Bionic robotic hand and its thumb structure

Abstract

This invention discloses a bionic robotic hand and its thumb structure. The thumb structure includes: a base, a phalanx, a drive mechanism, a transmission mechanism, and a control circuit board. The phalanx is connected to the base via a first rotating shaft. The drive mechanism is connected to the phalanx via the transmission mechanism and can drive the phalanx to rotate along the first rotating shaft. The phalanx is equipped with a pressure sensor, which includes a pressure sensing element and a signal processing circuit. The pressure sensing element is located on one side of the phalanx, and the signal processing circuit is based on the phalanx. The signal processing circuit is connected to the control circuit board via an FPC line. A receiving space is provided between the phalanx and the base to accommodate the FPC line. The FPC line has sufficient length to connect the signal processing circuit and the control circuit board in different postures of the thumb structure. The bionic robotic hand and its thumb structure proposed in this invention can sense pressure data on the fingers and can improve product lifespan.

Description

Technical Field

[0001] This utility model belongs to the field of bionic hand technology, and relates to a bionic robotic hand, and more particularly to the thumb structure of a bionic robotic hand. Background Technology

[0002] Bionic hands, as a primary means of enabling patients to live independently after amputation, remain a relatively new and popular product. Existing bionic hand products feature a rich variety of design concepts, with both flexible and rigid mechanisms readily available in the market, each with its own distinct advantages and disadvantages. Flexible mechanisms have limited lifespans, and the wear and tear of the drive cables is a primary challenge for the development and market expansion of this type of product.

[0003] Existing bionic hands typically cannot detect the pressure received by the mechanical fingers and can only be programmed with a few fixed bending movements, which cannot meet the needs of today's users.

[0004] Some products incorporate pressure sensors at the fingertips. Current solutions use a plug-and-socket structure, which can easily detach when the wrist is bent, causing signal interruption. Furthermore, the communication cable is made of soft silicone, which bends freely when the finger is bent, potentially coming into contact with moving parts and being cut.

[0005] In view of this, there is an urgent need to design a new bionic robotic hand thumb structure in order to overcome at least some of the aforementioned defects of existing thumb structures. Utility Model Content

[0006] This invention provides a bionic robotic hand and its thumb structure, which can sense pressure data on the fingers and improve product lifespan.

[0007] To solve the above-mentioned technical problems, according to one aspect of this utility model, the following technical solution is adopted:

[0008] A thumb structure for a bionic robotic hand, the thumb structure comprising: a base, a knuckle, a drive mechanism, a transmission mechanism, and a control circuit board;

[0009] The phalanx is connected to the base via a first rotating shaft; the drive mechanism is connected to the phalanx via a transmission mechanism and can drive the phalanx to rotate along the first rotating shaft.

[0010] The knuckle is equipped with a pressure sensor, which includes a pressure sensing element and a signal processing circuit; the pressure sensing element is disposed on one side of the knuckle, and the signal processing circuit is configured based on the knuckle.

[0011] The signal processing circuit is connected to the control circuit board via an FPC line; a receiving space is provided between the knuckle and the base to accommodate the FPC line;

[0012] The FPC line is long enough to connect the signal processing circuit and the control circuit board in different postures of the thumb structure.

[0013] In one embodiment of this utility model, the transmission mechanism includes a slider and a connecting rod assembly, the connecting rod assembly including a first connecting rod and a second connecting rod; the driving mechanism is connected to the slider and can drive the slider to slide.

[0014] The first end of the first link is rotatably connected to the knuckle, the second end of the first link is rotatably connected to the first end of the second link, and the second end of the second link is set based on the slider.

[0015] In one embodiment of this utility model, the transmission mechanism further includes a lead screw, the driving mechanism is connected to the lead screw and can drive the lead screw to rotate; the slider is disposed on the lead screw and can slide along the lead screw as the lead screw rotates.

[0016] In one embodiment of this utility model, the control circuit board includes an adapter circuit board, which is connected to the signal processing circuit via an FPC line.

[0017] In one embodiment of this utility model, the control circuit board further includes an external main control circuit, and the adapter circuit board is also connected to a wire, which connects to the external main control circuit.

[0018] In one embodiment of this utility model, the knuckle is provided with a recessed area near the substrate, and the recessed area and one side of the substrate form an FPC line receiving area.

[0019] In one embodiment of this utility model, when the thumb structure is in an extended state, the FPC line accommodating area shrinks and the FPC line contracts into a Z-shape; when the thumb structure is in a bent state, the FPC line accommodating area expands and the FPC line extends.

[0020] According to another aspect of this utility model, the following technical solution is adopted: a bionic robotic hand, wherein the bionic robotic hand includes the thumb structure of the above-mentioned bionic robotic hand.

[0021] In one embodiment of this utility model, the bionic robotic hand is provided with a hand body, and a second pressure sensing element is provided at the palm of the hand body; a second pressure sensing circuit is provided in the hand body, and the second pressure sensing element is connected to the second pressure sensing circuit.

[0022] The bionic robotic hand further includes a main control circuit board, and the control circuit boards of each finger structure are respectively connected to the main control circuit board.

[0023] As one embodiment of this utility model, the bionic robotic hand also includes four finger mechanisms, which are respectively the index finger, middle finger, ring finger and little finger of the bionic robotic hand;

[0024] The finger structure includes: a base, a first phalanx, a second phalanx, a drive mechanism, a transmission mechanism, a first connecting mechanism, a reset mechanism, and a control circuit board;

[0025] The second phalanx is rotatably disposed on the base, the first phalanx is rotatably disposed on the second phalanx, and the driving mechanism is disposed based on the base;

[0026] The driving mechanism is connected to the second phalanx via the transmission mechanism and can drive the second phalanx to move; the base is connected to the first phalanx via the first connecting mechanism and the reset mechanism respectively;

[0027] The first phalanx has a first phalanx body and a flexible material layer, and a pressure sensing element is provided between the flexible material layer and the first phalanx body; a pressure sensing circuit is provided in the first phalanx body, and the pressure sensing element is connected to the pressure sensing circuit; the control circuit board is connected to the pressure sensing circuit through an FPC line.

[0028] The first phalanx is rotatably connected to the second phalanx via a first rotating shaft; the first connecting mechanism includes a first connecting rod, and the first phalanx is rotatably connected to the first connecting rod via a second rotating shaft.

[0029] The substrate includes a substrate body and a finger connecting mechanism, wherein the finger connecting mechanism is provided with a third rotating axis, a fourth rotating axis and a fifth rotating axis;

[0030] The finger connecting mechanism is connected to the second phalanx via a third rotating shaft, the finger connecting mechanism is connected to the base body via a fourth rotating shaft, and the finger connecting mechanism is connected to the reset mechanism via a fifth rotating shaft;

[0031] The FPC line passes between the third and fourth rotating axes and is located outside the first rotating axis, the fifth rotating axis and the reset mechanism, so that the finger structure can be connected to the pressure sensing circuit and the control circuit board in different states.

[0032] The beneficial effects of this invention are as follows: The bionic robotic hand and its thumb structure proposed in this invention can sense pressure data on the fingers and improve product lifespan. In this invention, the sensor and connecting cable are integrated, eliminating the risk of loosening. The sensing element and circuit board are connected using an FPC cable; during movement, the communication cable only bends in the direction of finger bending, eliminating the risk of contact with moving structural components, thus improving product lifespan. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the thumb structure in one embodiment of the present invention (in a straightened state).

[0034] Figure 2 This is a schematic diagram of the thumb structure (bent state) in one embodiment of the present invention.

[0035] Figure 3 This is a schematic diagram of the structure of the bionic robotic hand (in the straightened state) in one embodiment of this utility model.

[0036] Figure 4 This is a schematic diagram of the thumb structure in one embodiment of the present invention (in a clenched fist state).

[0037] Figure 5 This is a schematic diagram of the finger structure (in a straightened state) in one embodiment of the present invention.

[0038] Figure 6 This is a schematic diagram of the finger structure (in a straightened state) in one embodiment of the present invention.

[0039] Figure 7 This is a partial structural diagram of the finger structure (in a straightened state) in one embodiment of the present invention.

[0040] Figure 8 This is a partial structural diagram of the finger structure (in a straightened state) in one embodiment of the present invention. Detailed Implementation

[0041] The preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0042] To further understand this utility model, preferred embodiments of this utility model are described below in conjunction with examples. However, it should be understood that these descriptions are only for further illustrating the features and advantages of this utility model, and not for limiting the scope of the claims of this utility model.

[0043] The description in this section pertains to only a few typical embodiments, and this utility model is not limited to the scope of the embodiments described. Substitution of identical or similar prior art methods with some technical features in the embodiments is also within the scope of this utility model's description and protection.

[0044] The term "connection" in the specification includes both direct and indirect connections, such as connections made through active devices, passive devices, or electrical conduction media; it may also include connections made by other active or passive devices that are known to those skilled in the art and can achieve the same or similar functional purpose, such as connections made through circuits or components such as switches or follower circuits.

[0045] This invention discloses a thumb structure for a bionic robotic hand. Figure 1 , Figure 2 This is a schematic diagram of the thumb structure in one embodiment of the present invention; please refer to [link / reference]. Figure 1 , Figure 2 The thumb structure includes: a base A1, a knuckle A2, a drive mechanism A3, a transmission mechanism A4, and a control circuit board A5. The knuckle A2 is connected to the base A1 via a first rotating shaft A11; the drive mechanism A3 is connected to the knuckle A2 via the transmission mechanism A4, and can drive the knuckle A2 to rotate along the first rotating shaft A11.

[0046] The knuckle A2 is equipped with a pressure sensor A6, which includes a pressure sensing element A61 and a signal processing circuit A62. The pressure sensing element A61 is disposed on one side of the knuckle A2, and the signal processing circuit A62 is disposed based on the knuckle A2. In one embodiment, the knuckle A2 includes a knuckle body A21 and a flexible material layer A22, with the pressure sensing element A61 disposed between the knuckle body A21 and the flexible material layer A22. The flexible material layer A22 can be made of silicone, but other materials can also be used.

[0047] The signal processing circuit A62 is connected to the control circuit board A5 via an FPC line A7; a receiving space is provided between the knuckle A2 and the base A1 to accommodate the FPC line A7. The FPC line A7 has sufficient length to connect the signal processing circuit A62 and the control circuit board A5 in different postures of the thumb structure.

[0048] In one embodiment of this utility model, the transmission mechanism A4 includes a slider A41 and a connecting rod assembly. The connecting rod assembly includes a first connecting rod A42 and a second connecting rod A43. The driving mechanism A3 is connected to the slider A41 and can drive the slider A41 to slide. The first end of the first connecting rod A42 is rotatably connected to the knuckle A2, and the second end of the first connecting rod A42 is rotatably connected to the first end of the second connecting rod A43. The second end of the second connecting rod A43 is based on the slider A41.

[0049] The transmission mechanism A4 further includes a lead screw A44, and the drive mechanism A3 is connected to the lead screw A44 and can drive the lead screw A44 to rotate. The slider A41 is disposed on the lead screw A44 and can slide along the lead screw A44 as the lead screw A44 rotates. The lead screw can be a ball screw, and the slider is disposed on the nut of the ball screw and can follow the nut to move along the lead screw. The drive mechanism A3 can include a drive motor. Of course, the transmission mechanism can also adopt other transmission methods, such as a gear set and rack structure, where the drive motor drives the gear shaft to rotate, the gear set meshes with the rack, and can drive the rack to move in a set direction. The rack and the slider are fixedly disposed, thereby driving the slider to move in the set direction.

[0050] In one embodiment of this utility model, the control circuit board includes an adapter circuit board, which is connected to the signal processing circuit A62 via an FPC line A7. The control circuit board may also include an external main control circuit, and the adapter circuit board is further connected to a wire A8, which connects to the external main control circuit. The wire A8 can be a silicone wire, but other materials can also be used.

[0051] The knuckle A2 has a recessed area A23 near the base, and the recessed area A23 and one side of the base A1 form an FPC wire receiving area 9. When the thumb structure is in an extended state, the FPC wire receiving area A9 shrinks, and the FPC wire A7 contracts into a Z-shape; when the thumb structure is in a bent state, the FPC wire receiving area A9 expands, and the FPC wire A7 extends.

[0052] This utility model further discloses a bionic robotic hand. Figure 3 , Figure 4 This is a schematic diagram of the structure of the bionic robotic hand in one embodiment of this utility model; please refer to [link / reference]. Figure 3 , Figure 4 The bionic robotic hand includes the thumb structure of the aforementioned bionic robotic hand.

[0053] In one embodiment of this utility model, the bionic robotic hand is provided with a hand body, and a second pressure sensing element is provided at the palm of the hand body; a second pressure sensing circuit is provided in the hand body, and the second pressure sensing element is connected to the second pressure sensing circuit; the bionic robotic hand further includes a main control circuit board, and the control circuit boards of each finger structure are respectively connected to the main control circuit board.

[0054] The bionic robotic hand also includes four finger mechanisms, which serve as the index finger, middle finger, ring finger, and little finger of the bionic robotic hand.

[0055] Figures 5 to 8 This is a schematic diagram of the finger structure in one embodiment of the present invention; please refer to [link / reference]. Figures 5 to 8 The finger device includes: a base 1, a first phalanx 2, a second phalanx 3, a first connecting mechanism 4, a reset mechanism 5, a driving mechanism 6, a transmission mechanism 7, and a main control circuit. The second phalanx 3 is rotatably disposed on the base 1, the first phalanx 2 is rotatably disposed on the second phalanx 3, and the driving mechanism 6 is based on the base 1.

[0056] The driving mechanism 6 is connected to the second phalanx 3 through the transmission mechanism and can drive the second phalanx 3 to move; the base 1 is connected to the first phalanx 2 through the first connecting mechanism 4 and the reset mechanism 5 respectively; the output terminal of the main control circuit is connected to the input terminal of the driving mechanism 6 and can send control signals to the driving mechanism 6.

[0057] The reset mechanism 5 includes an elastic mechanism 51, a first guide mechanism 52, and a second guide mechanism 53. The first end of the first guide mechanism 52 is rotatably disposed on the first knuckle 2, and the second end of the second guide mechanism 53 is rotatably disposed on the base 1. The first end of the elastic mechanism 51 is nested within the first guide mechanism 52, and the second end of the elastic mechanism 51 is nested within the second guide mechanism 53. The elastic mechanism 51 can be a compression spring.

[0058] The first guide mechanism 52 can be movably nested within the second guide mechanism 53 (the first guide mechanism 52 is thinner than the second guide mechanism 53, and the outer diameter of the first guide mechanism is slightly smaller than the inner diameter of the second guide mechanism), or the second guide mechanism 53 can be movably nested within the first guide mechanism 52 (the first guide mechanism 52 is thicker than the second guide mechanism 53, and the outer diameter of the second guide mechanism is slightly smaller than the inner diameter of the first guide mechanism). The lengths of the first guide mechanism 52 and the second guide mechanism 53 can be long enough to ensure that, in different postures of the finger device, a portion of the first guide mechanism 52 can be nested within the second guide mechanism 53 (when the first guide mechanism 52 is thinner), or a portion of the second guide mechanism 53 can be nested within the first guide mechanism 52 (when the second guide mechanism 53 is thinner).

[0059] In one embodiment of the present invention, the transmission mechanism 7 includes a push rod 71 and a second connecting mechanism; the driving mechanism 6 is connected to the push rod 71 and can drive the push rod 71 to perform a setting action; the push rod 71 is connected to the second knuckle 3 through the second connecting mechanism and can drive the second knuckle 3 to perform a setting action.

[0060] The second knuckle 3 is provided with an arc-shaped track 31, and the second connecting mechanism is provided with a sliding mechanism 74. The sliding mechanism 74 is based on the arc-shaped track 31 and can slide within the arc-shaped track 31. In one embodiment, the second connecting mechanism includes a second link 72 and a third link 73; the first end of the second link 72 is provided with the sliding mechanism 74; the second end of the second link 72 is connected to the first end of the third link 73, the second end of the third link 73 is connected to the first end of the push rod 71, and the second end of the push rod 71 is connected to the driving mechanism 6.

[0061] Furthermore, the transmission mechanism 7 may also include a lead screw 75, which is connected to the push rod 71 and can drive the push rod 71 to move left and right. The drive mechanism 6 may include a drive motor, which is connected to the lead screw 75 and can drive the lead screw 75 to move linearly.

[0062] The lead screw can be a ball screw, and the slider is disposed on the nut of the ball screw and can move along the lead screw following the nut. The drive mechanism 6 can include a drive motor. Of course, the transmission mechanism 7 can also adopt other transmission methods, such as a gear set and rack structure, where the drive motor drives the gear shaft to rotate, the gear set meshes with the rack, and can drive the rack to move in a set direction. The rack and the slider are fixedly set, thereby driving the slider to move in the set direction.

[0063] The base 1 includes a base body 17 and a finger connecting mechanism 18. The finger connecting mechanism 18 is provided with a third rotating shaft 13, a fourth rotating shaft 14, and a fifth rotating shaft 15. The finger connecting mechanism 18 is connected to the second phalanx 3 through the third rotating shaft 13, connected to the base body 17 through the fourth rotating shaft 14, and connected to the reset mechanism 5 (specifically, connected to the second end of the second guide mechanism 53) through the fifth rotating shaft 15.

[0064] The first linkage assembly 4 includes a first linkage 41. The first knuckle 2 and the second knuckle 3 are rotatably connected via a first rotation axis 11; the first knuckle 2 and the first linkage are rotatably connected via a second rotation axis 12. The push rod 71 and the third linkage 73 are also rotatably connected via a sixth rotation axis 76.

[0065] The first knuckle 2 is provided with a pressure sensing element 9; a pressure sensing circuit 10 is provided inside the first knuckle body 21, and the pressure sensing element 9 is connected to the pressure sensing circuit 10. The control circuit board 8 is disposed inside the substrate 1, and the control circuit board 8 is connected to the pressure sensing circuit 10 through an FPC line 16. In one embodiment, the first knuckle 2 is provided with a first knuckle body 21 and a flexible material layer 22, and the pressure sensing element 9 is provided between the flexible material layer 22 and the first knuckle body 21; the flexible material layer 22 can be made of silicone, or other materials can be used.

[0066] In one embodiment of the present invention, the first phalanx 2 is rotatably connected to the second phalanx 3 via a first rotating shaft 11; the first connecting mechanism 4 includes a first connecting rod, and the first phalanx 2 is rotatably connected to the first connecting rod via a second rotating shaft 12.

[0067] The FPC line 16 passes between the third rotating shaft 13 and the fourth rotating shaft 14, and is located outside the first rotating shaft 11, the fifth rotating shaft 15, and the reset mechanism 5, so that the finger structure can be connected to the pressure sensing circuit 10 and the control circuit board 8 in different states. The "outer side" refers to the side away from the finger surface, the side close to the back of the finger, and the side away from the palm when the finger is bent.

[0068] The FPC line 16 may include a first FPC line unit 161, a second FPC unit 162, and a third FPC unit 163. The first knuckle 2 has an FPC line receiving space, and the first FPC line unit 161 can be fixedly installed (e.g., pasted) at a predetermined position within the FPC line receiving space. The first knuckle 2 has an arc-shaped end 23, and the second end of the first FPC line unit 161 passes through the arc-shaped end 23 between itself and the first rotating shaft 11, connecting to the second FPC unit 162. The second FPC unit 162 is movably installed, adapting to the bending and straightening of the finger structure. The third FPC unit 163 can be fixedly installed on the base 1.

[0069] In summary, the bionic robotic hand and its thumb structure proposed in this invention can sense pressure data on the fingers and improve product lifespan. In this invention, the sensor and connecting cable are integrated, eliminating the risk of detachment. The sensing element and circuit board are connected using an FPC cable; during movement, the communication cable only bends in the direction of finger flexion, eliminating the risk of contact with moving structural components, thus improving product lifespan.

[0070] 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.

[0071] The description and application of this utility model herein are illustrative and not intended to limit the scope of the utility model to the above embodiments. The effects or advantages involved in the embodiments may not be manifested in the embodiments due to various factors, and the description of effects or advantages is not intended to limit the embodiments. Variations and modifications of the embodiments disclosed herein are possible, and various substitutions and equivalents of the components in the embodiments are well known to those skilled in the art. It should be clear to those skilled in the art that this utility model can be implemented in other forms, structures, arrangements, proportions, and with other components, materials, and parts without departing from the spirit or essential characteristics of this utility model. Other variations and modifications can be made to the embodiments disclosed herein without departing from the scope and spirit of this utility model.

Claims

1. A thumb structure for a bionic robotic hand, characterized in that, The thumb structure includes: a base, a knuckle, a drive mechanism, a transmission mechanism, and a control circuit board; The phalanx is connected to the base via a first rotating shaft; the drive mechanism is connected to the phalanx via a transmission mechanism and can drive the phalanx to rotate along the first rotating shaft. The knuckle is equipped with a pressure sensor, which includes a pressure sensing element and a signal processing circuit; the pressure sensing element is disposed on one side of the knuckle, and the signal processing circuit is configured based on the knuckle. The signal processing circuit is connected to the control circuit board via an FPC line; a receiving space is provided between the knuckle and the base to accommodate the FPC line; The FPC line is long enough to connect the signal processing circuit and the control circuit board in different postures of the thumb structure.

2. The thumb structure of the bionic robotic hand according to claim 1, characterized in that: The transmission mechanism includes a slider and a connecting rod assembly, the connecting rod assembly including a first connecting rod and a second connecting rod; the driving mechanism is connected to the slider and can drive the slider to slide. The first end of the first link is rotatably connected to the knuckle, the second end of the first link is rotatably connected to the first end of the second link, and the second end of the second link is set based on the slider.

3. The thumb structure of the bionic robotic hand according to claim 2, characterized in that: The transmission mechanism further includes a lead screw, and the driving mechanism is connected to the lead screw and can drive the lead screw to rotate; the slider is disposed on the lead screw and can slide along the lead screw as the lead screw rotates.

4. The thumb structure of the bionic robotic hand according to claim 1, characterized in that: The control circuit board includes an adapter circuit board, which is connected to the signal processing circuit via an FPC line.

5. The thumb structure of the bionic robotic hand according to claim 4, characterized in that: The control circuit board further includes an external main control circuit, and the adapter circuit board is also connected to a wire, which connects to the external main control circuit.

6. The thumb structure of the bionic robotic hand according to claim 1, characterized in that: The knuckle has a recessed area near the substrate, and the recessed area and one side of the substrate form an FPC line receiving area.

7. The thumb structure of the bionic robotic hand according to claim 6, characterized in that: When the thumb structure is in an extended state, the FPC line accommodating area shrinks, and the FPC line contracts into a Z-shape; when the thumb structure is in a bent state, the FPC line accommodating area expands, and the FPC line extends.

8. A bionic robotic hand, characterized in that: The bionic robotic hand includes the thumb structure of the bionic robotic hand according to any one of claims 1 to 7.

9. The bionic robotic hand according to claim 8, characterized in that: The bionic robotic hand has a hand body, and a second pressure sensing element is provided at the palm of the hand body; a second pressure sensing circuit is provided in the hand body, and the second pressure sensing element is connected to the second pressure sensing circuit. The bionic robotic hand further includes a main control circuit board, and the control circuit boards of each finger structure are respectively connected to the main control circuit board.

10. The bionic robotic hand according to claim 8, characterized in that: The bionic robotic hand also includes four finger mechanisms, which serve as the index finger, middle finger, ring finger, and little finger of the bionic robotic hand. The finger mechanism includes: a base, a first phalanx, a second phalanx, a drive mechanism, a transmission mechanism, a first connecting mechanism, a reset mechanism, and a control circuit board; The second phalanx is rotatably disposed on the base, the first phalanx is rotatably disposed on the second phalanx, and the driving mechanism is disposed based on the base; The driving mechanism is connected to the second phalanx via the transmission mechanism and can drive the second phalanx to move; the base is connected to the first phalanx via the first connecting mechanism and the reset mechanism respectively; The first phalanx has a first phalanx body and a flexible material layer, and a pressure sensing element is provided between the flexible material layer and the first phalanx body; a pressure sensing circuit is provided in the first phalanx body, and the pressure sensing element is connected to the pressure sensing circuit; the control circuit board is connected to the pressure sensing circuit through an FPC line. The first phalanx is rotatably connected to the second phalanx via a first rotating shaft; the first connecting mechanism includes a first connecting rod, and the first phalanx is rotatably connected to the first connecting rod via a second rotating shaft. The substrate includes a substrate body and a finger connecting mechanism, wherein the finger connecting mechanism is provided with a third rotating axis, a fourth rotating axis and a fifth rotating axis; The finger connecting mechanism is connected to the second phalanx via a third rotating shaft, the finger connecting mechanism is connected to the base body via a fourth rotating shaft, and the finger connecting mechanism is connected to the reset mechanism via a fifth rotating shaft; The FPC line passes between the third and fourth rotating axes and is located outside the first rotating axis, the fifth rotating axis and the reset mechanism, so that the finger mechanism can be connected to the pressure sensing circuit and the control circuit board in different states.

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