Finger push rod, manipulator and humanoid robot

The invention relates to a finger push rod, a manipulator and a humanoid robot. The finger push rod comprises a first assembly body and a second assembly body, wherein the first assembly body comprises a shell and a motor outer stator of a brushless motor arranged in the shell; the second assembly body comprises a motor inner rotor which is rotatably arranged in the motor outer stator; the ball screw is provided with a first part located in the shell and a second part extending out of the shell; the first part is arranged in a motor inner rotor of the brushless motor in a penetrating manner and is driven by the motor inner rotor to rotate; and the ball screw nut is sleeved on the second part and is connected with the mechanical finger. A ball screw pair is adopted as a transmission device, and the ball screw pair and a motor can be designed on the same straight line, so that the radial size of the finger push rod at the motor is reduced; the split type brushless motor is adopted, the ball screw is arranged in