US Patent 11279024 Hand of robot and control method thereof

A hand of a robot includes: a hand main body including a palm; a plurality of fingers connected to the hand main body; a first spreader disposed inside the hand main body; a second spreader positioned between the palm and the first spreader and disposed in parallel to the first spreader; a plurality of stretching wires connected to any one of the first spreader and the second spreader, and configured to pull the fingers to cause the fingers to be stretched; a plurality of bending wires connected the other one of the first spreader and the second spreader, and configured to pull the fingers to cause the fingers to be bent; a driving mechanism configured to rotate and/or shift the first spreader and the second spreader; and a rotation detection sensor provided on at least one of the first spreader or the second spreader.