Design of a rigid-flexible coupling human-like dexterous finger

This paper introduces a rigid-flexible coupled humanoid dexterous finger based on human anatomical structure for biomimetic design. The finger imitates the biological structure and characteristics of the human finger, featuring 3 degrees of freedom. Compared to other rigid-flexible coupling dexterous fingers, the rigid-flexible coupling characteristics of the finger are composed of a rigid structure and an elastic member, with the sensing function integrated into the elastic member. The integrated design of structural flexibility perception is realized, which improves the integration degree and provides more possibilities for the operation and application of dexterous hands.