure. Due to the compression resistance of the tendon sheath 4, the second end of the tendon sheath 4 will push the tendon sheath seat 6 away from the joint. The tendon sheath seat 6 drives the second end of the tendon sheath to move together, which helps to prevent the tendon sheath 4 from arching.

[0058] As a further improvement, a reset device can be added to the tendon sheath seat 6 of the tendon drive system. When the second end of the tendon sheath drives the tendon sheath seat 6 to move in a first direction, the reset device is compressed; when the second end of the tendon sheath drives the tendon sheath seat 6 to move in a second direction, the reset device is released and drives the tendon sheath seat 6 to reset, and the tendon sheath seat 6 drives the second end of the tendon sheath to move. In one specific embodiment, the reset device can be an elastic element 9.

[0059] like Figure 1 , Figure 2 , Figure 5 The tendon drive system shown has a slidably disposed tendon sheath seat 6, allowing one end of the elastic element 9 to abut against the fixed seat 8 and the other end of the elastic element 9 to abut against the tendon sheath seat 6. The elastic element 9 includes, but is not limited to, a spring. The axis of the spring is substantially parallel to the direction of movement of the tendon sheath seat 6. In one specific embodiment, such as... Figure 7 As shown, the elastic element 9 (spring) can be sleeved on the transmission shaft 76, one end of the elastic element 9 can abut against the fixed seat 8, and the other end of the elastic element 9 can abut against the tendon sheath seat 6.

[0060] like Figure 3In the tendon drive system shown, the actuating device and the tendon sheath seat 6 can rotate together about the hinge seat 73. The elastic element 9 can be a torsion spring (not shown in the figure). One end of the torsion spring can be connected to the fixed seat 8, and the other end of the torsion spring can be connected to the actuating device and / or the tendon sheath seat 6. When the second end of the tendon sheath drives the tendon sheath seat 6 to move in the first direction, the torsion spring is compressed. When the second end of the tendon sheath drives the tendon sheath seat 6 to move in the second direction, the torsion spring is released and drives the tendon sheath seat 6 to return to its original position.

[0061] This application also provides a robotic hand, including a finger module, characterized in that the robotic hand includes a tendon actuation system as described above. The robotic hand may further include a palm and a wrist joint. Preferably, the robotic hand is a dexterous hand.

[0062] This application also provides a robot comprising multiple joints, characterized in that the robot includes a tendon-driven system as described above. The robot's form is not limited.

[0063] The beneficial effects of this application are as follows:

[0064] This application provides a tendon actuation system in which a first end of a tendon sheath is fixed relative to a second component of a first joint, and a second end of the tendon sheath is connected to a tendon sheath seat at an actuation device. The tendon sheath seat is movably disposed such that when the tendon sheath is subjected to an external force, such as tension or compression, the second end of the tendon sheath can drive the tendon sheath seat to move, which helps to prevent the tendon sheath from arching. Simultaneously, because the tendon actuation system provided by this application helps to prevent the tendon sheath from arching, it reduces the frictional force between the tendon and the tendon sheath inside the tendon sheath, thereby improving the lifespan of the tendon sheath.

[0065] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A tendon-driven system comprising a first joint, a tendon, a tendon sheath, and an actuating device; the first joint comprising a first member connected to and rotatable about an axis relative to the second member; a first end of the tendon connected to the first member, the tendon passing through the tendon sheath, and a second end of the tendon connected to the actuating device; characterized in that, The first end of the tendon sheath is fixed relative to the second component, and the second end is connected to the tendon sheath seat at the actuation device; the tendon sheath seat is movably disposed, and the second end of the tendon sheath can drive the tendon sheath seat to move.

2. The tendon driving system as described in claim 1, characterized in that, The actuating device is fixedly connected to the tendon sheath seat and can move with the tendon sheath seat.

3. The tendon driving system as described in claim 2, characterized in that, The tendon drive system includes a first sliding portion located at the actuation device, and the tendon sheath seat is slidably disposed on the first sliding portion.

4. The tendon driving system as described in claim 2, characterized in that, The tendon drive system includes a rotating portion located at the actuation device, and the tendon sheath seat is rotatably disposed on the rotating portion.

5. A tendon driving system as described in claim 2, characterized in that, The tendon sheath seat is fixedly connected to the actuating device, and the tendon driving system includes a hinge seat, with the bottom of the actuating device hinged to the hinge seat.

6. The tendon driving system as described in claim 1, characterized in that, The tendon drive system includes a second sliding portion located at the actuation device, and the tendon sheath seat is slidably disposed on the second sliding portion; The actuation device includes an actuator and a rotating component directly or indirectly driven by the actuator, the rotating component being able to slide together with the tendon sheath seat; The second end of the tendon is connected to the rotating member, which is used to wind or unwind the transmission tendon.

7. A tendon driving system as described in claim 6, characterized in that, The actuation device further includes a drive shaft, a first gear, and a second gear; the drive shaft is driven to rotate by the actuator; the first gear is disposed on the drive shaft and driven to rotate by the drive shaft, and the first gear is rotatably disposed on the tendon sheath seat and can slide together with the tendon sheath seat; the first gear drives the second gear to rotate, and the second gear is rotatably disposed on the tendon sheath seat and can slide together with the tendon sheath seat; the rotating component is fixed relative to the second gear.

8. The tendon driving system as described in claim 1, characterized in that, The actuating device is fixedly installed, and the tendon sheath seat moves relative to the actuating device.

9. A tendon driving system as described in claim 1, characterized in that, The tendon drive system includes a second joint, and the middle portion of the tendon sheath passes through the second joint and moves with the second joint.

10. A tendon driving system as described in claim 1, characterized in that, The tendon includes a first tendon and a second tendon, and the tendon sheath includes a first tendon sheath and a second tendon sheath; the actuating device includes a first actuating device and a second actuating device; The first end of the first tendon is connected to the first joint, the first tendon passes through the first tendon sheath, and the second end of the first tendon is connected to the first actuating device; The first end of the second tendon is connected to the first joint, the second tendon passes through the second tendon sheath, and the second end of the second tendon is connected to the second actuating device; The first tendon and the second tendon antagonistically drive the first joint to rotate.

11. A tendon driving system as described in claim 1, characterized in that, The tendon drive system is further provided with a reset device at the tendon sheath seat; when the second end of the tendon sheath drives the tendon sheath seat to move in the first direction, the reset device is compressed; when the second end of the tendon sheath drives the tendon sheath seat to move in the second direction, the reset device is released and drives the tendon sheath seat to reset.

12. A robotic hand, comprising a finger module, characterized in that, The robotic arm includes a tendon-driven system as described in any one of claims 1-11.

13. A robot comprising multiple joints, characterized in that, The robot includes a tendon-driven system as described in any one of claims 1-11.

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