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Two-degree-of-freedom modularized artificial hand thumb with moment of force, position and touch perception function

A technology of tactile perception and degree of freedom, applied in the field of prosthetic thumb, can solve the problems of low modularity, poor alignment, lack of tactile perception function, etc., to achieve the effect of preventing sliding, convenient disassembly and maintenance

Active Publication Date: 2014-06-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention solves the problems of the existing prosthetic hand with poor alignment between the thumb and other fingers, limited grasping function, lack of tactile perception function, complex transmission mechanism, and low degree of modularization, and further provides a force-position A two-degree-of-freedom modular prosthetic thumb with tactile perception

Method used

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  • Two-degree-of-freedom modularized artificial hand thumb with moment of force, position and touch perception function
  • Two-degree-of-freedom modularized artificial hand thumb with moment of force, position and touch perception function
  • Two-degree-of-freedom modularized artificial hand thumb with moment of force, position and touch perception function

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specific Embodiment approach 1

[0016] Specific implementation mode one: as Figure 1-10 As shown, the two-degree-of-freedom modular prosthetic thumb in this embodiment includes a metacarpal knuckle, a proximal knuckle and a distal knuckle, and the metacarpal knuckle includes a first motor 1, a first reducer 2, Fixed frame 3, first worm 4, first worm shaft 7, first end cover 8, first worm gear 10, first worm gear cover 11, metacarpal joint shaft 12, metacarpal joint screw 13, metacarpal base 14, position sensor 15. Sensor fixing frame 16, first plastic transmission gear 17, second plastic transmission gear 18 and transmission shaft 19;

[0017] The output end of the first motor 1 is connected to the input end of the first reducer 2, the first reducer 2 is fixed on the fixed frame 3, the fixed frame 3 is fixedly connected with the palm, and one end of the first worm 4 is connected to the first The output shaft of the reducer 2 is connected, the other end of the first worm 4 is provided with a first worm shaf...

specific Embodiment approach 2

[0024] Embodiment 2: In this embodiment, the left side of the first plastic gear 17 is processed with an integrated “D” shaped round platform, and the “D” shaped round platform is located in the inner hole of the position sensor 15 . With such a design, the first plastic gear 17 can rotate together with the inner hole of the position sensor 15, so as to realize the relative movement between the inner hole of the position sensor and the shell, and ensure its normal operation. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0025] Specific implementation mode three: as Figure 4 As shown, the metacarpal phalanx in this embodiment also includes a first worm washer 5 and a first plastic sleeve 6, and one end of the first worm 4 is sequentially fitted with a first worm washer 5 and a first plastic sleeve The barrel 6 , the first worm spacer 5 and the first plastic sleeve 6 are located between the first reducer 2 and the fixed frame 3 . Such a design can not only effectively resist the large axial load of the first worm 4, but also can reduce the loss of driving force by properly selecting the materials of the two to determine an appropriate coefficient of friction. The first worm washer 5 and the first plastic sleeve 6 can also be replaced by thrust bearings, although this can better reduce friction loss, but the size of the fingers will be relatively increased. Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention discloses a two-degree-of-freedom modularized artificial hand thumb with a moment of force, position and touch perception function and relates to an artificial hand thumb. The two-degree-of-freedom modularized artificial hand thumb is used for solving the problems that matching between a prior artificial hand thumb and other fingers is poor, the grabbing function of the prior artificial hand thumb is limited, the prior artificial hand thumb is lack of the touch perception function, a transmission structure is complex and the modularization degree is low. The two ends of a metacarpal bone joint shaft are supported by fixed frames. A first worm gear and one end of a metacarpal bone base are arranged on the metacarpal bone joint shaft in a penetrating mode, wherein the first worm gear is located in one end of the metacarpal bone base. A first worm gear cover plate is arranged at one end of the metacarpal bone joint shaft, the metacarpal bone joint shaft is tightened through a metacarpal bone joint screw, and the other end of the metacarpal bone joint shaft is fixedly sleeved with a second plastic transmission gear. A position sensor is fixed to a sensor fixing frame, and a first plastic gear is installed on a transmission shaft of the position sensor, fixedly and axially connected with an inner hole of the position sensor and meshed with the second plastic transmission gear. The two-degree-of-freedom modularized artificial hand thumb is used on the palm of a robot.

Description

technical field [0001] The invention relates to a prosthetic thumb, in particular to a two-degree-of-freedom modular prosthetic thumb with force position and tactile perception functions. Background technique [0002] The development of artificial hands will eventually be user-oriented, therefore, the commercialization of artificial hands is its development trend. Most of the relatively mature commercial prosthetic hands currently on the market have only one degree of freedom, each finger has no knuckles that move relative to each other, and lacks the thumb that is crucial for grasping tasks, so the dexterity and anthropomorphism are poor; In recent years, although some new prosthetic hands with thumbs with human-like motion trajectories have appeared, their thumbs have only one degree of freedom of bending / extension, and cannot be abducted or adducted, so the thumb has poor alignment with other fingers , the grasping function is very limited; in addition, the existing pros...

Claims

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Application Information

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IPC IPC(8): A61F2/54
Inventor 樊绍巍曾博杨大鹏张庭黄琦姜力刘宏
Owner HARBIN INST OF TECH
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