US Patent 10384343 Modular robotic finger for grasping and dexterous handling

The invention concerns a device forming a robotic finger comprising a base (100) forming a palm, at least one knuckle (500, 700, 900) articulated on the base (100) about two separate joints (200, 400) non-parallel to each other, at least two actuators (110, 120, 130, 140) and cable-linking means (112, 122) respectively linking the two actuators (110, 120) to drive elements of said two joints (200, 400), characterized in that the device comprises guide means (150, 151, 152) designed to guide the cables involved in the control of each joint (400, 600, 800) located after the first joint (200) on the base (100), in a common plane passing through the axis (202) of said first joint (200).