A humanoid finger knuckle, humanoid finger and palm structure

Abstract

An embodiment of the present invention provides a humanoid finger knuckle, humanoid finger and palm structure, which includes one or more humanoid finger knuckles connected in sequence and finger knuckles connected to the first end of the humanoid finger knuckle through a connecting shaft. The knuckles of the humanoid finger are connected sequentially through knuckle connectors; the knuckles of the humanoid finger include: the knuckle shell; the motor and the reducer connected to the set; the motor base is connected with the knuckle shell, and the motor and the reducer are fixed On the motor seat; the worm is connected with the output shaft of the reducer, and the worm is arranged in the motor seat; the worm gear is engaged with the worm; the worm seat is rotatably connected with the motor seat, and the worm is fixed on the worm seat through the worm shaft. Inside the turbo seat. The technical scheme can change the degrees of freedom of the prosthetic hand by changing the number of knuckles and fingers that move independently, so that the number of degrees of freedom and the movement mode of the entire prosthetic hand can be set according to the number of knuckles and fingers of a single finger selected.

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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