Under-actuated prosthetic hand with self-adaptive grabbing function

Abstract

The invention discloses an under-actuated prosthetic hand with a self-adaptive grabbing function, and belongs to the field of medical equipment. According to the prosthetic hand, through the structural design of a prosthetic hand body, a finger transmission module, an inter-finger transmission module and a thumb driving module, four fingers are simultaneously controlled by a first motor to realizebending and stretching movement, damping rotating shafts are used for limiting transmission torque between motors and screw rods, and the telescopic characteristic of a telescopic assembly is matched, so that on one hand, mechanical damage to a prosthetic hand structure due to overlarge torque output by the motors can be prevented, and on the other hand, the self-adaptive grabbing function of theprosthetic hand can be achieved. When movement of one or more fingers is blocked, two ends of one corresponding damping rotating shaft rotate relatively, the first motor cannot be locked mechanically, the first motor can still rotate normally and continue to drive the remaining fingers to move, and self-adaptive enveloping grabbing movement of an object is achieved. The problems that the prosthetic hand is too large in size or mass, complex in control system, low in operation precision and the like can be effectively solved.

Description

technical field [0001] The invention belongs to the field of medical equipment, and more specifically relates to an underactuated prosthetic hand with an adaptive grasping function. Background technique [0002] Since the emergence of human beings, hands have always been an integral part of human evolution. They play an extremely important role in human production and life, and dexterous hands are what distinguish humans as higher primates from other lower primates. One of the most important characteristics of animals. The important feature of the human hand is that it has strong dexterity and can complete various complex tasks for human beings, but the damage or loss of both hands will bring great inconvenience to people's life. Whether at home or abroad, there are a large number of cases of hand amputee patients, and with the passage of time, the number of hand amputee patients is also increasing year by year. Therefore, it has extremely important scientific research sig...

AI Technical Summary

Problems solved by technology

While reproducing the grasping function of the human hand, the present invention has an adaptive grasping function, and can adaptively adjust the grasping state according to the shape of the grasped object, and realize an anthropomorphic envelope grasping of the grasped object, which can effectively solve the problem of prosthetic hands. Problems such as excessive volume or quality, complex control system and low operation accuracy, etc., and it also has an adaptive grabbing function

Images