A Coupled Adaptive Underactuated Humanoid Finger Device with Fast Reflex Grasping

Abstract

The invention discloses a coupling-self-adaptive under-actuated prosthetic finger device with a function of rapidly reflecting to grab, relating to a prosthetic finger device on prosthetic hands of the disabled. According to the invention, a motor and micro-drivers are linked to drive a primary movement mechanism and a secondary movement mechanism, and the secondary movement mechanism has a function of rapidly reflecting to move, thus solving the problems of grabbing instability and the like of the existing prosthetic fingers of a prosthetic hand. The primary movement mechanism of the coupling-self-adaptive under-actuated prosthetic finger device disclosed by the invention is composed of a transmission gear, a transmission link, a coupling elastic link and an elastic limit component, and with the adoption of motor driving, a function of fusing a three-joint prosthetic finger personated coupling grabbing process together with an under-actuated self-adaptive grabbing process can be realized; the secondary movement mechanism of the coupling-self-adaptive under-actuated prosthetic finger device disclosed by the invention is composed of a link mechanism provided with the micro-drivers, wherein the micro-drivers are installed in a first transmission link and a second transmission link, in the case that a slide sensor installed at a fingertip detects relative sliding between an object and the fingers after the primary movement mechanism finishes envelope grabbing for the object, the micro-drivers can generate a rapid response and be combined with the primary movement link mechanism to realize stable grabbing for the object, so as to prevent the sliding-off of the object. The finger device is simple in structure, low in production cost, large in output force, personated in both appearance and action, and especially suitable for being applied to the prosthetic hands of the disabled.

Description

Technical field [0001] The invention belongs to the technical field of humanoid prosthetic hands, and in particular relates to a structural design of an underactuated humanoid mechanical finger device with primary and secondary movement divide-and-conquer coupling functions. technical background [0002] Humanoid prosthetic hand is an important research direction in the field of human rehabilitation engineering. It is mainly used to grasp objects and move in space, and to provide convenience for the daily life of disabled persons with upper limb loss. Although the existing dexterous hand is relatively flexible in control, there are many sensors and drivers, and the control structure is quite complicated. At the same time, problems such as large volume, heavy weight, and high manufacturing and maintenance costs limit it. Practicality and productization in In this context, the adaptive underactuated manipulator has become a hot spot of development and research in recent years...

AI Technical Summary

Problems solved by technology

However, this type of mechanical finger still does not have anthropomorphic motion characteristics, and cannot complete human empty-handed "fist making" and other actions, and there are also defects in the envelope grasping of objects: when the middle knuckle of the finger first touches the object After grasping the object, the far knuckles cannot move further to achieve a complete envelope grasping of the object. During the process of grasping the object with the fingers, it is easy to cause problems such as unstable grasping

[0005] 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

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