Continuum transmission mechanism-based under-actuated prosthetic hand

Abstract

The invention discloses a continuum transmission mechanism-based under-actuated prosthetic hand, which comprises a motor driving unit, a continuum transmission mechanism and a mechanical hand, wherein the continuum transmission mechanism comprises a fixing plate, a plurality of fixing pipes, a plurality of guide pipes, a base, a plurality of driven wires, spacing discs and a locking disc; the motor driving unit comprises motors, output mechanisms and a plurality of driving wires; the mechanical hand comprises a palm and five fingers; each finger is provided with a plurality of knuckles; the rotation of the motors can be converted into the linear movement of the driving wires through the output mechanisms, and the continuum transmission mechanism can be driven to be deformed by the linear movement of the driving wires to move the driven wires of which one end of each is fixed with the locking disc, so that each finger of the mechanical hand is driven to finish corresponding actions. According to the continuum transmission mechanism-based under-actuated prosthetic hand, the use of a conventional rigid kinematic pair such as a hinge and a connecting rod is avoided, so that the system hysteresis is effectively eliminated, and the weight of the prosthetic hand is reduced; a great number of elastic alloy wires are used, so that the prosthetic hand is high in adaptability.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a medical prosthetic hand system. Background technique [0002] Due to accidents, industrial injuries, diseases and other reasons, there are a large number of amputee patients in the world, most of whom are hand amputee patients. They cannot independently complete daily life needs, so the quality of life is significantly reduced. In order to improve the quality of life of people with hand amputations, related companies and scientific research institutions have developed a variety of prosthetics, including widely used single-free prosthetic hands and multi-free prosthetic hands with humanoid shapes. [0003] The single-free prosthetic hand can complete limited grasping actions through simple finger opening and closing. It has a single function, poor practicability, and does not have a humanoid shape. After wearing it, it is not harmonious with the human body and is eas...

AI Technical Summary

Problems solved by technology

[0003] The single-free prosthetic hand can complete limited grasping actions by simply opening and closing fingers. It has a single function, poor practicability, and does not have a humanoid shape. After wearing it, it is not harmonious with the human body and is easily rejected by patients; multiple degrees of freedom The prosthetic hand has the appearance of a human hand, is easily accepted by patients, and has a similar number of joints to the human hand, so it has better flexibility and can achieve a variety of actions. However, this multi-free prosthetic hand uses more hinges, Connecting rods or other traditional transmission methods have complex structures and high costs, and have not been widely used yet

Images