Finger joint modules, dexterous hands and robots

Abstract

This application discloses a finger joint module, a dexterous hand, and a robot. The finger joint module includes a rigid wheel, a flexible wheel, and a wave generator. The rigid wheel has internal teeth; the flexible wheel is movably disposed within the rigid wheel, and the flexible wheel has external teeth and a first mounting cavity; the wave generator is disposed in the first mounting cavity, and the wave generator includes a drive motor and a cam; wherein, the drive motor includes a stator and an outer rotor disposed around the stator, the cam is fixedly disposed outside the outer rotor, and a portion of the outer wall of the cam abuts against the inner wall of the flexible wheel, so that a portion of the external teeth of the flexible wheel meshes with a portion of the internal teeth of the rigid wheel; along the axial direction of the drive motor, at least the end faces of the drive motor and the cam are located inside the end faces of the rigid wheel and the flexible wheel. This solution can reduce the size of the joint module, meet the size requirements of a human hand, and satisfy the requirements for grasping performance.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a finger joint module, a dexterous hand, and a robot. Background Technology

[0002] Dexterous hands are a new type of end effector for robots. As the final link and execution component in the interaction between the robot and the environment, they play an extremely important role in improving the flexibility and ease of use of robots. Their performance largely determines the overall working performance of the robot.

[0003] Humanoid robots' dexterous hands are modeled after the structure and function of the human hand, and must meet human-scale requirements, thus being constrained by practical needs such as space and weight. Therefore, the size of the finger joint module, a key structure of the dexterous hand that drives finger movement, is also limited, resulting in low grasping accuracy and failing to meet the requirements for grasping performance. Utility Model Content

[0004] The main technical problem addressed by this application is to provide a finger joint module, a dexterous hand, and a robot that can be reduced in size to meet the size requirements of human hands and satisfy the requirements for grasping performance.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: providing a finger joint module, including a rigid wheel, a flexible wheel, and a wave generator. The rigid wheel has internal teeth; the flexible wheel is movably disposed within the rigid wheel, and the flexible wheel has external teeth and a first mounting cavity; the wave generator is disposed in the first mounting cavity, and the wave generator includes a drive motor and a cam; wherein, the drive motor includes a stator and an outer rotor disposed around the stator, the cam is fixedly disposed outside the outer rotor, and a portion of the outer wall of the cam abuts against the inner wall of the flexible wheel, so that a portion of the external teeth of the flexible wheel meshes with a portion of the internal teeth of the rigid wheel; along the axial direction of the drive motor, at least the end faces of the drive motor and the cam are located inside the end faces of the rigid wheel and the flexible wheel.

[0006] Preferably, the cam includes a cam frame and two cam bodies. The cam frame has mounting holes extending along the axial direction. The outer rotor is fixedly disposed in the mounting holes. The two cam bodies are disposed opposite each other on both sides of the cam frame along the radial direction of the drive motor. The cam bodies abut against the inner wall of the flexible wheel.

[0007] Preferably, the cam frame is provided with two fixing slots, which are arranged opposite each other along the radial direction of the drive motor, and the cam body is detachably connected to the fixing slots.

[0008] Preferably, the cam body is rotatably disposed in the fixed groove.

[0009] Preferably, the finger joint module further includes: an end cap, the end cap being connected along the axial direction to one side of the rigid wheel, the rigid wheel and the end cap forming a second mounting cavity, and the flexible wheel being located within the second mounting cavity.

[0010] Preferably, the finger joint module further includes a central shaft, which passes through the stator and is fixedly connected to the stator. One end of the central shaft is located in the first mounting cavity, and the other end of the central shaft is fixedly connected to the end cap.

[0011] Preferably, the finger joint module further includes a base plate, which is connected along the axial direction to the side of the rigid wheel opposite to the end cap. The base plate is provided with an output hole, and an output shaft is rotatably connected in the output hole. The output shaft is fixedly connected to the flexible wheel.

[0012] Preferably, the finger joint module further includes a connecting plate, which is disposed on the side of the flexible wheel away from the end cap. The connecting plate and the flexible wheel together form the first mounting cavity, and the two sides of the connecting plate are fixedly connected to the flexible wheel and the output shaft, respectively.

[0013] Preferably, the connecting plate protrudes towards the output shaft on the side facing the output shaft to form a boss, and the boss and the output shaft are provided with an annular groove in the circumference, and a bearing is sleeved on the annular groove, and the bearing is disposed in the output hole.

[0014] Preferably, an output gear is connected to the side of the output shaft opposite to the flexible wheel.

[0015] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a dexterous hand for robots, including a palm and fingers, wherein the fingers are rotatably connected to the palm; the fingers include multiple phalanges and a finger joint module of any of the above technical solutions, wherein the finger joint module is provided between at least two adjacent phalanges, and the finger joint module is used to drive one of the two adjacent phalanges to rotate relative to the other phalange.

[0016] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a robot that includes the dexterous hand of the above-mentioned technical solution.

[0017] The beneficial effects of this application are as follows: Unlike existing technologies, the drive motor of the finger joint module in this application provides driving force. The outer rotor rotates around the stator, and the outer rotor drives the cam to rotate around the axis of the drive motor. As the cam rotates, the position of the cam against the flexure changes circumferentially. The position where the flexure was originally against the cam disengages inward from the rigid wheel due to elastic recovery, and a new engagement position is transferred, causing the flexure to rotate a small angle relative to the rigid wheel. The rigid wheel is fixed relative to the stator, and the flexure rotates relative to the rigid wheel. Through the synergistic effect of the elastic deformation of the flexure and the difference in the number of teeth, the continuous rotation of the outer rotor is converted into the decelerated motion of the flexure. The drive motor and cam of this application are embedded in the flexure, located inside the flexure in both the axial and radial directions. Furthermore, the drive motor of this application is directly connected to the wave generator in the radial direction, which can minimize the radial and axial dimensions of the finger joint module, compressing the overall size of the finger joint module so that it can conform to the size of the human hand and can be applied to the finger joints of a robot's dexterous hand.

[0018] The dexterous hand provided in this application is small in size, close to the size of a human hand, and can imitate more human hand movements, even exceeding the tasks that a human hand can perform, thereby improving the precision of operation. Attached Figure Description

[0019] Figure 1 This is a perspective view of an embodiment of the finger joint module of this application;

[0020] Figure 2 yes Figure 1 A cross-sectional view of the finger joint module shown.

[0021] Figure 3 This is a perspective view of an embodiment of the cam in this application;

[0022] Figure 4 This is a three-dimensional schematic diagram of an embodiment of the dexterous hand of this application;

[0023] Figure 5 This is a three-dimensional schematic diagram of a partial structure at the connection between two phalanges of the finger in this application. Detailed Implementation

[0024] To make the objectives, technical solutions, and effects of this application clearer and more explicit, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] See Figure 1 and Figure 2 , Figure 1 This is a perspective view of an embodiment of the finger joint module of this application. Figure 2 yes Figure 1 The diagram shows a cross-sectional view of a finger joint module 10b. This finger joint module 10b is used in a robot, specifically, it is positioned at the joint of a dexterous hand. The finger joint module 10b includes a rigid wheel 11b, a flexible wheel 12b, and a wave generator 13b.

[0026] The rigid wheel 11b has internal teeth. Specifically, the rigid wheel 11b is made of a rigid material. The rigid wheel 11b has an overall annular structure and internal teeth on its inner wall.

[0027] The flexible wheel 12b is movably disposed within the rigid wheel 11b, and the flexible wheel 12b has external teeth and a first mounting cavity 121b. The flexible wheel 12b has a certain elastic deformation capability, specifically, it is made of a flexible material. The flexible wheel 12b has an overall annular structure, and the first mounting cavity 121b is formed inside the annular structure. The outer wall of the flexible wheel 12b has external teeth, the number of which is less than the number of internal teeth of the rigid wheel 11b.

[0028] A wave generator 13b is disposed in the first mounting cavity 121b, and includes a drive motor 131b and a cam 132b. The drive motor 131b includes a stator 1311b and an outer rotor 1312b surrounding the stator 1311b; specifically, the drive motor 131b can be a brushless motor. The cam 132b is fixedly disposed outside the outer rotor 1312b, and a portion of the outer wall of the cam 132b abuts against the inner wall of the flexible wheel 12b, so that a portion of the external teeth of the flexible wheel 12b meshes with a portion of the internal teeth of the rigid wheel 11b. Specifically, the cam 132b can be bonded to the outer rotor 1312b or fixedly connected to the outer rotor 1312b in other ways. The cam 132b is generally elliptical, and the two ends of the long axis of the cam 132b abut against the interior of the flexible wheel 12b, so that the flexible wheel 12b and the rigid wheel 11b mesh at corresponding positions at these two ends. Along the axial direction of the drive motor 131b, at least the end faces of the drive motor 131b and the cam 132b are located inside the end faces of the rigid wheel 11b and the flexible wheel 12b, that is, at least the drive motor 131b and the cam 132b in the wave generator 13b are not exposed outside the rigid wheel 11b and the flexible wheel 12b.

[0029] The drive motor 131b of the finger joint module 10b in this application provides driving force. The outer rotor 1312b rotates around the stator 1311b, and the outer rotor 1312b drives the cam 132b to rotate around the axis of the drive motor 131b. As the cam 132b rotates, the position of the cam 132b against the flexible wheel 12b changes circumferentially. The position where the flexible wheel 12b was originally against the cam 132b is disengaged from the rigid wheel 11b due to elastic recovery, and the new engagement position shifts circumferentially, causing the flexible wheel 12b to rotate a small angle relative to the rigid wheel 11b. The rigid wheel 11b is fixed relative to the stator 1311b, and the flexible wheel 12b rotates relative to the rigid wheel 11b. Through the synergistic effect of the elastic deformation of the flexible wheel 12b and the difference in the number of teeth, the continuous rotation of the outer rotor 1312b is converted into the decelerated motion of the flexible wheel 12b. The drive motor 131b and cam 132b of this application are embedded in the flexure 12b, and are located inside the flexure 12b in both the axial and radial directions. The drive motor 131b of this application is directly connected to the wave generator 13b in the radial direction, which can minimize the size of the finger joint module 10b in both the radial and axial directions, compress the overall size of the finger joint module 10b, and make it conform to the size of the human hand, so that it can be applied to the finger joints of the robot's dexterous hand.

[0030] Optionally, see Figure 1 and Figure 3 , Figure 3 This is a perspective view of an embodiment of the cam of this application. In this embodiment, the cam 132b includes a cam frame 1321b and two cam bodies 1322b. The cam frame 1321b has an axially extending mounting hole 1323b. The outer rotor 1312b is fixedly disposed in the mounting hole 1323b. The two cam bodies 1322b are arranged radially opposite to each other on both sides of the cam frame 1321b along the drive motor 131b, and the cam bodies 1322b abut against the inner wall of the flexure 12b. Specifically, in this embodiment, the cam frame 1321b and the cam bodies 1322b are separate structures. The cam bodies 1322b are used to abut against the flexure 12b to determine the specific position where the flexure 12b meshes with the rigid wheel 11b. The cam 132b can be circular. The cam 132b contacts the flexure 12b through its arc surface, which can disperse stress and minimize stress concentration. The cam holder 1321b is used to connect the cam body 1322b and the outer rotor 1312b. When the outer rotor 1312b rotates, the cam holder 1321b rotates synchronously and drives the cam body 1322b to move in the circumferential direction. The cam holder 1321b is fixedly connected to the outer rotor 1312b through the mounting hole 1323b, which can be either glued or keyed, so that the drive motor 131b is completely embedded in the mounting hole 1323b and fixed thereto, and the radial dimension of the wave generator 13b can be minimized as much as possible.

[0031] Optionally, please continue reading Figure 3 The cam holder 1321b has two fixing slots 1324b, which are arranged radially opposite to each other along the drive motor 131b. The cam body 1322b is detachably connected to the fixing slots 1324b. The fixing slots 1324b are used to install and accommodate the cam body 1322b. Since the cam body 1322b is detachable, different sizes of flexspline 12b can be applied by replacing the cam body 1322b with different sizes. Specifically, in this embodiment, the cam holder 1321b includes a first cam plate 13211 and a second cam plate 13212. The first cam plate 13211 is generally elongated, and the second cam plate 13212 is axially disposed on one side of the first cam plate 13211. A mounting hole 1323b is disposed in the second cam plate 13212. The second cam plate 13212 is generally circular, and its outer periphery has two opposing arc-shaped openings. The two arc-shaped openings are respectively disposed at the two ends of the first cam plate 13211. The two ends of the first cam plate 13211 and the two arc-shaped openings respectively enclose two fixing grooves 1324b. The arc-shaped openings are used to avoid the cam body 1322b. In other embodiments, the cam holder 1321b can also be an integral structure.

[0032] Further reading Figure 1 and Figure 3 In some embodiments, the cam body 1322b is rotatably disposed in the fixing groove 1324b. Specifically, a first fixing post 1325b is provided in the fixing groove 1324b, the cam body 1322b is sleeved on the first fixing post 1325b, and a first bearing 1326b is connected between the cam body 1322b and the first fixing post 1325b. The first fixing post 1325b and the first cam plate 13211 are locked together by bolts. The above arrangement allows the cam body 1322b to be fixed axially with the cam frame 1321b while also being able to rotate around the first fixing post 1325b. The first bearing 1326b can reduce the friction between the cam body 1322b and the flexible wheel 12b, improving the overall reliability and service life of the finger joint module 10b. In other embodiments, the cam body 1322b can also be fixedly connected to the cam frame 1321b, and the two can also be integrally disposed.

[0033] Optionally, please continue reading Figure 1 and Figure 2In some embodiments, the finger joint module 10b further includes an end cap 14b, which is axially connected to one side of the rigid wheel 11b. The rigid wheel 11b and the end cap 14b together form a second mounting cavity 111b, and the flexible wheel 12b is located within the second mounting cavity 111b. Specifically, the circumferential edge of the rigid wheel 11b is provided with a plurality of second fixing posts 112b, each with a through hole, which may be a threaded hole. The end cap 14b is locked to the second fixing posts 112b by bolts to form a sealed second mounting cavity 111b, protecting the flexible wheel 12b and the wave generator 13b within it.

[0034] Optionally, please continue reading Figure 2 In some embodiments, the finger joint module 10b further includes a central shaft 15b, which passes through and is fixedly connected to the stator 1311b. This arrangement ensures that the stator 1311b and the rigid wheel 11b are coaxially arranged. Optionally, the central shaft 15b and the stator 1311b can be keyed together. Specifically, the outer wall of the central shaft 15b and the inner wall of the stator 1311b are respectively provided with positioning grooves (not shown in the figure), and the positioning grooves on both sides are correspondingly arranged and fixed by inserting a key (not shown in the figure) into the positioning groove. In other embodiments, the central shaft 15b can also be bonded to the stator 1311b. One end of the central shaft 15b is located in the first mounting cavity 121b, and the other end of the central shaft 15b is fixedly connected to the end cover 14b. The above structure allows the central shaft 15b to connect both the end cap 14b and the stator 1311b simultaneously, with one end of the central shaft 15b housed in the first mounting cavity 121b, further reducing the impact on axial dimensions. Optionally, the end cap 14b has a through hole 141b at its center, and the end of the central shaft 15b away from the first mounting cavity 121b can pass through the through hole 141b and be fixedly connected to the end cap 14b, so that the end cap 14b, the rigid wheel 11b, and the stator 1311b are all coaxially fixed.

[0035] Optionally, please continue reading Figure 2In some embodiments, the finger joint module 10b further includes a base plate 113b, which is axially connected to the side of the rigid wheel 11b opposite to the end cap 14b. The base plate 113b is located at the output end of the finger joint module 10b, and the base plate 113b and the end cap 14b are respectively located at the two ends of the rigid wheel 11b along the axial direction, forming a closed second mounting cavity 111b. Optionally, the base plate 113b and the rigid wheel 11b are an integral structure, and the whole is in the shape of a circular groove. In other embodiments, the base plate 113b and the rigid wheel 11b can also be set separately. The base plate 113b is provided with an output hole 114b, and an output shaft 16b is rotatably connected in the output hole 114b. The output shaft 16b is fixedly connected to the flexible wheel 12b. When the outer rotor 1312b rotates relative to the stator 1311b, it drives the cam 132b to rotate synchronously. Simultaneously, a portion of the gear on the flexible wheel 12b meshes with the outer rigid wheel 11b, causing the flexible wheel 12b to rotate relative to the rigid wheel 11b. This rotation drives the output shaft 16b to rotate within the output hole 114b. The output shaft 16b is used to connect to a finger knuckle. Optionally, in some embodiments, an output gear (not shown) is connected to the side of the output shaft 16b opposite to the flexible wheel 12b, and this output gear is directly connected to an internal gear on the finger knuckle. In other embodiments, a D-shaped shaft can also be connected to the side of the output shaft 16b opposite to the flexible wheel 12b, directly connecting to a D-shaped hole on the finger knuckle.

[0036] Optionally, please continue reading Figure 2 In some embodiments, the finger joint module 10b further includes a connecting plate 17b, which is disposed on the side of the flexible wheel 12b away from the end cover 14b. The connecting plate 17b and the flexible wheel 12b together form a first mounting cavity 121b. The two sides of the connecting plate 17b are fixedly connected to the flexible wheel 12b and the output shaft 16b, respectively. Specifically, the connecting plate 17b has a circular plate-like structure and is disposed on the side of the flexible wheel 12b facing the output shaft 16b. The edge of the connecting plate 17b is fixedly connected to the edge of the flexible wheel 12b, which can be secured by multiple bolts. The middle part of the connecting plate 17b is fixedly connected to the side of the output shaft 16b facing the flexible wheel 12b, which can also be secured by multiple bolts. The connecting plate 17b connects the flexible wheel 12b and the connecting shaft on one hand, and the connecting plate 17b and the flexible wheel 12b together form a first mounting cavity 121b for accommodating the wave generator 13b on the other hand.

[0037] Optionally, please continue reading Figure 2In some embodiments, the connecting plate 17b protrudes from the output shaft 16b to form a boss 171b, and the boss 171b and the output shaft 16b are provided with an annular groove 18b in the circumferential direction. Specifically, the outer periphery of the end of the boss 171b facing the output shaft 16b is provided with a first annular groove 1711b, and the outer periphery of the end of the output shaft 16b facing the boss 171b is provided with a second annular groove 161b. The first annular groove 1711b and the second annular groove 161b constitute the annular groove 18b. A second bearing 181b is sleeved on the annular groove 18b and is disposed in the output hole 114b. The second bearing 181b can reduce the friction between the output shaft 16b, the boss 171b and the base plate 113b, so that the output shaft 16b, the connecting plate 17b and the flexible wheel 12b can rotate coaxially. In other embodiments, the annular groove 18b may be provided only on the output shaft 16b or only on the boss 171b.

[0038] It should be noted that, in order to ensure that the drive motor 131b of the finger joint module 10b of this application can operate normally, the materials of the rigid wheel 11b, the flexible wheel 12b and the cam 132b are all non-magnetic materials.

[0039] See Figure 4 , Figure 4 This is a perspective view of one embodiment of the dexterous hand of this application. This application also provides a dexterous hand 100 for use in robots. The dexterous hand 100 includes a palm 20 and fingers 30; the fingers 30 include a plurality of phalanges 31 and a finger joint module 10b as described in any of the above embodiments. At least two adjacent phalanges 31 are provided with the finger joint module 10b, which drives one of the two adjacent phalanges 31 to rotate relative to the other. The fingers 30 are fixedly connected to the palm 20 via the phalange 31 closest to the palm 20. The finger joint module 10b of this application has the advantages of small size and high torque. Therefore, the finger joint module 10b can be hidden in the fingers 30 or the palm 20, reducing the size of the dexterous hand 100 and making its size close to that of a human hand, thus improving the precision of operation.

[0040] Optionally, in one embodiment, the dexterous hand 100 includes five fingers 30, mimicking a human hand: thumb, index finger, middle finger, ring finger, and little finger. Each finger 30 includes three phalanges 31, and finger joint modules 10b are provided between all two adjacent phalanges 31 and at the connection between the finger 30 and the palm 20. See also Figure 5 , Figure 5This is a three-dimensional schematic diagram of a partial structure at the connection between two phalanges of the finger according to this application. The finger joint module 10b is located between two adjacent phalanges 31. Specifically, the finger joint module 10b is fixedly connected to one of the phalanges 31. For example, a rigid wheel 11b is provided on the outer shell of one phalange 31 and the finger joint module 10b, respectively, with fixing holes 312. Bolts are passed through the two fixing holes to fix one phalange 31 and the finger joint module 10b. The output gear (not shown) of the finger joint module 10b meshes with an internal gear 311 on the other phalange 31, driving one of the two adjacent phalanges 31 to rotate relative to the other phalange 31. This structure enables full actuation of the dexterous hand 100, allowing each joint of the finger 30 and the entire finger 30 to be driven independently, meeting the needs of applications requiring high functionality and precision operation.

[0041] This application also provides a robot, including a dexterous hand 100 as described in any of the above embodiments.

[0042] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural or procedural changes made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A finger joint module for use in a robot, characterized in that, The finger joint module includes: Rigid wheel, with internal teeth; A flexible wheel is movably disposed within the rigid wheel, and the flexible wheel has external teeth and a first mounting cavity. A wave generator, disposed in the first mounting cavity, includes a drive motor and a cam; wherein... The drive motor includes a stator and an outer rotor arranged around the stator. The cam is fixed outside the outer rotor, and a portion of the outer wall of the cam abuts against the inner wall of the flexible wheel, so that a portion of the outer teeth of the flexible wheel meshes with a portion of the inner teeth of the rigid wheel. Along the axial direction of the drive motor, at least the end faces of the drive motor and the cam are located inside the end faces of the rigid wheel and the flexible wheel.

2. The finger joint module according to claim 1, characterized in that, The cam includes a cam frame and two cam bodies. The cam frame has mounting holes extending along the axial direction. The outer rotor is fixedly installed in the mounting holes. The two cam bodies are arranged opposite each other on both sides of the cam frame along the radial direction of the drive motor. The cam bodies abut against the inner wall of the flexible wheel.

3. The finger joint module according to claim 2, characterized in that, The cam frame is provided with two fixing slots, which are arranged opposite each other along the radial direction of the drive motor. The cam body is detachably connected to the fixing slots.

4. The finger joint module according to claim 3, characterized in that, The cam body is rotatably mounted in the fixed groove.

5. The finger joint module according to any one of claims 1-4, characterized in that, The finger joint module also includes: An end cap is connected to one side of the rigid wheel along the axial direction. The rigid wheel and the end cap together form a second mounting cavity, and the flexible wheel is located in the second mounting cavity.

6. The finger joint module according to claim 5, characterized in that, The finger joint module also includes: A central shaft passes through the stator and is fixedly connected to the stator. One end of the central shaft is located in the first mounting cavity, and the other end of the central shaft is fixedly connected to the end cover.

7. The finger joint module according to claim 5, characterized in that, The finger joint module also includes: A base plate is connected along the axial direction to the side of the rigid wheel away from the end cover. The base plate is provided with an output hole, and an output shaft is rotatably connected in the output hole. The output shaft is fixedly connected to the flexible wheel.

8. The finger joint module according to claim 7, characterized in that, The finger joint module also includes: A connecting plate is disposed on the side of the flexible wheel away from the end cover. The connecting plate and the flexible wheel together form the first mounting cavity. The two sides of the connecting plate are fixedly connected to the flexible wheel and the output shaft, respectively.

9. The finger joint module according to claim 8, characterized in that, The connecting plate protrudes towards the output shaft on the side facing the output shaft to form a boss. The boss and the output shaft are provided with an annular groove in the circumference. A bearing is sleeved on the annular groove and the bearing is disposed in the output hole.

10. The finger joint module according to claim 7, characterized in that, An output gear is connected to the side of the output shaft opposite to the flexible wheel.

11. A dexterous hand for use in a robot, characterized in that, Includes a palm and fingers, the fingers being rotatably connected to the palm; The finger includes multiple phalanges and a finger joint module as described in any one of claims 1-10, wherein the finger joint module is provided between at least two adjacent phalanges, and the finger joint module is used to drive one of the two adjacent phalanges to rotate relative to the other phalange.

12. A robot, characterized in that, Including the dexterous hand as described in claim 11.

Images