公开(公告)号：EP4467296A1

公开(公告)日：2024-11-27

申请号：EP23183642.0

申请日：2023-07-05

Applicant: Southern University of Science and Technology

Inventor： DAI, Jiansheng ,  WANG, Hongqiang ,  ZHU, Renjie ,  QU, Sijing ,  BAO, Chenbo

IPC: B25J15/00 ,  B25J15/02

Abstract: An anthropomorphic metamorphic dexterous hand is disclosed, including a palm module and a plurality of finger modules. The finger module includes a finger back unit, a finger pulp unit and a finger driving unit. The finger back unit and the finger pulp unit are stacked, the finger pulp unit has a greater flexibility than the finger back unit, and the finger driving unit is configured to drive a finger back traction wire and a finger pulp traction wire to retract and extend to enable the finger module to bend towards the finger pulp unit or stretch away from the finger pulp unit. When executing a grabbing task, the finger pulp unit has a high degree of fit with an object to be grabbed, and can adapt to the shape of the object to be grabbed. The finger pulp unit and the finger back unit realize the combination of flexibility and hardness, and the finger back unit provides a certain degree of rigid support for the finger module. The finger pulp unit has higher flexibility, which facilitates the finger module to bend towards the finger pulp unit, and conforms to the characteristic that human fingers can only bend towards the palm center. Thus, the finger module has both rigidity and flexibility, and meets the requirements for rigidity and flexibility of a manipulator in different grabbing environments.