A direct-drive finger joint drive structure, dexterous fingers, and a bionic dexterous hand

Abstract

This utility model relates to the field of dexterous hand technology, specifically disclosing a direct-drive finger joint drive structure, a dexterous finger, and a bionic dexterous hand. The direct-drive finger joint drive structure includes a proximal phalanx, a distal phalanx, and a brushless linear motor. The proximal and distal phalanxes are hinged to form a finger joint structure that can rotate relative to each other. The brushless linear motor includes a housing, a stator, a rotor, a nut, and a lead screw. The housing has a fixed mounting end hinged to the proximal phalanx. The stator is fixed to the inner cavity of the housing. The nut is fixed to the rotor. The lead screw is threadedly engaged with the nut and extends linearly within the inner cavity of the housing. The outer end of the lead screw extends out of the housing and serves as the linear output end of the brushless linear motor, hinged to the distal phalanx. The rotor, nut, and lead screw are sequentially connected for transmission. No intermediate transmission component is provided between the output end of the rotor and the nut. The direct-drive finger joint drive structure can solve the problems of power loss, low transmission efficiency, lag in motion response, and insufficient control precision.

Description

Technical Field

[0001] This utility model relates to the field of dexterous hand technology, and in particular to a direct-drive finger joint drive structure, a dexterous finger, and a bionic dexterous hand. Background Technology

[0002] Currently, most dexterous hand joints are driven by motors to achieve flexion and extension movements. Existing drive solutions are mainly divided into two categories: one is an indirect drive method that transmits motor power to the joint through intermediate mechanisms such as tendons or links; the other is a direct drive method that directly drives the joint rotation with a motor.

[0003] However, all of the above solutions inevitably introduce intermediate transmission links, resulting in additional power losses during transmission and reducing overall transmission efficiency. At the same time, issues such as transmission backlash and elastic deformation weaken the real-time performance of motion response and affect the precise control of joint position and force, making it difficult to meet the requirements of high-precision operation tasks. Utility Model Content

[0004] The purpose of this invention is to provide a direct-drive finger joint drive structure, a dexterous finger, and a bionic dexterous hand to solve the problems of power loss, low transmission efficiency, sluggish motion response, and insufficient control precision.

[0005] In a first aspect, this utility model provides a direct-drive finger joint drive structure, which includes a proximal phalanx, a distal phalanx, and a brushless linear motor. The proximal phalanx and the distal phalanx are hinged to form a finger joint structure that can rotate relative to each other. The brushless linear motor drives the distal phalanx to rotate relative to the proximal phalanx through linear extension and retraction, so as to realize the flexion and extension movement of the finger joint structure. The brushless linear motor body is hinged to the proximal finger joint. The brushless linear motor includes a stator, a rotor, a nut, and a lead screw. The nut is rotatably disposed in the stator and fixed to the rotor. The lead screw is threadedly engaged with the nut and is hinged to the distal finger joint. The rotor, the nut, and the lead screw are sequentially connected by a transmission mechanism, and no intermediate transmission component is provided between the output end of the rotor and the nut.

[0006] As an optional technical solution, the brushless linear motor further includes a housing, the housing having a fixed mounting end hinged to the proximal phalanx, the stator fixed in the inner cavity of the housing, the nut rotatably disposed in the inner cavity of the housing, the lead screw extending and retracting linearly within the inner cavity of the housing, and the outer end of the lead screw passing through the inner cavity of the housing and serving as the linear output end of the brushless linear motor hinged to the distal phalanx.

[0007] As an optional technical solution, the direct-drive finger joint drive structure further includes: The first cylindrical pin is used to hinge the fixed mounting end to the proximal phalanx.

[0008] As an optional technical solution, the housing includes a bottom shell and a cover shell. The bottom shell is installed at the bottom of the cover shell and the two enclose each other to form the inner cavity of the housing. The upper end of the cover shell is provided with a clearance opening through which the lead screw can pass. The first cylindrical pin is integrally formed on the bottom shell.

[0009] As an optional technical solution, two first cylindrical pins are coaxially arranged, with the two first cylindrical pins spaced apart along the axial direction of the first cylindrical pins, forming an installation space between them; the brushless linear motor further includes: A control circuit board is electrically connected to the stator and is fixed to the bottom surface of the base shell and is at least partially located in the mounting space.

[0010] As an optional technical solution, the bottom shell is provided with a detection hole, the control circuit board is covered on the outside of the detection hole, and the control circuit board is provided with a position sensor, which is set towards the inner end of the detection hole and is used to detect the rotation angle of the nut.

[0011] As an optional technical solution, a main cavity is provided in the proximal phalanx, the first cylindrical pin is provided in the main cavity, and the brushless linear motor is installed in the main cavity and can swing in the main cavity; In the swing direction of the brushless linear motor, the width of the main cavity is greater than the width of the brushless linear motor; In the height direction of the brushless linear motor, the height of the main cavity is greater than the height of the housing.

[0012] As an optional technical solution, a secondary cavity is also provided in the proximal phalanx. The secondary cavity is located at the end of the main cavity near the distal phalanx and communicates with the main cavity. The outer end of the lead screw passes through the secondary cavity and is hinged to the distal phalanx in the secondary cavity.

[0013] As an optional technical solution, the direct-drive finger joint drive structure further includes: The second cylindrical pin is used to hinge the linear output end of the brushless linear motor to the distal phalanx. The second cylindrical pin passes through the secondary cavity. The third cylindrical pin is used to hinge the proximal phalanx and the distal phalanx, and the third cylindrical pin passes through the secondary cavity.

[0014] As an optional technical solution, the two side walls opposite to each other on the sub-cavity are provided with guide grooves. The guide grooves are configured as arc-shaped groove structures extending around the third cylindrical pin. The two ends of the second cylindrical pin pass through the two guide grooves respectively and connect to the distal phalanx.

[0015] As an optional technical solution, the outer end of the lead screw is provided with a connector, the connector including a connecting rod and a sleeve ring, one end of the connecting rod is connected to the sleeve ring, the other end of the connecting rod is connected to the outer end of the lead screw, and the sleeve ring is sleeved on the second cylindrical pin; The outer diameter of the connecting rod is smaller than the outer diameter of the lead screw, so as to form a clearance space on the outer periphery of the connecting rod for avoiding the third cylindrical pin.

[0016] Secondly, this utility model also provides a dexterous finger, including the direct-drive finger joint drive structure described above.

[0017] Thirdly, this utility model also provides a bionic dexterous hand, including a palm structure and dexterous fingers as described above, wherein the proximal phalanges are hinged to the palm structure.

[0018] The beneficial effects of this direct-drive knuckle drive structure include at least the following: This direct-drive knuckle drive structure directly drives the nut to rotate synchronously via the rotor of a brushless linear motor, eliminating intermediate transmission components such as reducers and gears found in traditional solutions. This creates a direct-drive link from electromagnetic torque to linear motion of the lead screw. During operation, the rotating magnetic field generated by the stator drives the rotor to rotate, which in turn drives the nut, which is fixed to it, to rotate. The thread of the nut pushes the lead screw to extend and retract linearly along the axial direction, thereby pulling the distal knuckle relative to the proximal knuckle in flexion and extension. Because intermediate transmission links are eliminated, power does not need to undergo additional mechanical conversion or transmission paths, avoiding interference from gear meshing backlash and friction loss on energy transfer. This allows the torque and speed output by the brushless linear motor to be converted into linear thrust and speed of the lead screw with almost no loss. This direct-drive method significantly reduces energy loss during power transmission, improving overall transmission efficiency. Simultaneously, it greatly reduces transmission backlash and hysteresis, making joint movement response faster and more precise, which is beneficial for achieving fine control of knuckle position and gripping force. Therefore, this direct-drive knuckle drive structure effectively solves the problems of high power loss, low transmission efficiency, lag in motion response, and insufficient control precision caused by intermediate transmission structures in existing technologies. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the dexterous finger in an embodiment of this utility model; Figure 2 This is a schematic diagram of the internal structure of the direct-drive finger joint drive structure in an embodiment of this utility model; Figure 3 This is a schematic diagram showing the fit between the proximal phalanx and the internal structure of the brushless linear motor in an embodiment of this utility model; Figure 4 This is a schematic diagram of the structure of the brushless linear motor in an embodiment of this utility model.

[0020] In the picture: 100. Proximal phalanx; 110. Main cavity; 120. Secondary cavity; 121. Guide groove; 200. Distal phalanx; 10. Brushless linear motor; 1. Housing; 11. Bottom housing; 12. Cover; 2. Stator; 3. Rotor; 4. Nut; 5. Lead screw; 6. Control circuit board; 7. Connector; 71. Connecting rod; 72. Collar ring; 81. First radial bearing; 82. Second radial bearing; 20. First cylindrical pin; 30. Second cylindrical pin; 40. Third cylindrical pin. Detailed Implementation

[0021] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0022] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for 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. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Moreover, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0025] like Figures 1 to 4 As shown, this embodiment provides a direct-drive finger joint drive structure, which includes a proximal phalanx 100, a distal phalanx 200, and a brushless linear motor 10. The proximal phalanx 100 and the distal phalanx 200 are hinged together to form a finger joint structure; the brushless linear motor 10 serves as a power source to drive the distal phalanx 200 to rotate relative to the proximal phalanx 100, thereby achieving flexion and extension movements of the finger joint.

[0026] Furthermore, such as Figures 2-4 As shown, the brushless linear motor 10 includes a housing 1, a stator 2, a rotor 3, a nut 4, and a lead screw 5. The housing 1 has a fixed mounting end hinged to the proximal phalanx 100; the stator 2 is fixed within the inner cavity of the housing 1; the nut 4 is rotatably mounted within the inner cavity of the housing 1 and fixed to the rotor 3; the lead screw 5 is threadedly engaged with the nut 4, extending linearly within the inner cavity of the housing 1, with its outer end extending out of the housing 1 as a linear output end and hinged to the distal phalanx 200. The rotor 3, nut 4, and lead screw 5 are sequentially connected, and no intermediate transmission components are provided between the output end of the rotor 3 and the nut 4. When the brushless linear motor 10 is energized, the rotor 3 directly drives the nut 4 to rotate synchronously, and the lead screw 5 reciprocates linearly under the drive of the nut 4, thereby causing the distal phalanx 200 to rotate relative to the proximal phalanx 100, realizing the flexion and extension movements of the finger joints.

[0027] Specifically, the direct-drive knuckle drive structure provided in this embodiment directly drives the nut 4 to rotate synchronously via the rotor 3 of the brushless linear motor 10, eliminating intermediate transmission components such as reducers and gears in traditional solutions, forming a direct-drive link from electromagnetic torque to the linear motion of the lead screw 5. During operation, the rotating magnetic field generated by the stator 2 drives the rotor 3 to rotate, and the rotor 3 drives the nut 4, which is fixed to it, to rotate together. The thread of the nut 4 pushes the lead screw 5 to extend and retract linearly along the axial direction, thereby pulling the distal knuckle 200 relative to the proximal knuckle 100 in flexion and extension. Because the intermediate transmission link is eliminated, the power does not need to undergo additional mechanical conversion or transmission paths, avoiding interference from gear meshing clearance and friction loss on energy transmission. This allows the torque and speed output by the brushless linear motor 10 to be converted into the linear thrust and speed of the lead screw 5 with almost no loss. This direct-drive method significantly reduces energy loss during power transmission and improves overall transmission efficiency; at the same time, it greatly reduces transmission clearance and hysteresis effects, making the joint movement response faster and more precise, which is beneficial for achieving fine control of knuckle position and gripping force. Therefore, this direct-drive knuckle drive structure effectively solves the problems of high power loss, low transmission efficiency, sluggish motion response, and insufficient control precision caused by the intermediate transmission structure in the existing technology.

[0028] For example, such as Figure 3 As shown, the nut 4 is configured as a cylindrical structure, and the rotor 3 is directly embedded in the outer periphery of the nut 4 to achieve mutual fixation. Specifically, mounting flanges are provided at both ends of the outer peripheral wall of the nut 4 in the axial direction, and the rotor 3 is embedded between the two mounting flanges to achieve a stable installation. In addition, one end of the nut 4 is rotatably mounted on the end of the housing 1 near the protruding end of the lead screw 5 via a first radial bearing 81, and the other end of the nut 4 is rotatably mounted on the end of the housing 1 away from the protruding end of the lead screw 5 via a second radial bearing 82. The first radial bearing 81 and the second radial bearing 82 can be selected as deep groove ball bearings, angular contact bearings, etc.

[0029] For example, such as Figures 2-4 As shown, the fixed mounting end is rigidly hinged to the proximal phalanx 100 by the first cylindrical pin 20. The first cylindrical pin 20 serves as the hinge shaft, enabling the brushless linear motor 10 to swing within the proximal phalanx 100 to adapt to the angle changes during joint movement.

[0030] For example, such as Figure 4 As shown, the housing 1 includes a bottom shell 11 and a cover 12. The bottom shell 11 is installed at the bottom of the cover 12, and the two enclose the inner cavity of the housing 1. The upper end of the cover 12 (i.e. the end opposite to the bottom shell 11) is provided with a clearance opening for the lead screw 5 to pass through.

[0031] For example, such as Figure 4 As shown, the first cylindrical pin 20 is integrally formed on the bottom shell 11 of the housing 1 to improve structural compactness and reduce the number of parts.

[0032] Furthermore, such as Figure 4 As shown, two first cylindrical pins 20 are coaxially arranged, spaced apart along their axial direction, and rotatably connected to two opposite sidewalls on the proximal finger joint 100, forming an installation space between the two first cylindrical pins 20. Furthermore, the brushless linear motor 10 also includes a control circuit board 6, which is electrically connected to the stator 2 and used to control the power supply and direction of the brushless linear motor 10. The control circuit board 6 is fixed to the bottom surface of the base shell 11 and is at least partially located in the installation space between the two first cylindrical pins 20, thereby making full use of space and making the overall structure compact.

[0033] In some embodiments, the first cylindrical pin 20 may also be configured as an integral long pin shaft, or it may be a split structure that is fixed to both sides of the bottom shell 11 respectively.

[0034] For example, the bottom shell 11 has a detection hole (not shown in the figure), the control circuit board 6 is covered on the outside of the detection hole, and the control circuit board 6 has a position sensor (not shown in the figure) facing the inner end of the detection hole, used to detect the rotation angle of the nut 4. The position sensor can be a Hall sensor, a magnetic encoder or a photoelectric encoder, etc.

[0035] For example, such as Figure 2 and Figure 3 As shown, a main cavity 110 is provided in the proximal phalanx 100. The main cavity 110 has a cylindrical cavity structure. A first cylindrical pin 20 is disposed inside the main cavity 110 and is rotatably connected to the side wall of the main cavity 110 through a radial bearing. A brushless linear motor 10 is installed in the main cavity 110 and can swing within it. To allow the brushless linear motor 10 sufficient swing space, the width of the main cavity 110 is greater than the width of the brushless linear motor 10 in the width direction (i.e., the horizontal direction perpendicular to the axis of the first cylindrical pin 20); and the height of the main cavity 110 is greater than the height of the housing 1 in the height direction. In this way, when the joint flexes and extends, the brushless linear motor 10 can swing accordingly without interference.

[0036] For example, such as Figure 2 and Figure 3 As shown, a secondary cavity 120 is also provided in the proximal phalanx 100. The secondary cavity 120 is located at the end of the main cavity 110 near the distal phalanx 200 and is connected to the main cavity 110. The outer end of the lead screw 5 passes through the secondary cavity 120 and is hinged to the distal phalanx 200 within the secondary cavity 120. The secondary cavity 120 provides an independent space for the movement and connection structure of the lead screw 5, avoiding interference with other components within the main cavity 110. Compared to a design where the lead screw 5 is exposed outside the phalanx, it offers better sealing and improves protective performance.

[0037] For example, such as Figure 2 and Figure 3 As shown, the linear output end (i.e. the outer end of the lead screw 5) of the brushless linear motor 10 is hinged to the distal finger joint 200 through the second cylindrical pin 30. The second cylindrical pin 30 passes through the secondary cavity 120, and the two ends of the second cylindrical pin 30 are rotatably connected to the side wall of the distal finger joint 200 through radial bearings.

[0038] For example, such as Figure 2 and Figure 3 As shown, the proximal phalanx 100 and the distal phalanx 200 are hinged by a third cylindrical pin 40, which also passes through the sub-cavity 120. The two ends of the third cylindrical pin 40 are rotatably connected to the side walls of the sub-cavity 120 and the distal phalanx 200 by radial bearings, respectively.

[0039] For example, such as Figure 3 As shown, guide grooves 121 are provided on two opposite side walls of the secondary cavity 120. The guide grooves 121 are configured as arc-shaped groove structures extending around the third cylindrical pin 40. The two ends of the second cylindrical pin 30 pass through the two guide grooves 121 and connect to the distal phalanx 200. When the joint flexes and extends, the second cylindrical pin 30 slides along the guide grooves 121, guiding the linear motion of the lead screw 5 into the rotational motion of the distal phalanx 200, while restricting the motion trajectory and improving the smoothness of the movement.

[0040] For example, such as Figures 2-4 As shown, the outer end of the lead screw 5 is provided with a connecting member 7, which includes a connecting rod 71 and a sleeve ring 72. One end of the connecting rod 71 is connected to the sleeve ring 72, and the other end of the connecting rod 71 is connected to the outer end of the lead screw 5. The sleeve ring 72 is sleeved on the second cylindrical pin 30, thereby realizing the hinge connection between the lead screw 5 and the second cylindrical pin 30. Furthermore, the outer diameter of the connecting rod 71 is smaller than the outer diameter of the lead screw 5, thus forming a clearance space on the outer periphery of the connecting rod 71 to avoid the third cylindrical pin 40 and prevent motion interference.

[0041] For example, the connector 7 can be integrally formed with the lead screw 5, or it can be fixed by means of threaded connection or welding.

[0042] like Figure 1 As shown, this embodiment also provides a dexterous finger, including the above-described direct-drive finger joint drive structure.

[0043] This embodiment also provides a bionic dexterous hand, including a palm structure and the aforementioned dexterous fingers, with the proximal phalanges 100 hinged to the palm structure.

[0044] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A direct-drive finger joint drive structure, characterized in that, It includes a proximal knuckle (100), a distal knuckle (200), and a brushless linear motor (10); The proximal phalanx (100) and the distal phalanx (200) are hinged to form a finger joint structure that can rotate relative to each other. The brushless linear motor (10) drives the distal phalanx (200) to rotate relative to the proximal phalanx (100) through linear extension and retraction to realize the flexion and extension movement of the finger joint structure. The body of the brushless linear motor (10) is hinged to the proximal finger joint (100). The brushless linear motor (10) includes a stator (2), a rotor (3), a nut (4), and a lead screw (5). The nut (4) is rotatably disposed in the stator (2) and fixed to the rotor (3). The lead screw (5) is threadedly engaged with the nut (4) and is hinged to the distal finger joint (200). The rotor (3), the nut (4) and the lead screw (5) are connected in sequence for transmission. No intermediate transmission component is provided between the output end of the rotor (3) and the nut (4).

2. The direct-drive finger joint drive structure according to claim 1, characterized in that, The brushless linear motor (10) also includes a housing (1), which has a fixed mounting end that is hinged to the proximal finger joint (100). The stator (2) is fixed in the inner cavity of the housing (1), and the nut (4) is rotatably disposed in the inner cavity of the housing (1). The lead screw (5) is linearly extended and retracted in the inner cavity of the housing (1), and the outer end of the lead screw (5) extends out of the inner cavity of the housing (1) and serves as the linear output end of the brushless linear motor (10) and is hinged to the distal finger joint (200).

3. The direct-drive finger joint drive structure according to claim 2, characterized in that, The direct-drive finger joint drive structure also includes: The first cylindrical pin (20) is used to hinge the fixed mounting end to the proximal phalanx (100).

4. The direct-drive finger joint drive structure according to claim 3, characterized in that, The housing (1) includes a bottom shell (11) and a cover (12). The bottom shell (11) is installed at the bottom of the cover (12) and the two enclose each other to form the inner cavity of the housing (1). The upper end of the cover (12) is provided with a clearance opening through which the lead screw (5) can pass. The first cylindrical pin (20) is integrally formed on the bottom shell (11).

5. The direct-drive finger joint drive structure according to claim 4, characterized in that, Two first cylindrical pins (20) are coaxially arranged. Along the axial direction of the first cylindrical pins (20), the two first cylindrical pins (20) are spaced apart and form an installation space between them.

6. The direct-drive finger joint drive structure according to claim 3, characterized in that, A main cavity (110) is provided in the proximal phalanx (100), the first cylindrical pin (20) is provided in the main cavity (110), and the brushless linear motor (10) is installed in the main cavity (110) and can swing in the main cavity (110).

7. The direct-drive finger joint drive structure according to claim 6, characterized in that, The proximal phalanx (100) is further provided with a secondary cavity (120), which is located at the end of the main cavity (110) near the distal phalanx (200) and communicates with the main cavity (110). The outer end of the lead screw (5) passes through the secondary cavity (120) and is hinged to the distal phalanx (200) in the secondary cavity (120).

8. The direct-drive finger joint drive structure according to claim 7, characterized in that, The direct-drive finger joint drive structure also includes: The second cylindrical pin (30) is used to hinge the linear output end of the brushless linear motor (10) to the distal phalanx (200). The second cylindrical pin (30) passes through the sub-cavity (120). The third cylindrical pin (40) is used to hinge the proximal phalanx (100) and the distal phalanx (200), and the third cylindrical pin (40) passes through the sub-cavity (120).

9. The direct-drive finger joint drive structure according to claim 8, characterized in that, The two side walls of the sub-cavity (120) are provided with guide grooves (121). The guide grooves (121) are configured as arc-shaped groove structures extending around the third cylindrical pin (40). The two ends of the second cylindrical pin (30) pass through the two guide grooves (121) and connect to the distal phalanx (200).

10. The direct-drive finger joint drive structure according to claim 8, characterized in that, The outer end of the lead screw (5) is provided with a connector (7), the connector (7) includes a connecting rod (71) and a sleeve ring (72), one end of the connecting rod (71) is connected to the sleeve ring (72), the other end of the connecting rod (71) is connected to the outer end of the lead screw (5), and the sleeve ring (72) is sleeved on the second cylindrical pin (30).

11. A dexterous finger, characterized in that, Includes the direct-drive finger joint drive structure as described in any one of claims 1-10.

12. A bionic dexterous hand, characterized in that, Includes a palm structure and a dexterous finger as described in claim 11, wherein the proximal phalanx (100) is hinged to the palm structure.

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