Patent ID: 8177856

Claim:
A mechanical finger comprising: a first phalange pivotally connected at a lower end to a mechanical palm; a second phalange pivotally connected at a lower end to an upper end of the first phalange; a third phalange pivotally connected at a lower end to an upper end of the second phalange, said first, second and third phalanges pivoting about parallel axes; a first tendon connected with one end to the palm or to an adjustable rod at a back and below the lower end of the first phalange and with the other end connected to the front of the second phalange above a pivotal point, said first tendon activating the second phalange upon movement of the first phalange; a second tendon connected with one end to the back of the first phalange and with the other end connected to the front of the third phalange above a pivotal point, said second tendon activating the third phalange upon movement of the second phalange; a second and a third phalanges straightening spring means firmly connected with one end to the back of the first phalange and a second free end of said spring being placed in a bracket located at the back of the third phalange; a driving rod means pivotally connected with one end to the front lower end of the first phalange and the second end of said rod being connectable to an actuator; wherein the adjustable rod is connectable with one end to the lower end of the first tendon and connectable to a second actuator with another end.