Mechanical finger with piezoresistive sensor and dexterous hand

Abstract

The utility model discloses a mechanical finger with a piezoresistive sensor and a dexterous hand. The mechanical finger comprises a far knuckle, a near knuckle, the piezoresistive sensor and a cable. An accommodating cavity is formed in the far knuckle, a flexible covering part for sealing and covering the accommodating cavity is arranged on the inner side of the far knuckle, and the piezoresistive sensor is arranged in the accommodating cavity; a connecting part protruding backwards is arranged on the rear end face of the far knuckle, a threading hole is formed in the far knuckle, one end of the threading hole extends to the containing cavity, and the other end of the threading hole extends to the rear end face of the connecting part; a groove formed by sinking the front end face of the near knuckle backwards is formed in the near knuckle, and the connecting part is connected into the groove in a penetrating mode and is in pivot fit with the near knuckle; one end of the cable is connected to the piezoresistive sensor, and the other end of the cable sequentially penetrates through the threading hole, the groove and the inner cavity of the near knuckle. According to the mechanical finger, the cable of the piezoresistive sensor can be prevented from being clamped between the far knuckle and the near knuckle, and normal work of the mechanical finger is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a mechanical finger with piezoresistive sensor and dexterous hand. BACKGROUND

[0002] The dexterous hand is the end execution component of the humanoid robot, which is used for enabling the humanoid robot to imitate the human hand to perform relatively complex and fine tasks. The dexterous hand usually comprises a palm mounted on the arm of the humanoid robot and a plurality of mechanical fingers, the plurality of mechanical fingers independently act, and each mechanical finger comprises two knuckles, the knuckle far away from the palm is a far knuckle, and the knuckle close to the palm is a near knuckle. In order to enable the dexterous hand to more accurately complete the task to be performed, a piezoresistive sensor is usually configured on the far knuckle. When the dexterous hand works, the piezoresistive sensor is used for sensing the pressure borne by the inner side of the far knuckle. For example, when the dexterous hand grasps an object, the reaction force exerted by the object on the inner side of the far knuckle is detected by the piezoresistive sensor, and a control unit appropriately controls a driving assembly according to the detected reaction force, and the driving assembly drives the far knuckle to rotate relative to the near knuckle to appropriately adjust the rotation angle at the joint between the far knuckle and the near knuckle.

[0003] In the existing mechanical finger, the power supply and signal transmission cable of the piezoresistive sensor pass through the joint at the connection between the far knuckle and the near knuckle, and then are connected to the control circuit board located in the palm of the dexterous hand after passing through the near knuckle. When the cable passes through the rotatable joint, it will interfere with the moving parts at the joint. In addition, in order to avoid the cable being pulled, the overall length is usually set to have more redundancy. In the case of setting more redundancy, when the far knuckle and the near knuckle are in a relative rotation angle, the cable will be exposed in the gap between the far knuckle and the near knuckle. When the far knuckle and the near knuckle are reset, the cable is easily stuck between the far knuckle and the near knuckle, which causes the far knuckle and the near knuckle to be unable to reset, thereby affecting the normal work of the dexterous hand. SUMMARY

[0004] The utility model aims at least solves one of the technical problems existing in the prior art, and therefore, the purpose of the utility model is to provide a mechanical finger with piezoresistive sensor and dexterous hand, so as to avoid the cable of the piezoresistive sensor being exposed in the gap between the far knuckle and the near knuckle.

[0005] The purpose of the utility model is realized by adopting the following technical solutions:

[0006] The mechanical finger with piezoresistive sensor comprises a far knuckle, a near knuckle, a piezoresistive sensor and a cable.

[0007] The distal phalanx is internally formed with a receiving cavity, the inner side of the distal phalanx is provided with a flexible covering part covering the receiving cavity, the piezoresistive sensor is arranged in the receiving cavity to detect the pressure value borne by the flexible covering part from outside when the flexible covering part is pressed; the rear end surface of the distal phalanx is provided with a rearwardly protruding connecting part, the distal phalanx is provided with a threading hole, one end of the threading hole extends to the receiving cavity and the other end extends to the rear end surface of the connecting part;

[0008] The proximal phalanx is provided with a groove recessed rearwardly from the front end surface thereof, the connecting part is threaded in the groove and pivotally cooperates with the proximal phalanx;

[0009] One end of the cable is connected to the piezoresistive sensor and the other end of the cable is sequentially threaded through the threading hole, the groove and the inner cavity of the proximal phalanx.

[0010] According to the mechanical finger with the piezoresistive sensor, the connecting part is protruded rearwardly from the rear end surface of the distal phalanx, the rear end part of the threading hole extends to the rear end surface of the connecting part, the connecting part is embedded in the groove of the front end of the proximal phalanx, the cable is shielded by the connecting part, the cable shielded by the connecting part is not exposed to the gap between the rear end surface of the distal phalanx and the front end surface of the proximal phalanx in any state of the distal phalanx relative to the proximal phalanx, the cable is prevented from being clamped between the distal phalanx and the proximal phalanx, the mechanical finger can work normally, the cable can be protected and guided through the threading hole arranged on the distal phalanx, and the cable is prevented from interfering with the distal phalanx, the proximal phalanx and other components.

[0011] In the preferred embodiment, the distal phalanx comprises a plastic base and a phalanx sleeve sleeved on the plastic base, the inner side surface of the plastic base is provided with an outwardly recessed receiving groove, and the part of the phalanx sleeve covering the receiving groove forms the flexible covering part. During assembly, the piezoresistive sensor can be first arranged in the receiving groove so that the piezoresistive sensor is fixed to the plastic base, and then the phalanx sleeve is sleeved on the plastic base, so that the piezoresistive sensor and the distal phalanx can be conveniently assembled.

[0012] In the preferred embodiment, the piezoresistive sensor comprises a fixing seat, the fixing seat is arranged in the receiving groove and fixedly connected to the plastic base by a screw. The piezoresistive sensor and the plastic base are connected by the screw, which further improves the convenience of assembling the piezoresistive sensor and the distal phalanx, and when the piezoresistive sensor is damaged or fails, the piezoresistive sensor can be conveniently replaced and repaired.

[0013] In the preferred embodiment, the distal phalanx comprises a plastic base and a rotating seat, the rear end wall of the plastic base forms the rear end face of the distal phalanx, the plastic base is provided with a mounting groove recessed forward from the rear end wall, a part of the rotating seat is embedded in the mounting groove and fixed with the plastic base, another part of the rotating seat protrudes from the mounting groove to form a connecting part, the plastic base is provided with a through hole extending to the accommodating cavity at the front end and to the mounting groove at the rear end, the rotating seat is provided with a guide hole extending from the front end face to the rear end face, and the threading hole is composed of the through hole and the guide hole. Since the rotating seat is fixedly connected to the rear end of the plastic base, the rotating seat can be made of a material with high rigidity (such as metal material), the part where the distal phalanx and the proximal phalanx are pivotally connected has good strength, so as to ensure the stability of the relative rotation of the two, and in addition, by arranging part of the threading hole on the rotating seat with high rigidity, the cable can be better protected.

[0014] In the preferred embodiment, the front end face of the rotating seat abuts against the front end wall of the mounting groove, and the rotating seat is fixedly connected with the plastic base by screws. By abutting the rotating seat against the front end wall of the mounting groove, the rotating seat and the plastic base have a large abutting area, so as to ensure the stability of the connection between the two, and by detachably fixing the rotating seat and the plastic base together by screws, rotating seats of different sizes can be selected adaptively according to proximal phalanges of different sizes, so as to increase the application range of parts.

[0015] In the preferred embodiment, a rigid support is embedded in the plastic base, the rigid support is located between the mounting groove and the accommodating cavity, and the rigid support is provided with a through hole for the cable to pass through. By embedding the rigid support in the plastic base, the distal phalanx has good strength, the plastic base is prevented from deforming, and the cable is protected.

[0016] In the preferred embodiment, the front end of the proximal phalanx is provided with a left side wall and a right side wall respectively, a top wall is connected between the top parts of the two side walls, the groove is surrounded by the two side walls and the top wall, and the connecting part is pivotally connected with the two side walls by a rotating shaft penetrating the three. By surrounding the groove with the two side walls and the top wall, the side of the groove opposite to the top wall (i.e. the inner side of the groove) is in a hollow structure, the connecting part is prevented from interfering with the proximal phalanx when the connecting part rotates relative to the proximal phalanx, so that the angle of the distal phalanx swinging inward relative to the proximal phalanx is large enough to meet the working requirements of the mechanical finger, and when the distal phalanx swings inward relative to the proximal phalanx to the maximum angle, the cable is shielded by the top wall, further protecting the cable.

[0017] In the preferred embodiment, the inner side of the top wall is provided with a stopper between the two side walls, the front side of the stopper is flush with or located behind the front end surface of the proximal phalanx. The stopper further shields the cable at the opening of the groove, avoiding the exposure of the cable, while the stopper does not protrude from the front end surface of the proximal phalanx, avoiding the interference with the distal phalanx, ensuring the normal swing of the distal phalanx.

[0018] In the preferred embodiment, a driving unit is installed inside the proximal phalanx, the output end of the driving unit is connected to the connecting part to drive the connecting part to rotate relative to the proximal phalanx. The driving unit is arranged inside the proximal phalanx, making the overall structure of the mechanical finger more compact.

[0019] The dexterous hand comprises the mechanical finger with the piezoresistive sensor.

[0020] The drawings accompanying the specification illustrate preferred embodiments of the application and, together with the description, serve to explain the principles of the application. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 The figure is a structural schematic diagram of the present application;

[0022] Figure 2 The figure is a sectional view of the present application and describes one working state of the present application;

[0023] Figure 3 The figure is another working state schematic diagram of the present application;

[0024] Figure 4 Figure 1 The figure is an assembly schematic diagram of the proximal and distal phalanges;

[0025] Figure 5 Figure 1 The figure is a sectional view of the proximal and distal phalanges.

[0026] In the figure: 10, distal phalanx; 101, accommodating cavity; 102, rear end surface; 11, plastic base; 111, communication hole; 112, installation slot; 113, accommodating slot; 12, rotating seat; 1201, front end surface; 1202, rear end surface; 121, connecting part; 122, through hole; 13, phalanx sleeve; 14, rotating shaft; 15, rigid support; 151, through hole; 20, proximal phalanx; 201, front end surface; 21, groove; 22, side wall; 23, top wall; 24, stopper; 30, piezoresistive sensor; 31, fixing seat; 40, cable. DETAILED DESCRIPTION

[0027] The utility model is further described below in combination with the drawings and specific embodiments. It should be noted that the embodiments described below or the technical features thereof can be combined to form new embodiments without conflict. Except for special description, the materials and equipment used in the embodiments can be purchased from the market. The embodiments are shown in the drawings, in which the same or similar notations mean the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are only used to explain the application and cannot be understood as a limitation on the application.

[0028] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified and limited.

[0029] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "communicated", "connected" should be understood in a broad sense, for example, it can be fixedly connected, or connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0030] The terms "first", "second", and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those clearly listed steps or units, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0031] Please refer to Figures 1-5As shown, this utility model discloses a mechanical finger with a piezoresistive sensor, which is installed on a dexterous hand and can be used as the thumb, index finger, middle finger, ring finger, or little finger of the dexterous hand. The mechanical finger specifically includes a distal phalanx 10, a proximal phalanx 20, a piezoresistive sensor 30, and a cable 40. The distal phalanx 10 forms a receiving cavity 101, and a flexible covering part is provided on the inner side of the distal phalanx 10 to seal the receiving cavity 101. The piezoresistive sensor 30 is placed inside the receiving cavity 101. When the mechanical finger is working, The inner side of the distal phalanx 10 contacts the object being grasped. The reaction force exerted by the object on the distal phalanx 10 is transmitted through the flexible cover to the detection end of the piezoresistive sensor 30. That is, the piezoresistive sensor 30 can detect the external pressure value borne by the flexible cover. A rearwardly protruding connecting portion 121 is provided on the rear end face 102 of the distal phalanx 10. A wire hole is also provided inside the distal phalanx 10. One end of the wire hole extends to the receiving cavity 101, and the other end extends to the rear end face 1202 of the connecting portion 121. A groove 21 is provided on the proximal phalanx 20, which is recessed rearward from its front end face 201. The size of the groove 21 is set to allow the connecting portion 121 to be inserted. After the connecting portion 121 is inserted into the groove 21, the connecting portion 121 is pivotally engaged with the proximal phalanx, so that the distal phalanx 10 can swing in the inward and outward directions relative to the proximal phalanx 20. One end of the cable 40 is connected to the piezoresistive sensor 30, and the other end of the cable 40 passes through the wire hole, the groove 21 and the inner cavity of the proximal knuckle 20 in sequence and is connected to the control circuit board set inside the palm of the dexterous hand. The cable 40 connects the piezoresistive sensor 30 to the power supply circuit of the dexterous hand, and at the same time makes the piezoresistive sensor 30 and the dexterous hand control circuit board signal connected.

[0032] Figure 2 and Figure 3 The working state of the mechanical finger of this utility model is shown, such as... Figure 2 As shown, the distal phalanx 10 is in a state of swinging to its outermost position relative to the proximal phalanx 20, i.e., the mechanical finger is in an extended state; as Figure 3As shown, the distal phalange 10 is in the state of swinging to the innermost side relative to the proximal phalange 20, at this time, the cable 40 is inserted into the groove 21 after passing out through the rear end surface 1202 of the connecting part 121, since the connecting part 121 is arranged on the rear end surface 102 of the distal phalange 10 and protrudes backward, and the rear end part of the threading hole extends to the rear end surface 1202 of the connecting part 121, the connecting part 121 is embedded in the groove 21 at the front end of the proximal phalange 20, that is, the cable 40 is shielded by the connecting part 121, in any state of swinging of the distal phalange 10 relative to the proximal phalange 20, the cable 40 shielded by the connecting part 121 will not be exposed to the gap between the rear end surface 102 of the distal phalange 10 and the front end surface 201 of the proximal phalange 20, thereby preventing the cable 40 from being clamped between the distal phalange 10 and the proximal phalange 20, and ensuring that the mechanical finger can work normally, the cable 40 can be protected and guided through the threading hole arranged on the distal phalange 10, and interference between the cable 40 and the distal phalange 10, the proximal phalange 20 and other components is avoided.

[0033] In the preferred embodiment, the distal phalange 10 comprises a plastic base 11 and a phalange sleeve 13, the plastic base 11 is the main part of the distal phalange 10, the phalange sleeve 13 is sleeved on the plastic base 11, and an accommodating groove 113 is arranged on the inner side surface of the plastic base 11 and recessed outward, after the phalange sleeve 13 is sleeved on the plastic base 11, the part thereof covering the accommodating groove 113 forms the flexible covering part; during assembly, the piezoresistive sensor 30 can be first placed in the accommodating groove 113, so that the piezoresistive sensor 30 is fixed to the plastic base 11, and then the phalange sleeve 13 is sleeved on the plastic base 11, so that the assembly of the piezoresistive sensor 30 and the distal phalange 10 is facilitated. In some embodiments, the phalange sleeve 13 can be made of flexible material, after the phalange sleeve 13 is sleeved on the plastic base 11, a part thereof forms the flexible covering part, and the friction when the distal phalange 10 contacts with external objects is increased; in other embodiments, the part of the phalange sleeve 13 covering the accommodating groove 113 can also be made of flexible material. Of course, in the present application, the phalange sleeve 13 can also not be arranged, and a flexible sheet connected to the plastic base 11 covers the accommodating groove 113.

[0034] The piezoresistive sensor 30 comprises a fixing seat 31, the fixing seat 31 is placed in the accommodating groove 113, and the fixing seat 31 is connected to the plastic base 11 by a screw, so that the piezoresistive sensor 30 and the plastic base 11 are fixed; the piezoresistive sensor 30 and the plastic base 11 are connected by a screw, the convenience of assembly of the piezoresistive sensor 30 and the distal phalange 10 is further improved, and when the piezoresistive sensor 30 is damaged or fails, the piezoresistive sensor 30 can be conveniently replaced and repaired.

[0035] The utility model discloses, far metacarpal 10 still includes rotating seat 12, the rear end wall of plastic base 11 is rear end surface 102 of far metacarpal 10, is provided with the mounting groove 112 that recesses from its rear end wall to the front on plastic base 11, and one part of rotating seat 12 is embedded in mounting groove 112 and is fixedly connected with plastic base 11, and another part of rotating seat 12 protrudes from mounting groove 112 after being taken out from mounting groove 112 and forms the connecting portion 121 of above-mentioned, i.e. connecting portion 121 is located on rotating seat 12 and protrudes from rear end surface 102 of far metacarpal 10 to the rear, is provided with the through hole 111 on plastic base 11, and the front end of through hole 111 extends to accommodating cavity 101, and the rear end extends to mounting groove 112, and the rear end surface 1202 of connecting portion 121 is rear end surface of rotating seat 12, and is provided with a through hole 122 that extends from its front end surface 1201 to its rear end surface on rotating seat 12, after embedding rotating seat 12 into mounting groove 112 and fixing rotating seat 12 with plastic base 11, through hole 111 and through hole 122 are jointly formed into the threading hole of above-mentioned. Since it is fixedly connected with one rotating seat 12 in the rear end portion of plastic base 11, rotating seat 12 can be processed with the material (such as metal material) of relatively strong rigidity, and the part where far metacarpal 10 and proximal phalanx 20 pivotally connect has relatively good strength, to ensure the stability of the relative rotation of the two, in addition, by setting part of the threading hole on the rotating seat 12 of relatively strong rigidity, the cable 40 can be better protected.

[0036] The front end surface 1201 of rotating seat 12 is attached to the front end wall of mounting groove 112, and rotating seat 12 is fixedly connected with plastic base 11 by screws. By attaching rotating seat 12 to the front end wall of mounting groove 112, rotating seat 12 and plastic base 11 have a large contact area, ensuring the stability of their connection. Rotating seat 12 and plastic base 11 are detachably fixed together by screws. Different sizes of rotating seat 12 can be selected to adapt to different sizes of proximal phalanx 20, thereby increasing the application range of parts.

[0037] A rigid support 15 is embedded in the interior of plastic base 11. Rigid support 15 is located between mounting groove 112 and accommodating cavity 101. A through hole 151 is provided on rigid support 15 for the cable 40 to pass through. Rigid support 15 can be made of metal or other materials with relatively high rigidity. By embedding rigid support 15 in the interior of plastic base 11, far metacarpal 10 has better strength, avoiding deformation of plastic base 11, and protecting the cable 40.

[0038] The front end of the proximal phalanx 20 is provided with a side wall 22 on the left and right sides respectively, and the top portions of the two side walls 22 are connected with a top wall 23, and the groove 21 is surrounded by the two side walls 22 and the top wall 23, the connecting part 121 is pivoted between the two side walls 22 by using a rotating shaft 14 crossing the connecting part 121 and the two side walls 22, so that the connecting part 121 can rotate relative to the proximal phalanx 20; the groove 21 is surrounded by the two side walls 22 and the top wall 23, so that the side of the groove 21 opposite to the top wall 23 (i.e. the inner side of the groove 21) is in a hollow structure, avoiding the interference between the connecting part 121 and the proximal phalanx 20 when the connecting part 121 rotates relative to the proximal phalanx 20, so that the angle of the distal phalanx 10 swinging inward relative to the proximal phalanx 20 is large enough to meet the working requirements of the mechanical finger, and when the distal phalanx 10 swings inward relative to the proximal phalanx 20 to the maximum angle, i.e. the state shown in Figure 3 the top wall 23 blocks the cable 40, further protecting the cable 40.

[0039] A stop block 24 is further arranged on the inner side of the top wall 23 and located between the two side walls 22, and the front side of the stop block 24 is flush with or located on the rear side of the front end surface 201 of the proximal phalanx 20; the stop block 24 further blocks the cable 40 at the opening of the groove 21, avoiding the exposure of the cable 40, and at the same time, the stop block 24 does not protrude from the front end surface 201 of the proximal phalanx 20, avoiding the interference with the distal phalanx 10, and ensuring the normal swinging of the distal phalanx 10.

[0040] In the utility model, the proximal phalanx 20 is arranged in a hollow structure, and a driving unit is arranged in the inner cavity of the proximal phalanx 20, and the output end of the driving unit is connected to the connecting part 121, and the driving unit drives the connecting part 121 to rotate relative to the proximal phalanx 20 around the rotating shaft 14.

[0041] The dexterous hand of the utility model comprises the mechanical finger with the piezoresistance sensor, and other structures of the dexterous hand are the same as those of the prior art, and will not be described in detail here.

[0042] Although only some parts and embodiments of the present application have been illustrated and described, many modifications and changes can be conceived by those skilled in the art without departing from the scope and spirit of the claims, for example: changes in size, dimension, structure, shape and proportion, mounting arrangement, material use, color, orientation, etc. of various elements.

[0043] The above implementation is only a preferred embodiment of the present application, and cannot be used to limit the scope of protection of the present application. Any non-substantial changes and substitutions made by those skilled in the art on the basis of the present application are within the scope of protection of the present application.

Claims

1. A mechanical finger with a piezoresistive sensor, characterized in that, The far phalanx, the near phalanx, the piezoresistive sensor, and the cable; The far phalanx has a receiving cavity formed inside, a flexible covering part on the inner side of the far phalanx covering the receiving cavity, and the piezoresistive sensor placed in the receiving cavity to detect the pressure value from outside when the flexible covering part is pressed. The far phalanx has a connecting part protruding backward on the rear end surface, and a threading hole extending from one end to the receiving cavity and from the other end to the rear end surface of the connecting part. The near phalanx has a groove recessed backward from the front end surface, and the connecting part is threaded in the groove and pivotally connected with the near phalanx. One end of the cable is connected to the piezoresistive sensor, and the other end of the cable is threaded through the threading hole, the groove, and the inner cavity of the near phalanx in sequence.

2. The mechanical finger with piezoresistive sensors of claim 1, wherein, The far phalanx has a plastic base and a phalanx sleeve sleeved on the plastic base. The inner side of the plastic base has a receiving groove recessed outward. The part of the phalanx sleeve covering the receiving groove forms the flexible covering part.

3. The mechanical finger with piezoresistive sensors of claim 2, wherein, The piezoresistive sensor has a fixing base placed in the receiving groove and fixedly connected to the plastic base by a screw.

4. The mechanical finger with a piezoresistive sensor according to claim 1, wherein, The far phalanx has a plastic base and a rotating base. The rear end wall of the plastic base forms the rear end surface of the far phalanx. The plastic base has an installation groove recessed forward from the rear end wall. A part of the rotating base is embedded in the installation groove and fixed to the plastic base. Another part of the rotating base protrudes from the installation groove to form the connecting part. The plastic base has a communication hole extending from the front end to the receiving cavity and from the rear end to the installation groove. The rotating base has a through hole extending from the front end surface to the rear end surface. The threading hole is composed of the communication hole and the through hole.

5. The mechanical finger with piezoresistive sensors of claim 4, wherein, The front end surface of the rotating base abuts against the front end wall of the installation groove, and the rotating base is fixedly connected to the plastic base by a screw.

6. The mechanical finger with piezoresistive sensors of claim 4, wherein, The plastic base has a rigid support embedded inside, which is located between the installation groove and the receiving cavity. The rigid support has a through hole for the cable to pass through.

7. The mechanical finger with a piezoresistive sensor according to claim 1, wherein, The near phalanx has a top wall connecting the top parts of the two side walls. The groove is surrounded by the two side walls and the top wall. The connecting part is pivotally connected with the two side walls by a rotating shaft penetrating through the three parts.

8. The mechanical finger with piezoresistive sensors of claim 7, wherein, The inner side of the top wall has a stopper located between the two side walls. The front side surface of the stopper is flush with or located behind the front end surface of the near phalanx.

9. The mechanical finger with a piezoresistive sensor according to claim 1, wherein, The near phalanx has a driving unit installed inside. The output end of the driving unit is connected to the connecting part to drive the connecting part to rotate relative to the near phalanx.

10. Dexterous hand characterized in that, The mechanical finger with the piezoresistive sensor according to any one of claims 1-9.

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