Under-actuated artificial limb hand

Abstract

The invention provides an under-actuated artificial limb hand which comprises a palm, a thumb and four fingers, wherein the fingers are composed of finger main bodies and driving mechanisms in the finger main bodies; the thumb is composed of a thumb main body and a driving mechanism in the thumb main body; a finger-web driving mechanism and a thumb driving mechanism are arranged in the palm; pulleys are taken as the main parts of the finger main bodies; tensioning ropes and releasing ropes are adopted by the driving mechanisms in the fingers and are alternately wound on the pulleys of the fingers; a single motor is adopted by the finger-web driving mechanism for driving two fingers and multiple degrees of freedom; a pulley is taken as the main part of the thumb main body; driving ropes are used as driving mediums by the driving mechanisms in the finger main bodies: a slot wheel component, a gear component and a crank block component are adopted for coordinately driving by the finger-web driving mechanism, so that the control of the single motor on the multiple degrees of freedom of the thumb is realized. According to the under-actuated artificial limb hand, the fingers, the thumb and the driving mechanisms thereof form an under-actuated mechanism for finishing the enveloping self-adaption capture for various articles, the structure is simple, the volume is small, the weight is light and the under-actuated artificial limb hand is attractive and practical.

Description

technical field [0001] The invention belongs to the field of medical equipment, and in particular relates to an underactuated prosthetic hand. Background technique [0002] An ideal prosthetic hand should not only have decorative functions, but also be able to replace human hands in terms of sensory and motor functions, but the prosthetic hands studied in laboratories at home and abroad cannot meet this ideal requirement. Prosthetic hands used as artificial limbs for the disabled, such as the TBM hand in Canada and the I-limb hand in the United Kingdom, have a simple structure, similar volume and weight to human hands, and have decorative functions. Most of the commercially available prosthetic hands currently in use have only 1 to 3 degrees of freedom. Domestic Harbin Institute of Technology and German Aerospace Center have recently developed a five-fingered humanoid hand with high integration and anthropomorphism. This hand has strong operating ability, but its mass is 1....

AI Technical Summary

Problems solved by technology

[0004] Based on the improvement requirements of the existing technology, the present invention provides a prosthetic hand, which uses three power sources to control multiple degrees of freedom of the prosthetic hand, and completes the envelope adaptive grasping of various objects, solving the problem of complex structure, bulky and complex structure of traditional prosthetic hands. Big, heavy problems

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