Under-actuated finger capable of being flexibly coupled between joints

An underactuated and finger-based technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of multiple sensors, complex control circuits, and large finger mechanisms, and achieve the effect of high degree of human imitation, small size, and improved accuracy

Active Publication Date: 2015-03-11
HUAZHONG UNIV OF SCI & TECH
View PDF9 Cites 23 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, the MANUS-HAND prosthetic finger in Spain uses one driver to drive the coupled motion of three joints. Although the number of drives is reduced, the finger does not have compliance and cannot follow the shape of the object during the grasping process to achieve anthropomorphic grasping
The link underactuated finger developed by the Canadian Gosselin research team has good compliance and sufficient grasping force, but the finger mechanism is too large to be embedded in the prosthesis, and the finger wil...

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Under-actuated finger capable of being flexibly coupled between joints
  • Under-actuated finger capable of being flexibly coupled between joints
  • Under-actuated finger capable of being flexibly coupled between joints

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0023] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0024] figure 1 It is a schematic diagram of the overall structure of the underactuated prosthetic finger according to the present invention. The underactuated fingers include the thumb, index finger, middle finger, ring finger and little finger, such as figure 1 As shown in , the finger body of the underactuated prosthetic hand includes the metacarpophalangeal joint, the proximal knuckle of t...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses an under-actuated finger capable of being flexibly coupled between joints. The finger takes pulleys as main components; transmission mechanisms in the finger are sequentially wound on various pulleys of the finger by virtue of a tensioning rope and anti-loose rope, and comprise two coupling springs and stay cords between finger knuckles, thus multi-freedom movement of the fingers is finished by one input. Through the under-actuated finger, a finger body cooperates with the transmission mechanisms in the finger to form the under-actuated finger; the adaptive ability during grabbing can be accurately achieved; meanwhile, the finger is suitable for prosthetic hand instruments in various complicated application environments due to embedded flexibility of the finger.

Description

technical field [0001] The invention belongs to the technical field of medical equipment, and more particularly relates to an underactuated finger with flexible coupling between joints. Background technique [0002] Fingers are the basic components of the prosthetic hand, and the quality of finger design directly determines whether the function of the prosthetic hand can be realized. In addition to being able to complete various grasping tasks, the finger design should also make the appearance and volume of the prosthetic hand as close as possible to that of a human hand, and be able to achieve rich grasping and manipulation functions with less physiological signal control currently available. This puts forward the basic requirements for the design of prosthetic fingers: fewer driving sources to drive multi-joint fingers equivalent to human hands, to achieve anthropomorphic appearance and grasping operation functions. [0003] For this, some solutions have been proposed in ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J17/00B25J15/08B25J15/10
Inventor 熊蔡华陈文锐张乔飞
Owner HUAZHONG UNIV OF SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap