Abstract: A robotic finger assembly can include a base for mounting the finger to a robotic hand, with the base having a motor, and at least three links. The links of the robotic hand are connected to each other and to the base by a series of joints. A joint shaft and a pivot shaft, where the pivot shaft can freely move within its respective joint shaft, is connected to a preceding link. The motor is activated for opening or closing the finger. The finger closes on an object with a distributed force across the links. Grasping also can mean engaging an object like a human hand, by closing the first finger link until it engages the object, then closing the second finger link until it engages the object, then closing the third link until it engages the object. A robotic hand assembly is also disclosed.

Abstract: A robotic finger assembly can include a base for mounting the finger to a robotic hand, with the base having a motor, and at least three links. The links of the robotic hand are connected to each other and to the base by a series of joints. A joint shaft and a pivot shaft, where the pivot shaft can freely move within its respective joint shaft, is connected to a preceding link. The motor is activated for opening or closing the finger. The finger closes on an object with a distributed force across the links. Grasping also can mean engaging an object like a human hand, by closing the first finger link until it engages the object, then closing the second finger link until it engages the object, then closing the third link until it engages the object. A robotic hand assembly is also disclosed.