Biomimetic Dexterous Finger Linkage for Lateral Swing and Impact Absorption

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Solution Overview

Problem

Biomimetic dexterous fingers in robots lack the ability to swing left and right and are prone to damage from external forces due to direct connection to the drive motor via a screw rod, leading to poor impact resistance and flexibility.

Innovation Solution

A biomimetic dexterous finger design incorporating a driving assembly, transmission assembly with a moving mechanism, connecting mechanism, and flexible mechanism, allowing the finger to swing laterally and absorb impacts through elastic deformation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Force

If the finger root is directly connected to the drive motor through a screw rod, then the driving force is transmitted directly, but the impact resistance and flexibility are poor

Engineering Contradiction:

Improvedriving force transmissionVSAvoidimpact resistance

Core Design Contradiction:

ForceVSReliability

Solution Approach 1:

The patent introduces a connecting mechanism with connecting rods as an intermediary between the drive motor and finger root. This mechanism includes a first connecting rod connected to the screw rod, a second connecting rod connected to the finger root, and a connecting block that allows relative movement, thereby mediating the force transmission and providing flexibility and impact resistance.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent changes the rigidity parameter of the connection by introducing flexible connecting rods and a movable connecting block. The connecting mechanism allows for relative movement and elastic deformation, transforming the rigid direct connection into a flexible articulated connection that can absorb impacts while transmitting driving force.

Inventive Principle:

Principle #35Parameter changes

2Device complexity

If the finger is fixedly connected to the metacarpophalangeal joint, then the structure is simple, but the finger cannot swing left and right

Engineering Contradiction:

Improveconnection structureVSAvoidswinging function

Core Design Contradiction:

Device complexityVSAdaptability or versatility

Solution Approach 1:

The patent transforms the fixed static connection into a dynamic articulated connection. The connecting mechanism includes rotating joints and movable connecting blocks that allow the finger to swing left and right in addition to bending, providing dynamic adaptability while maintaining structural simplicity through standardized joint designs.

Inventive Principle:

Principle #15Dynamics

3Device complexity

If the finger is directly connected to the drive motor, then the transmission structure is simple, but the finger is easily damaged when impacted by external force

Engineering Contradiction:

Improvetransmission structureVSAvoidexternal force impact

Core Design Contradiction:

Device complexityVSObject-affected harmful factors

Solution Approach 1:

The patent designs the connecting mechanism with flexible connecting rods and a movable connecting block that can deform and absorb impact energy before it reaches the drive motor and finger root. This beforehand cushioning protects the system from damage when external forces are applied.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

Solution Approach 2:

The patent converts the harmful impact force into beneficial elastic deformation of the connecting rods and friction-based energy dissipation in the movable connecting block. The friction between the movable block and guide rails transforms impact energy into heat, protecting the system while maintaining operational integrity.

Inventive Principle:

Principle #22Blessing in disguise (Convert harm into benefit)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enhances impact resistance and flexibility, preventing damage to the finger root and drive motor by allowing the finger to swing and absorb external forces, improving the driving assembly's flexible output characteristic.

Implementation Method 1

the flexible mechanism is elastically deformed, and the flexible mechanism is elastically restored to drive the finger body to reset

Methodology Applied

Scientific EffectElastic deformation: Elasticity

Implementation Method 2

a driving screw rod is extended outwards from the driving assembly; the moving mechanism is in transmission connection with the driving screw rod

Methodology Applied

Scientific EffectScrew mechanism: Screw

Data Source

PatentUS12539621B1Biomimetic dexterous fingers and biomimetic robots

Publication Date: 2026.02.03 HUMANOID ROBOT (SHANGHAI) CO LTD

AI summary

A biomimetic dexterous finger and a biomimetic robot, the biomimetic dexterous finger including: a finger body, a driving assembly and a transmission assembly; where the driving assembly is provided at a metacarpophalangeal joint of a palm and includes a driving screw rod; the transmission assembly includes a moving mechanism, a connecting mechanism and a flexible mechanism, the moving mechanism is in transmission connection with the driving screw rod, the flexible mechanism is connected to the moving mechanism, and the connecting mechanism is rotatably connected to the flexible mechanism and is also rotatably connected to a finger root of a finger body; the driving assembly drives the flexible mechanism to be elastically deformed and drives the finger body to bend towards or away from a center of the palm, making the driving assembly having a flexible output characteristic.