CN105751232B - The imitation human finger that base joint each independently drives with interphalangeal joint - Google Patents
The imitation human finger that base joint each independently drives with interphalangeal joint Download PDFInfo
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- CN105751232B CN105751232B CN201610339839.7A CN201610339839A CN105751232B CN 105751232 B CN105751232 B CN 105751232B CN 201610339839 A CN201610339839 A CN 201610339839A CN 105751232 B CN105751232 B CN 105751232B
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- joint
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- finger joint
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
The imitation human finger that base joint each independently drives with interphalangeal joint, it is related to a kind of imitation human finger.Nearly joint and remote joint in existing imitation human finger can not each self-movement, make finger realization action that there is limitation, it is impossible to reproduction people's hand dexterity completely.The first pulley of nearly finger joint is packed in nearly finger joint shell in the present invention, and one end of the first steel wire is fixed on palm component, and the other end of the first steel wire bypasses base arthrodesis and is connected in first pulley；Middle finger joint includes middle finger joint shell, interphalangeal joint, interphalangeal joint potentiometer, second pulley, steel wire casing and the second steel wire, remote finger joint is located at the one end of middle finger joint away from nearly finger joint, second pulley is fixedly mounted in middle finger joint shell, one end of second steel wire is located on palm component, the other end of second steel wire is fixed in second pulley through steel wire casing, and remote finger joint is connected by quadric chain with the nearly finger joint in nearly finger joint with shell.The present invention is used in robot.
Description
Technical field
Present invention relates particularly to the imitation human finger that a kind of base joint and interphalangeal joint each independently drive.
Background technology
Shown according to crawl means of taxonomic research, human hand is when carrying out dexterous manipulation, and people's hand dexterity embodies a concentrated reflection of hand
The sports independence of the abduction of finger-interior receipts and base joint and interphalangeal joint.Although the abduction of finger-interior receipts are captured for dexterity
Task plays an important roll, but in static state crawl, the joint angles more one of finger abduction-interior receipts in different crawl tasks
Cause, change unobvious.But in design of doing evil through another person, it is contemplated that profile is anthropomorphic, the requirement that size is small, weight is low, in current scientific and technological water
Under flat limitation, the normal abduction-interior receipts free degree for ignoring finger in the design that current research type is done evil through another person and business is done evil through another person, and due to
Its high consistency shown in static crawl, therefore realize finger frequently with the anthropomorphic biasing of finger-joint rotating shaft
Between fixed opening and closing movement.The sports independence of finger-base joint and interphalangeal joint is all to do evil through another person and new deficient drive all the time
The emphasis of dynamic finger mechanism research.
And the design method of Global-Coupling is used the driving of current prosthetic hand base joint and interphalangeal joint more, by every finger
The free degree be reduced to one.In addition some prosthetic hand employs the mode of drive lacking to realize that envelope is captured.
But either unity couping is designed, or drive lacking design, there is a defect, the nearly joint and remote joint for being exactly finger can not be only
Vertical motion, therefore can not complete to grab a series of actions such as disk, it is impossible to reappear people's hand dexterity completely.From bionical angle
From the point of view of degree, the concertedness theoretical analysis result of human hand crawl object shows that the crawl posture that human hand completes a variety of crawl tasks can
To be reappeared by a few feature posture linear combination, while reappearing accuracy can keep within the acceptable range.Grind
Study carefully result to show, fisrt feature posture of the human hand when capturing object often shows as the motion in hand base joint, second feature appearance
Gesture often shows as the motion of finger interphalangeal joint, from the point of view of the reproduction light handed Grasping skill of people, and current height imitates finger still
Do not have so nearly joint and remote joint can not self-movement ability.
The content of the invention
It is existing to solve it is an object of the invention to provide the imitation human finger that a kind of base joint and interphalangeal joint each independently drive
Have nearly joint and remote joint in imitation human finger can not each self-movement, make finger realization action that there is limitation, it is impossible to complete
The problem of full reproduction human hand dexterity.
The present invention adopts the technical scheme that to solve above-mentioned technical problem：
The imitation human finger that base joint and interphalangeal joint each independently drive, it include finger base, nearly finger joint, middle finger joint,
Remote finger joint and linkage；
The nearly finger joint include nearly finger joint shell, base joint, base joint potentiometer, the first torsion spring, first pulley and
First steel wire, one end of the finger base is located in nearly finger joint shell and the end passes through base joint and the outer shell phase of nearly finger joint
Be hinged, the other end of the finger base is arranged on palm component, the base joint be sleeved on potentiometer outside base joint and
It is connected with nearly finger joint with shell and base joint respectively, and first torsion spring is located at nearly finger joint with shell and it is sleeved on hand
Refer on pedestal, the first pulley is fixedly mounted in nearly finger joint shell, and one end of first steel wire is fixedly connected on hand
On metacarpus part, the other end of first steel wire bypasses base arthrodesis and is connected in first pulley；
The middle finger joint includes middle finger joint shell, interphalangeal joint, interphalangeal joint potentiometer, second pulley, steel wire set
Pipe and the second steel wire, the nearly finger joint are arranged in middle finger joint shell with shell by interphalangeal joint, and the interphalangeal joint is used
Potentiometer is sleeved on outside interphalangeal joint and it is connected with middle finger joint with shell and interphalangeal joint respectively, and steel wire casing is arranged on closely
In finger joint shell, second pulley is fixedly mounted in middle finger joint shell, and one end of second steel wire is arranged on palmar hand
On part, the other end of second steel wire is fixedly connected in second pulley through steel wire casing；
The remote finger joint is arranged on the one end of middle finger joint away from nearly finger joint, and the remote finger joint passes through linkage and nearly finger joint
In nearly finger joint be connected with shell.
The invention has the advantages that：
1st, nearly finger joint is driven by the first steel wire in the present invention, and middle finger joint is engaged reality by the second steel wire and steel wire casing
Now drive, the second steel wire and being equipped between steel wire casing makes interphalangeal joint to the steel wire length between palm in the curved of finger
Keep constant during song, the interphalangeal joint caused by nearly finger joint is rotated is reduced to greatest extent and is rotated.Due to nearly finger joint
Driven respectively with two steel wires with middle finger joint, therefore can be with self-movement.
2nd, base joint and interphalangeal joint each self-movement in the present invention, improves the dexterity of the present invention, can reappear and grab
Disk and other a series of human hand grasp motions.
3rd, the present invention can also realize that the principal and subordinate of grasping divides and rules.It is a forward position and practical design side of doing evil through another person that principal and subordinate, which divides and rules,
Method, before object is not encountered, actively completes grasp motion in a coupled manner, after finger encounters object, can comply with
Realize envelope in ground.Done evil through another person this makes it possible to the grip posture drive lacking attractive in appearance and traditional while succession unity couping is done evil through another person and grasp stabilization
Advantage.
Brief description of the drawings
Fig. 1 is main structure diagram of the invention；
Fig. 2 is the front view structure profile of the present invention；
Fig. 3 is the side structure schematic view of the present invention, removes the first steel wire 2-6 and the second steel wire 3-6 in figure；
Fig. 4 is the side view section of structure of the present invention, removes the first steel wire 2-6 and the second steel wire 3-6 in figure.
Embodiment
Embodiment one：Illustrate present embodiment with reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, present embodiment includes finger
Pedestal 1, nearly finger joint 2, middle finger joint 3, remote finger joint 4 and linkage；
The nearly finger joint 2 includes nearly finger joint shell 2-1, base joint 2-2, base joint potentiometer 2-3, the first torsion spring 2-
4th, first pulley 2-5 and the first steel wire 2-6, one end of the finger base 1 is located in nearly finger joint shell 2-1 and the end passes through
Base joint 2-2 is hinged with nearly finger joint with shell 2-1, and the other end of the finger base 1 is arranged on palm component, the base
Joint is sleeved on potentiometer 2-3 outside the 2-2 of base joint and it is connected with nearly finger joint with shell 2-1 and base joint 2-2 respectively, institute
The first torsion spring 2-4 is stated positioned at nearly finger joint with shell 2-1 and it is sleeved in finger base 1, the first pulley 2-5 fixes peace
Mounted in nearly finger joint with shell 2-1, one end of the first steel wire 2-6 is fixedly connected on palm component, first steel wire
The 2-6 other end bypasses base joint 2-2 and is fixedly connected on first pulley 2-5；
The middle finger joint 3 includes middle finger joint shell 3-1, interphalangeal joint 3-2, interphalangeal joint potentiometer 3-3, the second cunning
3-4, steel wire casing 3-5 and the second steel wire 3-6 are taken turns, the nearly finger joint is arranged on middle finger joint with shell 2-1 by interphalangeal joint 3-2
With in shell 3-1, the interphalangeal joint be sleeved on potentiometer 3-3 outside interphalangeal joint 3-2 and its respectively with middle finger joint shell
3-1 is connected with interphalangeal joint 3-2, and steel wire casing 3-5 is arranged in nearly finger joint shell 2-1, and second pulley 3-4 is fixedly mounted
In middle finger joint with shell 3-1, one end of the second steel wire 3-6 is arranged on palm component, and the second steel wire 3-6's is another
One end is fixedly connected on second pulley 3-4 through steel wire casing 3-5；
The remote finger joint 4 is arranged on the one end of middle finger joint 3 away from nearly finger joint 2, and the remote finger joint 4 is by linkage and closely
Nearly finger joint in finger joint 2 is connected with shell 2-1.
Remote realized between finger joint 4 and middle finger joint 3 by 0.67 coupling ratio is synchronized with the movement in the present invention.
Base joint 2-2 is MCP axles in the present invention, and first pulley 2-5 is MCP pulleys.Middle interphalangeal joint 3-2 of the present invention is
PIP axles, second pulley 3-4 is PIP pulleys.
Steel wire casing 3-5, which is set, in the present invention makes middle finger joint 3 to the second steel wire 3-6 of palm component length curved in finger
It is held essentially constant during song, the interphalangeal joint 3-2 caused by base joint 2-2 is rotated is reduced to greatest extent and is rotated.
Base joint is to be respectively used to measurement base joint 2-2 with potentiometer 3-3 with potentiometer 2-3 and interphalangeal joint in the present invention
With the sensor of interphalangeal joint 3-2 rotational angle.
Embodiment two：Illustrate present embodiment with reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, far refer to described in present embodiment
Section 4 includes remote finger joint shell 4-1, DIP axle 4-2, the second torsion spring 4-3, torsion spring backing pin 4-4, and middle finger joint is with shell 3-1 away from hand
The one end for referring to pedestal 1 is hinged in remote finger joint shell 4-1 by DIP axles 4-2, and the second torsion spring 4-3 is sleeved on DIP axles 4-2,
Torsion spring backing pin 4-4 is fixedly mounted in remote finger joint shell 4-1 and set close to the second torsion spring 4-3.
Nearly finger joint 2 drives with middle finger joint 3 to be independent in the present invention, nearly finger joint 4-1 points of shell 2-1 and remote finger joint shell
Do not resetted by the first torsion spring 2-4 and the second torsion spring 4-3.The two ends of MCP axles, the two ends of PIP axles and DIP axles 4- in the present invention
2 two ends are correspondingly arranged on hubcap.Other NM structures and annexation are identical with embodiment one.
Embodiment three：Present embodiment is institute in the further restriction of embodiment two, present embodiment
State linkage including con-rod only 5-1 and two link spigot pin 5-2, con-rod only 5-1 be located at middle finger joint with shell 3-1 and
Its two ends is connected with nearly finger joint with shell 2-1 and remote finger joint with shell 4-1 respectively, and con-rod only 5-1 is close to finger base 1
One end is hinged on nearly finger joint shell 2-1 by a link spigot pin 5-2, and con-rod only 5-1 is away from finger base 1
One end is hinged on remote finger joint shell 4-1 by link spigot pin 5-2 another described.
Embodiment four：Present embodiment is the further restriction of embodiment one or three, present embodiment
In nearly finger joint 2 also include the first steel wire pressing plate and the first screw, the first steel wire pressing plate and the first screw are arranged at nearly finger
Save in shell 2-1, the first steel wire pressing plate is detachably connected by the first screw with first pulley 2-5.
The nearly finger joint of present embodiment is half wheel construction with the first metallic channel, first pulley 2-5 is provided with shell 2-1, its
Including the first half gear member and the first flat boards, the first half gear member are arranged on the first flat board, and first through hole is machined with the first flat board,
First steel wire 2-6 one end is fixedly connected on palm component, and the first steel wire 2-6 other end first bypasses the wheel of the first half gear member
Face, then passes through the first through hole on the first flat board, is finally protruded upward along the first metallic channel, what the first steel wire 2-6 stretched out
One end, which is located on the first flat board, to be not provided between the other end of the first half gear member and the first steel wire pressing plate, and passing through the first screw will
First pulley 2-5 and the first steel wire pressing plate fixation clamp the first steel wire 2-6 purpose to reach.
Nearly finger joint shell 2-1 can be driven around Ji Guan when the first steel wire 2-6 pulls first pulley 2-5 in present embodiment
Save 2-2 to rotate, the first steel wire 2-6 and base joint 2-2 distance keeps constant during rotation.
Embodiment five：Present embodiment is the further restriction of embodiment four, in present embodiment
Finger joint 3 also includes the second steel wire pressing plate and the second screw, and the second steel wire pressing plate and the second screw are arranged at middle finger joint use
In shell 3-1, the second steel wire pressing plate is detachably connected by the second screw with second pulley 3-4.
Present embodiment middle finger joint is with being provided with the second metallic channel in shell 3-1, second pulley 3-4 and first pulley 2-5
Structure it is identical, the second half gear member that second pulley 3-4 is included in the second half gear member and the second flat boards, second pulley 3-4 are set
On the second flat board, the second through hole is machined with the second flat board, the second steel wire 3-6 one end is fixedly connected on palm component,
The second steel wire 3-6 other end first bypasses the wheel face of the second half gear member, then passes through the second through hole on the second flat board, last suitable
The second metallic channel to protrude upward, one end that the second steel wire 3-6 stretches out, which is located on the second flat board, is not provided with the another of the second half gear member
Between end face and the second steel wire pressing plate, by the second screw by second pulley 3-4 and the second steel wire pressing plate fixation to reach folder
Tight second steel wire 3-4 purpose.
Having the technical effect that for present embodiment can drive middle finger joint shell when the second steel wire 3-6 pulls second pulley 3-4
3-1 is rotated around interphalangeal joint 3-2, and the second steel wire 3-6 and interphalangeal joint 3-2 distance keeps constant during rotation.
Embodiment six：Present embodiment is the further restriction of embodiment one or five, present embodiment
Described in first pulley 2-5 be screwed respectively by first pulley with pin and first pulley installed in nearly finger joint shell 2-
In 1.The setting of first pulley pin and first pulley screw can be realized in present embodiment adjusts the first steel wire 2-6 at any time
Length effect, so as to play the purpose for the initial position for adjusting nearly finger joint 2.
Embodiment seven：Present embodiment is institute in the further restriction of embodiment six, present embodiment
Second pulley 3-4 is stated to be screwed in middle finger joint shell 3-1 with pin and second pulley by second pulley respectively.
The setting of second pulley pin and second pulley screw can realize the length for adjusting the second steel wire 3-6 at any time in present embodiment
The effect of degree, so as to play the purpose of the initial position of adjustment middle finger joint 3.
The process for realizing grasping movement of the present invention：
The first situation：Only drive nearly finger joint 2：First steel wire 2-6 pulls first pulley 2-5, drives nearly finger joint shell
2-1 is rotated, and steel wire casing 3-5 and the second steel wire 3-6 deform in BENDING PROCESS, and total length is constant, middle finger joint with shell 3-1 not
Rotate.
Second of situation：Only drive middle finger joint 3：Second steel wire 3-6 pulls second pulley 3-4, band by steel wire casing 3-5
Dynamic middle finger joint is rotated with shell 3-1, and the second steel wire 3-6 does not rub with MCP pulleys, therefore nearly finger joint shell 2-1 does not turn
It is dynamic.
The third situation：Nearly finger joint 2 and middle finger joint 3 are driven simultaneously, the first steel wire 2-6 pulls first pulley 2-5, drive near
Finger joint is rotated with shell 2-1, and steel wire casing 3-5 and the second steel wire 3-6 are deformed in BENDING PROCESS, and total length is constant, does not disturb
Middle finger joint is rotated with shell 3-1；The second steel wire 3-6 pulls second pulley 3-4 by steel wire casing 3-5 simultaneously, drives middle finger joint
Rotated with shell 3-1, the second steel wire 3-6 does not rub with MCP pulleys, therefore do not disturb nearly finger joint shell 2-1 to rotate.
Claims (7)
1. the imitation human finger that a kind of base joint each independently drives with interphalangeal joint, it is characterised in that：It includes finger base
(1), nearly finger joint (2), middle finger joint (3), remote finger joint (4) and linkage；
The nearly finger joint (2) includes nearly finger joint shell (2-1), base joint (2-2), base joint potentiometer (2-3), the first torsion
Spring (2-4), first pulley (2-5) and the first steel wire (2-6), one end of the finger base (1) are located at nearly finger joint shell (2-
1) the interior and end is hinged by base joint (2-2) with nearly finger joint with shell (2-1), and the other end of the finger base (1) is set
Put on palm component, base joint (2-2) is sleeved on potentiometer (2-3) outside for the base joint and it uses outer with nearly finger joint respectively
Shell (2-1) is connected with base joint (2-2), and first torsion spring (2-4) is located at nearly finger joint with shell (2-1) and it is sleeved on
In finger base (1), the first pulley (2-5) is fixedly mounted in nearly finger joint shell (2-1), the first steel wire (2-
6) one end is fixedly connected on palm component, and the other end of first steel wire (2-6) bypasses base joint (2-2) and is fixedly connected
In first pulley (2-5)；
The middle finger joint (3) includes middle finger joint shell (3-1), interphalangeal joint (3-2), interphalangeal joint potentiometer (3-3), the
Two pulleys (3-4), steel wire casing (3-5) and the second steel wire (3-6), the nearly finger joint pass through interphalangeal joint (3- with shell (2-1)
2) be arranged in middle finger joint shell (3-1), the interphalangeal joint be sleeved on potentiometer (3-3) interphalangeal joint (3-2) outside and
It is connected with middle finger joint with shell (3-1) and interphalangeal joint (3-2) respectively, and steel wire casing (3-5) is arranged on outside nearly finger joint
In shell (2-1), second pulley (3-4) is fixedly mounted in middle finger joint shell (3-1), one end of second steel wire (3-6)
It is arranged on palm component, the other end of second steel wire (3-6) is fixedly connected on second pulley through steel wire casing (3-5)
On (3-4)；
The remote finger joint (4) is arranged on the one end of middle finger joint (3) away from nearly finger joint (2), and the remote finger joint (4) passes through linkage
It is connected with the nearly finger joint in nearly finger joint (2) with shell (2-1).
2. the imitation human finger that base joint according to claim 1 each independently drives with interphalangeal joint, it is characterised in that：Institute
Stating remote finger joint (4) includes remote finger joint shell (4-1), DIP axles (4-2), the second torsion spring (4-3) and torsion spring backing pin (4-4), middle finger
The one end of shell (3-1) away from finger base (1) is saved to be hinged in remote finger joint shell (4-1) by DIP axles (4-2), the
Two torsion springs (4-3) are sleeved on DIP axles (4-2), and torsion spring backing pin (4-4) is fixedly mounted in remote finger joint shell (4-1) and leaned on
Nearly second torsion spring (4-3) is set.
3. the imitation human finger that base joint according to claim 2 each independently drives with interphalangeal joint, it is characterised in that：Institute
Stating linkage includes con-rod only (5-1) and two link spigot pins (5-2), and con-rod only (5-1) is located at middle finger joint shell
(3-1) is interior and its two ends is connected with nearly finger joint with shell (2-1) and remote finger joint with shell (4-1) respectively, con-rod only (5-1)
One end close to finger base (1) is hinged on nearly finger joint shell (2-1) by a link spigot pin (5-2), connecting rod
The one end of body (5-1) away from finger base (1) is hinged on remote finger joint shell by link spigot pin another described (5-2)
On (4-1).
4. the imitation human finger that the base joint according to claim 1 or 3 each independently drives with interphalangeal joint, its feature exists
In：Nearly finger joint (2) also includes the first steel wire pressing plate and the first screw, and the first steel wire pressing plate and the first screw are arranged at closely
Finger joint is with shell (2-1), and the first steel wire pressing plate is detachably connected by the first screw with first pulley (2-5).
5. the imitation human finger that base joint according to claim 4 each independently drives with interphalangeal joint, it is characterised in that：In
Finger joint (3) also includes the second steel wire pressing plate and the second screw, and the second steel wire pressing plate and the second screw are arranged at middle finger joint
With in shell (3-1), the second steel wire pressing plate is detachably connected by the second screw with second pulley (3-4).
6. the imitation human finger that base joint each independently drives with interphalangeal joint according to claim 1 or 5, its feature exists
In：The first pulley (2-5) is screwed outside nearly finger joint by first pulley with pin and first pulley respectively
In shell (2-1).
7. the imitation human finger that base joint according to claim 6 each independently drives with interphalangeal joint, it is characterised in that：Institute
Second pulley (3-4) is stated to be screwed with pin and second pulley installed in middle finger joint shell (3- by second pulley respectively
1) in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610339839.7A CN105751232B (en) | 2016-05-20 | 2016-05-20 | The imitation human finger that base joint each independently drives with interphalangeal joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610339839.7A CN105751232B (en) | 2016-05-20 | 2016-05-20 | The imitation human finger that base joint each independently drives with interphalangeal joint |
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| CN105751232A CN105751232A (en) | 2016-07-13 |
| CN105751232B true CN105751232B (en) | 2017-08-25 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272492B (en) * | 2016-08-31 | 2018-09-04 | 哈尔滨工大服务机器人有限公司 | A kind of mechanical finger of bracing wire driving |
| CN107901066B (en) * | 2017-12-29 | 2023-12-08 | 北京钢铁侠科技有限公司 | Bionic hand |
| CN109366476A (en) * | 2018-11-16 | 2019-02-22 | 燕山大学 | A kind of Wire driven robot without coupling imitation human finger |
| CN111409096B (en) * | 2019-10-24 | 2022-02-22 | 浙江工业大学 | Two-degree-of-freedom joint applied to dexterous robot hand |
| CN111360854B (en) * | 2020-03-09 | 2022-12-02 | 雷国华 | Mechanical arm |
| CN113211477B (en) * | 2021-06-10 | 2022-05-06 | 哈尔滨工业大学 | Under-actuated finger with coupled adaptive motion characteristics |
| CN114012785B (en) * | 2021-10-25 | 2023-01-31 | 哈尔滨工业大学 | Manufacturing method of rigid-flexible hybrid hand and control method of rigid-flexible hybrid hand |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101073520A (en) * | 2007-06-27 | 2007-11-21 | 哈尔滨工业大学 | Sinew-driven pseudohand finger mechanism |
| CN101190528A (en) * | 2007-12-12 | 2008-06-04 | 哈尔滨工业大学 | Under-actuated coupling transmission type imitation human finger mechanism |
| CN101474794B (en) * | 2009-01-23 | 2010-11-10 | 清华大学 | Bionic robot under-actuated delicacy hand device |
| JP2013240863A (en) * | 2012-05-21 | 2013-12-05 | Precision Machinery Research & Development Center | Robot hand device |
| CN105415388B (en) * | 2015-12-08 | 2017-03-15 | 哈尔滨工业大学 | The robot finger mechanism that a kind of tendon drives |
| CN205238069U (en) * | 2015-12-10 | 2016-05-18 | 先驱智能机械（深圳）有限公司 | Mechanical finger and manipulator |
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