Rigid-flexible coupling five-finger dexterous hand based on magneto-rheological bearing

The rigid-flexible coupling five-finger dexterous hand comprises a thumb, an index finger, a middle finger, a ring finger and a little finger which are connected to a palm, the thumb comprises a thumb near knuckle and a thumb far knuckle, and the index finger, the middle finger, the ring finger and the little finger each comprise a near knuckle, a middle knuckle and a far knuckle; the thumb near knuckles are rotationally connected with the palm through steering parts, and the steering parts are driven by a thumb steering mechanism to rotate; the thumb rope winding mechanism, the index finger rope winding mechanism, the middle finger rope winding mechanism, the ring finger rope winding mechanism and the little finger rope winding mechanism are matched with the thumb, the index finger, the middle finger, the ring finger and the little finger respectively and drive the corresponding fingers to be bent. According to the technical scheme, the transmission shaft and the gear are connected through the magneto-rheolo