Simulated human finger knuckle, simulated human finger and palm structure

Abstract

The embodiment of the invention provides a simulated human finger knuckle, a simulated human finger and a palm structure. The simulated human finger comprises one or more simulated human finger knuckles which are sequentially connected and a finger fingertip which is connected to the head end of the simulated human finger knuckles through a connecting shaft, wherein the simulated human finger knuckles are sequentially connected through fingertip connecting pieces; each simulated human finger knuckle comprises a knuckle housing, a motor, a decelerator, a motor cabinet, a worm, a turbine and a turbine seat, wherein each motor is connected with the corresponding decelerator; each motor cabinet is connected with the corresponding knuckle housing; each motor and the corresponding decelerator are fixed on the corresponding motor cabinet; each worm is connected with an output shaft of the corresponding decelerator, and is arranged in the corresponding motor cabinet; each turbine is in meshingconnection with the corresponding worm; each turbine seat is rotatably connected with the corresponding motor cabinet; and each turbine is fixed in the corresponding turbine seat through a corresponding turbine shaft. According to the technical scheme of the simulated human finger disclosed by the invention, through changing the number of finger knuckles and the number of fingers which move independently, the freedom degree of a prosthetic hand can be changed, so that according to the selected number of the finger knuckles in a single finger and the number of the fingers, the number of freedom degree and the moving manner of the entire prosthetic hand are set.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a humanoid finger knuckle, humanoid finger and palm structure. Background technique [0002] The humanoid prosthetic hand provides convenience for the daily life of disabled persons with missing upper limbs, and is an important research direction in the field of rehabilitation engineering. Currently commercialized prosthetic hands are The company's safe proportional control myoelectric hand, the high-precision myoelectric control prosthesis iLimb produced by the British Scottish company (Touch bionics), etc., and there are also patents on the design of prosthetic hands. [0003] Most of the existing prosthetic hand products adopt underactuated structure design, each finger has only one degree of freedom, and the movement path that can be realized is limited by the design structure, which cannot be changed, and the movement of each knuckle cannot be completely imitated by the hum...

AI Technical Summary

Problems solved by technology

[0006] At present, prosthetic hands often have problems such as low flexibility, poor kinetic energy, and difficulty in practical use. One of the important reasons is that the fingers are not flexible enough, which leads to the inability of the prosthetic hand to complete a variety of grasping actions commonly used in daily life, so that it loses Practicality

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