67 results about "Finger middle" patented technology

The invention provides a bionic three-finger manipulator. The bionic three-finger manipulator comprises three joints of finger roots, finger middles and finger tips to form fingers; three fingers are provided; the finger tips are hinged with the finger middles through first rotating shafts; the finger middles are hinged with the finger roots through second rotating shafts; and a finger driving device drives a push rod driving mechanism to link the finger middles with the finger tips. The bionic three-finger manipulator further comprises a cylindrical skeleton for mounting the fingers, a palm control device for controlling the fingers to rotate in the horizontal direction, and a palm mounted between the finger roots and the cylindrical skeleton. The bionic three-finger manipulator adopts a new transmission mode of the finger driving device and the palm control device, and uses a localized motor for realizing low-cost design and high-precision control demands; the finger tip control realizes fixed-ratio swing of the finger middles and the finger tips by a parallelogram push rod driving mechanism; and the design is high in transfer efficiency and transmission precision, and cannot generate transmission errors caused by slip.

The invention relates to a robot end executor for clamping an irregular workpiece. The robot end executor comprises a clamping positioning mechanism, a transmission mechanism, a driving mechanism and a flange connecting piece connected with a robot end flange; the driving mechanism is connected with the flange connecting piece, the motion end of the driving mechanism is connected with the transmission mechanism, and the transmission mechanism and the clamping positioning mechanism are connected; the robot end executor is characterized in that the clamping positioning mechanism comprises a two-finger type finger and auxiliary positioning spring fingers, two finger bodies in the two-finger type finger are oppositely arranged, a clamping station is arranged between the two finger bodies, and the two auxiliary positioning spring fingers are oppositely arranged and are located on the two sides of the clamping station correspondingly; and a positioning clamping plate used for clamping the irregular workpiece is installed on a working face of the two-finger type finger, and auxiliary positioning springs are installed on working faces of the auxiliary positioning spring fingers. By means of the robot end executor, the irregular workpiece clamping and positioning accuracy is high.

The invention provides a functional rehabilitation robot based on flexible cable-driven hand movement. The functional rehabilitation robot is composed of a driving unit and an execution unit connected with the driving unit; the execution unit comprises a metacarpophalangeal joint unit module for driving the finger root joints to move, a proximal interphalangeal joint unit module for driving the finger middle joints to move and a distal interphalangeal joint unit module for driving the finger end joints to move, and the driving unit comprises three sets of driving modules which work independently, have the completely same structure and correspondingly drive the metacarpophalangeal joint unit module, the proximal interphalangeal joint unit module and the distal interphalangeal joint unit module. According to the functional rehabilitation robot, not only can the three freedom degrees of the fingers except for the thumb and the movement angles of all the joints be met, but also a serial elastic driver is introduced, and therefore precise control over the joint moment is guaranteed; in addition, most parts are made through 3D printing, the weight of the acting fingers is greatly decreased on the premise that the strength is guaranteed; furthermore, the robot adapts to the individual difference of the finger length within a certain range.

The invention provides a base joint mechanism of a humanoid dextrous hand, and belongs to the technical field of robots. The humanoid dextrous hand comprises a palm, finger middles, fingertips, base joints, supporting rods, fasteners, aluminum sleeves, pulleys, pulley supports, ropes, rope wheels, motors, rope wheels, gears and flange plates. According to the mechanism, swing motion of the thumb from the side face of the palm to the front face of the palm, the opening and closing motion that the thumb is attached to the palm or is away from the palm or the motion of the other four fingers in planes parallel to and perpendicular to the palm can be achieved. The mechanism has a spherical hinge connecting manner of humanoid finger bases, the motors can be arranged inside or outside the palm through rope transmission, and the hand space is saved.

The invention discloses a five-finger robot hand driven by pneumatic muscles. The five-finger robot hand comprises a connecting flange which is connected to industrial machinery as well as four bent single fingers and one thumb, which are mounted on the connecting flange, wherein each bent single finger comprises a bent single finger metacarpal bone, a bent single finger near finger end, a bent single finger middle finger end and a bent single finger far finger end; joints are hinged through hinges; a bent single finger return torsion spring is arranged outside the hinge shaft of each hinge ina sleeving mode; one side of the hand back of the bent single finger metacarpal bone is equipped with a bent single finger pneumatic muscle a, one side of the hand back of the bent single finger nearfinger end is equipped with a bent single finger pneumatic muscle b, and a bent single finger muscle tendon c is further tied on the bent single finger near finger end; and the thumb comprises a thumb metacarpal bone, a thumb near-finger end and a thumb far finger end. The five-finger robot hand driven by the pneumatic muscles provided by the invention is the five-finger robot hand which has an original state as a holding state under a state of not applying drive force; and after the five-finger robot hand applies drive force, fingers are opened.

The invention relates to an exoskeleton type finger motion function rehabilitation machine. The rehabilitation machine comprises a far knuckle connecting rod, a middle knuckle connecting rod, a near knuckle connecting rod, a first serpentine spring, a second serpentine spring, a rack, a tail rod, a driving mechanism and a controller. The far knuckle connecting rod, the middle knuckle connecting rod and the near knuckle connecting rod are in hinge connection sequentially so as to matching a finger far knuckle, a finger middle knuckle and a finger near knuckle. One end of the tail rod and the near knuckle connecting rod are hinged to the rack, the other end of the tail rod is hinged to one end of the second serpentine spring, and the other end of the second serpentine spring is hinged to the middle knuckle connecting rod. One end of the first serpentine spring is hinged to the far knuckle connecting rod, and the other end of the first serpentine spring is hinged to the near knuckle connecting rod. The driving mechanism is connected to the tail end, and drives the tail rod to rotate by the hinge point between the tail rod and the rack under the control of the controller. The rehabilitation machine is advantageous in that the rehabilitation machine can automatically assist the wounded in exercising flexion and extension motions, and modes, the strength, the time and angles can be controlled, thereby bringing great convenience for the wounded whose fingers need rehabilitation.

The invention discloses a rigid and flexible combined humanoid five-finger mechanical gripper. The mechanical gripper comprises bionic finger joints, rigid wire drive joints and a bionic palm. Each bionic finger joint comprises a flexible finger far joint, a conformal airbag, a pressurization airbag, a flexible finger middle joint and a middle joint rigid phalanx. Each rigid wire drive joint comprises a bolt shaft, a reset spring, a steel wire role, a cable winding disc, a near joint rigid phalanx and a middle joint rigid phalanx. The bionic palm comprises a derive design metacarpal bone and areplaceable hard outer palm face. According to the rigid and flexible combined humanoid five-finger mechanical gripper, the mechanism integration degree is extremely high, through the adoption of therigid and flexible combined structure features, the technical features that soft machines are held stably by hand and the locating precision of a rigid mechanical hand is high are used in combination, objects in uncertain shapes can be stably grabbed and held, most postures of human palms can be simulated, fidelity, flexibility and autonomy are high, the mechanical gripper is suitable for multiple occasions, and people can be helped to complete work the same as human hands accurately and finely.

Anthropomorphic robotic hand comprising a palm and a metacarpus configured to rotate with respect to said palm around an axis of rotation; four fingers substantially aligned and constrained to said palm and a finger opposable to them, each one of said aligned fingers comprising at least a proximal phalanx, a middle phalanx and a distal phalanx, and said opposable finger comprising a proximal phalanx and a distal phalanx, the proximal phalanges of each one of said aligned fingers being hinged to said palm in respective axes of rotation and the proximal phalanx of said opposable finger being hinged to said metacarpus in a respective axis of rotation; a motor; a plurality of bevel gear differential stages which transmit motion from said motor to said aligned fingers and to said opposable finger.

The invention provides a passive mechanical artificial limb mechanism controlled by an electromagnet. The mechanism comprises a power mechanism, a transmission mechanism and an executing mechanism, wherein the power mechanism mainly consists of a palm sleeve, a wrist sleeve, a hoop and fastener, an inner lining sleeve and a bull gear; the wrist sleeve is firmly fixed to a wrist through the hoop and fastener; the palm sleeve is fixedly arranged on the rear part of the palm through the inner lining sleeve; the transmission mechanism mainly consists of a pinion, a wire wheel shaft, a wire wheel, a steel wire rope, an electromagnetic coil and a groove; the wire wheel shaft is provided with a plurality of grooves; an electromagnet, a spring and a key are arranged in each groove; the keys are positioned on the side faces of the springs; the electromagnetic coils sleeve the wire wheel shaft; the wire wheel is connected with the steel wire rope; the bull gear is engaged with the pinion; the pinion is connected with the wire wheel shaft; the wire wheel is connected with the wire wheel shaft through the keys; the executing mechanism consists of finger middle parts, a finger root, a fingertip, a torsion spring shaft and a torsion spring; the finger root and the fingertip are connected through the torsion spring shaft; one torsion is arranged between two finger middle parts. The mechanism has a simple structure and is convenient and practical.

The invention discloses a flexible mechanical hand claw capable of achieving passive enveloping. The flexible mechanical hand claw comprises a driving platform, a driven platform and three identical passive fingers. The three passive fingers are evenly distributed at included angles of 120 degrees. Each passive finger is formed by a flexible contour, rigid rods and a rotating pair. A plurality of rigid rods are positioned in the flexible contour, the two ends of the rigid rods are connected with the flexible contour through the rotating pair. A finger root part of each passive finger is connected to the driven platform through a first driven platform rotating pair, a finger middle part is connected to the driving platform through a first driving platform rotating pair, and a fingertip part extends to the outer portion of the driving platform. The flexible mechanical hand claw capable of achieving passive enveloping is simple in structure, only needs single driving, is high in application flexibility, can achieve passive flexible enveloping of an article with the complex shape, is convenient to control and design and can be widely applied to the occasions of mechanical manufacturing, light industry and medical treatment where the passive flexible enveloping of articles that are complex in shape and fragile is required.

The invention discloses a wrist joint function orthotic instrument and belongs to a rehabilitation instrument. The wrist joint function orthotic instrument structurally comprises an orthotic instrument body, wherein the orthotic instrument body comprises a left orthotic instrument body and a right orthotic instrument body. The left orthotic instrument body and the right orthotic instrument body respectively comprises a bending portion and a horizontal portion and respectively have elasticity, the upper-middle portions of the bending portions of the left orthotic instrument body and the right orthotic instrument body are respectively provided with finger middle joint elastic fixing bands, the finger middle joint elastic fixing bands respectively comprise thumb middle joint elastic fixing bands, index finger middle joint elastic fixing bands, middle finger middle joint elastic fixing bands, ring finger middle joint elastic fixing bands and little finger middle joint elastic fixing bands which are arranged in sequence, and the upper portions of the horizontal portions are respectively provided with wrist joint front arm elastic fixing bands. The wrist joint function orthotic instrument has the advantages of being used for separating and stretching the fingers, keeping the fingers to be located at correct positions and the like.

A method of switching taps by an on-load tap changer includes providing at least two fingers each comprising an impedance and a mechanical switch. When first and second mechanical switches of the first and second fingers are closed, they provide a connection between the first and second impedances of the first and second fingers and a power terminal of the on-load tap changer. The on-load tap changer is triggered to shift at least one of the fingers from a first tap to a second tap of the on-load tap changer when a tap change signal is received. A solid state switch connected between the first and second impedances is switched on to commutate a current from the first finger to the second finger during the tap change operation.

The invention discloses a pneumatic finger with a replaceable contact. The pneumatic finger comprises a base framework, a supporting elastic sheet, an outer side driving assembly and the detachable contact, the supporting elastic sheet is arranged in the base framework, the outer side driving assembly comprises a base sheet and further comprises a finger root driving cavity, a finger middle driving cavity and a finger tip driving cavity which are sequentially arranged from top to bottom, the base sheet is detachably fixed to one side of the base framework, and the finger root driving cavity, the finger middle driving cavity and the finger tip driving cavity are each provided with an air pipe communicating to respective cavities; and the finger root driving cavity, the finger middle drivingcavity and the finger tip driving cavity generate deformation after inflation of gas to drive upper, middle and lower parts of the base framework to bend to the other side. The pneumatic finger is ingenious in structure, the outer side driving assembly adopts three-section type independent ventilation drive, the base framework grabbing motion range is increased, motion is more flexible, local motion of a finger tip and a finger middle can be achieved, the motion efficiency is improved, and energy consumption is reduced.

The invention provides a connection structure between a far knuckle and a near knuckle of a prosthetic finger. It includes a finger proximal knuckle (6) and a finger distal knuckle (7), and the finger proximal knuckle (6) includes a protruding head (61) and a proximal knuckle body thicker than the protruding head (61) (62), a set part (71) is provided on the far knuckle (7) of the finger, and a set cavity (711) matching the convex part (61) is provided in the set part (71) , the protruding portion (61) is located in the sleeve cavity (711), the sleeve portion (71) is sleeved on the protruding portion (61) and abuts against the proximal knuckle body (62). The present invention can leave assembly space for other parts, and is convenient for the pre-assembly of the finger near knuckle and other parts; it can make more contact points and contact surfaces between the finger near knuckle and the finger far knuckle, which is convenient for finger The assembly between the near knuckle and the far knuckle of the finger improves the reliability of the connection.

The invention relates to a humanoid five-finger manipulator. The manipulator has twelve degrees of freedom, and is suitable for achieving the effect of simulating a human hand when the grabbing work of a multi-finger hand of a humanoid robot is carried out. The humanoid five-finger manipulator comprises a base, a palm, five fingers connected to the palm and a connecting rod mechanism inside the palm, each finger is provided with a plurality of joints, the finger root joints and the finger middle joints are driven by built-in motors in an active mode, joint position transmission mechanisms driven by the motors are driven by worm gears and worms, power-off self-locking can be achieved, the fingertip joints are driven by connecting rods in a driven mode so as to rotate along with the rotationof finger middles. The fingers can be bent and straightened and can be unfolded and folded, and unfolding and folding are realized through the connecting rod mechanism in the palm.

The invention provides a flexible bionic manipulator. The flexible bionic manipulator comprises a palm, a plurality of fingers rotationally connected with the palm and driving devices. The fingers areconnected in parallel; each finger is composed of a finger root unit, a plurality of knuckle units and a fingertip unit which are connected in series through rotating shafts; in each finger, the finger root unit, the knuckle units and fingertip unit are all driven by the driving devices, so that the finger root unit and the knuckle units can move mutually, the knuckle units can move mutually, theknuckle units and the fingertip unit can move mutually, and therefore, the finger can be bent or straightened. The flexible bionic manipulator is high in flexibility and universality, can be suitablefor clamping objects of various shapes, can meet requirements for large loads, and is suitable for the carrying conditions of heavy objects.

The invention provides a nimble finger mechanism, a manipulator and a control method. The nimble finger mechanism comprises a matrix, a finger of which one end is hinged to the matrix, a pressure sensor arranged at the other end of the finger and a driving device for driving the finger to swing, wherein the driving device comprises a sliding rod which can move in the axial direction, a connectingrod of which one end is hinged to the middle part of the finger, and the other end is hinged to the sliding rod, and a power assembly for driving the sliding rod to move in the axial direction. The manipulator comprises the nimble finger mechanism. The control method comprises the following steps of A, after receiving a pressure exerting command, according to a preset spring deformation capacity-pressure value curve, determining target deformation capacity corresponding to target pressure; B, according to the target deformation capacity, controlling a push rod to move; and C, according to themeasured pressure value, adjusting the position of the push rod, so that the pressure value is within the tolerance range of the target pressure. Through the adoption of the nimble finger mechanism, the manipulator and the control method disclosed by the invention, the pressure data exerted on an object can be collected in real time, so that improving the force application degree control accuracyis facilitated.

A glove includes a tubular fabric substrate having an upper end and, in opposed relation to the upper end, at least four defined finger portions, each of the four defined finger portions being generally tubular in shape to engage one of four fingers of one of a user's right and left hands, the four fingers being, in order, the pinky, the ring finger, the middle finger, and the index finger. The upper end defines an upper opening. A diagram of a football formation is provided affixed onto the substrate. The diagram includes one of either numerical or letter designators. A distinct designator is affixed to the substrate on an exterior of each of the four defined finger portions.

The invention belongs to the field of robots, and particularly relates to a three-finger dexterous hand based on full-drive fingers. The three-finger dexterous hand comprises a base assembly, a fixedfinger base assembly, a finger middle connecting rod assembly, a finger tail end connecting rod assembly and two movable finger base assemblies. The base assembly is used for supporting the fixed finger base assembly and the movable finger base assembly and providing power for rotation of the two movable finger base assemblies at the same time. The three-finger dexterous hand based on the full-drive fingers is flexible in structure, easy to control, high in position precision and good in stability, all fingertips have larger reachable space, position control and torque control grabbing can beachieved according to instructions, and the grabbing stability of objects of complex structures is improved.

The invention discloses a pair of gloves for a bicycle. Each glove comprises a hand part, wherein the hand part comprises a finger part, a hand back part, a finger part accommodating cavity and a hand back accommodating cavity, a finger middle joint accommodating cavity is arranged on the inner wall of the finger part accommodating cavity, a hand back joint accommodating cavity is arranged on the inner wall of the hand back accommodating cavity, a finger middle joint protecting tool and a hand back joint protecting tool are respectively arranged on the hand part, the finger middle joint protecting tool is positioned at the outer side of the finger joint accommodating cavity, and the hand back joint protecting tool is positioned at the outer side of the hand back joint accommodating cavity. The gloves have the advantages that through the design of the hand back joint accommodating cavities arranged at the finger parts, the hand parts can flexibly move after wearing the gloves, the handlebar holding is very easy during the bicycle riding, meanwhile, through the design of the joint protecting tools arranged at the hand joint parts, the hand joints are further protected, the cold-proof effect is good, the action slowness caused by unhandy joint action after the hand is frozen can be avoided, the wearing is comfortable, and the effect is obvious.

The invention provides a bionic three-finger manipulator. The bionic three-finger manipulator comprises three joints of finger roots, finger middles and finger tips to form fingers; three fingers are provided; the finger tips are hinged with the finger middles through first rotating shafts; the finger middles are hinged with the finger roots through second rotating shafts; and a finger driving device drives a push rod driving mechanism to link the finger middles with the finger tips. The bionic three-finger manipulator further comprises a cylindrical skeleton for mounting the fingers, a palm control device for controlling the fingers to rotate in the horizontal direction, and a palm mounted between the finger roots and the cylindrical skeleton. The bionic three-finger manipulator adopts a new transmission mode of the finger driving device and the palm control device, and uses a localized motor for realizing low-cost design and high-precision control demands; the finger tip control realizes fixed-ratio swing of the finger middles and the finger tips by a parallelogram push rod driving mechanism; and the design is high in transfer efficiency and transmission precision, and cannot generate transmission errors caused by slip.

The invention discloses a soft finger with friction force being adjustable online, and aims at providing a soft finger with friction force being adjustable online and capable of achieving multiple grabbing manners. A variable friction execution module is arranged on the side, in contact with an object, of a matrix. The variable friction execution module comprises an elastic film, and at least onegas cavity is arranged between the elastic film and the matrix in a sealed manner. Gas entering the gas cavities drives the elastic film to generate deformation, and the gas pressure is adjusted to control the deformation degree of the elastic film so as to achieve online adjusting of friction force. The matrix comprises a soft executer. The soft executer comprises a fingertip execution module, afinger middle execution module and a finger root execution module, and independent gas net structures are arranged in the fingertip execution module, the finger middle execution module and the fingerroot execution module. By means of the soft finger, the contact force of the soft finger and the grabbed object is changed, online adjusting of the grabbing friction force is achieved, and multiple grabbing manners are achieved by controlling the inflation sequence of the execution modules.

The invention discloses a robot grabbing gripper for special-shaped objects. The robot grabbing gripper comprises a base, a plurality of clamping jaws movably arranged on the base, and a clamping jaw sliding driving mechanism arranged on the base and used for controlling all the clamping jaws to move. Each clamping jaw comprises a movable finger root connected with the clamping jaw sliding driving mechanism, a gripper finger tip, a gripper finger middle part, an elastic connecting piece connected with the gripper finger middle part and the gripper finger tip, and a bending mechanism arranged on the movable finger root and used for controlling the gripper finger middle part and the gripper finger tip to rotate. The robot grabbing gripper for the special-shaped objects has the advantages that the number of driving elements is small, the robot grabbing gripper is simple to control, the gripper load is small, the self-adaption capacity to the special-shaped objects is high, and the special-shaped objects are grabbed stably; and the application space of a robot is expanded, and the robot can make better response when facing a complex environment.

A multi-degree-of-freedom position-adjustable pulse diagnosis manipulator device comprises a mechanical wrist, a mechanical palm and three mechanical fingers which are connected in sequence, the three mechanical fingers are identical in structure and serve as an index finger, a middle finger and a ring finger respectively, and each mechanical finger comprises a finger tail section, a finger middle section, a finger proximal section and a finger telescopic mechanism which are connected in sequence. According to the device, a telescopic motion freedom degree is arranged on each mechanical finger, two mechanical finger translational motion freedom degrees and three mechanical finger rotational motion freedom degrees are arranged in the mechanical palm, and a vertical motion freedom degree is arranged in the mechanical wrist, so that the whole device has nine motion freedom degrees; the position adjusting function of the pulse diagnosis manipulator is greatly increased, and the adaptability of the pulse diagnosis manipulator to individual pulse diagnosis position differences of different crowds is enhanced; in addition, the small modular design is adopted, the mechanism design and assembly difficulty are simplified, and the device has the advantages of being light in weight, small in size and convenient to move.

A hand rehabilitation device (100) comprises: at least one first support (124) configured to support the thumb of a hand, wherein said at least one first support (124) is designed to perform a flexion / extension movement for rehabilitating said thumb, said flexion / extension movement being actioned by a first transmission mechanism to which the at least one first support (124) is connected; at leastone second support (120, 121, 120B) configured to support the index finger of said hand, wherein said at least one second support (120, 121, 120B) is designed to perform a flexion / extension movementfor rehabilitating said index finger, said flexion / extension movement being actioned by a second transmission mechanism to which the at least one second support (120, 121, 120B) is connected; at leastone third support (122, 123, 122B) configured to support the three remaining fingers-middle ring, and little fingers of said hand, wherein said at least one third support (122, 123, 122B) is designedto perform a flexion / extension movement for rehabilitating said three remaining fingers, said flexion / extension movement being actioned by a third transmission mechanism to which the at least one third support (122, 123, 122B) is connected. The first, second and third transmission mechanisms are actuated by at least one motor, and the three flexion / extension movements of said at least one first support (124), said at least one second support (120, 121) and said at least one third support (122, 123) are independent from each other.

The invention provides an under-actuated bionic manipulator. The under-actuated bionic manipulator is used for clamping workpieces in the welding process and comprises a palm and three fingers installed on the palm, wherein the three fingers are the same in structure and comprise a thumb, a middle finger and an index finger, the thumb is installed in the middle of the long edge of one side of the palm, the middle finger and the index finger are installed on the long edge of the other side of the palm, the thumb, the middle finger and the index finger are distributed on the palm in an isosceles triangle shape, each finger is divided into four sections, namely a palm connecting joint connected with the palm, a finger root joint hinged to the palm connecting joint, a finger middle joint hinged to the finger root joint and a fingertip joint hinged to the finger middle joint, and the finger root joints and the finger middle joints each are of an artiodactyla animal root bone imitating structure. The under-actuated bionic manipulator is simple in structure, reliable in grabbing and good in target object enveloping performance and self-adaptability, and robustness is greatly improved.

The present invention discloses a method for measuring systolic arterial blood pressure of a patient utilizing a finger cuff including an inflatable bladder and a pulsatility sensor that detects arterial pulsatility in a finger of the patient, the method comprising: placing the finger cuff around the finger of the patient; inflating the bladder of the finger cuff until the finger cuff applies a first pressure to the finger, the first pressure being greater than the systolic pressure to be measured; deflating the bladder of the finger cuff until the finger cuff applies a second pressure to thefinger, the second pressure being less than the systolic pressure to be measured; monitoring the arterial pulsatility in the finger with the pulsatility sensor; and obtaining a measurement of the systolic arterial blood pressure based on pressure applied to the finger by the finger cuff and the arterial pulsatility in the finger.

The invention discloses an underactuated robot finger device based on rope winding. The problem that in the prior art, an anthropomorphic robot finger still needs to be improved is solved. The underactuated robot finger device comprises a base outer shell, a first finger middle shell, a second finger middle shell and a finger tail shell which are hinged in sequence, and loosening reset springs arearranged at hinged positions; one end of the base outer shell is connected with a mechanical arm, and the other end of the base outer shell is provided with a gripping control motor, a first universal joint, a gripping adjustment driving wheel, a gripping adjustment spring, a pull rope, a pull rope winding device, a pull rope straight sleeve and an arc-shaped pull rope positioning sleeve; a second universal joint and a first gripping adjustment driven wheel are arranged at the hinged position of the first finger middle shell and the second finger middle shell; and a third universal joint anda second gripping adjustment driven wheel are arranged at the hinged position of the second finger middle shell and the finger tail shell. According to the technology, the effect of muscle stretchingis simulated by producing tensile force by winding two pull ropes to shorten the length in a vertical direction.