US Patent 12090635 Finger mechanism and robot hand comprising same

In a finger mechanism and a robot hand having the finger mechanism, the finger mechanism uses a link based mechanism, and performs three degrees of freedom including two degrees of freedom of MCP joint and one degree of freedom of PIP join, via a driving part disposed at a side. The driving part is not disposed at each knuckle of the finger mechanism and additional sensors may be easily equipped, and thus modularized robot hand may be performed using the finger mechanism.