32 results about "Middle phalanx" patented technology

The invention discloses a bionic rope-driven finger, which adopts single tendon rope drive to be matched with a movement coupling transmission rod, and solves the technical problems that the number of tendon ropes of the existing rope-driven finger is large, and multi-joint coordinated movement is difficult. The finger comprises a near-end knuckle, a middle knuckle and a far-end knuckle which are hinged in sequence, and the whole finger can be driven to bend through a tendon rope anchored to the far-end knuckle. The tendon rope is connected to the near-end knuckles and the far-end knuckles in a pivoted mode through the movement coupling transmission rods arranged on the spanning middle knuckles, and when the tendon rope pulls the far-end knuckles to bend, the movement coupling transmission rods mechanically transmit movement to the near-end knuckles, so that the two knuckles automatically form a coordinated bending proportion, and the natural movement mode of human fingers is simulated. The elastic restoring element provides stretching restoring force when the tendon rope is loosened, so that the fingers automatically return to the straightened state, and bidirectional movement control is achieved through the single tendon rope. According to the scheme, the tendon rope layout is simplified, the assembling efficiency and reliability are improved, and stable grabbing is achieved.

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 provides a controllable variable-stiffness hybrid-driven self-adaptive dexterous hand and a driving method thereof, the controllable variable-stiffness hybrid-driven self-adaptive dexterous hand comprises a bionic connecting assembly, a variable-stiffness finger assembly and a thumb assembly, and the variable-stiffness finger assembly comprises an assembly frame, a variable-stiffness assembly, a first driving mechanism, a near knuckle assembly, a middle knuckle assembly and a first fingertip assembly; the thumb assembly comprises a mounting base, a rotary driving mechanism, a second driving mechanism, a thumb knuckle assembly and a second fingertip assembly. The contradiction between fine operation and flexibility of a traditional dexterous hand is broken through, and the grabbing adaptability and operation reliability of the dexterous hand are remarkably improved. According to the variable-rigidity finger assembly, the rigidity of each finger of the variable-rigidity finger assembly is adjusted in real time according to the characteristics of a grabbed object through the magneto-rheological regulation and control technology, and the problem that the dexterous hand lacks rigidity controllability is solved. The thumb assembly can be independently bent, regulated and rotationally adjusted, the hand movement freedom degree and operation flexibility are further expanded, and the requirements of multiple fields for multiple functions and high adaptability of the dexterous hand are met.

The application provides a finger exoskeleton device and a motion decoupling method thereof, a middle phalanx transmission mechanism arranged at a proximal phalanx part and connected with a driving mechanism; a distal phalanx transmission mechanism arranged at a distal phalanx part and connected with the middle phalanx transmission mechanism; and the driving mechanism is used to provide power. The application has the beneficial effect that the finger exoskeleton device and the motion decoupling method thereof can increase the rotation angle of the distal phalanx by decoupling the motion of the distal phalanx and the middle phalanx under the stress action of the middle phalanx only when the grip is insufficient, so that the grip is sufficient.

A hand rehabilitation training device comprising a wrist component and one or more finger components removably connected to the wrist component, the wrist component comprising a hand sleeve and one or more hand back bridges movably connected to the hand sleeve via an adjustment mechanism, the invention further relates to a method for reversibly adjusting and fixing the proximal-distal position of the bridge relative to the hand sleeve. The device includes one or more flexible members that removably connect each finger component to one or more of the back-of-hand bridges such that the flexible members apply a tensile force to one or more of the connected finger components. The hand sleeve may receive a wearer's hand and wrist, expose the wearer's fingers, and include a reversibly openable portion for opening and closing the hand sleeve around the wearer's wrist. The finger component may include a soft and bendable finger portion and a rigid support spine, and / or leave a space for exposing at least a portion of the middle phalanx of the wearer's finger.

The invention discloses a bone hammer-shaped finger dead point fixing device, and relates to the technical field of medical instruments. A fixing plate of the dead point fixing device comprises a fixing plate body and a blocking hook protruding towards the side away from the fixing plate body, the fixing plate body is provided with a plurality of screw holes, the blocking hook is of an arc-shaped structure with a preset angle and is used for fixing an avulsion bone block, and a first fixing claw is located on the side, close to the avulsion bone block, of the fixing plate body. The end of the first fixing claw abuts against an avulsion bone block, the second fixing claw is located on the side, close to the extensor tendon and away from the first fixing claw, of the fixing plate body, and the lag screw is arranged to be screwed into the middle phalanx through the screw hole, so that the fixing plate is driven to move towards the tail phalanx when the lag screw is screwed in. The first fixing claw is driven to push the avulsion bone block to move towards the tail end phalanx. The dead point fixing device is used for stably pressurizing and fixing an avulsed bone block and carrying out anti-stretching fixing on an extensor tendon, and rapid healing and functional recovery of a bone tendon dead point are achieved.

This invention discloses a humanoid robot mechanical finger, comprising a fixed frame with a first directional tooth; a proximal phalanx drive rod with one end movably connected to the output end of a telescopic device and the other end having a second directional tooth, and a distal phalanx linkage rod rotatably connected thereto; a middle phalanx linkage rod rotatably connected to a second position of the fixed frame; a driven gear assembly rotatably connected between the proximal phalanx drive rod and the middle phalanx linkage rod, and meshing with the first directional tooth; a middle phalanx drive rod rotatably connected between the proximal phalanx drive rod and the middle phalanx linkage rod, and having a third directional tooth, which meshes with the driven gear assembly; and a distal phalanx swing rod rotatably connected between the distal phalanx linkage rod and the middle phalanx drive rod, and having a fourth directional tooth, which meshes with the second directional tooth. This invention employs pure mechanical gear transmission, without relying on elastic elements, wire ropes, rubber seals, or other components that are prone to aging or susceptible to temperature / radiation effects, and can operate stably for a long time in extreme environments such as high temperature, low temperature, vacuum, and radiation.

To provide an artificial joint that allows for easy removal of the stem once it has been implanted in the bone. [Solution] The artificial joint 100 for the middle phalanx comprises a stem 101 formed in the shape of a rod and inserted into at least one of a pair of bones with one of its ends exposed, and a tip sliding body 120 provided at the exposed end of the stem 101 that directly or indirectly slides against the other bone in the pair of bones to change the relative angle between the two bones in the pair. The stem 101 has a male threaded portion 106 formed on its outer circumference for screwing into the bone. Inside the stem 101, there is a female threaded portion 104 which is configured with a reverse thread to the male threaded portion 106 and opens towards the exposed end.

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.

The invention discloses an improved boxing glove that positions the thumb away from the striking surface of the glove and moves it to a more natural first position across the front of at least a portion of the middle phalanx of the index finger.

A finger joint reduction simulation training device includes forearm, carpal, metacarpal, proximal phalanx, and middle phalanx portions, and at least one biasing element. The carpal portion is attached to a distal end of the forearm portion. The metacarpal portion is connected to the carpal attachment. The proximal phalanx portion has a proximal end that is connected to the metacarpal portion and a distal end opposite to the proximal end. The distal end includes a dislocation guide surface with a depression formed therein. The middle phalanx portion is positioned adjacent the proximal phalanx portion and includes a proximal end with a terminal surface configured to shift relative to the dislocation guide surface and includes a projection configured to extend into the depression of the dislocation guide surface. The biasing element is configured to bias the terminal surface of the middle phalanx portion against the dislocation guide surface.

This utility model relates to the field of thermal insulation technology, specifically to an ergonomically designed heated sock with an inner lining. The sock includes an inner lining, one side of which is fixedly connected to a heating wire for foot heating. The heating wire includes a segment located in the arch of the foot, and the other end of the arch segment is fixedly connected to a segment that avoids the sesamoid bone of the first metatarsal bone. The beneficial effects of this device are: the arch segment of the heating wire is routed in the concave arch of the foot, providing warmth and preventing foot discomfort; the segment that avoids the sesamoid bone protrusion prevents the heating wire from compressing the sesamoid bone, improving foot comfort. Since the proximal and distal phalanges of the human foot protrude upwards through the middle phalanx, forming a continuous concave area between the sole and toes, the middle phalanx segment and the middle phalanx loop segment are routed in this concave area, providing warmth and preventing the heating wire from compressing the toes, further enhancing comfort.

The application belongs to the technical field of bionic robots, and particularly relates to a bionic finger structure. The technical scheme is as follows: a bionic finger structure comprises a proximal phalanx, one end of the proximal phalanx is rotationally connected with a middle phalanx, the other end of the middle phalanx is rotationally connected with a distal phalanx, the lower side of the distal phalanx is connected with a distal phalanx steel rope, a middle phalanx pulley is sleeved on the rotation shaft between the middle phalanx and the proximal phalanx, the other end of the distal phalanx steel rope is connected with the proximal phalanx after winding around the upper side of the middle phalanx pulley, and the lower side of the middle phalanx is connected with a middle phalanx steel rope; the end of the proximal phalanx away from the middle phalanx is rotationally connected with a finger cross, the two sides of the finger cross are respectively rotationally connected with a proximal phalanx left pulley and a proximal phalanx right pulley, a cross steel rope is fixed on the proximal phalanx, one section of the cross steel rope is connected with the proximal phalanx left pulley and then wound out from the proximal phalanx left pulley, and the other section of the cross steel rope is connected with the proximal phalanx right pulley and then wound out from the proximal phalanx right pulley. The application provides a bionic finger structure.

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 invention provides an under-actuated dexterous hand and a robot. The under-actuated dexterous hand comprises a driving assembly and a driving transmission assembly, and the driving assembly is arranged on a palm; each finger comprises a proximal finger section, a middle finger section and a distal finger section, and the proximal end of the proximal finger section is connected with the driving assembly so that the proximal finger section can rotate relative to the palm; the far end of the near knuckle finger section is rotationally connected with a middle knuckle finger section and a far knuckle finger section in sequence; the driving transmission assembly is arranged on the near knuckle finger section, and at least part of the driving transmission assembly extends to the middle knuckle finger section so that the middle knuckle finger section can rotate relative to the near knuckle finger section, and meanwhile the far knuckle finger section can rotate relative to the middle knuckle finger section. The driving assembly is arranged in the palm to drive the near knuckle finger section to rotate relative to the palm, meanwhile, the driving transmission assembly is arranged in the finger to drive the middle knuckle finger section and the far knuckle finger section to rotate in the same direction, and then the finger is switched between the bending state and the stretching state. A traditional rotating motor driving system is replaced, the overall structure is simplified, the size of the dexterous hand is greatly reduced, and meanwhile the integration cost is reduced.

The utility model discloses a multi-degree-of-freedom all-drive dexterous hand and robot, the multi-degree-of-freedom all-drive dexterous hand comprises a palm and a plurality of fingers, the plurality of fingers are arranged on the palm at intervals, 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, finger joints can move more directly and sensitively, finer and more complex actions can be achieved, and flexibility of fingers is greatly enhanced. 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 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 invention relates to the field of manipulators, in particular to a multi-joint precise dexterous hand which comprises a left hand plate, a thumb unit, an index finger unit, a middle finger unit, a ring finger unit and a little finger unit are sequentially and rotationally arranged on the left hand plate, and each of the index finger unit, the middle finger unit, the ring finger unit and the little finger unit is composed of a long plate, a proximal phalanx, a middle phalanx and a fingertip. A double-output-shaft motor is adopted to drive a plurality of tendon ropes, actions of more than 15 joints can be achieved only through six motors, the complexity and cost of the system are remarkably reduced, a reasonably-designed tendon rope guide structure is achieved through a first guide rod and a second guide rod, and flexible switching between fingertip pinching and wrapping grabbing is achieved in cooperation with radius configuration of an underactuated pulley. The second motor drives the rotating shaft to drive the metacarpal bone plate to rotate, multi-angle finger aligning actions of the thumb unit are achieved, the grabbing type diversity is improved, all the finger units are independently detachable, tendon ropes are rapidly installed and replaced through wire binding holes and wire pulling grooves, and the maintainability of the system is improved.

The utility model relates to the field of warm -keeping technology, concretely is a kind of heating gloves based on ergonomics, including glove lining, the heating wire is fixedly connected with in the palm side of glove lining, the heating wire includes by the distribution of large metacarpal segment in the inside of large metacarpal from the rima glottidis, the beneficial effect of the present device is: utilize the concave structure of human palm, distribute in palm concave place by hypothenar segment, large metacarpal segment and phalangeal joint avoidance section, avoid electric heating wire compression muscle and metacarpal joint while ensuring heating and keeping warm;By metacarpal joint avoidance return section and metacarpal joint avoidance section, avoid the joint protrusion of second metacarpal to fifth metacarpal and proximal phalanx;Again by phalangeal joint avoidance section along the joint of proximal phalanx and middle phalanx distribution, utilize the concave wiring formed by finger natural bending, avoid heating wire compression joint and muscle, finally realize finger heating while improving comfort.

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 utility model relates to an interphalangeal joint prosthesis with a bionic structure, which belongs to the technical field of medical prostheses and is characterized in that the near end of a near-end prosthesis is connected with a near phalanx, and the far end of a far-end prosthesis is connected with a middle phalanx; the far end of the near-end prosthesis is of a bionic structure of a near-end articular surface of the interphalangeal joint, the near end of the liner is of a bionic structure of a far-end articular surface of the interphalangeal joint, and the far end of the near-end prosthesis and the near end of the liner are matched and can rotate relative to each other; the liner is made of flexible materials and provides buffering between the near-end prosthesis and the far-end prosthesis. Through cooperation of the bionic structure, miniaturization is achieved, and meanwhile the flexibility and stability of the interphalangeal joint prosthesis of the bionic structure in the flexion and extension movement are guaranteed through the structure of the human body.

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.

This improves the gripping action of the toes and increases the freedom of movement of the toes, thereby enabling more effective exercise. [Solution] In an insole 11 in which a contact surface 12a is formed on the surface of a main mat 12 on which the foot rests, two upright walls 31 and 32 are formed at the front end of the contact surface 12a to fit under the toes of the foot placed on the contact surface 12a. One upright wall 31 is formed in the area corresponding to the proximal phalanx of the first toe, and the other upright wall 32 is formed in the area corresponding to the middle phalanges of the second to fifth toes. On the toe-side surfaces of these upright walls 31 and 32, an upright surface 33 is formed to provide a gripping surface when the toes make a grasping motion.

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 application relates to the field of robot design technology, and more particularly to a linkage-driven finger assembly, a dexterous hand, and a robot. The finger assembly includes a proximal phalanx, a middle phalanx, and a distal phalanx hinged sequentially. A first linear drive mechanism drives the proximal phalanx via a first link. A second linear drive mechanism couples a single linear motion to the middle and distal phalanges via a second link mechanism including a drive rod and a follower, driving them to bend. This solution effectively overcomes the low precision of chordal transmission in existing technologies; simultaneously, by replacing gear transmission with linear drive, it avoids the problems of complex, bulky, and high inertia issues associated with gear mechanisms, significantly simplifying the structure and improving the lightweight and response speed of the finger assembly.

This application relates to the field of robotics technology, and more particularly to a dexterous hand skin for embodied intelligence training grounds, a method for manufacturing the same, and a dexterous hand. The dexterous hand skin comprises multiple thin film structures respectively disposed on the distal phalanx, middle phalanx, and palm surface of the dexterous hand; connecting lines connect the thin film structures on the distal phalanx, middle phalanx, and palm, wherein the length of the connecting line between adjacent thin film structures is greater than the spacing between the corresponding thin film structures, and / or the connecting lines are elastic connecting lines; the thin film structure includes a stacked upper electrode layer, a conductive silicone layer, and a lower electrode layer, wherein the density of conductive particles in the conductive silicone layer is gradient-distributed, and the density of conductive particles in the edge region of the conductive silicone layer is greater than the density of conductive particles in the center region of the conductive silicone layer. By using length redundancy or elastic material for the connecting lines, it can quickly adapt to different dexterous hands, improving its adaptability.

The application relates to an integrated 3D printing dexterous finger and a kinematic modeling method thereof, wherein the integrated 3D printing dexterous finger comprises a finger base, a metacarpophalangeal roll joint, a first proximal phalanx, a metacarpophalangeal pitch joint, a second proximal phalanx, a proximal interphalangeal joint, a middle phalanx, a distal interphalangeal joint and a distal phalanx which are connected in sequence; and further comprises a proximal interphalangeal joint driving tendon, a first metacarpophalangeal joint driving tendon, a second metacarpophalangeal joint driving tendon and a variable cross-section passive coupling tendon. The integrated 3D printing dexterous finger can realize bidirectional driving of the finger by using a single driving tendon without complex assembly, and can overcome the friction and relaxation problems of 3D printing flexible materials through special structure design, so as to meet the efficient, lightweight and high reliability requirements of robot grasping.

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 present invention provides an artificial joint and an artificial joint attachment device that allows the stem to be positioned at a desired location or orientation within the bone constituting the joint. [Solution] The artificial joint 100 for the middle phalanx includes a stem 101 formed in the shape of a rod and inserted into at least one of a pair of bones with one of its ends exposed, and a tip sliding body 120 provided at the exposed end of the stem 101 that directly or indirectly slides against the other bone of the pair of bones to change the relative angle between the two bones in the pair. The stem 101 has a guide hole 103 which is a through hole for passing a linearly extending guide tool 300 that is inserted into the middle phalanx I before the stem 101 is inserted into the middle phalanx I. The guide hole 103 is formed to be approximately the same size as the diameter of the guide tool 300.