An underactuated finger with flexible coupling between joints

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 ...

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 will appear in a strange posture during grasping

In addition, the domestic Harbin Institute of Technology and the German Aerospace Center have recently developed a finger integrated in the five-fingered humanoid hand that only needs one driving source, but its grasping mode is single and cannot complete adaptive grasping. The difficulty of control increases, and the characteristics of many sensors and complex control circuits make it difficult to meet the requirements of prosthetic hands for lightness and easy manipulation.

Images