HUMANOID FINGER SEGMENT AND HUMANOID FINGER AND PALM STRUCTURE

摘要

A humanoid finger comprises one or more successively connected humanoid finger segments (10), and a fingertip (30) connected to the head end of the humanoid finger segments (10) by means of a connecting shaft (20). The plurality of humanoid finger segments (10) are connected successively by means of a segment connector (40) and each comprises: a segment housing (1020); connectedly arranged, a motor (1011) and a reducer (1012); a motor seat (1019) connected to the segment housing (1020), a motor (1011) and the reducer (1012) being fixed on the motor seat (1019); a worm (1018) connected to an output shaft of the reducer (1012), the worm (1018) being arranged within the motor seat (1019); a turbine (1013) engaged with the worm (1018); and a turbine seat (1014) rotatably connected to the motor seat (1019), the turbine (1013) being fixed within the turbine seat (1014) by means of a turbine shaft (1015). The humanoid finger may change the degree of freedom of a prosthetic hand by changing the number of independently moved humanoid finger segments (10) and the number of fingers, thereby setting the number of degrees of freedom and the mode of motion of the whole prosthetic hand according to the selected number of finger segments of a single finger and the number of fingers.