Tendon type under-driving self-adaptation multi-finger device

The invention discloses a tendon type under-driving self-adaptation multi-finger device, and belongs to the technical field of anthropomorphic robot. According to the tendon type under-driving self-adaptation multi-fingers device, a forefinger (2), a middle finger (3) and a ring finger (4) are the same in driving mechanisms, and different in sizes. A driving principle of a thumb (1) and principles of other fingers are the same, and a mechanism which can imitate movement of the thumb of a human hand. Tendons (37) are fixed on the tail finger knuckles of the fingers and are guided direction through pulley wheels (32) on the finger knuckles. A left torsion spring and a right torsion spring are installed on each finger knuckle. One ends of the fingers are fixedly connected on a metacarpus (6) which is provided with a tendon groove and a leading pulley wheel (7), and the tendons are guided into a driving unit of an arm. A rubber sheet (5) is installed on each finger knuckle. According to the tendon type under-driving self-adaptation multi-fingers device, number of driving devices is small, each finger only needs one motor to drive, structure is simple, control difficulty is low, and self-adaptation enveloping capturing for objects can be achieved.