Dexterous hand

Abstract

A dexterous hand, including a hand module, the hand module includes one or more finger units and a palm unit, wherein each finger unit includes a plurality of phalanges and one or more interphalangeal joints, wherein the palm unit includes a carpometacarpal base, one or more metacarpals, one or more carpometacarpal joints, and one or more metacarpophalangeal joint, wherein each finger unit is hinged to a respective metacarpal by a respective metacarpophalangeal joint, wherein each metacarpal is respectively connected to the carpometacarpal base, wherein each interphalangeal joint has degrees of freedom of flexion extension, wherein each metacarpophalangeal joint has degrees of freedom of flexion extension, degrees of freedom of abduction adduction and degrees of freedom of circumduction, wherein each interphalangeal joint's degrees of freedom of flexion extension, each metacarpophalangeal joint's degrees of freedom of flexion extension, each metacarpophalangeal joint's degrees of freedom of abduction adduction are driven by different actuators.

Dependencies are inferred from the claim text.