Fingers are the basic components of anthropomorphic hands. At present, most anthropomorphic fingers utilize rigid joints, which have obvious fabrication and assembly complexities as well as limited flexibility and adaptability. Thus, some anthropomorphic fingers were attempted to utilize compliant joints learned from bioinspiration, but they have a limited self-resetting ability and lateral deformation resistance, as well as occupying a large space and having a non-anthropomorphic appearance. In this paper, nine compliant joints for anthropomorphic fingers were analyzed using Finite Element Analysis (FEA), based on which two combined compliant joints were proposed, and the optimal one was obtained through FEA and experiments. An anthropomorphic finger that embeds parts of the compliant joint into the adjacent phalanxes was then designed. Finally, the anthropomorphic finger was fabricated and experiments were conducted. Experimental results show that the anthropomorphic finger with the proposed combined compliant joints has a better self-resetting ability and lateral deformation resistance while ensuring a large range of motion similar to that of the human finger, and the required actuating force is reasonable. Furthermore, the embedded joint structure can reduce the occupied space of the joint so as to improve the anthropomorphic appearance of the finger, and enhance its lateral deformation resistance.

手指是拟人化手的基本组成部分。目前，大多数拟人化手指都使用刚性关节，这种关节具有明显的制造和组装复杂性以及有限的柔韧性和适应性。因此，尝试了一些拟人化的手指来利用从生物灵感中学到的顺应性关节，但它们具有有限的自复位能力和抗侧向变形能力，并且占据了较大的空间并且具有非拟人化的外观。本文利用有限元分析（FEA）对拟人手指的九种顺应性关节进行了分析，在此基础上提出了两种组合顺应性关节，并通过有限元分析和实验获得了最佳的顺应性关节。然后设计了一种拟人手指，它将顺应关节的部分嵌入相邻的指骨中。最后，制作了拟人手指并进行了实验。实验结果表明，拟人化手指结合拟人顺应关节具有较好的自复位能力和抗侧向变形能力，同时保证了与人手指相似的大范围运动，所需的驱动力是合理的。此外，嵌入式关节结构可减少关节的占用空间，从而改善手指的拟人外观，并增强其横向变形阻力。实验结果表明，拟人化手指与拟人联合顺应关节具有较好的自复位能力和抗侧向变形能力，同时保证了类似于人手指的大范围运动，并且所需的驱动力是合理的。此外，嵌入式关节结构可减少关节的占用空间，从而改善手指的拟人外观，并增强其横向变形阻力。实验结果表明，拟人化手指与拟人联合顺应关节具有较好的自复位能力和抗侧向变形能力，同时保证了类似于人手指的大范围运动，并且所需的驱动力是合理的。此外，嵌入式关节结构可减少关节的占用空间，从而改善手指的拟人外观，并增强其横向变形阻力。