227 results about "Third finger" patented technology

A reel seat for a fishing rod having a rod blank with a butt end and a rod tip includes a body with proximal and distal ends and a middle portion, with only the proximal end being directly secured to the rod blank, the middle portion and distal end of the body being spaced from an exterior surface of a portion of the rod blank passing therethrough, a first opening in a bottom side of the distal end of the body allowing a user's index finger to directly contact the rod blank, and a second opening in the bottom side of the middle portion of the body allowing at least one of the user's ring and pinky fingers to directly contact the rod blank, and an integral connection section separating the first and second openings from one another.

The disclosure presents a humanoid robot with an upper region (head, torso, arms with forearm assemblies, end effectors), lower region (legs), and connecting central region. Each end effector features index, middle, ring, little finger, and thumb assemblies attached to a housing of said end effector. The housing includes interior wall extents creating spaces for tendon routing, where the first distance between first and second wall extents is less than 45% of the second distance between third and fourth wall extents. Tendons controlling finger movements pass between these wall extents. The robot incorporates a wrist assembly connecting the housing of the end effector to the forearm, actuators housed in the forearm that control the tendons, and a carpal tunnel-like structure that guides tendons from forearm to base of the housing, enabling precise hand movements without requiring actuators in the hand itself.

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.

An ergonomic hand grip strengthener includes a front operation handle for ergonomic placement of an index finger, a middle finger, a ring finger and a pinky finger of the holding hand of the user, a rear operation handle for abutting against a thumb and a palm of the holding hand of the user, and a strength adjustment assembly for adjusting a resistance applied to approaching movement between the front operation handle and the rear operation handle.

The two-degree-of-freedom finger mechanism of the five-finger manipulator is suitable for five-finger manipulator equipment of a humanoid robot and serves as a ring finger and little finger module. The robot consists of two parts, namely a finger bending assembly and a finger swinging assembly. The finger bending assembly drives a ball screw nut pair through a driving motor to convert rotary motion into linear motion, and then a ball nut drives an elastic connecting rod and finger joints to achieve bending motion of fingers. The finger swinging assembly drives a bevel gear set through a driving motor, and after the direction of rotating motion is changed, a connecting rod and finger joints are driven through a universal joint to achieve the swinging action of fingers. According to the two-degree-of-freedom mechanical finger, the two assemblies are ingeniously combined to one finger, and the overall size of the mechanical finger is reduced while two-degree-of-freedom movement is achieved. And in combination with the use of the elastic connecting rod, the driving motor is protected, and the action area of the manipulator and the grabbed object is increased.

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.

To enable installing, at appropriate positions, respective sensors for acquiring various kinds of information necessary for controlling a robot in a multimodal manner; and to acquire information from the respective sensors in an appropriate state and at appropriate timing.SOLUTION: In a hand tool 50, sensors having respective different information acquisition functions are attached to respective finger parts 22A, 22B, 22C, 22D, and 22E. In other words, sensors for acquiring various kinds of information necessary for controlling a robot are attached. A visual sensor 51A for detecting visual information is attached to a thumb, an auditory sensor 51B for detecting auditory information is attached to an index finger, an olfactory sensor 51C is attached to a middle finger, a tactile sensor 51D for detecting tactile information is attached to a ring finger, and a taste sensor 51E for detecting taste information is attached to a little finger.SELECTED DRAWING: Figure 4

The invention discloses a self-adaptive bionic manipulator and a differential motion pulley block mechanism, which are composed of a shell, a palm, four fingers, a thumb and a connecting flange, and comprise a first driving mechanism, a second driving mechanism and a third driving mechanism, and the four fingers comprise an index finger, a middle finger, a ring finger and a little finger which are all novel tendon rope connecting rod hybrid driven bionic mechanical fingers; the three knuckles of the bionic mechanical finger are driven by the tendon ropes to move regularly, so that consistent bending and self-adaptive grabbing of the finger are achieved. A set of differential motion pulley block mechanism is installed on the palm, the first driving mechanism drives the differential motion pulley block mechanism and drives the four fingers to move, and the mechanism not only solves the problem that a pulley block occupies a large space of the palm, but also can reduce the overall weight and achieve light weight. A second driving mechanism and a third driving mechanism are installed on the thumb and control rotation and buckling of the thumb respectively. The robot can grasp objects in a self-adaptive mode, and is high in self-adaptability, high in anthropomorphic degree, ingenious in structure and efficient in transmission.

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

The exoskeleton manipulator comprises an exoskeleton main body, the front end of the exoskeleton main body is connected with a finger four-finger part, the rear end of the exoskeleton main body is connected with a finger thumb part and a wrist wearing part, the exoskeleton main body is connected with a thumb metal rod and a four-finger knuckle rod, and a hand back liner is arranged on a palm part on the inner side of the exoskeleton main body; the four-finger part comprises an index finger stall, a middle finger stall, a ring finger stall and a little finger stall which are arranged on the four-finger knuckle rod in a sleeving manner, and the thumb part comprises a thumb stall arranged on the thumb metal rod in a sleeving manner; the wrist wearing part comprises a wide bandage with one end fixed to the exoskeleton body and a wrist guard arranged on the wide bandage. The invention further relates to a wearing method of the exoskeleton mechanical arm, wearing can be rapidly completed only through two steps after assembly is completed, and the problem that the exoskeleton mechanical arm is simple to wear and good in adaptability cannot be achieved at the same time is solved.

The invention belongs to the technical field of robots, and particularly discloses a humanoid manipulator and a robot, the humanoid manipulator comprises a palm base body and five fingers connected with the palm base body, and the five fingers sequentially comprise a little finger, a ring finger, a middle finger, an index finger and a thumb; wherein the little finger, the ring finger, the middle finger and the index finger are the same in structure, each five-connecting-rod structure is formed by three knuckles and two connecting rods, and each five-connecting-rod structure is driven by a corresponding first driving mechanism and used for enabling the fingers to conduct bending and stretching actions; and the thumb can realize three actions through the second driving mechanism, the rotary driving mechanism and the third driving mechanism, namely bending and stretching actions as well as up-and-down rotating actions and left-and-right swinging actions relative to the palm base body. By cooperatively controlling the seven driving mechanisms, the five fingers can achieve various purposes of fist clenching, palm stretching or grabbing of different objects and the like, and meanwhile the humanoid manipulator has the advantages of being multiple in freedom degree, small, exquisite, flexible, similar to a human hand in size, easy to control and the like.

The utility model belongs to the technical field of robots, and particularly relates to a flexible three-finger paw which comprises three finger modules, the three finger modules are distributed and installed on the upper plane of a paw base according to the 120-degree circumference, and each finger module comprises a finger base, a first finger joint, a second finger joint, a three-joint connecting crank and a third finger joint. And the finger base is mounted on the upper plane of the paw base. Each finger in the device is composed of a plurality of independent flexible modules, the modules are connected with one another through connecting mechanisms, and the angles of the fingers can be changed, so that the device adapts to objects of different shapes and sizes.

The invention discloses a pulse detection device and an automatic pulse taking method, and relates to the technical field of medical instruments.The pulse detection device comprises a pulse detection body used for being worn on the hand and further comprises a first fingerstall, a second fingerstall and a third fingerstall which are worn on the index finger, the middle finger and the ring finger of a doctor respectively, and the first fingerstall, the second fingerstall and the third fingerstall are connected; piezoresistive pressure sensors are arranged at finger pulps of the first fingerstall, the second fingerstall and the third fingerstall respectively, the pulse detection body further comprises a signal conditioning circuit arranged at the position of the hand back, the piezoresistive pressure sensors are electrically connected with the signal conditioning circuit, and the signal conditioning circuit is used for detecting a first state when the first state is detected. And the processor is used for converting from the standby mode to the working mode, receiving a signal of the piezoresistive pressure sensor, processing the signal and sending the processed signal to the upper computer, and is also used for converting from the working mode to the standby mode when a second state is detected. The pulse condition data and the floating, middle and sinking pressure can be automatically collected when a doctor takes the pulse, the doctor does not need to control, the complete information such as the pulse diagnosis state, the floating, middle and sinking pressure and the cun-guan-chi pulse condition can be detected, and fusion of manual pulse taking and sensor pulse taking is achieved.

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

The invention discloses a multi-mode three-finger clamping jaw system, and relates to the technical field of intelligent robots, and the multi-mode three-finger clamping jaw system comprises a grabbing mechanical arm and a clamping jaw body; the clamping jaw body comprises a palm seat, a first clamping finger assembly, a second clamping finger assembly and a third clamping finger assembly. The first clamping finger assembly comprises a first finger and a first driving mechanism; the second clamping finger assembly comprises a second finger and a second driving mechanism; the third clamping finger assembly comprises a third finger and a third driving mechanism; the first finger, the second finger and the third finger are crawler clamping fingers; according to the multi-mode three-finger clamping jaw system provided by the invention, the first clamping finger assembly, the second clamping finger assembly and the third clamping finger assembly are arranged to configure different control modes correspondingly, and additional rotational degrees of freedom are added to the second clamping finger assembly and the third clamping finger assembly, so that a plurality of fingers act independently, and a more flexible operation range is realized.

The utility model discloses a kind of ampoule breaking gloves. The device of the utility model includes: vice finger sleeve is arranged on glove main body, vice finger sleeve includes three finger sleeves, respectively corresponding little thumb, ring finger and middle finger, index finger sleeve and thumb finger sleeve are arranged on glove main body;Thumb finger sleeve is wrapped with thumb gauze layer;The side of the thumb gauze layer towards index finger sleeve is opened with arc slot, and the arc slot is placed at thumb gauze layer finger palm portion;Grinding wheel piece is annular arc structure, the curvature of grinding wheel piece inside is adapted to the natural curvature of thumb finger palm, the inside of grinding wheel piece is embedded in arc slot, and grinding wheel piece two ends are provided with connecting belt, two connecting belts are tied on thumb gauze layer knot or buckle connection, and the outside of grinding wheel piece is exposed. The utility model can complete ampoule breaking by single hand operation, protect both hands while simplifying operation mode, improve efficiency.

A finger mouse belongs to the technical field of computer indicating devices and comprises a mouse body and a forefinger placing portion, the mouse body is connected with the forefinger placing portion through a hose, a left mouse button is arranged on the forefinger placing portion, and an optical sensor is arranged at the bottom of the forefinger placing portion. A thumb placing part, an index finger bearing part, a roller key, a middle finger placing part, a ring finger placing part and a little finger placing part are arranged on the mouse main body according to finger shapes, a sensor switch key, a mouse right key, a mouse left key and an optical sensor are arranged below the middle finger placing part and the ring finger placing part, and the optical sensor, the roller key, the sensor switch key and the mouse right key are connected with a main control chip; and the main control chip is connected with the signal output part and the power supply. The mouse is designed according to the shape of a finger, the index finger placing part of the mouse moving control part adopts the concave curved surface design, an index finger is supported and placed, comfort is provided for the index finger after the index finger is used for a long time, and a mouse concave wrapping part is arranged on the index finger placing part.

The invention discloses a finger exercise apparatus, and relates to the technical field of exercise apparatuses, the finger exercise apparatus comprises a spherical apparatus body, the apparatus body is provided with a first finger hole and a second finger hole for insertion of fingers, the first finger hole is used for insertion of an index finger, a middle finger, a ring finger and a little finger hallux, and the second finger hole is used for insertion of a thumb; the spherical equipment body is simple in design, the operation mode is that fingers are inserted into the finger holes to lift the equipment for exercise, compared with some traditional equipment complex in operation, the equipment is easier to use, the use threshold of a user is lowered, and the actual utilization rate of the exercise equipment can be increased.

This invention provides a multi-degree-of-freedom thumb mechanism with a damping pressure plate, comprising: a thumb body, the thumb body including a first finger segment, a second finger segment, and a third finger segment connected in sequence; a first driving part, the first driving part driving the first finger segment to bend and extend; a second driving part, the second driving part driving the second finger segment to bend and extend; a third driving part, the third driving part driving the third finger segment to rotate, thereby causing the first finger segment and the second finger segment to rotate; a base, the base integrating the first driving part, the second driving part, and the third driving part at the end of the third finger segment; and a damping pressure plate, the damping pressure plate being installed on the third driving part to counteract the looseness caused by backlash in the third driving part. The thumb mechanism of this invention has multiple degrees of freedom; by adding a damping pressure plate to the third driving part, backlash is counteracted, thereby ensuring gripping and operational accuracy.

The utility model discloses a pair of portable tobacco leaf harvesting gloves. The body is connected with a thumb stall body, an index finger stall body, a middle finger stall body, a ring finger stall body and a little finger stall body; a rubber thickening layer is arranged on the thumb stall body, and a thickened rough rubber pad is arranged on the index finger stall body; the thumb sleeve body is sleeved with a fixing ring in a matched mode, and the fixing ring is provided with an arch-shaped blade. Tobacco leaf bases can be cut off conveniently, and harvesting is carried out.

The utility model discloses a multifunctional restraining glove which comprises a glove body, a restraining belt, a grip ball and a tightening device, the glove body is integrally connected with finger separating sleeves of four fingers, a hole is formed in the position, corresponding to the ring finger, of the glove body, the end of each finger separating sleeve is open, and a groove is formed in the position, corresponding to the hand back, of the glove body. A grip ball is sewn and connected to the position, corresponding to the palm center, of the glove body, and an elastic rope is sewn between the side, facing the grip ball, of each finger separating sleeve and the grip ball. A finger ring is fixedly arranged at the end of each finger separating sleeve in a sleeved mode, a guide pipe is fixed to the bottom of the grip ball, four pulling ropes with different lengths penetrate through the guide pipe, one end of each pulling rope is fixed to one finger ring, the other ends of the four pulling ropes are movably fixed to a tightening device, and the tightening device is fixed to a binding belt. The glove has the advantages that the elastic rope of the glove body limits the moving space from fingers to the grip ball, so that the fingers are prevented from moving randomly while moving and exercising of the fingers are facilitated, and an infusion tube is prevented from being struggled off.

The utility model provides a finger device capable of preventing a steel wire from falling off. The finger device comprises a finger body, wherein the finger body comprises a first finger section, a second finger section and a third finger section which are sequentially connected; the first steel wire pull rope drives the first finger section to move; the second steel wire pull rope drives the second finger section to move; the rotating shaft drives the third finger section to move; the driving winch is located behind the end, far away from the finger body, of the rotating shaft. The first steel wire pull rope and the second steel wire pull rope are arranged on the driving winch in a coiled mode. The multiple guide wheels are distributed in the finger body and guide the first steel wire pull rope or the second steel wire pull rope to start from the driving winch to be gradually transited to the corresponding first finger section or the corresponding second finger section. And the limiting piece is used for limiting the first steel wire pull rope or the second steel wire pull rope from sliding out of the guide wheel. The finger can prevent the steel wire from being separated from the guide groove after the steel wire is loosened in the working process, the space size of the whole finger is small, and the flexible operability is high.

The invention relates to a variable resistance force feedback hand exoskeleton system and a control method thereof. The system comprises a thumb base which comprises a thumb fixing support used for fixing the thumb, a plurality of shaft rod fixing bases rigidly connected with the thumb fixing support and a posture sensor used for obtaining the overall relative posture of the hand. The system further comprises a plurality of finger tip moving resistance mechanisms, and each finger tip moving resistance mechanism comprises a shaft rod, a finger tip moving resistance mechanism, a finger tip moving resistance mechanism, a finger tip moving resistance mechanism and a finger tip moving resistance mechanism, wherein the lower end of the shaft rod is rotationally hinged to a corresponding shaft rod fixing base on the thumb base; the finger tip main body is arranged on the shaft rod in a sliding manner; the finger fixing ring is fixed on the finger tip main body and is used for fixing fingertips of an index finger, a middle finger, a ring finger or a little finger; the variable resistance assembly is arranged on the finger tip main body and is used for extruding the shaft rod to generate variable resistance; the position sensor is fixed to the finger tip body and used for detecting the position of the finger tip body relative to the shaft rod in real time. According to the technical scheme, the hand motion freedom degree and the resistance feedback authenticity in virtual reality interaction can be improved.

The utility model discloses a fishing rod accessory and a fishing rod capable of relieving burden of arms and shoulders during fishing. The accessory comprises a supporting part (3) which is arranged on the fishing rod (1) and is in contact with the forearm (2) of a person to support the forearm (2), and a grip (4) which provides a holding part for an index finger (5). When the fishing rod is held, the index finger (5) is pressed on the face (40), facing the head of the fishing rod (1), of the grip (4), meanwhile, the middle finger (6), the ring finger (8) and the little finger (9) hold the fishing rod, and the front arm (2) is placed on the supporting part (3). When the fishing action is carried out, the force of the wrist extensor is reduced due to the supporting effect of the supporting part on the forearm along with the forcible backward extension action of the wrist joint, so that the muscular tension of the brachioradial muscle, the radial side wrist long extensor, the ulnar side wrist flexor muscle, the finger extensor and the like which influence the injury of the wrist tenosynovitis and the tennis elbow is relieved.

The invention discloses a protective glove with an embedded pressure sensor, the protective glove comprises a glove main body, the glove main body comprises a finger unit, a palm unit and a wrist display unit, the palm unit comprises a glove palm back and a glove palm center installed below the glove palm back; a protective device is movably mounted above the palm back of the glove; the finger unit comprises a first finger joint, a second finger joint, a third finger joint, a fourth finger joint and a fifth finger joint which are sequentially installed at the front end of the palm back of the glove at set intervals. A pressure sensor is arranged in the third finger joint and electrically connected with the wrist display unit. According to the technical scheme, the hand can be effectively protected against injury, and the glove protection layer can be replaced in time.

A power tool includes a body defining a drive axis, a grip extending from the body and defining a grip axis, and a depressible trigger. The grip defines an index finger cross-sectional portion, a middle finger cross-sectional portion, a ring finger cross-sectional portion, and a little finger cross-sectional portion associated with the trigger. The cross-sectional portion may be defined by various ellipses or partial ellipses that are optimized for hand sizes at certain geographic locations.

The utility model relates to the technical field of medical rehabilitation instruments, and provides a pneumatic size-adjustable flexible rehabilitation glove which comprises a rehabilitation glove body, a thumb driver, an index finger driver, a middle finger driver, a ring finger driver and a little finger driver, each of the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver comprises a metacarpal joint driving structure, a near finger and far finger joint driving structure and a sliding adaptive block; the metacarpal joint driving structure is arranged on the rehabilitation glove body; the metacarpal joint driving structure is connected with the near finger and far finger joint driving structure through the sliding adapting block. The near finger and far finger joint driving structure and the metacarpal joint driving structure are of a cavity structure. The length between the metacarpal joint driving structure and the near finger and far finger joint driving structure can be adjusted, so that the position of each section of driving structure corresponds to each finger joint, and the efficiency of hand rehabilitation exercise is improved.

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

The utility model provides an ointment smearing protective glove, relates to the technical field of medical instruments, and solves the technical problems that in the prior art, after ointment is smeared on parts such as finger joints, the ointment is easily driven by the inner wall of the glove to move, so that the ointment cannot uniformly cover an area needing to be treated, and the treatment effect is affected. The ointment smearing protective glove comprises a glove body which is used for being directly worn on the hand of a patient after ointment is smeared on the hand of the patient; the glove body comprises a palm part and finger parts, the palm part and the finger parts are arranged in a two-body mode, the palm part is provided with half-finger sleeves corresponding to the index finger, the middle finger, the ring finger and the thumb, the finger parts are arranged on finger sleeves corresponding to the half-finger sleeves, and hook-and-loop fasteners connected to the half-finger sleeves are arranged on the finger sleeves; in this way, in the ointment smearing process, the palm part of a patient can be smeared firstly, the palm part is arranged on the hand of the patient in a sleeving mode, and therefore it is guaranteed that the ointment is not prone to being driven by the inner wall of the glove to move after being smeared.

The present invention discloses a dexterous anthropomorphic robotic hand with integrated linkage drive, which relates to the technical field of robotic hand research and development. It includes a palm unit, which includes a palm center and a thumb component, an index finger component, a middle finger component, a ring finger component and a little finger component fixed at the finger root positions thereof; a drive unit, which includes a micro motor and a connecting rod component fixed on its output shaft. The number of the micro motors and the connecting rod components are both set to five groups, and the other end of the connecting rod component is fixed to the thumb component, the index finger component, the middle finger component, the ring finger component and the little finger component. The present invention solves the problems of the existing robotic hand, such as relatively complex structure and inconvenient maintenance.