137 results about "Hand palms" patented technology

The invention provides a rigid-flexible coupling humanoid manipulator which comprises a humanoid rigid-flexible coupling manipulator mechanical body, a wrist tube connected with a hand body and a driving control system and a hand body driving control system, a thumb and palm connecting piece drives a thumb to do palm-facing movement, and a steering engine module is in transmission connection with fingers and the thumb through a plurality of driving ropes. The fingers and the thumb can do flexion or abduction movement, and the fingers can do lateral deviation abduction movement; and elastic ligaments are connected to joints of the fingers and the thumb. Through the autonomous variable-stiffness metacarpophalangeal joints, the bionic interphalangeal joint system and the hand-simulated hand movement system of the elastic envelope structure, dexterous movement and contact compliance of the manipulator in a complex operation task are achieved, and the dynamic balance requirement of the manipulator between dexterous operation and rigid maintenance is met; the invention has the advantages of excellent movement performance, strong environmental adaptability, low manufacturing cost and the like.

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and aims to solve the problem that the size of the dexterous hand finger with three active degrees of freedom is large. According to the dexterous hand finger, the first knuckle can have the functions of laterally swinging and rotating towards the palm side or the hand back side through the first linear driving assembly and the second linear driving assembly which are connected in parallel, and the knuckle assembly has the function of rotating towards the palm side or the hand back side through the third linear driving assembly. Due to the fact that the third straight line can be parallel to the palm base plate, on the plane perpendicular to the second axis, the distance between the orthographic projection of the third straight line and the orthographic projection of the first straight line in the extending direction of the first axis is gradually reduced in the direction from the third straight line to the first knuckle. The circumferential size of the end, away from the knuckle assembly, of the first knuckle is small, and the space occupied by the three linear driving assemblies in the palm is close to the shape of the palm of a person.

A multi-degree-of-freedom bionic dexterous hand includes a palm structure, a bionic thumb, a multifunctional bionic finger, and a dexterous bionic finger. The bionic thumb includes a first phalanx structure and a rotary disk, the rotary disk is configured to rotate on the palm structure, the first phalanx structure is hinged to the rotary disk, and the rotation axis of the rotary disk is not parallel to the rotation axis of the first phalanx structure. The multifunctional bionic finger includes a second phalanx structure, the second phalanx structure is universally hinged to the palm structure, and the second phalanx structure can perform the flexion-extension movement and the swinging movement. The dexterous bionic finger includes a third phalanx structure, the third phalanx structure is hinged to the palm structure, and the third phalanx structure can perform the flexion-extension movement.

A push and pull exercise device having a lateral flat surface configuration to enable the user to sandwich grip the surface between the underside of outstretched fingers and the thumb or by contact with the palm side of out stretched fingers and / or palm of both left and right hands, the flat or arching surface having a ringlet positioned approximately in the middle of the lateral flat surface, and thus, to exercise biceps, shoulders, and / or forearm muscles or sets of muscles, or a specific range or section of those muscles.

The present invention belongs to the technical field of robotics, and provides a multi-degree-of-freedom bionic dexterous hand, which includes a palm structure, a bionic thumb, multifunctional bionic fingers and dexterous bionic fingers. [Solution] The bionic thumb comprises a first phalangeal structure and a rotating disk rotatably mounted on the palm structure, the first phalangeal structure is hinged to the rotating disk, and the rotation axis of the rotating disk is not parallel to the rotation axis of the first phalangeal structure, the multifunctional bionic finger comprises a second phalangeal structure freely hinged to the palm structure and capable of bending, straightening and swinging movements, and the dexterous bionic finger comprises a third phalangeal structure hinged to the palm structure and capable of bending and straightening movements. The present invention can provide multiple degrees of freedom for the bionic dexterous hand and enrich the functions of the bionic dexterous hand.

The invention discloses an under-drive-all-drive dual-mode robot multi-fingered dexterous hand, and belongs to the technical field of robots. The dexterous hand comprises a palm and a plurality of fingers; each finger is provided with a tendon rope transmission system, a second driving assembly, a third driving assembly, a fourth driving assembly and a fifth driving assembly; each finger comprises a base, a base joint, a near-end knuckle, a middle knuckle and a far-end knuckle which are connected in sequence; the base is fixed on a palm; a two-degree-of-freedom finger base joint and a face gear-based mode switching mechanism are designed, so that the dexterous hand can be allowed to work in a full-drive mode or an under-drive mode, and the control complexity of dual-mode coupling is reduced through a mechanical structure. The double modes of the rigid dexterous hand are proposed and realized for the first time, the humanoid dexterous property of the dexterous hand is ensured, the highly integrated design of the dexterous hand is realized, and the universality of the dexterous hand is enhanced.

The invention relates to the technical field of man-machine interaction, in particular to a dexterous hand pose data acquisition method based on infrared optical motion capture, which comprises the following steps: initializing an infrared optical motion capture system and a bending value of each finger flexion and extension of each dexterous hand; constructing a hand model; modifying the message format of the VRPN communication protocol, obtaining the pose data of each mark point of the hand, calculating the rotation angle of each finger near-end fingertip joint of each hand under each task, taking the rotation angle as the rotation angle of each finger near-end fingertip joint of the dexterous hand corresponding to each hand under each task, and outputting the rotation angle of each finger near-end fingertip joint of the dexterous hand. And sequentially calculating the rotation angle of each finger palm knuckle, the bending value of each finger flexion and extension and the bending value of the thumb adduction and abduction under each task. According to the method, the grabbing success rate of the dexterous hand is increased, the reliability of the dexterous hand is improved, the capacity of capturing complex hand actions is enhanced, and the performance of the dexterous hand in a complex task scene is enhanced.

The invention belongs to the related technical field of manipulators, and discloses a robot dexterous hand with a deformable palm, and a little finger module and a ring finger module are correspondingly connected to two metacarpal bone modules; the metacarpal bone module comprises a metacarpal bone, a metacarpal bone first connecting rod, a metacarpal bone second connecting rod, a metacarpal bone tension spring, a metacarpal bone driving structure and a metacarpal bone base, one end of the metacarpal bone is rotationally connected with the finger module, and the other end of the metacarpal bone is rotationally connected with the metacarpal bone base; one end of the metacarpal bone first connecting rod is rotationally connected with the metacarpal bone driving structure, the other end of the metacarpal bone first connecting rod is rotationally connected with one end of the metacarpal bone second connecting rod, a metacarpal bone tension spring is connected between the metacarpal bone first connecting rod and the metacarpal bone driving structure, and the metacarpal bone driving structure is used for pushing the metacarpal bone first connecting rod to deflect the metacarpal bone. The metacarpal bone module can achieve the hand-simulated palm deformation capacity, the metacarpal bone tension spring is arranged, so that the metacarpal bone module has bionic flexibility, and a grabbed object can be better enveloped and grabbed by the palm.

The invention discloses a multi-degree-of-freedom full-drive dexterous hand and a robot, the multi-degree-of-freedom full-drive dexterous hand comprises a palm and a plurality of fingers, the plurality of fingers are arranged on the palm at intervals, and the fingers comprise a proximal knuckle finger, a middle knuckle finger, a distal knuckle finger, a first motor, a second motor, a third motor and a fourth motor; wherein each of the first motor, the second motor, the third motor and the fourth motor is a frameless torque motor and is used for driving the fingers to bend or stretch so as to grab or release an object. By means of the direct driving mode, the movement of the finger joints is more direct and sensitive, finer and more complex actions can be achieved, and the flexibility of the fingers is greatly improved. Meanwhile, the space occupied by the driving structure is reduced, so that the internal structure of the bionic hand is simpler, more space is provided for layout of all parts of the fingers, and improvement of the overall compactness and miniaturization degree of the bionic hand is facilitated.

The invention relates to the technical field of robot end executors, in particular to a bionic flexible self-adaptive dexterous hand and a control method.The dexterous hand comprises a palm, bionic fingers, a driving assembly, a reset assembly and a sensing system, the bionic fingers comprise knuckles connected in series through joint mechanisms, and the bionic fingers are movably connected with the palm through finger root joints; a non-Newtonian fluid core-shell structure is arranged on the finger pulp side and comprises a flexible sealing shell and a non-Newtonian fluid inner core filled in the flexible sealing shell, the driving assembly drives the fingers to bend through tendon rope retracting and releasing, the reset assembly enables the fingers to recover stretching after driving force is relieved, and the sensing system integrates a flexible sensor to feed back the grabbing state in real time. The non-Newtonian fluid slowly flows under pressure, so that the flexible shell perfectly fits the outline of an object, the contact area and friction force are greatly increased, creep deformation is resisted due to high internal energy consumption, and the irregular and smooth object is stably grabbed.

A glove comprising: at least one shell formed of fabric in the shape of a hand, the shell having a body portion and five pockets configured to receive a thumb and four phalanges of a user, and wherein the shell has a palm side and a dorsal side opposite the palm side; a plurality of protective structures on the dorsal side of the shell; a coating on at least a portion of the palm side of the shell; and a thumb crotch reinforcement configured to safeguard a region between the thumb and index finger.

The full-drive dexterous hand comprises a palm mechanism, a thumb mechanism and a finger mechanism, the thumb mechanism comprises a metacarpal bone, a thumb near knuckle and a thumb far knuckle which are sequentially distributed, the metacarpal bone obtains bending and rolling freedom degrees through gear transmission, and the thumb near knuckle and the thumb far knuckle both obtain bending freedom degrees through motor direct drive; the finger mechanism comprises a finger near knuckle, a finger middle knuckle and a finger far knuckle which are sequentially distributed, the finger near knuckle obtains bending and side-sway freedom degrees through gear transmission, and the finger middle knuckle and the finger far knuckle obtain bending freedom degrees through motor direct drive. A full-drive humanoid manipulator framework is adopted, high-precision motion mapping is achieved through 20 independent controllable degrees of freedom, the bionic core is that the ball joint design is adopted, the composite motion capacity of human fingers is highly simulated, fine actions such as grabbing, kneading and rotating of a human hand can be accurately reproduced, and the flexibility degree of the human hand is deeply restored.

The invention belongs to the field of rehabilitation medical instruments, and particularly relates to a finger rehabilitation robot based on rope driving and a control method.The finger rehabilitation robot mainly comprises a base, a thumb assembly and a four-finger assembly, the thumb assembly is installed on the base through a torsional spring installation shaft, and the four-finger assembly is installed on the base through a rotating support and a switching hinge; the hand back is fixed to the base through the palm supporting strip, the fingers are worn in the four-finger assembly and the thumb assembly respectively, multi-dimensional driving modes such as a motor, an electric cylinder and a Bowden cable are fused, all the freedom degrees of motion of the fingers are covered, and multiple humanoid actions such as five-finger bending and stretching and finger adduction and abduction can be completed; multi-degree-of-freedom rehabilitation training aiming at fingers is accurately realized, and sufficient rehabilitation treatment is provided; meanwhile, a limiting block is arranged on the metacarpophalangeal joint support, so that injury caused by excessive bending or reverse bending of fingers in the rehabilitation process is avoided, and the safety of rehabilitation training is guaranteed.

The present application relates to a palm contour extraction method, device, computer equipment, storage medium and computer program product. The method comprises: obtaining the skeletal point positions and skeletal point types corresponding to each palm skeletal point in the target palm image; matching each palm skeletal point based on the skeletal point type to obtain multiple palm skeletal point sets; the palm skeletal point set has a corresponding geometric processing type; based on the skeletal point positions corresponding to each skeletal point in the palm skeletal point set, generating a palm contour auxiliary line matching the geometric processing type corresponding to the palm skeletal point set; based on the reference step and skeletal point positions corresponding to the same palm skeletal point set, determining the palm contour points from the palm contour auxiliary lines corresponding to the palm skeletal point set to obtain the contour point positions corresponding to the palm contour points; generating the palm contour corresponding to the target palm image based on each contour point position. The method can improve the accuracy of palm contour extraction.

The invention discloses a dexterous hand with a multi-degree-of-freedom thumb root joint, which comprises a palm base body as well as a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly and a little finger assembly which are connected to the palm base body, the first driving part drives the second driving part to rotate around the first transmission axis, the second driving part drives the thumb palm root knuckles to rotate around the second transmission axis, the first transmission axis is perpendicular to the second transmission axis, and the length of the common perpendicular line is a constant. The driving module can drive the thumb assembly to rotate around the two axes which are relatively perpendicular and have the constant distance, the controllability of the thumb assembly can be improved, and the structural design of the dexterous hand is facilitated; the thumb assembly can simulate the action that a thumb in a human palm rotates around the palm, the opening and closing action of a human jaw and the action that the thumb gets close to or away from a palm base body, and better fits the movement performance of the thumb of the human hand.

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and aims to solve the problem that the size of the dexterous hand finger with at least three knuckles is large. The fingers of the dexterous hand comprise at least three knuckles, the rotation driving assembly is arranged on the first knuckle instead of the palm of the dexterous hand, the size of the palm of the dexterous hand can be reduced, and the supporting piece, the first knuckle, the second knuckle, the third knuckle, the first connecting rod assembly and the second connecting rod assembly form two four-connecting-rod mechanisms connected in series. When the rotation driving assembly arranged on the dexterous hand finger drives the second knuckle to rotate, the first knuckle and the third knuckle synchronously rotate with the second knuckle, bending and stretching of the dexterous hand finger are achieved, the dexterous hand finger is simple and compact in structure, high in rigidity, stable and reliable, the action track and the action form of the dexterous hand finger can be accurately controlled, and the flexibility of the dexterous hand finger is improved. Therefore, the requirements of various complex tasks are met.

The invention belongs to the field of robots, and particularly relates to a three-degree-of-freedom rigid-flexible coupling dexterous finger and a dexterous hand, and the dexterous finger comprises a finger knuckle module, a double-end spherical hinge connecting rod, a palm inner finger driving module, a driving transmission mechanism and an arm inner finger driving module. By fusing a rigid space connecting rod mechanism and a flexible driving transmission mechanism, the contradiction that a traditional rigid structure lacks flexibility and a flexible structure is insufficient in rigidity is ingeniously solved. Two degrees of freedom of flexion and extension and adduction and abduction of fingers at metacarpophalangeal joints are realized by utilizing a spatial connecting rod mechanism formed by a knuckle supporting frame, a proximal phalanx, a deflection transverse shaft and a double-end spherical hinge connecting rod; meanwhile, the power of the finger driving module in the arm is efficiently transmitted to the interphalangeal joints through the driving transmission mechanism, the middle joint and the distal phalanx are driven to achieve coupling or self-adaptive buckling, and therefore the third degree of freedom is obtained, and the problem that the contradiction exists between insufficient flexibility of a traditional rigid structure and insufficient rigidity of a flexible structure is solved.

The invention discloses a full-drive dexterous hand which comprises a palm module, four four-finger mechanisms and a thumb mechanism, the four-finger mechanisms and the thumb mechanism are arranged on the palm module, a proximal section module is provided with a bending degree of freedom and a side-sway degree of freedom, and a middle section module and a distal section module are provided with bending degrees of freedom. The metacarpal bone module has a rotational degree of freedom and a bending degree of freedom, the thumb proximal section module and the thumb distal section module have bending degrees of freedom, the four-finger mechanism and the thumb mechanism are provided with a plurality of gear transmission mechanisms, and the number of the driving motors corresponds to the number of the gear transmission mechanisms. Each module can be independently controlled through a driving motor and a gear transmission mechanism, and multi-degree-of-freedom full driving of each module is achieved. The driving motor and all the modules are in transmission through a gear transmission mechanism, transmission is accurate, the load capacity is high, the response speed is high, and reliability and durability are high.

The utility model discloses a hand rehabilitation training exoskeleton, and relates to the technical field of exoskeletons. According to the hand rehabilitation training exoskeleton, the ends of the palm shells are connected with the joints in a supporting mode through supporting sleeves, and the supporting sleeves are connected with an air conveying device in a communicating mode. The carpal joint is connected with the palm shell through a supporting sleeve, the other end of the carpal joint is connected with the metacarpal joint or the finger joint through the supporting sleeve, and the other end of the metacarpal joint is connected with the finger joint through the supporting sleeve. The problems that in the prior art, the size is large, flexibility is poor, operation is complex and the like are solved, and the requirements for precise assistance and natural training are difficult to meet. According to the hand rehabilitation training exoskeleton, the exoskeleton and the pneumatic technology design are combined, the lightweight design and the intelligent control technology are combined, the hand rehabilitation training exoskeleton aims at assisting a hand dysfunction patient in scientific rehabilitation training, and the hand rehabilitation training exoskeleton is suitable for stroke, brain injury, joint diseases or postoperative hand function recovery. Natural assistance and scientific rehabilitation of hand movement are achieved, and an efficient and safe hand function recovery means is provided for a patient.

An exercise grip is disclosed. The exercise grip includes a protective portion and a wrist strap connected to a wrist end of the protective portion. The protective portion has a finger end in which three or four finger holes are defined. The protective portion also has a palm portion that extends from the finger holes to the wrist end. The protective portion varies in width from the wrist end to the finger end. The protective portion can be formed to cover an ulnar portion of a wrist when placed on a hand.

Disclosed is a hand-and-wrist accessory device formed by an elasticated glove, wherein the ends of the fingers and the end of the wrist comprise an internal elasticated silicone layer that acts as a mechanical securing element for securing to the skin, these securing elements being connected to rigid structures connected to elastic elements, transmitting elastic energy from the wrist to a central floating piece on the dorsal carpus, where it is distributed to each finger terminal, the elastic elements being guided by rigid pieces disposed in the paths extending from the central piece to the finger terminals, to ensure the correct alignment thereof. These external elements have reciprocal securing elements to generate continuity from the wrist terminal to the finger or digit terminals. Cushioned elements are disposed on the palm to redistribute pressure in the wrist areas.

A multi-degree-of-freedom bionic dexterous hand, comprising a palm structure (1), a bionic thumb (2), a multifunctional bionic finger (3) and a dexterous bionic finger (4). The bionic thumb (2) comprises a first phalanx structure (21) and a rotary table (22), wherein the rotary table (22) is rotatably arranged on the palm structure (1), and the first phalanx structure (21) is hinged to the rotary table (22), the rotation axis of the rotary table (22) not being parallel to that of the first phalanx structure (21). The multifunctional bionic finger (3) comprises a second phalanx structure (31), wherein the second phalanx structure (31) is universally hinged to the palm structure (1), and the second phalanx structure (31) can perform flexion-extension movement and swinging movement. The dexterous bionic finger (4) comprises a third phalanx structure (41), wherein the third phalanx structure (41) is hinged to the palm structure (1), and the third phalanx structure (41) can perform flexion-extension movement.

The invention provides a dexterous hand and a robot. The dexterous hand comprises a palm assembly, a thumb assembly and a plurality of four-finger assemblies, and the thumb assembly and the four-finger assemblies are all arranged on the palm assembly; the thumb assembly comprises a thumb driving part, a plurality of thumb knuckles and a thumb fixing frame; the plurality of thumb knuckles are rotationally connected in sequence, and the thumb knuckles on the near phalanx side are rotationally connected with the thumb fixing frame; the thumb driving part is connected with the plurality of thumb knuckles and can drive the plurality of thumb knuckles to realize thumb bending, thumb rotation or thumb introversion; the four-finger assembly comprises a four-finger driving piece, a plurality of four-finger knuckles and a four-finger fixing frame; the multiple four-finger knuckles are rotationally connected in sequence, and the four-finger knuckles on the near phalanx side are rotationally connected with the palm assembly; the four-finger driving piece can drive the multiple four-finger knuckles to achieve four-finger bending, four-finger side swaying or partial four-finger knuckles bending. The degree of freedom of the dexterous hand is high, and the grabbing capacity of the dexterous hand can be improved.

The application belongs to the technical field of humanoid robots, and discloses a modular mechanical thumb finger with the motion characteristics of a human thumb, which comprises a base module, a metacarpal module, a proximal phalanx and a distal phalanx. The base module provides a connecting interface with a palm or an arm robot. The metacarpal module has three active degrees of freedom and is driven by a screw block mechanism to accurately realize opposition, abduction and dumping motions. The proximal phalanx realizes bending motion. The distal phalanx is coupled with the proximal phalanx through a four-bar linkage mechanism and is decoupled through a rocker block mechanism, and has passive adaptive capability. The application highly imitates the motion function of a human thumb, has compact structure, efficient driving, and can stably complete fine opposition and gripping operations. Meanwhile, the modular design facilitates integration, and improves the operability, adaptability and intelligent level of the humanoid dexterous hand.

The application provides an underactuated bionic dexterous hand, a system and a control method thereof. The underactuated bionic dexterous hand comprises a palm, five fingers, a control plate and a steering engine installed on the back of the palm through a threaded hole. The thumb comprises a joint, a tendon rope for driving the bending of the finger, a metacarpal bone, a proximal phalanx and a distal phalanx connected through a cylindrical pin in sequence. The index finger, the middle finger, the ring finger and the little finger have the same structure and each comprises a joint, a tendon rope for driving the bending of the finger, a distal phalanx, a middle phalanx and a proximal phalanx connected through a cylindrical pin in sequence. A finger root stroke limiter is arranged at the metacarpophalangeal joint of the thumb and the palm, and the metacarpophalangeal joint of the index finger, the middle finger, the ring finger and the little finger and the palm, the middle phalanx and the distal phalanx are each provided with a finger root stroke limiter. The application has high human simulation degree, is light and flexible, and solves the technical problems of the overlarge size, the overly complex structure, the rigid motion and the low human simulation degree of the dexterous hand.

This invention relates to a multi-degree-of-freedom thumb structure and a multi-degree-of-freedom bionic hand. The multi-degree-of-freedom simulated hand includes a palm portion; the multi-degree-of-freedom thumb structure includes a first housing, a thumb assembly, and a lateral swing drive assembly; the first housing is mounted on the palm portion; the thumb assembly includes a proximal thumb joint, a mid-thumb joint, and a distal thumb joint connected in sequence; one end of the proximal thumb joint is connected to the palm portion via a first ball hinge structure, and the other end is connected to the mid-thumb joint via a second ball hinge structure; the power output end of the lateral swing drive assembly is connected to the proximal thumb joint and also to the mid-thumb joint, so that when it drives the thumb assembly to move closer to or away from the palm portion, it synchronously drives the mid-thumb joint to swing relative to the proximal thumb joint around the center of the second ball hinge structure, which has the advantage of high flexibility.

The application discloses a bionic artificial hand, which comprises a palm part, a thumb part, four finger parts and a pneumatic control system. The thumb part comprises a thumb metacarpal and a thumb, the thumb metacarpal is hinged to the palm part through a first hinge shaft and is driven to rotate by a first pneumatic device, and the thumb is internally provided with a first cavity unit in series; the thumb is hinged to the thumb metacarpal through a second hinge shaft and is driven to swing by a second pneumatic device. Each finger of the four finger parts is internally provided with a second cavity unit in series, and each finger is hinged to the palm part through a third hinge shaft and is driven to independently swing by a third pneumatic device. The pneumatic control system is arranged in the artificial hand and is used for controlling the air intake and exhaust of each cavity unit and pneumatic device. The bionic artificial hand adopts a two-degree-of-freedom design of thumb metacarpal rotation and thumb swinging, combines with pneumatic device driving, realizes flexible movement of the thumb, and improves the coordination and fine operation ability of the artificial hand.

A brace for treating / preventing carpal tunnel injury including a body having a proximal end and a distal end defining s longitudinal direction, the body including a forearm support at the body proximal end, a wrist support coupled to the forearm support by a neck portion, the wrist support comprising a first palmar strap support, a first member and a second member extending from the wrist support in the longitudinal direction towards the distal end, a distal palmar support, a proximal palmar aperture, a palm band having a second palmar strap support, and a palmar strap, extending between a proximal end attached to the first palmar strap support to a distal end, the palmar strap configured to extend across a portion of the back of the hand and over a purlicue of the hand, the distal end of the palmar strap configured to removably attach to the distal palmar support.

The present application provides a dexterous hand and robot, the dexterous hand comprises: a palm component, a thumb component and a plurality of four-finger components, the thumb component and the plurality of four-finger components are all arranged on the palm component; the thumb component comprises a thumb driving member, a plurality of thumb knuckles and a thumb fixing frame; the plurality of thumb knuckles are rotatably connected in sequence, and the thumb knuckles on the proximal phalanx side are rotatably connected to the thumb fixing frame; the thumb driving member is connected to the plurality of thumb knuckles, and can drive the plurality of thumb knuckles to achieve thumb bending, thumb rotation or thumb inversion; the four-finger component comprises a four-finger driving member, a plurality of four-finger knuckles and a four-finger fixing frame; the plurality of four-finger knuckles are rotatably connected in sequence, and the four-finger knuckles on the proximal phalanx side are rotatably connected to the palm component; the four-finger driving member can drive the plurality of four-finger knuckles to achieve four-finger bending, four-finger side swinging or partial four-finger knuckle bending. The dexterous hand of the present application has many degrees of freedom, which is conducive to improving the grasping ability of the dexterous hand.