| 主权项 |
1. A finger element comprising:
a “U” shaped basic element having plate shaped segments that surround and pivotably supports an end of a first finger limb, so that the first finger limb is pivotable to and fro in a pivoting direction with respect to the basic element, an electric motor being contained within the first finger limb for moving the first finger limb relative to the basic element, a transmission coupling the electric motor to the basic element, a control and regulating element for controlling and regulating, by a current characteristic, a current which is supplied to the electric motor for controlling movement of the first finger limb, the control and regulating element supplying the electric motor with a current for moving the first finger limb, to and fro in the pivoting direction, and for position holding of the first finger limb relative to the basic element, and the controlled and regulated current characteristic for the holding of the first finger limb is supplied in such a way that the electric motor receives a supplied current which is greater than zero and less than a supplied current required for moving the first finger limb relative to the basic element, and if an external force in either of the pivoting directions is applied to the first finger limb, which is greater than a force being applied by the electric motor in the pivoting direction for either moving or holding the first finger limb in a desired position, the external force in the pivoting direction overcomes the force applied by the electric motor and moves the first finger limb, regardless of the direction of the force being provided by the electric motor, without damaging the electric motor or the transmission. |
