Robotic thumb and respective control method

An anthropomorphic robotic hand, comprising:

• a frame (00);
• a metacarpus (10), fastened to said frame (00) so to be able to rotate and translate along the axis of a cylindrical joint (180);
• a thumb (11) fastened to said metacarpus (10) so to be able to rotate along the axis of a rotoidal joint (140);
• an actuation mechanism of said thumb (11) and said metacarpus (10);
• at least two fingers fastened to said frame, which can be counterposed to said thumb and respective mechanism for their actuation;
• characterized in that the actuation mechanism of said thumb and said metacarpus comprises:
• a first sub-mechanism activated by a first motor (M2) integral to said thumb (11) and configured to move, by means of a worm screw (R2), a ring gear (T2) fastened so to mesh with respective teeth provided on said metacarpus (10), so that a rotation of said proximal phalanx to said metacarpus corresponds to a rotation of said ring (T2);
• a second sub-mechanism actuated by a second motor (M3), integral to said frame (00) and configured to move, by means of a worm screw (R3), a ring (T3) that is configured to make said metacarpus (10) rotate to said axis of cylindrical joint (180), by means of a clutch (Cl).