33 results about "Proximal phalanx" patented technology

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.

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.

A robotic gripper comprising: a base; a first finger comprising a proximal phalanx connected to the base by a joint; a second finger comprising a proximal phalanx connected to the base by a joint, the first and second fingers being movable relative to each other; wherein the base comprises a suction cup arranged to allow the gripper to interact with an object by suction.

It measures finger movements accurately with a simple configuration. [Solution] A measuring device 1 for measuring the movement of a finger 3, comprising: a base portion 11 attached to the proximal phalanx 26 of the finger 3; a distal phalanx attachment portion 12 attached to the distal phalanx 28 of the finger 3; a connecting link 13 having one end 13a rotatably connected to the base portion 11 around a first rotation axis A1 and the other end 13b rotatably connected to the distal phalanx attachment portion 12 around a second rotation axis A2, connecting the base portion 11 and the distal phalanx attachment portion 12; and a sensor 14 for measuring the relative position of the distal phalanx attachment portion 12 with respect to the base portion 11, wherein the first rotation axis A1 is positioned on the fingertip 28a side of the PIP joint 22 when the finger 3 is extended.

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

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

The invention 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.

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.

Five mechanical fingers of the variable-stiffness rope-driven manipulator are the same in structure and each comprise a near-end phalanx, a middle-section phalanx and a far-end phalanx, and the near-end phalanx, the middle-section phalanx and the far-end phalanx are sequentially and rotationally connected; the variable-rigidity mechanism comprises a mounting part and a variable-rigidity transmission part, the five mechanical fingers are distributed on the mounting part at intervals, the near-end phalanx is rotationally connected with the mounting part, the variable-rigidity transmission part is in sliding connection with the mounting part, and the transmission assembly is connected with the variable-rigidity transmission part; the variable stiffness steering engine is connected with the transmission assembly; wherein each mechanical finger is provided with a stretching tendon rope and a bending tendon rope; a first coupling rope is connected between the middle phalanx and the far-end phalanx, and a second coupling rope is connected between the far-end phalanx and the near-end phalanx. The variable-rigidity rope-driven manipulator has low tendon rope tension when grabbing an object; the variable-rigidity mechanical arm can grab an object with the surface prone to breakage through rigidity adjustment, and has enough safety during man-machine interaction, and belongs to the technical field of variable-rigidity mechanical arms.

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 invention relates to an orthosis (1) for wearing on a hand (2) of a person for at least limiting the movement of the carpometacarpal joint (CMCj) of the thumb, preferably also limiting the movement of the metacarpophalangeal joint (MCPj) of the thumb (2-1), the orthosis (1) comprising a metacarpal portion (3) extending across the metacarpal bones of the fingers 2 to 5 and a thumb portion (4) in a curved or ring shape fitting around the thumb (2-1), preferably around the proximal phalanx (6) of the thumb (2-1). The thumb portion (4) is connected to the metacarpal portion (3) via a thumb metacarpal portion (7) extending along and / or around the thumb metacarpal (8) when the orthosis (1) is worn on the hand (2).

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

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

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

The application 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 utility model relates to a wrist joint and metacarpophalangeal joint combined prosthesis with a flexion and extension activity function, which belongs to the technical field of medical prostheses and is characterized in that a wrist joint prosthesis is connected with a radius, a metacarpophalangeal bone prosthesis is respectively connected with the wrist joint prosthesis and a plurality of hinge type finger joint prostheses, and each hinge type finger joint prosthesis is connected with a proximal phalanx; the wrist joint prosthesis has a rotating function, meanwhile, the wrist joint prosthesis is rotationally connected with the metacarpal bone prosthesis to achieve the flexion and extension function of the wrist-metacarpal joint, the hinge type finger joint prosthesis comprises two flexion and extension parts, and the two flexion and extension parts are rotationally connected to achieve the flexion and extension motion function of the finger joint. A plurality of suture holes are formed in the metacarpal bone prosthesis and used for being connected with tendons, so that the activity of rotation movement and flexion and extension movement of the combined prosthesis is guaranteed through the tendons.

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

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

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

Projectile part intended to be thrown by a user's fingers, the projectile part being in the form of a small plate with an outer contour, in which part there are provided a proximal bearing zone intended to receive the pad of a proximal phalanx of the index finger, a distal bearing zone intended to bear on the distal phalanx of the index finger, the proximal bearing zone comprising at least one rear proximal protuberance, the projectile part comprising a through-orifice arranged at a distance from the proximal bearing zone, said orifice having an orifice contour with a front portion forming an intermediate bearing zone, and intended to receive a propulsion force produced by the nail of the thumb, and a rear portion intended to receive the tip of the thumb. Method for throwing such a part.

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

The invention discloses a multi-sensor coupled finger posture real-time estimation method and system, and relates to the technical field of wearable sensing and rehabilitation engineering. A heterogeneous sensing layout is constructed according to the density difference of finger joint information, fabric capacitors arranged along the back side are used for representing the total stretching of the whole finger, local bending is anchored through film resistors at PIP joints, and multi-dimensional monitoring of bending and stretching and abduction / adduction of MCP joints is achieved in combination with inertial measurement unit sets of metacarpal bones and proximal phalanges; in the algorithm level, strong physiological coupling constraints (specific linkage coefficients are set according to finger differences) of DIP and PIP are introduced to eliminate redundant variables, data are aligned through a multi-channel queue and a unified time axis, a baseline, a mapping relation and a dissection coupling coefficient are updated online only in a detected static stable platform window, physical shaping and failure degradation are applied during operation, and the dynamic performance of the static stable platform is improved. Continuous angle estimation which is low in time delay and high in robustness and conforms to anatomy is achieved on the edge processor.

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 invention relates to a hand orthosis having a hand liner (100) with a thumb receiving portion (110) which, when the liner is worn, surrounds the proximal phalanx of the thumb and the thumb saddle joint; wherein the hand liner (100) has metacarpal regions (120, 130) which, when the liner is worn, at least partially cover the metacarpus on both the dorsal and palmar sides of the hand; wherein the hand liner (100) has an opening (140) and is designed so that it can be opened up, and wherein a dimensionally stable main body (10) is positioned on the outside of the hand liner (100).

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.

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.