Hands aimed at equipping humanoid robots

摘要

The present invention relates to a hand intended to equip a humanoid robot, the hand comprising a palm and at least one finger (20) extending along a first axis (21), the hand grasping an object. The finger (20) is connected to the palm by a first motorized pivot link (41) and a first phalange (2) by a second pivot link (42). 31) and a second phalange (32) continuous to the first phalange (31). According to the present invention, the finger (20) is configured such that the rotation of the first phalange (31) about the second axis (22) causes the second phalange (32) to rotate about the third axis (23). The first mechanism (51) for connecting the palm to the second phalange (32) configured to rotate the finger and the finger (20) in such a way that the finger (20) wraps around the object to be picked. A second mechanism (52) for connecting the palm to each of the phalanges (31, 32) configured to be actuated, wherein the second mechanism (52) is configured to deform the first mechanism (51). Is done.