31 results about "Distal phalange" patented technology

This invention discloses a flexible cable-driven, fully actuated, anthropomorphic dexterous hand finger mechanism, comprising a base, a first phalanx, a first joint, a second phalanx, a second joint, a third phalanx, a third joint, a fourth phalanx, and a fourth joint. The first phalanx is connected to the base via the first joint; the second phalanx is connected to the first phalanx via the second joint; and the third phalanx is connected to the second phalanx via the third joint. Flexible cable pulley mechanisms are installed at the second and third joints, driving the third phalanx to rotate around the third joint, the second phalanx to rotate around the second joint, and the first phalanx to swing around the first joint. The fourth phalanx is connected to the third phalanx via the fourth joint, and the third phalanx drives the fourth phalanx to rotate around the fourth joint via a four-bar linkage. This invention achieves anthropomorphism and modularity in anthropomorphic dexterous fingers, meeting the requirements for end-effector motor capabilities in dexterous operations.

The utility model discloses an elastic power-assisted fingerstall for assisting typewriting. The elastic power-assisted fingerstall comprises a near knuckle sleeve and a wrist sleeve, wherein the near knuckle sleeve is sleeved on a near knuckle of an index finger, and the wrist sleeve is sleeved on a wrist; the near knuckle sleeve is connected with the wrist sleeve through an elastic strip, and the elastic strip is distributed along the back of the index finger and the back of the palm; and the elastic strip is provided with a tension degree adjusting mechanism. After the elastic assisting fingerstall is worn, the tension degree of the elastic strip is adjusted through the tension degree adjusting mechanism, so that the elastic strip is in an elastic stretching state in a ready typing state. When the keyboard or the mouse is knocked and the index finger is lifted, the elastic strip elastically contracts along the finger back to provide backward and upward pulling assisting force; the working mode that the index finger completely depends on active contraction is changed into the working mode that active contraction and passive contraction are mixed, the index finger extensor contraction strength is reduced through assistance, the tension degree of the index finger extensor and auxiliary muscle groups of the index finger extensor is effectively relieved, and therefore the morbidity probability of chronic strain is reduced.

The application belongs to the technical field of robots, and discloses a motion decoupling double-path rope-driven bionic thumb device, which comprises a distal phalanx, a proximal phalanx, a metacarpal bone, a thumb base, IP joints, MCP joints and CMC joints for connecting the phalanges; the distal phalanx, the proximal phalanx, the metacarpal bone and the thumb base are connected through tendon rope transmission. The rope path for driving the IP joint does not pass through the MCP joint, and the part of the rope path across the MCP joint is wrapped by a Bowden tube assembly, so that the length of the rope path remains constant when the MCP joint moves, and the motion decoupling of the MCP joint and the IP joint is realized; the rope path for driving the MCP joint is also wrapped by a Bowden tube assembly outside, so that the length of the rope path remains constant when the CMC joint moves, and the motion decoupling of the MCP joint and the CMC joint is realized. The application has the advantages of compact structure, joint motion decoupling, precise force control, strong bearing capacity and the like.

The invention provides a finger of a dexterous hand, and relates to the technical field of artificial intelligence, the finger of the dexterous hand comprises at least two knuckles, and the at least two knuckles comprise a first knuckle and a second knuckle which are sequentially arranged in the direction from the finger root to the fingertip in the axial direction of the finger; the first knuckles are provided with first driving modules used for driving the first knuckles, and the second knuckles are provided with second driving modules used for driving the second knuckles. Wherein the second knuckle comprises a fingertip and a connecting part, the fingertip is installed on the connecting part through a detachable component, and the connecting part is connected with the first knuckle. In the embodiment of the invention, each knuckle is directly driven, the transmission path is short, and the control precision can be improved. And through the detachable fingertips, the fingertips can be quickly replaced according to actual scene requirements, the whole hand does not need to be replaced, and the cost is reduced.

The invention relates to the technical field of manipulators, and discloses a bionic dexterous hand. The bionic dexterous hand comprises a palm mechanism, a thumb mechanism and at least one finger mechanism, the rotary driving assembly is used for driving the first side-sway driving assembly to rotate around a first axis, the first side-sway driving assembly is used for driving the first near knuckle to perform side-sway motion around a second axis, and the first driving part is in driving connection with the first near knuckle and is used for driving the first middle knuckle assembly to perform flexion and extension motion; the second driving part is in driving connection with the first far knuckle assembly and is used for driving the first far knuckle assembly to bend and stretch; the first far knuckle assembly is used for driving the first fingertip to bend and stretch; the second side-sway driving assembly is used for driving the second near knuckle assembly to make side-sway motion around a sixth axis, and the second near knuckle assembly is used for driving the second middle knuckle assembly to make flexion and extension motion; the second middle knuckle assembly is used for driving the second far knuckle assembly to bend and stretch, and the second far knuckle assembly is used for driving the second fingertip to bend and stretch.

This invention discloses a bionic finger, robotic hand, and robot. The bionic finger includes: a phalanx, comprising a base and a nail portion, the base and nail portion being integrally formed; a support body, mounted on the nail portion; a circuit board, located on the side of the support body opposite to the nail portion; and a sensing envelope, connected to the support body and enclosing the circuit board and support body, abutting against the edges of the base and nail portion. The sensing envelope mimics the skin of a real finger and assists in achieving touch sensing functionality; the sensing envelope abuts against the nail portion, mimicking the skin and nail of a real finger. The nail portion is located on the upper surface of the fingertip, and the sensing envelope covers the front, lower, left, and right surfaces of the fingertip. The support body is configured to assemble the circuit board and sensing envelope onto the phalanx. The sensing envelope is connected to the support body, so that the circuit board is held within the support body and the sensing envelope. The bionic finger exhibits high biomimetic effects in both morphology and function.

The application provides a mechanical finger, a dexterous hand and a robot, and relates to the technical field of robots.The mechanical finger comprises at least one first phalanx, each first phalanx comprising a first phalanx body and a second phalanx body, the first phalanx body of each first phalanx being provided with a first clamping part, the second phalanx body of each first phalanx being provided with a second clamping part, and the first clamping part being clamped with the second clamping part.In this way, the assembly process of each first phalanx does not need to use screws and additional tools, which not only helps to simplify the assembly process of the mechanical finger and improve the production efficiency of the dexterous hand, but also helps to reduce the weight of the dexterous hand.

The application relates to a connecting rod transmission three-joint underdrive mechanism for finger rehabilitation, which comprises a proximal phalanx sliding groove connecting rod mechanism and a middle phalanx sliding groove connecting rod mechanism. Through the proximal phalanx sliding groove and the proximal phalanx connecting rod system, the middle phalanx can keep following the proximal phalanx; in the same way, the distal phalanx can keep following the middle phalanx through the middle phalanx sliding groove connecting rod. Therefore, the mechanism can adopt one drive to synchronously control the angles of the three phalanges. The application can effectively reduce the driving quantity of a non-flexible hand rehabilitation medical robot, reduce the control difficulty, and solve the defects of poor control precision, high device cost and heavy weight of the existing non-underdrive manipulator.

The application discloses a mechanical finger, a control method, device and equipment of the mechanical finger and a medium, and relates to the field of robots.The mechanical finger 100 comprises a proximal phalanx 10, a distal phalanx 20 and a base 30; the bottom of the proximal phalanx 10 is movably connected with the top of the base 30, and the bottom of the distal phalanx 20 is movably sleeved on the top of the proximal phalanx 10; a proximal phalanx motor 11 and a distal phalanx motor 21 are fixedly arranged in the base 30, the proximal phalanx 10 is in transmission connection with the proximal phalanx motor 11, and the distal phalanx 20 is in transmission connection with the distal phalanx motor 21.In this embodiment, the proximal phalanx motor 11 and the distal phalanx motor 21 are arranged in the base 30, so that the sizes of the proximal phalanx 10 and the distal phalanx 20 tend to the actual sizes of a human hand, and thus the precise control of the mechanical finger 100 is realized.

The present invention relates to a finger rehabilitation exercise apparatus comprising: a proximal bracket for supporting the proximal phalange of a finger; a linear actuating module which has a proximal end hinge-coupled to the proximal bracket, and which can extend and contract in the longitudinal direction of the proximal bracket; a first scissor linkage assembly which is folded or unfolded in a scissor linkage form and which has proximal ends hinge-coupled to two points of the distal end of the proximal bracket and the distal end of the linear actuating module so as to be bent and unfolded toward the palm when the linear actuating module extends and to be folded toward the front of the proximal bracket when the linear actuating module contracts; a middle phalange bracket which supports the middle phalange of the finger and which has a proximal end to which each of both sides of the distal side of the first scissor linkage assembly is hinge-coupled, so as to rotate toward the palm when the first scissor linkage assembly is unfolded and to rotate toward the front of the proximal bracket when the first scissor linkage assembly is folded; a second scissor linkage assembly which is folded or unfolded in a scissor linkage form, and which is hinge-coupled to each of both sides of the distal side of the middle phalange bracket so as to be symmetrical to the first scissor linkage assembly with the middle phalange bracket therebetween; a gear assembly provided on the middle phalange bracket so as to transmit, as the folding or unfolding motion of the second scissor linkage assembly, the folding or unfolding motion of the first scissor linkage assembly; and a distal bracket provided at the distal end of the second scissor linkage assembly so as to support the distal phalange of the finger. Therefore, independent rehabilitation exercises for each individual finger, that is, the index finger, the middle finger, the ring finger, the little finger, and the thumb are possible.

The application provides a pneumatic skeleton flexible perception ecological manipulator and a preparation and application method, and the manipulator comprises a manipulator kit, a flexible pneumatic muscle module, an embedded ecological skeleton module, a flexible self-powered pressure sensing module, a flexible self-powered curvature sensing module and a mounting flange module; the flexible pneumatic muscle module is used for simulating three-degree-of-freedom grabbing motion of a human finger and driving the embedded ecological skeleton module; the embedded ecological skeleton module is embedded in the flexible pneumatic muscle module and simulates a human finger bone; the flexible self-powered pressure sensing module is integrated on the middle phalanx and the distal phalanx of the mechanical finger and is used for sensing the force of a grabbed object; the flexible self-powered curvature sensing module is integrated at a joint of the mechanical finger and is used for monitoring the bending angle of the joint of the mechanical finger; and the mounting flange module is used for mounting and fixing the pneumatic skeleton flexible perception ecological manipulator. The application solves the problem that the manipulator in the prior art cannot accurately perceive the pressure of a grabbed object in the grabbing process.

The application discloses a dexterous hand finger structure and a dexterous hand, wherein the dexterous hand finger structure comprises a base, a proximal phalanx, a middle phalanx, a distal phalanx, a first driving assembly and a second driving assembly. The proximal phalanx is hinged to the base through a first joint shaft, and the middle phalanx and the distal phalanx are sequentially hinged. The first driving assembly drives the proximal phalanx to bend through a first tendon. The second driving assembly drives the middle phalanx and the distal phalanx to bend through a second tendon. The first joint shaft is fixed to the base, and a side wall of the first joint shaft is provided with a through hole. The transmission path of the second tendon is configured as follows: the second tendon is led out from a second driver, sequentially passes through the through hole on the base and the first joint shaft, and is fixed to the distal phalanx after passing around the second joint shaft and the third joint shaft. The design makes the tendon path for driving the middle phalanx and the distal phalanx pass through the fixed joint shaft center, effectively blocks the path length interference of the tendon for the middle phalanx and the distal phalanx caused by the movement of the proximal phalanx, realizes the complete decoupling and independent precise control of the movement of each joint, and is simple and reliable in structure and suitable for precise operation scenes.

The invention belongs to the technical field of dexterous hand touch sensing, and particularly relates to a dexterous hand far-end phalanx full-surface contact force sensing method based on a redundant tether. The method comprises the following steps: constructing a dexterous hand system comprising a redundant tethered driving mechanism and an external sensing module; establishing a kinematic model of the dexterous hand system based on the rope length change information; establishing a statics model considering gravity compensation and low-speed friction compensation, and solving the magnitude, direction and moment of external contact force acting on the dexterous hand system; and solving an intersection point of the external force acting line and the phalanx outer surface model through a numerical calculation method to obtain force acting point information of the contact point on the surface of the dexterous hand system. The redundant rope system mechanism is used for driving the fingers to move, the sensing module is completely arranged at the safe position away from the hand body, and the three-dimensional vector of the contact force borne by the fingertips and the accurate force acting point position of the three-dimensional vector can be reversely solved only by collecting rope length changes and tension information of the driving rope and the return rope.

A kind of double-degree-of-freedom underactuated robot thumb based on linear slide rod mechanism relates to intelligent robot technical field.Base joint frame, proximal phalanx frame and distal phalanx frame are connected by metacarpophalangeal joint and interphalangeal joint to form base structure, two drivers are connected transmission screw lever at bottom, transmission link is Y-shaped structural member, two branch arms of which are hinged to the bottom end of distal phalanx frame, the main arm is provided with slide hole and slide rod to form sliding pair, the bottom end is supported by spring, the bottom end of slide rod is hinged to metacarpophalangeal joint, screw nut and screw lever are arranged on the both sides of the bottom end of transmission link to form ball screw pair, position sensor collects distal phalanx frame position signal, and magnet steel and hall sensor measure proximal phalanx frame position signal.Two degrees of freedom motion is realized by using parallel structure, stable and flexible adaptive enveloping grasping of object is realized, the overall structure is simple and efficient, and has the advantages of high integration, high power density, fast response speed and accurate measurement.

The application provides a mechanical hand finger and a mechanical hand, and relates to the technical field of mechanical hands. The mechanical hand finger comprises a distal phalanx, a proximal phalanx and a finger root which are connected in relative rotation, a driving mechanism, a driving connecting rod and a web, the driving mechanism is installed on the finger root, a joint shaft is arranged at the connection position of the proximal phalanx and the finger root, the driving connecting rod is located on the side of the proximal phalanx facing or facing away from the finger web, the upper end of the driving connecting rod is hinged to the distal phalanx, the lower end of the driving connecting rod is hinged to the web, the web is connected to the joint shaft, the driving mechanism is drivingly connected to the web and is used for driving the web and the joint shaft to rotate synchronously, so that the proximal phalanx rotates relative to the finger root, and the driving connecting rod rotates relative to the proximal phalanx through the rotation of the web. The load borne by the joint between the distal phalanx and the proximal phalanx is reduced, so that the stability of the joint between the distal phalanx and the proximal phalanx of the mechanical hand finger is improved.

This application relates to the field of robotic hand technology, disclosing a robotic finger and a robotic hand. The robotic finger includes: a distal phalanx; a proximal phalanx, drivenly connected to the distal phalanx; and a driving connection portion disposed at the connection between the root of the proximal phalanx and the palm base, for forming the metacarpophalangeal joint of the robotic finger. The driving connection portion includes an avoidance connection mechanism and a driving device unit, the driving device unit being drivenly connected to the proximal phalanx via the avoidance connection mechanism. The driving device unit enables the metacarpophalangeal joint to perform multi-degree-of-freedom movements within its normal range of motion, thereby realizing the swinging and flexion / extension movements of the robotic finger. Furthermore, when the metacarpophalangeal joint exceeds its normal range of motion due to overextension or external force, the avoidance connection mechanism absorbs part of the impact force and allows the proximal phalanx to move an additional distance.

The application provides an anthropomorphic dexterous hand, a rubber finger sleeve is arranged at a fingertip position of a distal phalanx of a finger, and a finger pulp at the fingertip position is designed as a hollow structure. Since the hollow structure at the finger pulp of the rubber finger sleeve has a large deformation space, the finger can be fully contacted with a grasped object, the contact area of the finger and the object is increased, and therefore the anthropomorphic dexterous hand has good self-adaptability, so that the anthropomorphic dexterous hand can more firmly grasp the object.

A kind of belt drive multi-degree-of-freedom mechanical finger and mechanical hand, belong to dexterous hand technical field, finger includes distal phalanx, 0 or multiple intermediate phalanges, root phalanx, the distal phalanx with intermediate phalanges, between intermediate phalanges, between intermediate phalanges and root phalanx are hinged respectively through multi-degree-of-freedom articulated shaft, the root phalanx is equipped with tension adjusting mechanism, distal phalanx is equipped with fixed shaft, the fixed shaft, several multi-degree-of-freedom articulated shaft, tension adjusting mechanism are sequentially connected through transmission belt transmission, the end of the transmission belt away from fixed shaft is connected with driving mechanism, between the back of adjacent distal phalanx and intermediate phalanges, between the back of adjacent intermediate phalanges, between the back of adjacent intermediate phalanges and root phalanx are connected with reset spring.The present application can realize the multi-degree-of-freedom swing of intermediate phalanges and distal phalanx, adjust the clamping force of finger automatically simultaneously, can adapt to the flexible gripping of irregular object in automated production.

The invention relates to the technical field of robots, in particular to a chain transmission finger which is characterized in that a driving box shell is rotationally connected with the end of a near knuckle framework, two inner walls of the driving box shell are each fixedly provided with a chain wheel, the tops of the chain wheels are connected with the bottom of one end of a near knuckle chain set in a meshed mode, and one end of the near knuckle chain set is fixed to the chain wheels; the top of the other end of the near knuckle chain set is connected with the bottom of a near knuckle chain wheel in a meshed mode, the other end of the near knuckle chain set is fixed to the near knuckle chain wheel, the near knuckle chain wheel is rotationally connected with the other end of the near knuckle framework, the near knuckle chain wheel is matched with the end of the middle knuckle framework in an inserted mode, and the other end of the middle knuckle framework is connected with the fingertip through an auxiliary part. Linkage of all joints of the fingers of the dexterous hand is achieved by arranging the near knuckle chain set and the auxiliary part to work in a matched mode, by arranging the chain mechanism, the advantages of rigidity of connecting rod transmission and flexibility of tendon rope transmission are considered, and the rigidity and transmission precision of the fingers in the transmission process are improved.

The present application relates to a kind of three degrees of freedom dexterous hand finger compliance control method, comprising the following steps: establishing three degrees of freedom finger structure model;Passive joint constraint model and finger end kinematics model are constructed;In cartesian space, the compliance control model is constructed, and the end desired position offset is generated;Compliance control model is discretized;Lightweight kinematics inverse solution strategy is used, and only two active joints of third phalanx, second phalanx are solved, and the end desired position offset is mapped into the expected angle of active joint;According to the expected angle of active joint, motor control instruction is generated, third phalanx, second phalanx are driven to move, and first phalanx is driven to move by mechanical linkage, and end compliance interaction is realized;Contact force acquisition, compliance calculation, kinematics inverse solution and joint control step are cyclically executed, and real-time closed-loop control is completed.The method realizes the accurate mapping of end force, end position and active joint angle, and has good adaptability, real-time and compliance.

The embodiment of the invention relates to the technical field of manipulators, and particularly discloses a mechanical finger, a manipulator and a robot, a first knuckle group comprises a first knuckle, a rotating part and a swinging part, the first knuckle is arranged on the swinging part, the swinging part is rotatably connected to the rotating part, and the swinging part is configured to swing in a first axial direction; the second knuckle set comprises a first driving assembly and a second driving assembly, the second driving assembly is connected with the rotating part, drives the rotating part to rotate in the second axial direction and drives the first knuckles to rotate, and the first driving assembly is arranged on the second driving assembly and connected with the swing part; the first driving assembly is used for driving the swing part to swing in the first axial direction and driving the first knuckle to swing, and the first axial direction is perpendicular to the second axial direction. By means of the mode, the mechanical fingers can provide enough power output when bending action occurs through cooperation of the first driving assembly and the second driving assembly, and the grabbing capacity of the mechanical arm is improved.

The invention discloses a thumb of a dexterous hand and the dexterous hand, and relates to the technical field of dexterous hands, the thumb comprises a mounting seat, a metacarpophalangeal joint, a proximal metacarpophalangeal joint and a fingertip knuckle, the metacarpophalangeal joint comprises a first joint part and a second joint part which are intersected, and the proximal metacarpophalangeal joint is rotatably arranged on the second joint part around a third axis; the fingertip knuckles are rotationally arranged at the ends, far away from the metacarpophalangeal joints, of the metacarpophalangeal knuckles around Wherein the third axis and the fourth axis are sequentially distributed in the first direction, the included angle between the third axis and the second axis is an acute angle, and the first direction deviates towards the palm center of the palm part in the plane perpendicular to the first axis relative to the second axis. According to the technical scheme, the first joint part and the second joint part are connected in the intersecting mode, the acute angle is formed between the third axis and the second axis, the first direction deviates towards the center of the palm in the plane perpendicular to the first axis, when the thumb executes the palm facing action, the fingertip of the thumb can be closer to the center of the palm, and the capacity of stably grabbing an object is improved.

The application discloses a modular rope-driven anthropomorphic dexterous hand with joint motion decoupling structure, which comprises a palm and five fingers, each finger being an independent modular structure and comprising a distal phalanx, a middle phalanx, a proximal phalanx and a metacarpal bone, and DIP, PIP and MCP joints connecting the phalanges. A key guide point of a driving rope path of the DIP joint is arranged at a center position of a rolling surface of the MCP joint, so that the length of the driving rope path of the DIP joint is not affected when the MCP joint moves, and complete decoupling of the MCP joint movement and the DIP joint driving is realized. A single finger has four degrees of freedom, i.e. three flexing and one side swinging, and the five fingers have a total of 20 degrees of freedom. The application realizes complete decoupling of joint movement, adopts a modular design, has a compact structure, is convenient to maintain and expand functions, and realizes natural flexing movement and passive recovery of anthropomorphism through coupling of a rope path and a recovery rope path, so that the control precision and movement stability are improved.

This invention provides a controllable variable stiffness hybrid-driven adaptive dexterous hand and its driving method, comprising: a biomimetic connecting component, a variable stiffness finger component, and a thumb component. The variable stiffness finger component includes an assembly frame, a variable stiffness component, a first driving mechanism, a proximal phalanx component, a middle phalanx component, and a first fingertip component. The thumb component includes a mounting base, a rotation driving mechanism, a second driving mechanism, a thumb phalanx component, and a second fingertip component. This application overcomes the contradiction between fine manipulation and flexibility in traditional dexterous hands, significantly improving their grasping adaptability and operational reliability. Specifically, the variable stiffness finger component, through magnetorheological control technology, adjusts the stiffness of each finger in real time according to the characteristics of the grasped object, solving the pain point of lacking controllable stiffness in dexterous hands. The thumb component can be independently bent and rotated, further expanding the hand's freedom of movement and operational flexibility, enabling it to meet the multi-functional and highly adaptable needs of dexterous hands in various fields.

The utility model provides a phalanx auxiliary positioning assembly which is characterized in that a plurality of knuckle fixing pieces extend along the direction of knuckles and are arranged around the knuckles; the knuckle adjusting piece is arranged on the knuckle fixing piece in a sleeving manner and can slide, and the knuckle fixing piece can be locked on the knuckle after the knuckle adjusting piece slides in place; the needle placement guide piece is arranged at the far end of the knuckle fixing piece and is provided with a needle placement channel, and the needle placement channel allows a bone needle to enter an area defined by the knuckle fixing piece. According to the utility model, the knuckle fixing piece surrounds and is arranged around the knuckles of a patient, the knuckle fixing piece is fixed on the knuckles and the straightening state of the knuckles is adjusted through the sliding of the knuckle adjusting piece, and a Kirschner wire is used for carrying out needle placement on the knuckles according to the guide direction of the needle placement channel on the needle placement guide piece. According to the utility model, reliable and objective needle placement parameter comparison is provided for bone needle internal fixation, so that needle insertion is more accurate, the influence of personal errors on the operation process is remarkably reduced, and the operation time is effectively shortened.

The utility model belongs to humanoid robot technical field, especially relates to a finger joint subassembly, deft hand and humanoid robot. Among them, the proximal phalanx module (10) is thicker, the distal phalanx module (20) is thinner, and in the projection plane perpendicular to the output shaft, the projection of first support (1) and second support (3) are all in the outer contour range of the projection of proximal phalanx module (10), and the projection of distal phalanx module (20) is in the outer contour range of the projection of second support (3). Thus setting, it is easier to realize the drive connection between proximal phalanx module (10) and distal phalanx module (20) in the narrow finger space.

A kind of drive link and rope fusion variable coupling adaptive artificial fingers involves the field of artificial limb of limb residual patients.The artificial finger is composed of drive link and rope mechanism, and the micro motor in the drive link mechanism directly drives the proximal phalanx drive link after gear reduction, as the power source of the whole artificial finger movement;The coupling rope in the rope mechanism is connected with the transmission link after winding around the rope cam.The device comprehensively utilizes the advantages of link transmission structure, such as good rigidity, stable energy transmission and large fingertip gripping force, and the advantages of rope transmission structure, such as light weight, suitable for long distance driving and strong flexibility, so that the artificial finger can fit the human hand to make variable coupling adaptive gripping movement, and the artificial finger's anthropomorphism and gripping space range are improved.Sensors are installed on the surface of the proximal phalanx and the distal phalanx, and form a closed loop control with the micro motor to ensure the stability of gripping objects.The overall structure of the artificial finger is light in weight, large in fingertip gripping force, and stable and reliable in transmission.

The present disclosure is directed at a personal massager device having a body member substantially formed in the shape of a user finger to aid in user comfort and a non-straight internal cavity having an apex portion and a dimple portion to abut a substantial portion of a finger inserted into the cavity to substantially hold a user finger within the cavity and to prevent inadvertent dislodging of the inserted finger and the body member can include a bent distal phalange portion that positions a second end portion of the device at an angle that can enhance user stimulation and pleasure when in use.

The utility model discloses a telescopic fingernail for a tail end knuckle, which comprises a driving structure, the tail end knuckle and a fingernail, the driving structure is connected with the fingernail, and the driving structure drives the fingernail to reciprocate along the fingertip direction of the tail end knuckle; wherein when the fingernails are in an extending state, the outer edges of the fingernails exceed the outer edges of the fingertips of the tail end knuckles. The fingernails are arranged at the tail end knuckles, and the outer edges of the fingernails exceed the outer edges of the fingertips of the tail end knuckles, so that fine grabbing operation is effectively realized. Meanwhile, the fingernails are connected with the driving structure, the fingertips are driven by the driving structure to reciprocate in the fingertip direction of the tail-end knuckles, effective stretching and retracting of the fingernails are achieved, different grabbing structures are provided for different grabbing requirements, and the adaptability of the tail-end knuckles to the environment is effectively improved.

The invention provides a dexterous hand finger which comprises a first knuckle and a second knuckle which are hinged to each other, a hollow circular truncated cone portion at the end of the second knuckle is rotationally installed at the position, close to the end, in the first knuckle, a notch is formed in the side wall, facing the interior of the first knuckle, of the circular truncated cone portion, and a rotating shaft is coaxially fixed to the circular truncated cone portion. A plurality of fan-shaped plates are annularly arrayed on the end face of one end in the cylindrical cavity, the fan-shaped plates are slidably installed in the radial direction of the cylindrical cavity, plane threads are arranged on the surfaces of the fan-shaped plates, and all the fan-shaped plates are in meshing transmission with the adjusting disc through the plane threads; the outer sides of the fan-shaped plates and the outer sides of the moving wheels are wound with transmission belts, the moving wheels are slidably installed in the horizontal direction, and when all the fan-shaped plates are away from one another, the transmission belts are expanded outwards, so that the moving wheels are close to the circular truncated cone part; and a driving wheel which is in transmission installation with the transmission belt is arranged above the transmission belt, and the driving wheel tensions the transmission belt and drives the transmission belt to move. Fine adjustment of the fingers can be achieved.