The invention discloses a multipath flexible piece two-
joint compound robot finger device and belongs to the technical field of human simulating manipulators. The multipath flexible piece two-
joint compound robot finger device comprises a base, a motor, a speed
reducer, a base shaft, a near joint shaft, a
middle finger section, a remote joint shaft, a
tail end finger section, a
multipath transmission mechanism and a spring piece. In the device, by the single motor, the multi-shaft and
multipath transmission mechanism with a different
transmission ratio, the spring piece and the like, a compound underactuated catching effect is comprehensively achieved; the finger rotatably moves to an object in a coupled way and adaptively catches the object; the catching process stimulates the operation of a human, the action is flexible, and the object is caught stably; furthermore, the
robot finger device can automatically and adaptively catch objects with different sizes and shapes, has low requirement on a
control system, a simple and compact structure,
high transmission efficiency, low cost, and an appearance similar to that of a human finger, and is easy to operate, and convenient to assemble and maintain, and is low in
energy loss, and applicable to the human-
manipulator at the same time.