Mechanical finger joint, mechanical finger and robot hand

Abstract

The utility model relates to a mechanical finger joint, a mechanical finger and a robot hand, the mechanical finger joint comprises a first phalanx, a second phalanx, a rotating shaft assembly and a shielding piece, the rotating shaft assembly is arranged on the palm side of the second phalanx, and the first phalanx is in pivot connection with the second phalanx through the rotating shaft assembly; the end, rotationally connected with the second phalanx, of the first phalanx is a connecting end, one of the connecting end and the shielding piece is provided with a sliding part, the other one of the connecting end and the shielding piece is provided with a sliding groove, and the sliding part is arranged in the sliding groove in a sliding mode so that the shielding piece can be connected with the connecting end in a sliding mode; the shielding piece can rotate around the rotating shaft assembly, and in the whole process that the connecting end rotates in the direction gradually away from the second phalanx, the sliding part slides to the terminating end along the starting end of the sliding groove, so that the connecting end drives the shielding piece to rotate in the direction away from the second phalanx. According to the technical scheme, the rotating shaft assembly can be prevented from being directly exposed to the external environment when the mechanical finger is bent.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a mechanical finger joint, a mechanical finger, and a robotic hand. Background Technology

[0002] The robotic fingers of a robotic hand can be considered to be composed of multiple phalanges. Existing robotic fingers have pivot assemblies between adjacent phalanges or at the junction of a phalanx and metacarpal bone. By rotating the phalanges around these pivot assemblies, the robotic fingers can mimic the different angles of bending of human fingers. When the robotic finger is not bent, the pivot assembly is hidden on the palm-facing side of the phalanx due to being concealed by the phalanx. However, when the robotic finger bends, a gap is created between the rotated phalanx and the previously connected phalanx (or metacarpal), exposing the pivot assembly directly to the external environment. This exposes the pivot assembly to the risks of contamination, corrosion, and foreign object trapping, and also reduces the overall aesthetics of the robotic finger. Utility Model Content

[0003] The purpose of this application is to provide a mechanical finger joint, a mechanical finger, and a robotic hand to solve the technical problem that the pivot assembly of existing mechanical fingers is directly exposed to the external environment when the mechanical finger is bent.

[0004] In a first aspect, embodiments of this application provide a mechanical finger joint, including: a first phalanx, a second phalanx, a pivot assembly, and a shielding member, wherein the pivot assembly is disposed on the palmar side of the second phalanx, and the first phalanx is pivotally connected to the second phalanx via the pivot assembly;

[0005] The end at which the first phalanx and the second phalanx are rotatably connected is the connecting end. The connecting end and one of the shielding members are provided with a sliding part, and the connecting end and the other of the shielding members are provided with a sliding groove. The sliding part is slidably disposed in the sliding groove so that the shielding member and the connecting end are slidably connected.

[0006] The shielding member is configured to rotate around the rotating shaft assembly. During the entire process of the connecting end rotating in a direction gradually away from the second phalanx, the sliding part slides along the starting end to the ending end of the sliding groove, so that the connecting end drives the shielding member to rotate in a direction away from the second phalanx.

[0007] Optionally, one of the second phalanx and the shielding member is provided with a first limiting portion, and the other of the second phalanx and the shielding member is provided with a second limiting portion. The first limiting portion is used to abut against the second limiting portion at the end position of the shielding member away from the second phalanx.

[0008] Optionally, the shielding member includes a main body and side plates disposed on both sides of the main body. The side plates are fixedly connected to the main body, and the shielding member rotates around the rotating shaft assembly by having the bottom of the side plates abut against the rotating shaft assembly.

[0009] Optionally, the second phalanx has an insertion cavity at one end that is rotatably connected to the first phalanx, and the connecting end has an insertion part that mates with the insertion cavity so that the insertion part can be inserted into the insertion cavity. During the entire process of the connecting end rotating in a direction that is gradually moving away from the second phalanx, the insertion part gradually exits the insertion cavity.

[0010] Alternatively, the second phalanx may have an insertion part at one end that is rotatably connected to the first phalanx. The connecting end may have an insertion cavity that mates with the insertion part so that the insertion part can be inserted into the insertion cavity. During the entire process of the connecting end rotating in a direction that gradually moves away from the second phalanx, the insertion part gradually exits the insertion cavity.

[0011] Optionally, when the plug is inserted into the plug cavity, the shield is located inside the plug cavity;

[0012] And / or, the shielding member is fastened to the plug portion.

[0013] Optionally, the outer surface of the plug portion is provided with an outwardly raised arc-shaped slope, and the shielding member is provided with an arc-shaped cover that matches the arc-shaped slope so that the shielding member can be fastened to the plug portion.

[0014] Optionally, the second phalanx includes a housing portion and a base plate, the housing portion being fixedly mounted on the base plate to form the insertion cavity with the base plate, and the pivot assembly being disposed on one end of the base plate extending outward from the housing portion along the length direction of the second phalanx.

[0015] Optionally, the cross-sectional shape of the insertion cavity is horseshoe-shaped; and / or, the end face of the insertion cavity for interlocking with the insertion part is inclined in a direction away from the insertion part.

[0016] Secondly, embodiments of this application also provide a mechanical finger, including the aforementioned mechanical finger joint.

[0017] Thirdly, embodiments of this application also provide a robotic hand, including the aforementioned mechanical fingers.

[0018] Compared with the prior art, the embodiments of this application have the following main advantages:

[0019] In this embodiment of the mechanical finger joint, the first phalanx and the second phalanx are pivotally connected, allowing the first phalanx to bend relative to the second phalanx by rotating, thus enabling the mechanical finger composed of this mechanical finger joint to bend. During the process of the first and second phalanx gradually bending, that is, during the entire process of the connecting end rotating in a direction gradually away from the second phalanx, the sliding part slides from the beginning end to the end end of the sliding groove, so that the connecting end drives the shielding member to rotate in a direction away from the second phalanx. Since the pivot assembly is located on the palmar side of the second phalanx, when the first and second phalanx are bending, the pivot assembly can be shielded by the first phalanx, the shielding member, and the second phalanx, thereby preventing the pivot assembly from being directly exposed to the external environment when the mechanical finger is bending. Attached Figure Description

[0020] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of the first phalanx of a mechanical finger joint provided in an embodiment of this application;

[0022] Figure 2 A schematic diagram of the structure of the second phalanx of a mechanical finger joint provided in an embodiment of this application;

[0023] Figure 3 A schematic diagram of the structure of a shielding member for a mechanical finger joint provided in an embodiment of this application;

[0024] Figure 4 A schematic diagram of the mechanical finger joint provided in an embodiment of this application at the moment of initial rotation of the connecting end away from the second phalanx;

[0025] Figure 5 This is a schematic diagram of the mechanical finger joint provided in an embodiment of this application at the moment of termination of rotation at the connecting end in a direction away from the second phalanx.

[0026] Figure label:

[0027] 1. Mechanical finger joints;

[0028] 100. First phalanx; 110. Insertion part; 111. Sliding part; 112. Arc-shaped slope; 200. Second phalanx; 210. Shell part; 211. Insertion cavity; 212. Limiting step; 213. Inclined surface; 220. Base plate; 221. Mounting end; 222. Mounting hole; 300. Cover; 310. Arc-shaped cover; 320. Side plate; 321. Sliding groove; 3211. Starting end; 3212. Ending end; 322. Limiting protrusion; 400. Rotating shaft. Detailed Implementation

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0030] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0031] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0032] Please see Figure 1-5The first part of this application provides a mechanical finger joint 1, including a first phalanx 100, a second phalanx 200, a pivot assembly, and a shielding member 300. The first phalanx 100 refers to the proximal, intermediate, or distal phalanx of a robotic hand, while the second phalanx 200 refers to the metacarpal, proximal, or intermediate phalanx of a robotic hand, so that the mechanical finger joint 1 can serve as various interphalangeal or metacarpophalangeal joints of a mechanical finger on a robotic hand. The pivot assembly is disposed on the palmar side of the second phalanx 200. The first phalanx 100 is pivotally connected to the second phalanx 200 via the pivot assembly, allowing the first phalanx 100 to rotate relative to the second phalanx 200. This rotation allows both the first and second phalanxes to bend, thus enabling the mechanical finger composed of the mechanical finger joint 1 to bend. It should be noted that the pivotal connection between the first phalanx 100 and the second phalanx 200 here means that the first phalanx 100 and the second phalanx 200 rotate around the central axis of the pivot assembly. The "palmar side" of the second phalanx 200 here refers to the palmar side of the second phalanx 200, which is opposite to the back side of the second phalanx 200. By placing the pivot assembly on the palmar side of the second phalanx 200, the pivot assembly can be shielded by the second phalanx 200 and the first phalanx 100 when the first phalanx 100 and the second phalanx 200 are not in a bent position, thus preventing the pivot assembly from being directly exposed to the external environment.

[0033] One end of the first phalanx 100 rotatably connects to the second phalanx 200 as the connecting end. One of the connecting end and the shielding member 300 is provided with a sliding portion 111, and the other is provided with a sliding groove 321. The sliding portion 111 slides within the sliding groove 321 to allow the shielding member 300 to slide in connection with the connecting end. The shielding member 300 is configured to rotate about a pivot assembly. During the entire process of the connecting end rotating away from the second phalanx 200, the sliding portion 111 slides from the starting end 3211 to the ending end 3212 of the sliding groove 321, causing the connecting end to drive the shielding member 300 to rotate away from the second phalanx 200. During the entire process of the connecting end rotating towards the second phalanx 200, the sliding portion 111 slides from the ending end 3212 to the starting end 3211 of the sliding groove 321, causing the connecting end to drive the shielding member 300 to rotate towards the second phalanx 200.

[0034] Understandably, when the sliding part 111 slides to the end 3212 of the sliding groove 321, the sliding part 111 and the end 3212 abut against each other, thereby enabling the connecting end to drive the blocking member 300. Since the blocking member 300 can rotate around the rotating shaft assembly, the connecting end can drive the blocking member 300 to rotate away from the second phalanx 200. When the sliding part 111 slides to the beginning 3211 of the sliding groove 321, the sliding part 111 and the beginning 3211 abut against each other, thereby enabling the connecting end to drive the blocking member 300. Since the blocking member 300 can rotate around the rotating shaft assembly, the connecting end can drive the blocking member 300 to rotate closer to the second phalanx 200.

[0035] In this embodiment, the sliding groove 321 is an arc shape arranged around the central axis of the rotating shaft assembly to ensure that the sliding part 111 can smoothly slide along the starting end 3211 to the ending end 3212 of the sliding groove 321 throughout the entire process of the connecting end rotating in a direction gradually away from the second finger bone 200.

[0036] In this embodiment of the mechanical finger joint 1, the first phalanx 100 and the second phalanx 200 are pivotally connected, so that the first phalanx 100 can bend relative to the second phalanx 200 by rotating, thus enabling the mechanical finger composed of the mechanical finger joint 1 to bend. During the process of the first phalanx 100 and the second phalanx 200 gradually bending, that is, during the entire process of the connecting end rotating in a direction gradually away from the second phalanx 200, the sliding part 111 slides along the starting end 3211 to the ending end 3212 of the sliding groove 321, so that the connecting end drives the blocking member 300 to rotate in a direction away from the second phalanx 200. Since the pivot assembly is located on the palmar side of the second phalanx 200, when the first phalanx 100 and the second phalanx 200 are bending, the pivot assembly can be blocked by the first phalanx 100, the blocking member 300 and the second phalanx 200, thereby preventing the pivot assembly from being directly exposed to the external environment when the mechanical finger is bending.

[0037] Please see Figure 1-5 In this embodiment, the second finger bone 200 is provided with a insertion cavity 211 at one end that is rotatably connected to the first finger bone 100, and the connecting end is provided with an insertion part 110 that cooperates with the insertion cavity 211 so that the insertion part 110 can be inserted into the insertion cavity 211. During the entire process of the connecting end rotating in a direction that is gradually away from the second finger bone 200, the insertion part 110 gradually exits the insertion cavity 211.

[0038] In some other embodiments, the second phalanx 200 has a plug-in portion at one end that is rotatably connected to the first phalanx 100. The connecting end has a plug-in cavity that mates with the plug-in portion so that the plug-in portion can be inserted into the plug-in cavity. During the entire process of the connecting end rotating in a direction that gradually moves away from the second phalanx 200, the plug-in portion gradually exits the plug-in cavity.

[0039] Please see Figure 3-5 In this embodiment, when the insertion part 110 is inserted into the insertion cavity 211, the shielding member 300 is located within the insertion cavity 211, so that the shielding member 300 can be hidden within the second phalanx 200. This ensures that when the first phalanx 100 and the second phalanx 200 are not bent, the external shape of the mechanical finger joint 1 is similar to that of a human hand finger joint. Throughout the entire process of the connecting end rotating in a direction gradually away from the second phalanx 200, the shielding member 300 is driven by the insertion part 110 of the connecting end of the first phalanx 100 and gradually withdraws from the insertion cavity.

[0040] Please see Figure 3-5 In this embodiment, the shielding member 300 is fastened to the insertion portion 110 of the first phalanx 100. One of the insertion portion 110 and the shielding member 300 is provided with a sliding portion 111, and the other of the insertion portion 110 and the shielding member 300 is provided with a sliding groove 321, so that the shielding member 300 can be slidably connected with the insertion portion 110 on the first phalanx 100. During the entire process of the connecting end rotating in a direction gradually away from the second phalanx 200, the sliding portion 111 slides along the sliding groove 321, causing the insertion portion 110 to slide relative to the shielding member 300. As a result, when the sliding portion 111 slides to the end 3212 of the sliding groove 321, the shielding member 300 can be driven by the insertion portion 110 to gradually exit the insertion cavity 211.

[0041] Specifically, the sliding groove 321 is provided on the inner surface of the shield 300, and the sliding part 111 is a sliding post provided on the outer surface of the insertion part 110.

[0042] In some other embodiments, the sliding part 111 may also be configured as a ball bearing to reduce friction when the sliding part 111 slides in the sliding groove 321.

[0043] In some other embodiments, the shielding member 300 is fastened to the insertion portion of the second phalanx 200, and the shielding member 300 is disposed close to the inner wall of the insertion cavity of the first phalanx 100. One of the inner wall of the insertion cavity and the shielding member 300 is provided with a sliding portion, and the other of the inner wall of the insertion cavity and the shielding member 300 is provided with a sliding groove, so that the shielding member 300 can be slidably connected with the inner wall of the insertion cavity of the first phalanx 100.

[0044] Please see Figure 1 and Figure 3-5In this embodiment, the outer surface of the insertion portion 110 is provided with an outwardly raised arc-shaped slope 112, and the blocking member 300 is provided with an arc-shaped cover 310 that matches the arc-shaped slope 112 so that the blocking member 300 can be fastened to the insertion portion 110. By providing the arc-shaped slope 112 and the arc-shaped cover 310, the blocking member 300 can be fastened to the outer surface of the insertion portion 110 more stably, and it is also beneficial for the insertion portion 110 to slide relative to the blocking member 300, and for the sliding portion 111 provided on the insertion portion 110 to slide smoothly along the sliding groove 321 of the blocking member 300.

[0045] Please see Figure 3-5 In this embodiment, the shielding member 300 includes a main body and side plates 320 symmetrically arranged on both sides of the main body. The side plates 320 are fixedly connected to the main body, and the shielding member 300 rotates around the rotating shaft assembly by having the bottom of the side plates 320 abut against the rotating shaft assembly. The main body is the aforementioned arc-shaped cover 310, which is fastened to the insertion part 110, which is sandwiched between the side plates 320 on both sides of the shielding member 300.

[0046] Please see Figure 3-5 In this embodiment, two sliding grooves 321 are provided. The two sliding grooves 321 are symmetrically arranged on the inner surface of the side plates 320 on both sides of the shield 300, so that the sliding connection relationship of the sliding part 111 sliding in the sliding groove 321 is more stable, and the shield 300 can be stably fastened to the plug part 110.

[0047] Please see Figure 2 and Figure 4-5 In this embodiment, the second phalanx 200 includes a housing portion 210 and a base plate 220. The housing portion 210 is fixedly mounted on the base plate 220 to form an insertion cavity 211. The base plate 220 is configured to extend outward from the housing portion 210 along the length direction of the second phalanx 200. One end of the base plate 220 extending outward from the housing portion 210 along the length direction of the second phalanx 200 is a mounting end 221, and a rotating shaft assembly is disposed on the mounting end 221.

[0048] In one embodiment, the pivot assembly includes a pivot shaft and a mounting hole, the pivot shaft being rotatably mounted in the mounting hole, one of the first phalanx 100 and the second phalanx 200 being connected to the pivot shaft, and the other of the first phalanx 100 and the second phalanx 200 being connected to the mounting hole.

[0049] Please see Figure 2-5 In this embodiment, the mounting hole 222 of the rotating shaft assembly is disposed on the mounting end 221 of the second finger bone 200, the rotating shaft 400 of the rotating shaft assembly is fixedly connected to the connecting end of the first finger bone 100, and the rotating shaft 400 is rotatably mounted in the mounting hole 222.

[0050] Please see Figure 2-5 In this embodiment, the cross-sectional shape of the insertion cavity 211 is horseshoe-shaped, and the end face of the insertion cavity 211 used for insertion and engagement with the insertion part 110 is an inclined surface 213, which is inclined in a direction away from the insertion part 110.

[0051] Understandably, the horseshoe-shaped insertion cavity 211 facilitates the insertion part 110 and the shield 300 by setting their shapes to allow for easy insertion and withdrawal from the insertion cavity 211. For example, they can each be provided with the aforementioned curved slope 112 and curved cover 310, respectively. By providing the inclined surface 213, a clearance notch is provided for the shield 300 and the insertion part 110 to enter and exit the insertion cavity 211, thereby preventing interference between the shield 300, the insertion part 110 and the insertion cavity 211, and making the process of the shield 300 and the insertion part 110 entering and exiting the insertion cavity 211 smoother.

[0052] In one embodiment, one of the second phalanx 200 and the blocking member 300 is provided with a first limiting portion, and the other of the second phalanx 200 and the blocking member 300 is provided with a second limiting portion. The first limiting portion is used to abut against the second limiting portion at the end position of the blocking member away from the second phalanx to prevent the blocking member 300 from completely detaching from the second phalanx, thereby limiting the end position of the blocking member 300 and the first phalanx 100 rotating away from the second phalanx 200.

[0053] In some other embodiments, the mechanical finger joint 1 may not be provided with the first limiting protrusion and the second limiting protrusion, but instead the blocking member 300 may be prevented from completely disengaging from the second phalanx 200 by limiting the rotation angle of the first phalanx 100 relative to the second phalanx 200, thereby limiting the endpoint position of the rotation of the blocking member 300 and the first phalanx 100 in the direction away from the second phalanx 200.

[0054] Please see Figure 2-5 In this embodiment, the first limiting part is a limiting protrusion 322, and the second limiting part is a limiting step 212. The limiting protrusion 322 is disposed on the outer surface of the shielding member 300, and the limiting step 212 is disposed on the inner wall of the insertion cavity 211 of the second finger bone 200 to prevent the shielding member 300 from completely disengaging from the insertion cavity 211, thereby limiting the endpoint position of the shielding member 300 and the insertion part 110 exiting the insertion cavity 211.

[0055] In some other embodiments, the first limiting part and the second limiting part may also be configured as two limiting blocks that can abut and cooperate with each other.

[0056] The second part of this application provides a mechanical finger, which includes the mechanical finger joint 1 of the above embodiment, thereby preventing the rotating shaft 400 from being directly exposed to the external environment when the mechanical finger is bent.

[0057] The third part of this application provides a robotic hand, which includes the mechanical fingers of the above embodiments, thereby preventing the rotation axis 400 from being directly exposed to the external environment when the mechanical fingers are bent.

[0058] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A mechanical finger joint, characterized in that, It includes a first phalanx, a second phalanx, a pivot assembly, and a shielding member. The pivot assembly is disposed on the palmar side of the second phalanx, and the first phalanx is pivotally connected to the second phalanx via the pivot assembly. The end at which the first phalanx and the second phalanx are rotatably connected is the connecting end. The connecting end and one of the shielding members are provided with a sliding part, and the connecting end and the other of the shielding members are provided with a sliding groove. The sliding part is slidably disposed in the sliding groove so that the shielding member and the connecting end are slidably connected. The shielding member is configured to rotate around the rotating shaft assembly. During the entire process of the connecting end rotating in a direction gradually away from the second phalanx, the sliding part slides along the starting end to the ending end of the sliding groove, so that the connecting end drives the shielding member to rotate in a direction away from the second phalanx.

2. The mechanical finger joint according to claim 1, characterized in that, One of the second phalanx and the shielding member is provided with a first limiting part, and the other of the second phalanx and the shielding member is provided with a second limiting part. The first limiting part is used to abut against the second limiting part at the end position of the shielding member away from the second phalanx.

3. The mechanical finger joint according to claim 1, characterized in that, The shielding member includes a main body and side plates disposed on both sides of the main body. The side plates are fixedly connected to the main body. The shielding member rotates around the rotating shaft assembly by having the bottom of the side plates abut against the rotating shaft assembly.

4. The mechanical finger joint according to claim 1, characterized in that, The second phalanx has a insertion cavity at one end that is rotatably connected to the first phalanx. The connecting end has an insertion part that mates with the insertion cavity so that the insertion part can be inserted into the insertion cavity. During the entire process of the connecting end rotating in a direction that gradually moves away from the second phalanx, the insertion part gradually exits the insertion cavity. Alternatively, the second phalanx may have an insertion part at one end that is rotatably connected to the first phalanx. The connecting end may have an insertion cavity that mates with the insertion part so that the insertion part can be inserted into the insertion cavity. During the entire process of the connecting end rotating in a direction that gradually moves away from the second phalanx, the insertion part gradually exits the insertion cavity.

5. The mechanical finger joint according to claim 4, characterized in that, When the plug is inserted into the plug cavity, the shield is located inside the plug cavity; And / or, the shielding member is fastened to the plug portion.

6. The mechanical finger joint according to claim 4, characterized in that, The outer surface of the plug portion is provided with an outwardly raised arc-shaped slope, and the shielding member is provided with an arc-shaped cover that matches the arc-shaped slope so that the shielding member can be fastened to the plug portion.

7. The mechanical finger joint according to claim 4, characterized in that, The second phalanx includes a housing portion and a base plate. The housing portion is fixedly mounted on the base plate to form the insertion cavity with the base plate, and the rotating shaft assembly is disposed on one end of the base plate that extends outward from the housing portion along the length direction of the second phalanx.

8. The mechanical finger joint according to claim 4, characterized in that, The cross-sectional shape of the insertion cavity is horseshoe-shaped; and / or, the end face of the insertion cavity for interlocking with the insertion part is inclined in a direction away from the insertion part.

9. A mechanical finger, characterized in that, Including the mechanical finger joint as described in any one of claims 1-8.

10. A robotic hand, characterized in that, Including the mechanical finger as described in claim 9.

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