Manipulator

An anthropomorphic manipulator comprises: a plurality of fingers; a thumb; a body from which the fingers and the thumb extend; one or more differential assemblies, each differential assembly controlling flexion and/or extension of the two fingers, each differential assembly comprising: a differential mechanism connected, in use, to the motor by a tendon; the other tendon penetrates through the differential mechanism and extends to the two fingers; and a thumb tendon extending, in use, from the thumb motor to the carpometacarpal joint of the thumb, the thumb tendon being actuated by the thumb motor to control adduction and/or abduction of the thumb. 一种拟人机械手，包含：多个手指；拇指；本体，手指和拇指从本体延伸；一个或多个差动组件，每个差动组件控制两个手指的屈曲和/或伸展，每个差动组件包含：差动机构，其在使用时通过腱连接到电机；和另一个腱，其穿过差动机构延伸至两个手指；和拇指腱，其在使用中从拇指电机延伸至拇指的腕掌关节，拇指腱由拇指电机致动以控制拇指的内收和/或外展。