The design of the most of the traditional multi-fingered hands is the imitation of human hand. It causes that a large number of simple operations can be realized only by using the finger joints or wrist, which brings about complex control algorithm and the waste of time and energy. To solve this problem, this paper presents a novel design of robot finger with changeable surface for in-hand manipulation of co-fusion robots, called CS finger. Due to the special structure including pulley-belt mechanism and planetary gear mechanism, the surface of the CS finger can move in two directions and change the kind of the surface according to the environment, which makes many operations realized greatly easily and efficient like twisting the key to unlock and picking up soft cloth. Owing to its compact structure, low control requirements and high adaptability to the environment, the CS finger has important application prospects in the field of home services, micro-nano manufacturing and aeronautics and Astronautics, etc.
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