Hand intended to equip a humanoid robot

A hand intended to equip a humanoid robot, the hand comprising a palm and at least one finger extending along a first axis, the hand being able to grasp an object, the finger comprising a first phalanx linked to the palm by a first pivot link motorized so as to render the first phalanx rotationally mobile about a second axis substantially at right angles to the first axis, and a second phalanx consecutive to the first phalanx linked to the first phalanx by a second pivot link pivoting about a third axis substantially parallel to the second axis, wherein the finger comprises:

• a first mechanism linking the palm to the second phalanx configured in such a way that the rotation of the first phalanx about the second axis generates the rotation of the second phalanx about the third axis,
• a second mechanism linking the palm to each of the phalanges configured to actuate the finger in such a way that the finger wraps around the object to be grasped,
• and in that the second mechanism is configured to deform the first mechanism, in that the finger comprises a third phalanx consecutive to the second phalanx linked to the second phalanx by a third pivot link pivoting about a fourth axis substantially parallel to the third axis, in that the first mechanism is configured in such a way that the rotation of the first phalanx about the second axis generates the rotation of the third phalanx about the fourth axis, in that the first mechanism comprises:
• a first bar having a first end and a second end, the first end of the first bar being pivot-linked about a fifth axis parallel to the second axis, distinct from the second axis and rotationally mobile about the second axis and the second end of the first bar being pivot-linked about a sixth axis parallel to the third axis, distinct from the third axis and rotationally mobile about the third axis,
• a second bar having a first end and a second end, the first end of the second bar being pivot-linked about a seventh axis parallel to the third axis, distinct from the third and sixth axes and rotationally mobile about the third axis and the second end of the second bar being pivot-linked about an eighth axis parallel to the fourth axis, distinct from the fourth axis and rotationally mobile about the fourth axis,
• and in that the first bar and the second bar are elastic bars, one of the bars being configured to be compressed when the second mechanism actuates the finger and generates a force on the consecutive phalanx below a threshold value and to buckle when the second mechanism actuates the finger and generates a force on the consecutive phalanx above the threshold value, deforming the first mechanism.