Thumb module and dexterous hand

Abstract

The utility model provides a thumb module and a dexterous hand. The thumb module comprises a mounting base, a thumb body and a bending driving mechanism. Wherein the mounting base is provided with a mounting cavity and a rope outlet communicated with the mounting cavity. The thumb body is rotatably mounted on the mounting base. The bending driving mechanism comprises a first driving part, a winding assembly and a tendon rope. The winding assembly is installed in the installation cavity. One end of the tendon rope is connected with the winding assembly, and the other end penetrates through the rope outlet and is connected with the thumb body. The first driving part is in transmission connection with the winding assembly and used for driving the winding assembly to wind or release the tendon rope. According to the thumb module, the winding assembly is mounted in the relatively closed mounting cavity, so that the mounting base can separate the winding assembly from the external environment, the influence of dust, sundries and the like in the external environment on the winding assembly is reduced, the stability of the performance of the winding assembly is ensured, and the service life of the thumb module is prolonged.

Description

Technical Field

[0001] This utility model relates to the field of bionics, and in particular to a thumb module and a dexterous hand. Background Technology

[0002] In the fields of modern robotics and mechatronics, dexterous hands, as a research hotspot for biomimetic robotic hands, have received widespread attention. However, the rope winding structure used in existing rope-driven dexterous hands is susceptible to dust and debris, leading to a short lifespan. Utility Model Content

[0003] Therefore, it is necessary to provide a thumb module and a dexterous hand to address the problem that the rope winding structure used for driving ropes in existing rope-driven dexterous hands is easily affected by dust, debris, etc., resulting in a short service life of the dexterous hand.

[0004] The technical solution is as follows:

[0005] On the one hand, a thumb module is provided, including:

[0006] The mounting base is provided with a mounting cavity and a rope outlet communicating with the mounting cavity;

[0007] The thumb body is rotatably mounted on the mounting base;

[0008] The bending drive mechanism includes a first drive member, a winding assembly, and a tendon cord. The winding assembly is installed in the mounting cavity. One end of the tendon cord is connected to the winding assembly, and the other end passes through the cord outlet and is connected to the thumb body. The first drive member is kinetically connected to the winding assembly and is used to drive the winding assembly to wind up or release the tendon cord.

[0009] The technical solution will be further explained below:

[0010] In one embodiment, the thumb module further includes a lateral swing drive mechanism mounted on the mounting base and connected to the thumb body in a transmission manner to drive the thumb body to swing laterally relative to the mounting base.

[0011] In one embodiment, the mounting base is further provided with a mounting hole communicating with the mounting cavity, and the side-swing drive mechanism further includes a second drive member and a transmission assembly that is drivenly connected to the second drive member. The transmission assembly is installed in the mounting cavity and extends out from the mounting hole to be drivenly connected to the thumb body. The mounting cavity is in a closed state.

[0012] In one embodiment, the thumb body includes a first pivot and a finger root connected to the first pivot, the first pivot passing through the mounting hole and rotatably engaging with the mounting base.

[0013] In one embodiment, the transmission assembly includes a lateral worm gear that is pulverized and ...

[0014] In one embodiment, the winding assembly includes a winding worm gear that is driven to the first driving member and a winding worm wheel that is rotatably sleeved on the first rotating shaft. The winding worm wheel has a worm wheel portion and a winding portion. The worm wheel portion is driven to the winding worm gear, and the winding portion is correspondingly connected to the tendon rope.

[0015] In one embodiment, the thumb body further includes a guide wheel mounted on the base of the thumb, the tendon cord is wound around the guide wheel, and the guide wheel is used to change the extension direction of the tendon cord to ensure that the tendon cord remains tangent to the outer wall of the winding portion during the side swing of the thumb body relative to the mounting base.

[0016] In one embodiment, the thumb body further includes a base of the finger, a second pivot, a proximal phalanx, a third pivot, a distal phalanx, a first winding wheel mounted on the base of the finger, a second winding wheel mounted on the proximal phalanx, and a third winding wheel mounted on the distal phalanx. The proximal phalanx is rotatably connected to the base of the finger via the second pivot, and the distal phalanx is drively connected to the proximal phalanx via the third pivot. The end of the tendon cord away from the winding assembly is sequentially wound around the first winding wheel, the second winding wheel, and the third winding wheel, and is fixedly connected to the distal phalanx.

[0017] In one embodiment, the thumb module further includes a sensing chip and a magnetic ring. The sensing chip is fixedly mounted on the base of the finger, and the magnetic ring is mounted on the second rotating shaft and cooperates with the sensing chip to form a Hall sensor. The Hall sensor is used to detect the bending rotation angle of the proximal phalanx relative to the base of the finger.

[0018] On the other hand, a dexterous hand is provided, including a palm module, a four-finger module and the thumb module, wherein the four-finger module and the thumb module can be detachably installed on the palm module.

[0019] The thumb module and dexterous hand in the above embodiments install the winding assembly in a relatively closed mounting cavity, so that the mounting base can isolate the winding assembly from the external environment, reduce the impact of dust, debris and other external objects on the winding assembly, ensure the stability of the winding assembly performance (e.g. lubrication performance), and improve the service life of the thumb module. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0022] Figure 1 This is a schematic diagram of the structure of a thumb module according to one embodiment.

[0023] Figure 2 for Figure 1 A cross-sectional view of the thumb module.

[0024] Figure 3 for Figure 2 A magnified view of part A in the middle.

[0025] Figure 4 This is a schematic diagram of the structure of a dexterous hand according to one embodiment.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Dexterous hand; 10. Thumb module; 100. Mounting base; 110. Mounting cavity; 120. Rope outlet; 130. Mounting hole; 140. Divider; 200. Thumb body; 210. First pivot; 220. Finger root; 231. Guide wheel; 232. First winding wheel; 240. Second pivot; 250. Proximal knuckle; 260. Third pivot; 270. Distal knuckle; 280. Second winding wheel; 290. Third winding wheel; 300. Bending drive mechanism; 310, First driving component; 320, Winding assembly; 321, Winding worm; 322, Winding worm wheel; 3221, Worm wheel section; 3222, Winding section; 330, Tendon rope; 400, Side-swing drive mechanism; 410, Second driving component; 420, Transmission assembly; 421, Side-swing worm; 422, Side-swing worm wheel; 510, Magnetic ring; 520, First flexible circuit board; 530, Second flexible circuit board; 540, Pressure sensor; 20, Hand module; 30, Four-finger module. Detailed Implementation

[0028] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0029] like Figure 1 , Figure 2 and Figure 3 As shown, in one embodiment, a thumb module 10 is provided, including a mounting base 100, a thumb body 200, and a bending drive mechanism 300. The mounting base 100 has a mounting cavity 110 and a cord outlet 120 communicating with the mounting cavity 110. The thumb body 200 is rotatably mounted on the mounting base 100. The bending drive mechanism 300 includes a first drive member 310, a winding assembly 320, and a tendon cord 330. The winding assembly 320 is installed within the mounting cavity 110. One end of the tendon cord 330 is connected to the winding assembly 320, and the other end passes through the cord outlet 120 and is connected to the thumb body 200. The first drive member 310 is kinetically connected to the winding assembly 320 and is used to drive the winding assembly 320 to wind or release the tendon cord 330.

[0030] In the thumb module 10 of the above embodiment, the winding assembly 320 is installed in a relatively closed mounting cavity 110, so that the mounting base 100 can isolate the winding assembly 320 from the external environment, reduce the impact of dust, debris and other objects in the external environment on the winding assembly 320, ensure the stability of the performance (e.g. lubrication performance) of the winding assembly 320, and improve the service life of the thumb module 10.

[0031] Specifically, in this embodiment, when the first driving member 310 drives the winding assembly 320 to wind up the tendon cord 330, the tendon cord 330 tightens to pull the thumb body 200 to bend. When the first driving member 310 drives the winding assembly 320 to release the tendon cord 330, the tendon cord 330 relaxes, and the thumb body 200 can be reset and straightened by means of an elastic element or another reverse tendon cord or other reset structure.

[0032] The mounting base 100 can be configured as a mounting box, mounting enclosure, or other mounting structure. The thumb body 200 can be configured as any of the existing rope-driven thumb structures. The bending drive mechanism 300 can be configured as any of the existing rope-driven structures capable of driving the thumb body 200 to bend.

[0033] like Figure 1 and Figure 3As shown, the thumb module 10 further includes a side-swing drive mechanism 400. The side-swing drive mechanism 400 is mounted on the mounting base 100 and is connected to the thumb body 200 to drive the thumb body 200 to swing sideways relative to the mounting base 100. Thus, the thumb body 200, the bending drive mechanism 300, and the side-swing drive mechanism 400 are all integrated and mounted on the mounting base 100 to form a modular structure, improving the ease of disassembly, assembly, and replacement of the thumb module 10.

[0034] The lateral swing drive mechanism 400 can be configured as any structure in the prior art capable of driving the thumb body 200 to swing laterally relative to the mounting base 100.

[0035] like Figure 1 and Figure 3 As shown, optionally, the mounting base 100 is further provided with a mounting hole 130 communicating with the mounting cavity 110. The side-swing drive mechanism 400 includes a second drive member 410 and a transmission assembly 420 that is pulsatorically connected to the second drive member 410. The transmission assembly 420 is mounted in the mounting cavity 110 and extends from the mounting hole 130 to pulsatorically connect with the thumb body 200. The mounting cavity 110 is in a closed state. Thus, the transmission assembly 420 is also mounted in the relatively sealed mounting cavity 110, allowing the mounting base 100 to isolate the transmission assembly 420 from the external environment, reducing the impact of dust, debris, etc. in the external environment on the transmission assembly 420, ensuring the stability of the transmission of the transmission assembly 420, and improving the service life of the thumb module 10. In addition, the winding assembly 320 and the transmission assembly 420 are both installed in the mounting cavity 110, which increases the structural compactness between the mounting base 100, the thumb body 200, the bending drive mechanism 300 and the side swing drive mechanism 400, which is beneficial to the miniaturization design of the thumb module 10.

[0036] Both the first driving member 310 and the second driving member 410 can be configured as a rotary motor, a rotary cylinder, or other driving structures. The first driving member 310 and the second driving member 410 can both be mounted on the outer wall of the mounting base 100, or both can be mounted inside the mounting cavity 110. Specifically, in this embodiment, the mounting base 100 has a first mounting port and a second mounting port on the same side wall, both communicating with the mounting cavity 110. The first driving member 310 is mounted at the first mounting port, and the second driving member 410 is mounted at the second mounting port.

[0037] like Figure 3 As shown, optionally, the inner wall of the mounting cavity 110 is provided with a partition 140, which is located between the winding assembly 320 and the transmission assembly 420. In this way, the partition 140 can ensure that there is no interference between the winding assembly 320 and the transmission assembly 420, thereby improving the reliability of the thumb module 10.

[0038] Specifically, in this embodiment, the partition 140 can be configured as a partition plate. The mounting base 100 includes a box body with the partition 140, mounting hole 130, and rope outlet 120, a fixing plate with a first mounting opening and a second mounting opening, and a box cover. The box body, fixing plate, and box cover can form a closed mounting cavity 110 (the mounting hole 130 is closed by the first rotating shaft 210). The partition 140 is integrally formed with the box body. This improves the convenience of processing and assembling the thumb module 10.

[0039] like Figure 3 As shown, in one embodiment, the thumb body 200 includes a first pivot 210 and a finger root portion 220 connected to the first pivot 210. The first pivot 210 passes through the mounting hole 130 and is rotatably engaged with the mounting base 100. In this way, the finger root portion 220 is rotatably connected to the mounting base 100 through the first pivot 210, ensuring that the entire thumb body 200 can stably and reliably swing laterally around the axis of the first pivot 210, thereby improving the reliability of the thumb module 10.

[0040] Specifically, in this embodiment, the mounting hole 130 penetrates the mounting base 100. The finger root 220 is provided with a first connecting portion and a second connecting portion spaced apart. The mounting base 100 is located between the first connecting portion and the second connecting portion. One end of the first rotating shaft 210 is connected to the first connecting portion, and the other end passes through the mounting hole 130 and the mounting cavity 110 and is connected to the second connecting portion.

[0041] like Figure 1 and Figure 3 As shown, optionally, the transmission assembly 420 includes a lateral worm gear 421 that is pulverizedly connected to the second drive member 410, and a lateral worm wheel 422 that is fixedly sleeved on the first rotating shaft 210. The lateral worm wheel 422 extends from the mounting hole 130 and is pulverizedly connected to the finger root 220. Thus, the second drive member 410 drives the lateral worm gear 421 to rotate, the lateral worm gear 421 drives the lateral worm wheel 422 to rotate, and the lateral worm wheel 422 drives the entire thumb body 200 to swing laterally, improving the reliability of the thumb module 10.

[0042] Specifically in this embodiment, the lateral worm gear 422 can be fixedly connected to the first rotating shaft 210 and the finger root 220 by plugging, snapping, screwing or other means.

[0043] It should be noted that after the thumb body 200, bending drive mechanism 300 and side swing drive mechanism 400 are assembled on the mounting base 100, the rest of the base is basically closed except for the rope outlet 120.

[0044] like Figure 1 and Figure 3As shown, in one embodiment, the winding assembly 320 includes a winding worm 321 tractively connected to the first driving member 310 and a winding worm wheel 322 rotatably sleeved on the first rotating shaft 210. The winding worm wheel 322 has a worm wheel portion 3221 and a winding portion 3222. The worm wheel portion 3221 is tractively connected to the winding worm 321, and the winding portion 3222 is correspondingly connected to the tendon rope 330. Thus, the first driving member 310 can drive the worm wheel portion 3221 to rotate via the winding worm 321, and the worm wheel portion 3221 synchronously drives the winding portion 3222 to rotate to wind or release the tendon rope 330, thereby controlling the tightening or loosening of the tendon rope 330.

[0045] Specifically, in this embodiment, the thumb module 10 further includes a first bearing and a second bearing. The worm gear portion 3221 is rotatably mounted on the first rotating shaft 210 via the first bearing. The winding portion 3222 can be configured as a stranded wire reel and integrally formed with the worm gear portion 3221. The partition portion 140 is provided with a clearance hole. The second bearing is sleeved on the first rotating shaft 210 and installed within the clearance hole.

[0046] like Figure 3 As shown, optionally, the thumb body 200 also includes a guide wheel 231 mounted on the base of the finger 220, with the tendon cord 330 wound around the guide wheel 231. The guide wheel 231 is used to change the extension direction of the tendon cord 330 to ensure that it remains tangent to the winding portion 3222 during the side swing of the thumb body 200 relative to the mounting base 100. In this way, the tendon cord 330 can always be tangent to the outer wall of the winding portion 3222, ensuring that the tendon cord 330 is only subjected to its own axial tension and not to its own radial force, avoiding the tendon cord 330 moving radially and rubbing against the edge of the winding portion 3222, thereby increasing the reliability of the tendon cord 330 and improving the service life of the thumb module 10.

[0047] like Figure 2 As shown, in one embodiment, the thumb body 200 further includes a base 220, a second pivot 240, a proximal phalanx 250, a third pivot 260, a distal phalanx 270, a first winding wheel 232 mounted on the base 220, a second winding wheel 280 mounted on the proximal phalanx 250, and a third winding wheel 290 mounted on the distal phalanx 270. The proximal phalanx 250 is rotatably connected to the base 220 via the second pivot 240. The distal phalanx 270 is drively connected to the proximal phalanx 250 via the third pivot 260. The end of the tendon cord 330 away from the winding assembly 320 is sequentially wound around the first winding wheel 232, the second winding wheel 280, and the third winding wheel 290, and is fixedly connected to the distal phalanx 270.

[0048] The number and installation position of the first winding wheel 232, the second winding wheel 280 and the third winding wheel 290 can be flexibly adjusted according to actual usage needs.

[0049] like Figure 2 As shown, optionally, the thumb module 10 also includes a sensing chip and a magnetic ring 510. The sensing chip is fixedly mounted on the base of the finger 220. The magnetic ring 510 is mounted on the second rotating shaft 240 and cooperates with the sensing chip to form a Hall sensor. The Hall sensor is used to detect the bending rotation angle of the proximal phalanx 250 relative to the base of the finger 220. In this way, the Hall sensor can detect and feed back the bending rotation angle of the thumb body 200 to the first driving member 310, ensuring that the first driving member 310 can drive the thumb body 200 to bend and rotate to a preset angle through the winding assembly 320 and the tendon cord 330, thereby improving the reliability of the thumb module 10.

[0050] In this specific embodiment, the thumb module 10 further includes a first flexible circuit board 520. The first flexible circuit board 520 has a mounting area for mounting a sensor chip. The mounting area is fixed to the base of the finger 220 by screws or other means.

[0051] Optionally, the thumb module 10 further includes a second flexible circuit board 530 and a pressure sensor 540. The pressure sensor 540 is provided on the fingertip and / or back of the proximal phalanx 250 and distal phalanx 270, and is mounted on the second flexible circuit board 530. The second flexible circuit board 530 is electrically connected to the first flexible circuit board 520.

[0052] like Figure 4 As shown, in one embodiment, a dexterous hand 1 is also provided, including a palm module 20, a four-finger module 30 and a thumb module 10 in any of the above embodiments, wherein the four-finger module 30 and the thumb module 10 can be detachably installed on the palm module 20.

[0053] Specifically, in this embodiment, the four-finger module 30 and the thumb module 10 can be installed on the palm module 20 by snap-fit, screw-fit, or other detachable methods. In this way, the palm module 20, the four-finger module 30, and the thumb module 10 are each integrated into an independent module. The modules can be connected through a standardized interface to realize the interaction of motion information, tactile information, or other information. This facilitates the flexible combination or replacement of specific modules according to actual needs, while reducing the production and maintenance costs of the dexterous hand 1.

[0054] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and 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, and therefore should not be construed as a limitation of this application.

[0055] Furthermore, where the terms "first" and "second" appear, these terms are 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 with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0056] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0057] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0058] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0059] It should also be understood that, in interpreting the connection or positional relationships of components, although not explicitly described, connection and positional relationships are interpreted to include a range of error, which should be within the acceptable deviation range of a specific value as determined by a person skilled in the art. For example, "approximately," "about," or "substantially" can mean within one or more standard deviations, without limitation herein.

[0060] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A thumb module characterized in that, The application relates to a thumb module. The thumb module comprises a mounting base, a thumb body, a bending driving mechanism and a side swing driving mechanism. The mounting base is provided with a mounting cavity and a rope outlet communicating with the mounting cavity. The thumb body is rotatably mounted on the mounting base.

2. The thumb module of claim 1, wherein, The bending driving mechanism comprises a first driving member, a winding assembly and a tendon.

3. The thumb module of claim 2, wherein, The winding assembly is mounted in the mounting cavity.

4. The thumb module of claim 3, wherein, One end of the tendon is connected with the winding assembly, and the other end of the tendon passes through the rope outlet and is connected with the thumb body.

5. The thumb module of claim 4, wherein, The first driving member is in transmission connection with the winding assembly and is used for driving the winding assembly to wind or release the tendon.

6. The thumb module of claim 4, wherein, The side swing driving mechanism is mounted on the mounting base and is in transmission connection with the thumb body to drive the thumb body to swing relative to the mounting base.

7. The thumb module of claim 6, wherein, The mounting base is further provided with a mounting hole communicating with the mounting cavity.

8. The thumb module according to any one of claims 1 to 7, characterized in that The side swing driving mechanism further comprises a second driving member and a transmission assembly in transmission connection with the second driving member.

9. The thumb module of claim 8, wherein, The transmission assembly is mounted in the mounting cavity and extends out of the mounting hole to be in transmission connection with the thumb body. The mounting cavity is in a closed state. The thumb body comprises a first rotating shaft and a finger root connected with the first rotating shaft. The first rotating shaft passes through the mounting hole and is in rotating cooperation with the mounting base. The transmission assembly comprises a side swing worm in transmission connection with the second driving member and a side swing worm wheel fixedly sleeved on the first rotating shaft. The side swing worm wheel extends out of the mounting hole and is in transmission connection with the finger root. The winding assembly comprises a winding worm in transmission connection with the first driving member and a winding worm wheel rotatably sleeved on the first rotating shaft. The winding worm wheel is provided with a worm wheel part and a winding part. The worm wheel part is in transmission connection with the winding worm. The winding part is in corresponding connection with the tendon. The thumb body further comprises a guide wheel mounted on the finger root. The tendon is wound around the guide wheel. The guide wheel is used for changing the extension direction of the tendon to ensure that the tendon keeps tangent to the outer side wall of the winding part during the swinging of the thumb body relative to the mounting base. The thumb body further comprises a finger root, a second rotating shaft, a proximal phalanx, a third rotating shaft, a distal phalanx, a first winding wheel mounted on the finger root, a second winding wheel mounted on the proximal phalanx and a third winding wheel mounted on the distal phalanx. The proximal phalanx is in rotating connection with the finger root through the second rotating shaft. The distal phalanx is in transmission connection with the proximal phalanx through the third rotating shaft. The tendon is wound around the first winding wheel, the second winding wheel and the third winding wheel in sequence and is fixedly connected with the distal phalanx. The thumb module further comprises an inductive chip and a magnetic ring. The inductive chip is fixedly mounted on the finger root. The magnetic ring is mounted on the second rotating shaft and cooperates with the inductive chip to form a Hall sensor. The Hall sensor is used for detecting the bending rotating angle of the proximal phalanx relative to the finger root.

10. A dexterous hand characterized by, The palm module, the four-finger module and the thumb module as claimed in any one of claims 1 to 9 are detachably mounted on the palm module.

Images