Bionic hand with five fingers based on nickel-titanium memory alloy

Abstract

The invention provides a bionic hand with five fingers based on a nickel-titanium memory alloy. The bionic hand comprises fingers, a palm, inter-finger springs (15, 14, 13), finger pin shafts, a thumb rotary shaft, a torsional spring and a driving device, and is characterized in that the fingers comprise a thumb (1), an index finger (2), a middle finger (3), a third finger (4), a little finger (5) and guiding columns; each of the thumb (1), the index finger (2), the middle finger (3), the third finger (4) and the little finger (5) is formed by integrally processing a single nickel-titanium alloy material; each guiding column is provided with a through hole; the palm comprises a palm box cover (6) and a palm box (7); the driving device comprises a thumb flexion-extension motor (8), a thumb rotation motor (9), an index finger motor (11), a composite motor (12), an index finger rope wheel (34), a composite rope wheel (35), a rotary rope wheel (36), a flexion-extension rope wheel (37) and pull wires. The bionic hand with the five fingers provided by the invention has the advantages that a plurality of typical operations, such as column gripping, fingertip gripping, palm center pinching, sphere gripping and side gripping, can be realized, and the bionic hand with the five fingers is suitable for popularization and application of upper-limb amputees.

Description

technical field [0001] The invention belongs to the technical field of medical rehabilitation aids, in particular to a five-finger prosthetic hand mechanism. Background technique [0002] Prosthetic hands can be divided into dexterous hands and prosthetic hands according to their use. Dexterous hand generally refers to a kind of instrumental prosthetic hand used on humanoid robots or other robot bodies. It is a mechanical prosthetic hand that can realize humanoid operations in special environments, such as the DLR series of prosthetic hands developed by the German Aerospace Center and Harbin Institute of Technology. The developed HTI series prosthetic hands are relatively complex in structure and control, have multiple degrees of freedom, and are expensive. Prosthetic hand is a kind of rehabilitation aid for patients with upper limb amputation, especially disabled patients with missing hands, to realize hand function compensation. For example, the myoelectric prosthetic han...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a bionic five-fingered prosthetic hand based on nickel-titanium memory alloy material. Aiming at the problems that the traditional prosthetic hand is too simple, the cost of smart hands is high, and it is difficult to popularize, it can realize cylindrical grasping, fingertip grasping, palm center Typical actions such as pinching, spherical grabbing, and side pinching; can complete most actions in daily life such as typing on the keyboard

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