This application discloses a finger mechanism and a
robotic hand, relating to the field of
robotic hand technology. The finger mechanism includes a guide seat, a proximal segment, a
middle segment, and a
distal segment, which are hinged sequentially. The output end of a first motor is connected to a first worm gear, which engages with a first worm wheel. The first worm wheel is connected to a first driving wheel, which has a first drive
rope connected to the proximal segment to drive its swing. The output end of a second motor is connected to a second worm gear, which engages with a second worm wheel. The second worm wheel is connected to a second driving wheel, which has a second drive
rope connected to the
middle segment to drive its swing. This finger mechanism, through dual-
motor drive and a worm gear structure, achieves independent and precise control of the proximal and middle segments of the
robotic hand finger, effectively solving the problems of motion trajectory limitations caused by single-
motor drive and reliance on
complex algorithm adjustments in existing technologies, thus improving the response speed and positioning accuracy of the robotic hand.