Multimode under-actuated human finger simulation device with quick reflex grabbing function

Abstract

The invention relates to a human finger simulation device on an artificial hand for the handicapped, in particular to a multimode under-actuated human finger simulation device with a quick reflex grabbing function. The device comprises a primary movement mechanism, a secondary movement mechanism, an elastic coupling link mechanism and a link surpassing mechanism and is capable of realizing human simulated grabbing movement. The primary movement mechanism is capable of realizing coupling under-actuated and adaptive under-actuated multimode grabbing actions by matching of a motor with the elastic coupling link mechanism, and the grabbing movement space of the artificial hand is greatly widened. The secondary movement mechanism is capable of realizing quick reflex grabbing of the human finger simulation device by the aid of a micro-actuator mechanism. When an article subjected to envelop grabbing is in external disturbance, a grabbing force pointing to the interior of the grabbed article is quickly outputted to compensate force and displacement output of the primary movement mechanism until the primary movement mechanism makes adjustment. Secondary movement has millisecond-scale response speed to realize human simulated quick reflex movement and anti-slip stable grabbing functions. The specific link surpassing mechanism guarantees the grabbing space of far dactyluses. The multimode under-actuated human finger simulation device is simple in structure, low in manufacturing cost and high in output force, has human simulation characteristics in terms of appearance and actions, and is particularly suitable for artificial hands for the handicapped.

Description

Technical field [0001] The invention belongs to the technical field of humanoid prosthetic hand, in particular to the structural design of a multi-mode underactuated humanoid finger device with fast reflection grasping function. technical background [0002] At present, in order to reduce the number of drivers, the currently developed humanoid prosthetic fingers mainly include: coupled fingers, adaptive underactuated fingers (often called underactuated fingers), and coupled adaptive underactuated fingers. [0003] The advantages and disadvantages of various robot fingers are briefly introduced as follows: [0004] The characteristic of the coupled finger is that it usually has only one degree of freedom, and each joint of the finger is driven by a driver and rotates simultaneously according to a certain ratio. Its advantage is that the joint bending process of each joint is similar to the process of human fingers grabbing objects, that is, it has anthropomorphic features; t...

AI Technical Summary

Problems solved by technology

Its advantage is that the joint bending process of each joint is similar to the process of human fingers grabbing objects, that is, it has anthropomorphic features; the disadvantage is that when a certain knuckle of the finger touches the object, the rest of the knuckles cannot go further. ground bending to achieve the envelope grabbing of the object, that is, not self-adaptive

But its shortcoming is: when coupling, it is difficult to realize the movement space as big as human hand (three knuckles can be rotated 90° relative to each other), especially when the proximal and middle knuckles are blocked by objects at the beginning of movement, the far It is difficult for the knuckles to move to the limit position to complete the envelope grasping of the object, which will cause the problem of grasping instability

[0007] Furthermore, in the existing underactuated manipulators, the fingers only use a single mechanical transmission / drive system such as a link mechanism / motor or a pulley rope / motor.

These devices have the disadvantage of not being sensitive enough to external stimuli due to problems such as mechanical delay. The problem of picking instability, that is, ordinary manipulators do not have the anti-slip and fast grabbing function of human fingers

Images