1157 results about "Knuckle" patented technology

A robotic end effector or end-of-arm tool may take the form of a mechanical digit (e.g., mechanical finger), or employ one or more mechanical digits (e.g., mechanical fingers), controllable in multiple degrees of freedom, e.g., pitch, yaw, curl. The mechanical digit(s) advantageously comprise a skeleton and three (3) piston / cylinders combinations, one controlling curl, and the other two controlling pitch and / or yaw. Mechanical digits may comprises a number of rolling contact joints. A flexible printed circuit board (PCB) carrying a variety of sensors covers the skeleton, and runs inside the rolling contact joints to provide a zero length change path. Knuckle imitators may cause a membrane cast or sheath joint to resemble human knuckles.

A connecting rod assembly includes a crosshead for coupling a connecting rod to a plunger, the crosshead having a hole extending through the crosshead. The connecting rod assembly also includes a knuckle cage positioned within the crosshead, the knuckle cage extending through the hole and including a cutout to provide access to a passage formed in the knuckle cage. The connecting rod assembly further includes a knuckle positioned within the passage of the knuckle cage, the knuckle having a mounting surface that is substantially planar, the mounting surface coupling to the connecting rod at a mating end with a substantially planar mating end surface.

A suspension includes a knuckle to which a wheel of a vehicle is fastened, a steering drive portion connected to the knuckle, a lower arm positioned at a lower end portion of the steering drive portion and including a first end portion connected to the knuckle and a second end portion connected to a vehicle body frame, a connecting link including a first end portion connected to an upper end portion of the steering drive portion, an upper arm connected to a second end portion of the connecting link, a damper connecting the upper arm and the vehicle body frame, and a push rod including a first end portion connected to the upper arm and a second end portion connected to the lower arm.

The present invention relates to a protective glove configured to protect a dorsal side of a hand of a user, comprising: —a flexible layer configured to fit against a back of the hand and comprising extensions that are each configured to extend along and fit against a respective proximal phalanx of a finger; —a rigid shell configured to extend over a metacarpal area and over knuckles of the back of the hand to thereby protect the back of the hand, wherein said shell is supported by said flexible layer and arranged at an offset relative to the back of the hand to thereby define a gap between the shell and the back of the hand; —wherein one or more than one of the extensions that are configured to extend along the proximal phalanx of the finger supports a phalanx protector that is configured to extend over the respective proximal phalanx, —wherein the phalanx protector is further configured to extend over a corresponding knuckle of the hand; and—wherein, at least when the fingers are extended, the rigid shell and the phalanx protector define an overlap and the phalanx protector that extends over the corresponding knuckle extends in the offset that defines the gap between the rigid shell and the back of the hand.

The invention discloses a five-finger bionic dexterous hand with distributed touch perception and a control method. The five-finger bionic dexterous hand comprises a palm part; fingers of the thumb unit, the index finger unit, the middle finger unit, the ring finger unit and the little finger unit respectively comprise a three-stage series flexion and extension mechanism which is sequentially composed of a third knuckle, a second knuckle and a first knuckle from a metacarpophalangeal joint, and each three-stage series flexion and extension mechanism has three flexion and extension freedom degrees and one deflection freedom degree; the tendon rope driving units are arranged in the palm part; the palm center camera is integrated on the front face of the palm part and used for collecting visual information of an operation area; the 15 air pressure type touch sensor modules are installed on the third knuckles, the second knuckles and the first knuckles of all the finger units in a distributed mode, and each air pressure type touch sensor module is integrated with a pressure and temperature double sensing unit and used for sensing contact pressure and environment temperature; the control module is integrated on the back face of the palm part and is in signal connection with the palm center camera, the air pressure type touch sensor modules and the tendon rope driving unit.

Creped fibrous structures having pillows and knuckles, wherein the creped fibrous structures may exhibit improved knuckle properties, such as Knuckle Roughness Ra, Knuckle Roughness Rq, and Knuckle Creping Frequency and methods for making same are provided, and / or may comprise elongate knuckles comprising discrete pillows and / or elongate pillows between first and second elongate knuckles.

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 solves the problems that the dexterous hand capable of realizing motion decoupling between two degrees of freedom of bending and side swaying of the dexterous hand finger is complex in structure and poor in reliability. The dexterous hand finger comprises a side swing assembly, a first knuckle, a first connecting rod assembly, a second connecting rod assembly, a first driving assembly and a second driving assembly. The side swing assembly, the first knuckle, the first connecting rod assembly, the second connecting rod assembly and the first driving assembly form a space crank sliding block mechanism so as to drive the knuckles to rotate around the second axis, and bending of the first knuckle is achieved. And the knuckles can rotate around the first axis under the driving of the second driving assembly, so that the lateral swinging of the first knuckles is realized. The first end of the second connecting rod assembly and the second end of the first connecting rod assembly form a spherical pair, motion decoupling between the two freedom degrees of bending and side swing is achieved, the structure is simple, and the reliability of the dexterous hand finger is improved.

The humanoid dexterous finger comprises a single-finger base, a fingertip, a first knuckle and a second knuckle, the fingertip, the first knuckle and the second knuckle are sequentially hinged from top to bottom, the bottom end of the second knuckle is hinged to a swing part, the swing part is rotationally connected with the single-finger base, and the rotating plane, relative to the swing part, of the second knuckle is not parallel to the rotating plane, relative to the single-finger base, of the swing part; the fingertips, the first knuckles and the second knuckles are all connected with connecting rod driving mechanisms independently driving the fingertips, the first knuckles and the second knuckles to act, each connecting rod driving mechanism comprises a main connecting rod with at least one end provided with a fisheye bearing and a driving piece arranged on the single-finger base, and the bottom ends of the main connecting rods are rotationally connected with the driving pieces. The humanoid dexterous hand comprises a palm and the humanoid dexterous finger which is arranged on the palm and adopts any scheme. The humanoid robot adopts the humanoid dexterous hand. The robot has the advantages that the fingers have four active degrees of freedom and can adapt to more complex scenes.

The invention relates to the technical field of manipulators, in particular to an under-actuated rigid-flexible coupling manipulator. Comprising a plurality of movable knuckles which are connected in series, and each knuckle is provided with a porous mounting part; the flexible contact part is provided with a plurality of flexible microstructures, and each flexible contact part is embedded into the porous mounting part of each knuckle through the corresponding flexible microstructure. According to the under-actuated rigid finger, the adjustable flexible structure is arranged on the under-actuated rigid finger, the flexibility in the grabbing process is improved by adjusting the flexible structure in the grabbing process, so that the under-actuated rigid finger is suitable for grabbing fragile or soft objects, and the adaptability of the rigid-flexible coupling manipulator is improved. The flexible microstructures are connected into the porous mounting parts of the knuckles in an embedded mode, the rigid-flexible coupling connection toughness between the knuckles and the flexible contact parts is guaranteed, the compliance of the manipulator is improved, and the manipulator has the load capacity, controllability and flexibility in cooperation with cooperative driving of the under-actuated structure and the pneumatic structure.

The invention provides a dexterous hand finger joint angle control method, device and system and a medium, and relates to the technical field of dexterous hands. The joint angles of the fingers of the dexterous hand comprise the first joint angle and the second joint angle, the first joint angle and the second joint angle belong to active degrees of freedom, and the control method for the joint angles of the fingers of the dexterous hand comprises the steps that a control instruction for the fingers of the dexterous hand is obtained; according to the control instruction, the tracking control law of the first joint angle and the tracking control law of the second joint angle, the first joint angle and the second joint angle are controlled, the tracking control law of the first joint angle and the tracking control law of the second joint angle are determined based on a superspiral sliding mode control algorithm and a dynamic model of the finger. Through the tracking control law designed based on the super-spiral sliding mode control algorithm and the dynamic model, the stability and precision of dexterous hand finger joint angle control are improved.

The invention discloses a finger module, a manipulator and a robot. The finger module comprises a finger base, and a knuckle assembly is rotationally connected with the finger base; the driving assembly comprises a driving component, a worm and a worm gear, the driving component is arranged on the finger base, the worm is arranged in the finger base and connected with an output shaft of the driving component, and the worm gear is connected with the worm in an engaged mode. The other end of the connecting rod component is in transmission connection with the knuckle assembly; the driving component is configured to drive the worm to rotate and drive the connecting rod component to rotate through the worm gear so as to drive the knuckle assembly to rotate relative to the finger base. By means of the large transmission ratio characteristic of worm gear and worm transmission, the original relatively small torque of the driving component is amplified, strong driving force is provided for rotation of the knuckle assemblies, the knuckle assemblies rotate relative to the finger base, bending and stretching movement of human finger joints is simulated, the finger module achieves actions such as bending and stretching, and therefore the flexibility of the finger module is improved. Therefore, various grabbing and operation tasks can be completed.

The invention relates to the technical field of robots, in particular to a dexterous hand and a robot, and solves the problems that the dexterous hand in the related technology is insufficient in rigidity and bearing capacity and cannot independently control joint movement. Two first driving assemblies of the dexterous hand are connected in parallel to drive two first swing arm assemblies to rotate, and the two first swing arm assemblies drive a thumb base to rotate around a first axis or drive a thumb knuckle assembly to rotate around a second axis through two first connecting rod assemblies. Therefore, the independent control of the movement of the thumb knuckle assembly in four directions, namely bidirectional side swaying, stretching and bending, is realized. Besides, the second axis and the first axis are perpendicular and not coplanar, so that the thumb knuckle assembly can resist lateral force borne by the thumb knuckle assembly in the stretching and bending process, the thumb knuckle assembly has higher rigidity and bearing capacity, the rigidity and bearing capacity of the dexterous hand are improved, and the flexibility of the dexterous hand is improved. And the requirements of fine operation and power output of the dexterous hand are met.

The joint bearing comprises an inner ring and an outer ring, the outer ring comprises an outer wear-resistant layer rotationally arranged on the outer surface of the inner ring, and a backing is arranged on the outer surface of the outer wear-resistant layer; and a wear-resistant composite layer is adhered to the inner surface of the inner ring. The bearing has the advantages that the outer wear-resistant layer and the backing are arranged on the surface of the outer circumference, the inner ring does not need to be pressed in by cutting the outer ring in the radial direction, and the wear-resistant composite layer is arranged in the inner hole of the inner ring, so that the pin shaft does not need to be in direct contact with the inner ring, and the wear degree of the inner ring is reduced.

A knuckle bearing testing device comprises a bottom plate, a detection platen fixedly installed on the bottom plate, a bearing annular plate installed on the detection platen and connected to an outer ring of a knuckle bearing in a sleeving mode, and a transmission shaft in interference fit with an inner ring of the knuckle bearing and capable of driving the inner ring of the knuckle bearing to rotate. A through detection channel is formed in the detection table plate, an inner spherical surface is arranged on the inner wall of the detection channel, an outer spherical surface matched with the inner spherical surface is arranged on the outer side of the bearing ring plate, an elastic return piece abutting against the rear end of the bearing ring plate is installed on the bottom plate, and a pushing test piece capable of pushing the bearing ring plate to slide from multiple positions is installed on the transmission shaft. According to the invention, the use condition of the knuckle bearing in reality can be simulated as much as possible, so that the accuracy of the test data of the knuckle bearing is improved, the tested data of the knuckle bearing is closer to the data in actual use, the reject ratio of products can be reduced, and the durability of the products is improved.

The present application provides a joint module, a finger, a dexterous robot hand, and a robot. The joint module comprises a driving mechanism and a transmission mechanism, wherein an output end of the driving mechanism is connected to an input portion of the transmission mechanism, and an output portion of the transmission mechanism serves as an output portion of the joint module to transmit power. Since each joint module comprises a driving mechanism, the joint movement of each knuckle can be controlled independently to output torque, thereby increasing the response speed, precision, and torque of each joint movement. When multiple joint modules are applied to a finger, the strength of the entire finger and the coordination precision and flexibility of a finger action can be improved, and the wiring between the joint modules and the wiring between the joint modules and a fingertip module in the finger are more convenient.

A knuckle protector for protecting a user's hand comprises a guard member having a knuckle cover portion, a grip portion and an aperture for receiving a finger of said user's hand therethrough; and one or more securing straps connected to the guard member, the securing strap or all of the securing straps being connected to or being connectable to an end of an elongate hand wrap.

The invention discloses a coupling self-adaptive under-actuated bionic dexterous manipulator finger, and relates to the technical field of manipulator fingers. The knuckle assembly comprises a far-end knuckle, a middle-end knuckle and a near-end knuckle which are mutually cooperated and matched and are connected in sequence; the driving assembly comprises a side swing-flexion and extension module and a grabbing driving module, and the side swing-flexion and extension module and the grabbing driving module each comprise a multi-stage connecting rod structure and are used for driving the knuckle assembly to complete specified actions; according to the manipulator finger, the passive adaptive capacity of the finger is effectively improved, more natural envelope grabbing is achieved, and the finger has a larger grabbing space while the structure is kept simple and compact.

The invention relates to a pressure detection assembly for sensing the stress of the nail end part of a robot, and a bionic finger. The pressure detection assembly comprises a tail end knuckle, an artificial nail and a processing module, the artificial fingernail is installed on the tail end knuckle, the rigidity of the fingernail is 2 Morse or above, the front edge of the fingernail extends outwards to form a knuckle fingertip, and the end of the front edge of the fingernail serves as a first stress area to make physical contact with an external object; the artificial nail is connected to the tail end knuckle in a sliding mode in the fingertip direction, the artificial nail slides towards the knuckle under the stress of the first stress area, and at least one first pressure sensor with the automatic elastic recovery function after being pressed is fixed to a sliding path to be used for detecting first one-dimensional force; the outer diameter dimension of the pressure sensor is configured to be up to 100% of the maximum dimension of the nail; the processing module is coupled with the first pressure sensor and used for outputting the acting force borne by the first stress area according to the first single-dimensional force.

The invention provides a method for quickly positioning the instant center of a finger joint and a rehabilitation glove following the instant center, the method for quickly positioning the instant center of the finger joint comprises the following steps: A, keeping a finger in a half-bending state, and making a straight line collinear with the outer contour of each knuckle of the finger; b, folding lines of all joints are made through straight lines and finger knuckles, and geometric center lines of the fingers are made through the folding lines; c, making a positioning circle tangent to the fold lines of the joints and the geometric center line of the finger in an acute angle space formed by the fold lines of the joints and the geometric center line of the finger; d, the positioning circle radius R1 at the metacarpophalangeal joint of the finger is larger than or equal to 1 mm and smaller than or equal to 2.5 mm, and the positioning circle radius R2 of the near-end interphalangeal joint and the far-end interphalangeal joint of the finger is larger than or equal to 0.5 mm and smaller than or equal to 2 mm; e, in engineering application, the equivalent instantaneous center of the metacarpophalangeal joint varies within the range of a positioning circle with the radius being R1, and the equivalent instantaneous centers of the near-end interphalangeal joint and the far-end interphalangeal joint varies within the range of a positioning circle with the radius being R2.

The dexterous finger comprises at least two knuckles which are hinged to each other and a first driving mechanism which drives one of the two adjacent knuckles to rotate around a first shaft relative to the other knuckle, and at least one knuckle is connected with a connecting part through a second driving mechanism. The second driving mechanism drives the knuckles to move linearly in the length direction of the knuckles and / or enables the knuckles to rotate around the axes of the knuckles, and the remaining parts of the second driving mechanism are arranged on the knuckles. The dexterous finger has the advantages that the driving mechanisms capable of extending and swinging the whole dexterous finger in multiple directions are additionally arranged between the knuckles, so that the dexterous finger not only can be bent in a single plane, but also can be expanded and flexibly swung on different planes, and the movement range and the flexibility of the finger are greatly improved; and moreover, grabbed objects with different shapes and sizes can be better adapted.

The invention discloses an under-actuated manipulator based on hybrid transmission of a gear and a tendon rope mechanism, and relates to the technical field of manipulators. One end of the middle connecting mechanism is provided with the floating platform under-actuated mechanism, and the other end of the middle connecting mechanism is provided with three identical finger mechanisms; the floating platform under-actuated mechanism comprises a tendon rope lifting device, a floating platform, a tendon rope winding wheel and a driving motor, a tendon rope penetrates through the lifting device to be connected with the floating platform and then reaches the finger mechanism, and synchronous control over the finger mechanism is achieved; the finger mechanism sequentially comprises a wrist joint, an MP joint and a near-end knuckle and is driven by a single motor to achieve rotary motion. The near-end knuckles are sequentially connected with the DIP joints, the middle knuckles, the PIP joints and the far-end knuckles in series, transmission is achieved through tendon ropes, flexible belts are installed on the inner sides of the near-end knuckles, and self-adaptive grabbing and gripping are achieved. Meanwhile, a torsional spring and a limiting device are arranged at a joint, so that resetting and self-locking functions are realized. The under-actuated manipulator is high in adaptive capacity, high in flexibility and good in stability.

The utility model discloses a high-flexibility flexible mechanical finger supporting forward and reverse holding and a manipulator. The mechanical finger comprises a middle finger section, a base finger section and an end finger section, wherein the base finger section and the end finger section are rotationally connected with the two ends of the middle finger section respectively. Driving units are arranged in the end finger section, the middle finger section and the base finger section; bevel gear transmission units are arranged at the tail end of the end finger section, the tail end of the middle finger section and the tail end of the base finger section; the driving units are in transmission connection with the corresponding bevel gear transmission units; the driving unit drives the end finger section and the base finger section to rotate by taking the corresponding bevel gear transmission unit as a central shaft; through the structure and position design of the micro driving motor and the bevel gear transmission unit, each finger and each knuckle of the manipulator can be flexibly controlled, so that the manipulator has higher bionic flexibility and more precise grabbing capacity, and can be suitable for different scene requirements; by means of the special inserting mode between knuckles, the left-right hand grabbing function of the single mechanical arm is achieved.

The invention provides a knuckle module and a dexterous hand. The knuckle module comprises a first knuckle section, a motor, a control circuit board, a reversing mechanism and a speed reducer, wherein the motor and the control circuit board are arranged in the first knuckle section, and the reversing mechanism and the speed reducer are arranged in the end portion of one end of the first knuckle section. The direction of an output shaft of the motor is parallel to the length direction of the first knuckle section, the direction of an output shaft of the speed reducer is perpendicular to the direction of the output shaft of the motor, and the reversing mechanism is arranged between the motor and the speed reducer and used for converting rotation of the output shaft of the motor into rotation of an input shaft of the speed reducer. The control circuit board is arranged at the end, away from the reversing mechanism, of the motor and electrically connected with the motor. According to the knuckle module provided by the invention, the use requirements of light weight and miniaturization of finger joints can be met, the motion control precision of the finger joints is greatly improved, meanwhile, modularization is realized, a plurality of knuckle modules can be stacked to be connected into a finger, and the knuckle module is convenient to disassemble and assemble and easy to maintain.

The invention provides a humanoid robot and a dexterous hand thereof. The humanoid robot comprises a palm shell defining a containing cavity; the thumb comprises a first rotary actuator, a second rotary actuator, a transmission assembly and a thumb assembly, the first rotary actuator and the second rotary actuator are fixedly connected to the inner wall of the containing cavity, the transmission assembly is in transmission connection between the first rotary actuator and the second rotary actuator, and at least part of the thumb assembly extends out of the containing cavity; the thumb component is in transmission connection with the transmission component; each finger comprises a finger piece and a linear actuator, the linear actuators are fixedly connected to the cavity wall of the containing cavity, at least part of each finger piece extends out of the palm shell, and each finger piece comprises a connecting base, a finger near knuckle, a finger far knuckle, a finger far knuckle and a finger far knuckle rubber coating; and a connector board electrically connected to the first rotary actuator, the second rotary actuator, and the linear actuator. The dexterous hand is compact in layout, small in occupied space and high in movement precision, and the grabbing force of the dexterous hand is improved.

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and solves the problem that a dexterous hand in the related technology cannot have a relatively high degree of freedom and a relatively small size at the same time. The dexterous hand finger comprises a finger base assembly, a rotary driving assembly, a finger knuckle assembly, two parallel driving pieces, two finger swing arms and two finger connecting rods. According to the dexterous hand finger, the rotation driving assembly is used for driving the finger base assembly to rotate around the first axis, rotation of the finger knuckle assembly of the dexterous hand finger is achieved, and the two parallel driving pieces, the two finger swing arms and the two finger connecting rods are used for driving the finger knuckle assembly of the dexterous hand finger to swing laterally and bend and stretch. Therefore, three degrees of freedom of the finger knuckle assembly of the dexterous hand finger are realized. Meanwhile, the rotation axes of the three degrees of freedom are concentrated on the finger base assembly, the structure is compact, and the dexterous hand finger has the high degree of freedom and the small size.

The invention belongs to the technical field of robots, and relates to a humanoid dexterous hand, which comprises a palm part, a thumb and four fingers, the four fingers are respectively an index finger, a middle finger, a ring finger and a little finger, the structures of the index finger, the middle finger, the ring finger and the little finger are the same, the lengths of all knuckles are different, each finger comprises a finger body and a finger mechanical transmission chain, the thumb comprises a thumb body and a thumb mechanical transmission chain, and each finger and the thumb can be independently installed on the palm or detached from the palm. According to the humanoid dexterous hand, all the driving motors can be direct-current servo motors or stepping motors, and when fingers or the thumb stops bending and stretching movement, if the servo motors are adopted, a servo control system has the electric locking capacity due to the fact that the servo motors are in a closed-loop control mode; if a stepping motor is adopted, the stepping motor has a torque holding function, and the holding torque is far higher than the driving torque; all the power assemblies are externally arranged, namely, the power assemblies are not arranged in finger knuckle cavities.

An improved glove has both anatomically correlating stress relief zones and / or reinforced zones to add support in areas opposite the stress relief zones to keep bunching or slipping of the glove from interfering with the bending of the user's joints. The glove may have corrugated relief zones over some or all of the joints and knuckles of the hand, wherein the relief zones are formed of peaks and valleys. A relief zone can also be provided over the webbing between the thumb and the palm. The vertical or longitudinal relief zones provide for improved glove quality while keeping manufacturing difficulty and costs at a minimum.

The invention relates to a steering knuckle alignment method and system. The method comprises the following steps: determining to continue to detect signals or obtain detection image information according to the consistency between detection signals and placement signals; determining the placement state of the steering knuckle according to the detection image information; determining an abnormal placement type or controlling a clamping device to clamp and place the steering knuckle into an alignment device according to the consistency between the steering knuckle placement state and the reference placement state and the steering knuckle placement state, and outputting an alignment signal; a correction method is determined according to the placement abnormity type, and the steering knuckle is corrected through the correction method; according to the alignment signal, an alignment device is controlled to conduct alignment detection on the steering knuckle with the alignment force and the alignment angle; according to the exceeding relation between the detection pressure value and the reference pressure value, it is determined that detection is completed or a prompt is reported. The method has the effect of improving the working efficiency.

The humanoid dexterous finger comprises a single-finger base, a fingertip, a first knuckle and a second knuckle, the fingertip, the first knuckle and the second knuckle are sequentially hinged from top to bottom, the bottom end of the second knuckle is rotationally connected with the single-finger base through a swing part, and the rotating plane, relative to the swing part, of the second knuckle is not parallel to the rotating plane, relative to the single-finger base, of the swing part; the fingertips, the first knuckles and the second knuckles are respectively connected with at least one group of connecting rod driving mechanisms for driving the fingertips, the first knuckles and the second knuckles to independently act; each connecting rod driving mechanism comprises a main connecting rod and a driving assembly driving the main connecting rod to move, each driving assembly comprises a power piece, and the power pieces drive the connecting seats to slide back and forth along the sliding rails through pull ropes. The humanoid dexterous hand comprises a palm and the humanoid dexterous finger which is arranged on the palm and adopts the scheme. The humanoid robot adopts the humanoid dexterous hand. The dexterous finger has four active degrees of freedom and higher response speed, and hand actions closer to a real person are realized.