CN118123872A - Knuckle structure, bionic smart finger and bionic smart hand - Google Patents
Knuckle structure, bionic smart finger and bionic smart hand Download PDFInfo
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- CN118123872A CN118123872A CN202410558657.3A CN202410558657A CN118123872A CN 118123872 A CN118123872 A CN 118123872A CN 202410558657 A CN202410558657 A CN 202410558657A CN 118123872 A CN118123872 A CN 118123872A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 54
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 15
- 210000003811 finger Anatomy 0.000 description 46
- 210000001145 finger joint Anatomy 0.000 description 8
- 238000005452 bending Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 210000001142 back Anatomy 0.000 description 3
- 230000036632 reaction speed Effects 0.000 description 2
- 210000002435 tendon Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Abstract
The invention belongs to the technical field of robots, and discloses a knuckle structure, a bionic dexterous finger and a bionic dexterous hand, wherein the knuckle structure comprises at least two knuckles, two adjacent knuckles are connected in a rotating way, a linear motor is arranged between the two adjacent knuckles and is used for driving the two adjacent knuckles to rotate relatively so as to enable the knuckles to have independent rotation freedom degrees, a body and an output end of the linear motor are respectively connected with the two adjacent knuckles in a rotating way through hinges, and the extending and contracting direction of the linear motor is not intersected with the rotation center line between the two adjacent knuckles. According to the invention, the linear motor is utilized to drive the adjacent two knuckles to rotate relatively, so that the requirement of independent movement of the knuckles is met, and the dexterity and the gripping force of the bionic dexterous finger are improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a knuckle structure, a bionic smart finger and a bionic smart hand.
Background
The robot is one of the current research hot spots, the bionic finger of the robot is a precise and complex structure, mechanical parts and electrical parts are integrated in a limited space, and the grasping force and the dexterity of the finger are affected to a certain extent, so that the improvement of the grasping force and the dexterity of the finger becomes one of the difficulties in the current technical development.
The existing bionic hand is provided with five motors on the palm shell of the palm, the five motors are respectively connected with five fingers, so that the five fingers are controlled to realize the gripping action, all the knuckles of the finger structure are connected through rope tendons in a transmission manner, all the knuckles in the finger structure only have driven freedom degree, do not have independent action conditions, are not flexible enough, and cannot meet the requirements on the gripping force.
Therefore, a knuckle structure, a bionic smart finger and a bionic smart hand are needed to solve the above problems.
Disclosure of Invention
The invention aims at: the finger joint structure, the bionic dexterous finger and the bionic dexterous hand are provided, the linear motor is arranged between two adjacent finger joints, and the two adjacent finger joints are driven to rotate relatively by the linear motor, so that the requirement of independent movement of the finger joints is met, and the dexterous property and the grasping force of the bionic dexterous finger are improved.
To achieve the purpose, the invention adopts the following technical scheme:
The knuckle structure, the knuckle structure includes two at least knuckles, two adjacent knuckles rotate to be connected, two adjacent knuckle is equipped with linear motor between, linear motor is used for driving two adjacent knuckle relatively rotates, so that the knuckle possesses independent pivoted degree of freedom, linear motor's body and output are rotated through the hinge respectively and are connected in two adjacent knuckles, linear motor's flexible direction and two adjacent rotation central line between the knuckle are disjoint.
As an alternative solution, the knuckle structure comprises at least three knuckles.
As an optional technical scheme, one linear motor is arranged between two adjacent knuckles; the two linear motors connected to the same knuckle are respectively arranged on the inner side and the outer side of the joint connection point of the knuckle, or the two linear motors connected to the same knuckle are respectively arranged on the inner side or the outer side of the joint connection point of the knuckle.
As an optional technical scheme, one linear motor is arranged between two adjacent knuckles; the connecting positions of the two linear motors connected to the same knuckle and the knuckle are located on the inner side or the outer side of the joint connecting point of the knuckle, or the connecting positions of the two linear motors connected to the same knuckle and the knuckle are located on the inner side and the outer side of the joint connecting point of the knuckle respectively.
As an optional technical scheme, when the extension length of the linear motor is equal to a first preset value, two adjacent knuckles are in a straightened state; when the extension length of the linear motor is smaller than a first preset value, two adjacent knuckles are bent to one side; when the extension length of the linear motor is larger than a first preset value, two adjacent knuckles bend to the other side.
As an optional technical scheme, the body and the output end of the linear motor are both positioned at the inner side or the outer side of the internode connecting point between two adjacent knuckles.
As an optional technical scheme, two linear motors are arranged between two adjacent knuckles, and the two linear motors are respectively positioned at the inner side and the outer side of an internode connecting point between the two adjacent knuckles.
As an optional technical scheme, the body and the output end of the linear motor are respectively positioned at the inner side and the outer side of the internode connecting point between two adjacent knuckles.
The bionic smart finger comprises a root structure and the knuckle structure, wherein the root structure comprises a linear driving piece, the output end of the linear driving piece is in transmission connection with the root of the knuckle structure, and the linear driving piece is used for driving the knuckle structure to rotate.
The bionic smart hand comprises a palm center and a plurality of bionic smart fingers as described above, and the root structures of the bionic smart fingers and the root parts of the knuckle structures are rotatably installed in the palm center.
The invention has the beneficial effects that:
The invention provides a knuckle structure, a bionic smart finger and a bionic smart hand, wherein the knuckle structure comprises at least two knuckles, two adjacent knuckles are connected in a rotating way, a linear motor is arranged between the two knuckles, the two adjacent knuckles are driven to rotate relatively by the linear motor, so that the knuckles have independent rotation freedom degree, the requirement of independent motions of the knuckles is met, the bionic smart finger adopts the knuckle structure, the flexibility and the gripping force of the bionic smart finger can be improved, and the bionic smart finger adopts the bionic smart finger and the gripping force can be improved; the body and the output end of the linear motor are respectively connected to two adjacent knuckles through hinges in a rotating way, the two adjacent knuckles are relatively rotated through hinges, the two adjacent knuckles realize bending or straightening actions under the driving of the corresponding linear motor, the knuckles are mutually connected through the hinges, the two adjacent knuckles can relatively rotate more flexibly, the connection stability is stronger, and the separation of the two adjacent knuckles is avoided; the telescopic direction of the linear motor is not intersected with the rotation center line between the two adjacent knuckles, the linear motor is biased to one side of the rotation center line between the two adjacent knuckles, the telescopic direction of the linear motor is prevented from being intersected with the rotation center line between the two adjacent knuckles, and the occurrence of a motion dead point can be prevented.
Drawings
The invention is described in further detail below with reference to the drawings and examples;
FIG. 1 is a schematic view of a knuckle structure (straightened state) according to an embodiment;
FIG. 2 is a schematic view of a knuckle structure (curved to the right) according to an embodiment;
FIG. 3 is a schematic view of a knuckle structure (curved to the left) according to an embodiment;
FIG. 4 is a schematic diagram of a knuckle structure (straightened state) according to an embodiment II;
FIG. 5 is a schematic diagram of a knuckle structure (straightened state) according to an embodiment III;
FIG. 6 is a schematic diagram of a knuckle structure (straightened state) according to an embodiment;
FIG. 7 is a schematic diagram of a knuckle structure (straightened state) according to an embodiment;
FIG. 8 is a schematic diagram of a knuckle structure (straightened state) according to an embodiment;
fig. 9 is a schematic diagram of a knuckle structure (straightened state) according to an embodiment;
fig. 10 is a schematic view of a knuckle structure (straightened state) according to an embodiment.
In the figure:
10. A knuckle structure;
1. A knuckle; 2. a linear motor.
Detailed Description
In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and the like are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and to simplify the operation, rather than to indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for providing a special meaning.
In the description herein, reference to the term "one embodiment," "an example," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
As shown in fig. 1 to 10, the present embodiment provides a knuckle structure 10, where the knuckle structure 10 includes at least two knuckles 1, two adjacent knuckles 1 are rotationally connected, a linear motor 2 is disposed between two adjacent knuckles 1, and the linear motor 2 is used for driving the two adjacent knuckles 1 to rotate relatively, so that the knuckles 1 have independent degrees of freedom of rotation.
Specifically, in this embodiment, the linear motor 2 is disposed between two knuckles 1, and the two adjacent knuckles 1 are driven to rotate relatively by using the linear motor 2, so that the knuckles 1 have independent rotation degrees of freedom, and the movement of the knuckles 1 is more flexible, thereby meeting the requirement of independent movement of the knuckles 1.
The number of knuckles 1 can be set according to the actual requirements, for example two, or three, or four, or even more. In the case where the number of the knuckles 1 is three or more, the plurality of knuckles 1 are rotatably connected in sequence.
In this embodiment, the driving precision of the linear motor 2 is high, the rotation angle of the knuckle 1 can be accurately controlled, the bending amplitude of the knuckle structure 10 is accurately controlled, the reaction speed of the linear motor 2 is high, the knuckle 1 can be rapidly controlled to switch between straightening motion and bending motion, the linear motor 2 still has a self-locking function after power failure, in some application scenarios such as workshops, after the workpiece is gripped by a bionic smart hand with the knuckle structure 10 of this embodiment, if the workpiece is suddenly powered off by the workshop, the linear motor 2 has a self-locking function, so that the knuckle structure 10 can be kept as it is, the workpiece can also be gripped by the bionic smart hand, the workpiece is prevented from falling to the ground or being smashed to other workpieces or other electrical equipment, and the safety can be ensured.
Compared with the traditional scheme that the knuckle 1 is straightened or bent by using the rope tendon, the embodiment directly drives the knuckle 1 by using the linear motor 2, so that the knuckle 1 has more accurate movement precision, faster reaction speed, larger grasping force and higher safety.
In this embodiment, a sufficient rotation space is provided between two adjacent knuckles 1, so as to ensure that the angle of relative rotation of two adjacent knuckles 1 meets the requirements. Two sides of the hinge between two adjacent knuckles 1 are provided with enough rotation spaces, so that the two adjacent knuckles 1 can bend towards two sides.
Alternatively, the body and the output end of the linear motor 2 are respectively connected to two adjacent knuckles 1 by hinges in a rotating way. The two adjacent finger joints 1 relatively rotate through hinges, and the two adjacent finger joints 1 realize bending or straightening actions under the driving of the corresponding linear motors 2. The knuckles 1 of this embodiment are connected to each other by using a hinge, so that two adjacent knuckles 1 can relatively rotate more flexibly, and the connection stability is stronger, so as to avoid the detachment of two adjacent knuckles 1.
Alternatively, the telescoping direction of the linear motor 2 is changed with the telescoping length thereof, and the telescoping direction of the linear motor 2 is always disjoint with the rotation center line between the adjacent two knuckles 1. The linear motor 2 is offset at one side of the rotation center line between the adjacent two knuckles 1, so that the extension and contraction direction of the linear motor 2 is prevented from intersecting the rotation center line between the adjacent two knuckles 1, and the occurrence of a motion dead point can be prevented. Otherwise, it is assumed that when the linear motor 2 is extended to the point where its central axis intersects the rotation center line between the two corresponding knuckles 1, the central axis of the linear motor 2, the connection line between the body of the linear motor 2 and the rotation center of the knuckle 1, and the connection line between the movable end of the linear motor 2 and the rotation center of the knuckle 1 are collinear, and the linear motor 2 cannot continue the telescopic motion, so that the knuckle 1 cannot be driven to rotate, so that the two knuckles 1 fall into the motion dead point, and the knuckle 1 can only pass through the motion dead point by manual hand-pulling in this state.
In the present embodiment, the knuckle structure 10 has various action states, as shown in fig. 1, when the extension length of the linear motor 2 is equal to a first preset value, two adjacent knuckles 1 are in a straightened state; as shown in fig. 2, when the extension length of the linear motor 2 is less than a first preset value, the adjacent two knuckles 1 are bent to one side; as shown in fig. 3, when the extension length of the linear motor 2 is greater than a first preset value, the adjacent two knuckles 1 are bent to the other side.
As is known from the common general knowledge, a person's finger has only two motion states, one is in a straightened state and the other is in a state of bending toward the palm, and when the article is positioned on the back of the palm, the person needs to turn over his or her arm or use his or her other hand to grasp the article. The bionic dexterous hand with the knuckle structure 10 of the embodiment can bend the knuckle structure 10 towards the palm center or the palm back of the palm by controlling the extension length of the linear motor 2, so that the object is gripped at the palm center or the palm back, the functions of the bionic dexterous hand are more abundant, and the bionic dexterous hand has a better application prospect.
Preferably, the maximum angle of inward bending and the maximum angle of outward bending between two adjacent knuckles 1 are not less than 90 °.
The inner side of the knuckle 1 is close to the palm, and the knuckle 1 is bent inward or toward the palm; the outer side of the knuckle 1, i.e., the side near the dorsum of the palm, and the knuckle 1 is bent outward, i.e., toward the dorsum of the palm.
In some embodiments, as shown in fig. 1-4, 7, 8, 10. The body and the output end of the linear motor 2 are both positioned on the inner side or the outer side of the internode connection point between two adjacent knuckles 1. The inner side and the outer side of the internode connection point between two adjacent knuckles 1 are also relative to the palm center and the palm back of the palm, specifically, when the body and the output end of the linear motor 2 are both positioned at the inner side of the internode connection point between two adjacent knuckles 1, if the extension length of the linear motor 2 is smaller than a first preset value, the knuckle 1 is bent towards the palm center of the palm, and if the extension length of the linear motor 2 is larger than the first preset value, the knuckle 1 is bent towards the palm back of the palm; in contrast, when the body and the output end of the linear motor 2 are both located outside the internode connection point between two adjacent knuckles 1, if the extension length of the linear motor 2 is smaller than the first preset value, the knuckle 1 is bent toward the dorsum of the palm, and if the extension length of the linear motor 2 is greater than the first preset value, the knuckle 1 is bent toward the palm center of the palm.
Note that, the internode connection point between two adjacent knuckles 1 refers to a position where two adjacent knuckles 1 are connected by a hinge.
Alternatively, as shown in fig. 1-7, the knuckle structure 10 includes at least three knuckles 1. As known from common knowledge, the knuckles of the human finger are three knuckles except the thumb, namely, the index finger, the middle finger, the ring finger and the tail finger are three knuckles, the three knuckles are the finger end knuckle, the finger middle knuckle and the finger near knuckle from far to near, the knuckle structure 10 of the embodiment is preferably provided with three knuckles 1, the three knuckles 1 are the bionic finger end knuckle, the bionic finger middle knuckle and the bionic finger near knuckle, linear motors 2 are arranged between the bionic finger end knuckle and the bionic finger middle knuckle and between the bionic finger middle knuckle and the bionic finger near knuckle, the linear motors 2 between the bionic finger end knuckle and the bionic finger middle knuckle can directly drive the bionic finger end knuckle to act, and the linear motors 2 between the bionic finger middle knuckle and the bionic finger near knuckle can directly drive the bionic finger middle knuckle.
In some embodiments, as shown in fig. 1-6, 8 and 9, a linear motor 2 is arranged between two adjacent knuckles 1, so that the difficulty in motion control is low and the cost is low. As shown in fig. 4 to 6, two linear motors 2 connected to the same knuckle 1 are respectively disposed inside and outside the joint connection point of the knuckle 1, or as shown in fig. 1 to 3, two linear motors 2 connected to the same knuckle 1 are both disposed inside or outside the joint connection point of the knuckle 1.
In other embodiments, as shown in fig. 7 and 10, two linear motors 2 are arranged between two adjacent finger joints 1, the gripping force is large, the requirement of carrying heavy objects by a bionic smart hand can be met, and the two linear motors 2 are respectively positioned at the inner side and the outer side of an internode connecting point between the two adjacent finger joints 1.
In some embodiments, as shown in fig. 5, 6 and 9, the body and output of the linear motor 2 are located inside and outside, respectively, the internode connection point between two adjacent knuckles 1.
In some embodiments, one linear motor 2 is provided between two adjacent knuckles 1. As shown in fig. 1 to 3, the connection positions of the two linear motors 2 connected to the same knuckle 1 and the knuckle 1 are located inside or outside the joint connection point of the knuckle 1, or as shown in fig. 4 to 6, the connection positions of the two linear motors 2 connected to the same knuckle 1 and the knuckle 1 are located inside and outside the joint connection point of the knuckle 1, respectively.
In some embodiments, as shown in fig. 1-7, the knuckle structure 10 is provided with three knuckles 1.
The embodiment also provides a bionic smart finger, which comprises a root structure and the knuckle structure 10, wherein the root structure comprises a linear driving piece, the output end of the linear driving piece is in transmission connection with the root of the knuckle structure 10, and the linear driving piece is used for driving the knuckle structure 10 to rotate.
Alternatively, the linear drive member employs a linear motor. In other embodiments, the linear driving member may be a linear driving member such as an air cylinder.
The present embodiment further provides a bionic smart hand, which includes a palm center and a plurality of bionic smart fingers as above, wherein the root structure of the bionic smart fingers and the root of the knuckle structure 10 are rotatably mounted on the palm center, and specifically, the linear driving member and the proximal knuckle of the bionic fingers are rotatably mounted on the palm center respectively.
Furthermore, the foregoing description of the preferred embodiments and the principles of the invention is provided herein. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. The knuckle structure is characterized in that the knuckle structure (10) comprises at least two knuckles (1), two adjacent knuckles (1) are rotationally connected, a linear motor (2) is arranged between two adjacent knuckles (1), the linear motor (2) is used for driving two adjacent knuckles (1) to rotate relatively so that the knuckles (1) have independent rotational degrees of freedom, the body and the output end of the linear motor (2) are respectively connected to two adjacent knuckles (1) through hinge rotation, and the expansion direction of the linear motor (2) is not intersected with the rotation center line between two adjacent knuckles (1).
2. The knuckle structure according to claim 1, characterized in that the knuckle structure (10) comprises at least three of the knuckles (1).
3. A knuckle structure according to claim 2, characterized in that one said linear motor (2) is arranged between two adjacent said knuckles (1);
The two linear motors (2) connected to the same knuckle (1) are respectively arranged on the inner side and the outer side of the internode connecting point of the knuckle (1), or the two linear motors (2) connected to the same knuckle (1) are respectively arranged on the inner side or the outer side of the internode connecting point of the knuckle (1).
4. A knuckle structure according to claim 2, characterized in that one said linear motor (2) is arranged between two adjacent said knuckles (1);
The connecting positions of the two linear motors (2) connected to the same knuckle (1) and the knuckle (1) are located on the inner side or the outer side of an internode connecting point of the knuckle (1), or the connecting positions of the two linear motors (2) connected to the same knuckle (1) and the knuckle (1) are located on the inner side and the outer side of an internode connecting point of the knuckle (1) respectively.
5. The knuckle structure according to claim 1, characterized in that when the elongation of the linear motor (2) is equal to a first preset value, two adjacent knuckles (1) are in a straightened state;
when the extension length of the linear motor (2) is smaller than a first preset value, two adjacent knuckles (1) are bent to one side;
When the extension length of the linear motor (2) is larger than a first preset value, two adjacent knuckles (1) are bent towards the other side.
6. The knuckle structure according to claim 1, characterized in that the body and the output of the linear motor (2) are both located inside or outside the point of intersegmental connection between two adjacent knuckles (1).
7. The knuckle structure according to claim 1, characterized in that two of said linear motors (2) are provided between two adjacent knuckles (1), the two linear motors (2) being located respectively inside and outside the joint connection point between two adjacent knuckles (1).
8. The knuckle structure according to claim 1, characterized in that the body and the output of the linear motor (2) are located inside and outside, respectively, the point of intersegmental connection between two adjacent knuckles (1).
9. Bionic smart finger, characterized in that it comprises a root structure and a knuckle structure (10) according to any one of claims 1-8, the root structure comprising a linear driving member, the output end of the linear driving member being in transmission connection with the root of the knuckle structure (10), the linear driving member being adapted to drive the knuckle structure (10) to rotate.
10. The bionic smart hand is characterized by comprising a palm center and a plurality of bionic smart fingers as claimed in claim 9, wherein the root structures of the bionic smart fingers and the root parts of the knuckle structures (10) are rotatably arranged on the palm center.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410558657.3A CN118123872A (en) | 2024-05-08 | 2024-05-08 | Knuckle structure, bionic smart finger and bionic smart hand |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410558657.3A CN118123872A (en) | 2024-05-08 | 2024-05-08 | Knuckle structure, bionic smart finger and bionic smart hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009078341A (en) * | 2007-09-27 | 2009-04-16 | Thk Co Ltd | Robot hand |
| JP2009166152A (en) * | 2008-01-15 | 2009-07-30 | Toyota Motor Corp | Robot hand |
| US20140107805A1 (en) * | 2012-10-11 | 2014-04-17 | Rsl Steeper Group Limited | Prosthetic or Robot Part |
| CN108621195A (en) * | 2017-03-16 | 2018-10-09 | 赵孝勇 | The two of robot finger's biomimetic features |
| CN110394819A (en) * | 2019-08-23 | 2019-11-01 | 西北工业大学 | Scalable electric drive manipulator |
-
2024
- 2024-05-08 CN CN202410558657.3A patent/CN118123872A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009078341A (en) * | 2007-09-27 | 2009-04-16 | Thk Co Ltd | Robot hand |
| JP2009166152A (en) * | 2008-01-15 | 2009-07-30 | Toyota Motor Corp | Robot hand |
| US20140107805A1 (en) * | 2012-10-11 | 2014-04-17 | Rsl Steeper Group Limited | Prosthetic or Robot Part |
| CN108621195A (en) * | 2017-03-16 | 2018-10-09 | 赵孝勇 | The two of robot finger's biomimetic features |
| CN110394819A (en) * | 2019-08-23 | 2019-11-01 | 西北工业大学 | Scalable electric drive manipulator |
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