Multifunctional upper limb prosthesis mechanism

Abstract

The invention relates to a multifunctional upper limb artificial limb mechanism which comprises an artificial limb big arm mechanism, an elbow flexion and extension mechanism, an elbow internal rotation and external rotation mechanism and a dexterous hand which are sequentially connected in series, as well as a storage mechanism, a lighting mechanism and an alarm mechanism, and the elbow flexion and extension mechanism is driven by a first steering engine and a synchronous belt mechanism to realize flexion and extension movement; internal rotation and external rotation actions of elbows are achieved through a second steering engine and a rotary base, the dexterous hand controls movement of each finger in a rope transmission mode to achieve the grabbing action, and a control system obtains the movement intention of a patient by receiving electromyographic signals of the stump of the patient. All the steering engines are controlled to achieve corresponding movement of all joints of the artificial limb at the needed running speed, position and output torque, and the upper limb artificial limb mechanism is simple in structure, low in cost, high in functionality and capable of greatly meeting the requirements of patients.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation machinery, and more specifically to a multifunctional upper limb prosthesis mechanism. Background Technology

[0002] Due to external factors such as traffic accidents and natural disasters, as well as the increasing disability rates caused by injuries such as cerebrovascular diseases and spinal cord injuries, patients suffering from upper limb amputations often experience motor impairments and psychological trauma, making it difficult for them to integrate into normal social life. Upper limb prostheses can restore the original form or function of the missing limb, reduce functional impairments, and improve patients' ability to live independently. However, commercially available prostheses on the market today often suffer from high costs, poor functionality, and complex structures. Decorative prostheses can only serve to balance the body and fill in the gaps in the body; most control prostheses have only simple mechanical structures and require traction from the patient's healthy limb to complete simple movements, failing to fundamentally meet the needs of amputees to restore their physical functions. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to... To achieve the above objectives, the technical solution adopted by the present invention is as follows: A multifunctional upper limb prosthesis mechanism includes a prosthesis body and a control system. The prosthesis body includes a prosthetic upper arm mechanism, an elbow flexion and extension mechanism, an elbow internal and external rotation mechanism, and a dexterous hand connected in sequence. The prosthetic upper arm mechanism is equipped with a first servo motor and is connected to the elbow flexion and extension mechanism via a connecting shaft. The elbow flexion and extension mechanism is equipped with a second servo motor and is connected to the elbow internal and external rotation mechanism via a rotating base. The elbow internal and external rotation mechanism is connected to the dexterous hand. The dexterous hand uses a rope transmission method to control the movement of each finger to achieve grasping action. The control system obtains the patient's movement intention by receiving electromyographic signals from the residual limb and controls each servo motor to achieve the corresponding movement of each joint of the prosthesis at the required operating speed, position, and output torque.

[0004] Furthermore, the prosthetic upper arm mechanism mainly consists of a first servo motor, a main synchronous pulley, a synchronous belt, a driven synchronous pulley, an upper arm shell, multiple first long bolts, and a connecting shaft. The upper arm shell has a left-right split structure and is fixedly connected by multiple first long bolts. The first servo motor is embedded in the hollow cavity formed by the upper arm shell. The output shaft of the first servo motor is fixedly connected to the main synchronous pulley. The main synchronous pulley is connected to the driven synchronous pulley through the synchronous belt. The driven synchronous pulley is located at the bottom of the upper arm shell. The connecting shaft passes through the center of the driven synchronous pulley and connects the upper arm shell and the elbow flexion and extension shell. The elbow flexion and extension shell is fixedly connected to the driven synchronous pulley.

[0005] Furthermore, the elbow flexion and extension mechanism mainly consists of a second servo motor, a bevel gear, a slewing base, an elbow flexion and extension housing, and multiple second long bolts. The elbow flexion and extension housing includes left and right parts connected and fixed by multiple second long bolts. The second servo motor is enclosed in the hollow cavity formed by the elbow flexion and extension housing. The output end of the second servo motor is fixedly connected to the bevel gear. The slewing gear is located below the second servo motor and meshes with the bevel gear. The slewing gear is clamped and fixed to the slewing base. The slewing gear drives the slewing base to rotate. The slewing base is engaged and fixed with the elbow internal and external rotation mechanism to realize the internal and external rotation of the elbow joint.

[0006] Furthermore, the dexterous hand includes a palm shell and fingers. Each finger includes a steel wire rope, a roller, a limiter, and a torsion spring. The limiter is embedded in a groove inside the finger shell. Both ends of the limiter are inserted into the reserved holes of the humerus joint axis and the fingertip joint axis, respectively, to limit the rotation angle range of the humerus joint and the fingertip joint. One end of the steel wire rope is fixed inside the rope winding device, and the other end is connected to the fingertip joint axis. The roller is sleeved on the humerus joint axis, and the surface of the roller is in close contact with the steel wire rope. The torsion spring is set at the finger joint to store angular momentum to achieve finger reset.

[0007] Furthermore, each rope winding device corresponds to a rope winding servo, which is arranged inside the palm housing or the housing of the elbow inward and outward rotation mechanism, depending on the situation.

[0008] Furthermore, the multifunctional upper limb prosthesis also includes additional functional mechanisms, such as a storage mechanism, a lighting mechanism, and an alarm mechanism.

[0009] Furthermore, the storage mechanism is located inside the elbow extension housing and includes a hinge, a snap fastener, and a snap positioning element. The elbow extension housing has a built-in metal partition that, together with the hinge, forms a closed space. The snap positioning element is located on the elbow extension housing, and the snap fastener is located at the end of the hinge.

[0010] Furthermore, the lighting mechanism is set on the elbow inward and outward rotation mechanism, including a lighting unit, a scissor arm and a slider. The scissor arm is connected between the lighting unit and the slider. The elbow inward and outward rotation housing is provided with a slide rail. The slider cooperates with the slide rail. The position of the lighting unit can be adjusted by dragging the slider to slide in the slide rail.

[0011] Furthermore, the alarm mechanism includes a buzzer alarm button and an SMS / telephone alarm button, both of which are connected to the control system.

[0012] Furthermore, the housings of each part of the upper limb prosthesis mechanism are all made of aluminum alloy.

[0013] Beneficial effects: The upper limb prosthesis mechanism designed in this invention uses servo motors in conjunction with synchronous belt mechanisms, gear mechanisms, rope drives, etc., to realize the movement of each joint. It has a simple structure and low cost. Each joint is driven by servo motors and is connected in series, so that the servo motors do not interfere with each other. Each joint can achieve a wide range of motion and can complete complex movements, helping patients improve their self-care ability.

[0014] The upper limb prosthesis mechanism designed in this invention has a control system that controls the movement of each joint by receiving electromyographic signals. After receiving the patient's electromyographic signals, it can accurately obtain the patient's movement intention, thereby precisely controlling the running speed, position and output torque of each joint of the prosthesis during the rehabilitation process. At the same time, it can also achieve the purpose of enhancing muscle strength and preventing muscle atrophy at the residual limb.

[0015] The upper limb prosthesis mechanism of the present invention, while ensuring that each joint can achieve flexion, extension, internal and external rotation, and grasping functions, also innovatively proposes additional functional designs, equipping the prosthesis with storage, lighting and alarm functions, which broadens the application scope of the prosthesis, solves the daily problems of patients, and greatly improves the practicality and functionality of the prosthesis. Attached Figure Description

[0016] Figure 1 This is a general structural diagram of the multifunctional upper limb prosthesis mechanism of the present invention.

[0017] Figure 2 This is an exploded view of the prosthetic upper arm mechanism of the present invention.

[0018] Figure 3 This is an exploded view of the elbow flexion and extension mechanism of the present invention.

[0019] Figure 4 This is a cross-sectional schematic diagram of the dexterous hand fingers of the present invention.

[0020] Figure 5 This is a schematic diagram of the storage mechanism of the present invention.

[0021] Figure 6 This is a schematic diagram of the lighting mechanism of the present invention.

[0022] Reference numerals: 1. Prosthetic upper arm mechanism; 101. Upper arm housing; 102. Connecting shaft; 103. Driven synchronous pulley; 104. Synchronous belt; 105. Main synchronous pulley; 106. First servo motor; 107. First long bolt; 2. Elbow flexion and extension mechanism; 201. Elbow flexion and extension housing; 202. Rotating base; 203. Bearing; 204. Bevel gear; 205. Bevel gear; 206. Second servo motor; 207. Second long bolt; 3. Elbow internal and external rotation mechanism; 4. Dexterous hand; 401. Wire rope; 402. Roller; 403. Limiter; 404. Torsion spring; 5. Storage mechanism; 501. Hinge; 502. Snap fastener; 503. Snap positioning element; 6. Lighting mechanism; 601. Flashlight; 602. Scissor arm; 603. Slider; 7. Alarm mechanism. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0024] like Figure 1 As shown, the present invention proposes a multifunctional upper limb prosthesis mechanism, including a prosthesis body, an additional functional mechanism and a control system; the prosthesis body includes a prosthetic upper arm mechanism 1, an elbow flexion and extension mechanism 2, an elbow internal and external rotation mechanism 3 and a dexterous hand 4 connected in sequence; the additional functional mechanism includes a storage mechanism 5, a lighting mechanism 6 and an alarm mechanism 7.

[0025] like Figure 2 As shown, the prosthetic upper arm mechanism 1 consists of an upper arm shell 101, a connecting shaft 102, a driven synchronous pulley 103, a synchronous belt 104, a main synchronous pulley 105, a first servo motor 106, and multiple first long bolts 107. The upper arm shell 101 has a split structure, and multiple first long bolts 107 pass through the left and right parts of the upper arm shell 101 to fix them together. The first servo motor 106 is embedded in the hollow cavity formed by the upper arm shell 101 and is responsible for driving the flexion and extension of the elbow joint. The output shaft of the first servo motor 106 is fixedly connected to the main synchronous pulley 105, and its output power drives the main synchronous pulley. When 105 rotates, the main synchronous pulley 105 meshes with the synchronous belt 104, driving the synchronous belt 104 to drive. The other end of the synchronous belt 104 meshes with the driven synchronous pulley 103, driving the driven synchronous pulley 103 to rotate. The connecting shaft 102 passes through the center of the driven synchronous pulley 103 and passes through the upper arm housing 101 and the elbow flexion and extension housing 201, thereby connecting the prosthetic upper arm mechanism 1 and the elbow flexion and extension mechanism 2. At the same time, the elbow flexion and extension housing 201 is fixedly connected to the side of the driven synchronous pulley 103 by bolts. When the first servo motor 106 rotates, it drives the elbow flexion and extension mechanism 2 to achieve flexion and extension movement through the synchronous belt mechanism.

[0026] like Figure 3As shown, the elbow flexion and extension mechanism 2 consists of an elbow flexion and extension housing 201, a rotating base 202, a bearing 203, a bevel gear 204, a bevel gear 205, a second servo motor 206, and multiple second long bolts 207. Similar to the prosthetic upper arm mechanism 1, the elbow flexion and extension housing 201 has a left-right split structure, and multiple second long bolts 207 pass through the elbow flexion and extension housing 201 to connect and fix it. The second servo motor 206 is enclosed in the hollow cavity formed by the elbow flexion and extension housing 201 and is responsible for the internal and external rotation of the elbow joint. The output end of the machine 206 is fixedly connected to a bevel gear 205, which drives the bevel gear 205 to rotate. The bevel gear 205 and the bevel gear 204 transmit power through gear meshing, and their rotation axes are perpendicular to each other. The extended boss at the bottom end of the bevel gear 204 is locked and fixed to the corresponding groove on the rotary base 202, which drives the rotary base 202 to rotate. A bearing 203 is installed between the rotary base 202 and the elbow flexion and extension housing 201 to reduce friction and make the rotary motion smoother.

[0027] Typically, the internal and external rotation angles of the elbow are within the range of 180°. Therefore, the bevel gear 204 can be set as a semi-circular bevel gear to meet the requirements.

[0028] The upper end of the elbow internal and external rotation mechanism 3 is clamped to the rotating base 202. The power of the second servo motor 206 drives the rotating base 202 and the elbow internal and external rotation mechanism 3 to rotate through the bevel gear 205 and the conical gear 204, thus completing the internal and external rotation of the elbow joint. The lower end of the elbow internal and external rotation mechanism 3 is fixedly connected to the dexterous hand through a connector.

[0029] like Figure 4As shown, the dexterous hand 4 uses a rope transmission method to control each finger to complete a simple grasping action. It includes the palm shell and fingers. Taking the index finger as an example, each finger includes a steel wire rope 401, a roller 402, a limiter 403, and a torsion spring 404. The finger shell has a groove, and the limiter 403 is embedded in the groove. Its two ends are inserted into the pre-drilled holes of the base joint axis and the tip joint axis, respectively. The limiter 403 has a fixed length, which limits the rotation angle range of the base joint and the tip joint, preventing mutual interference during joint movement. One end of the steel wire rope 401 is fixed to the inside of a rope-retracting device (not shown in the figure) by a knot, and the other end is fixed by a cable tie. It is connected to the fingertip joint axis; the roller 402 is sleeved on the finger root joint axis, and its surface is in close contact with the steel wire rope 401. The rope winding device is driven by the rope winding servo (not shown in the figure). Multiple rope winding servos are distributed in the palm shell or the shell of the elbow internal and external rotation mechanism 3. During the movement of the dexterous hand 4, the rope winding device rotates and retracts part of the steel wire rope 401. The steel wire rope 401 drives the roller 402 to rotate by friction. Since the roller 402 is sleeved on the finger root joint axis, it can transmit power to drive the finger root joint to rotate. The torsion spring 404 deforms during the retraction of the steel wire rope 401 and stores angular momentum. After the movement stops, the torsion spring 404 releases the angular momentum and realizes the finger joint reset.

[0030] The shells of all parts of the upper limb prosthesis are made of aluminum alloy, which greatly reduces the weight of the prosthesis while ensuring sufficient strength.

[0031] Based on the above, the upper limb prosthesis mechanism of the present invention is also equipped with a series of additional functional mechanisms to broaden the functional range of the prosthesis and provide patients with more convenience and practicality.

[0032] like Figure 5 As shown, the storage mechanism 5 is installed on the outer shell of the elbow flexion and extension mechanism 2, including a hinge 501, a snap fastener 502, and a snap positioning element 503. This mechanism references the structure and working principle of the hinge 501. The elbow flexion and extension outer shell 201 of the elbow flexion and extension mechanism 2 has a built-in metal partition, which, together with the hinge 501, forms a closed space that can be used to store emergency medicines, etc. Considering that the storage temperature of medicines should not be too high, ventilation holes are provided on the hinge 501. The snap positioning element 503 is located on the elbow flexion and extension outer shell 201, and the snap fastener 502 is located at the end of the hinge 501. Under normal circumstances, the snap positioning element 503 and the snap fastener 502 cooperate to lock the hinge, at which time the hinge 501 is embedded inside the shell and will not hinder the normal movement of the joints. In the retrieval state, the user can apply external force to the snap positioning element 503 to make the hinge 501 pop out and complete the retrieval action.

[0033] like Figure 1 and Figure 6As shown, the lighting mechanism 6 is located on the elbow internal and external rotation mechanism 3, and includes a flashlight 601, a scissor arm 602, and a slider 603. The scissor arm 602 is connected between the flashlight 601 and the slider 603. The elbow internal and external rotation housing has a groove that acts as a slide rail. The slider 603 of the lighting mechanism 6 is T-shaped and cooperates with the slide rail. The patient can adjust the illumination range of the flashlight 601 by dragging the T-shaped slider 603 to move it in the slide rail. The scissor arms 602 interlock to form a scissor support frame. The support frame has two working states: folded and unfolded, which facilitates control of the height of the flashlight 601. The flashlight 601 can be replaced by other commonly used lighting units.

[0034] The alarm mechanism 7 is designed with two alarm modes for patients: a buzzer alarm and an SMS / telephone alarm, which are represented by green and red buttons respectively. The alarm button is connected to the control unit, and patients can choose the appropriate alarm mode according to their own situation.

[0035] In the upper limb prosthetic mechanism of the present invention, the joints are connected in series. The prosthetic upper arm mechanism 1 and the elbow flexion-extension mechanism 2 are connected by a connecting shaft 102. The drive servo of the elbow flexion-extension mechanism 2, namely the first servo 106, is embedded in the prosthetic upper arm mechanism 1. The output end of the first servo 106 is fixedly connected to the main synchronous pulley 105. The main synchronous pulley 105 drives the driven synchronous pulley 103 to rotate through the synchronous belt 104. The driven synchronous pulley 103 is connected to the elbow flexion-extension housing 201. Through synchronous transmission, the elbow joint is driven to complete flexion and extension movements within an angle range of 10° to 140°. The elbow flexion-extension mechanism 2 is connected to the elbow internal rotation and external rotation mechanism 3 through a rotating base 202. The drive servo of the elbow internal rotation and external rotation mechanism 3, namely the second servo 206, is sealed inside the housing of the elbow flexion-extension mechanism 2. The output end of the second servo 206 is fixed to the bevel gear 205 by screws. The bevel gear 205 rotates, which in turn drives the bevel gear 204 and the rotating base 202 to rotate, thereby driving the elbow internal and external rotation mechanism 3 to achieve a flipping action within 0° to 180°. The dexterous hand 4 uses a rope drive to transmit power. The output shaft of the rope retraction servo drives the rope retraction device to rotate and retract part of the steel wire rope 401. The steel wire rope 401 drives the roller 402 to rotate through friction, thereby achieving the bending of the finger root joint and realizing the palm inward action. The torsion spring 404 stores angular momentum during the rotation of the finger root joint. When the servo stops running, the torsion spring 404 releases the angular momentum and realizes the finger return to its original position. The finger root joint can achieve a bending action within 10° to 110°, simulating the opening and closing and grasping action of a real palm. The series connection method ensures that the various servos do not interfere with each other, thus completing the complex actions of the upper limb prosthesis.

[0036] The storage mechanism 5 is located inside the housing of the elbow flexion and extension mechanism 2. In the storage state, the buckle is locked; in the retrieval state, the patient can apply external force to the buckle to cause it to elastically deform and pop out. The lighting mechanism 6 is located on the elbow internal and external rotation mechanism 3. The housing of the elbow internal and external rotation mechanism 3 has a groove that acts as a slide rail. The patient can adjust the illumination range of the flashlight 601 by dragging the T-shaped slider 603 within the slide rail. The scissor arms 602 interlock to form a scissor support frame, which has two working states: folded and unfolded. This facilitates the control of the raising and lowering of the flashlight 601 and avoids obstacles blocking the light. The alarm mechanism 7 is designed with two alarm modes for the patient—a buzzer alarm and an SMS / telephone alarm, represented by green and red buttons respectively. The patient can choose the appropriate alarm mode according to their own situation.

[0037] In use, the upper limb prosthesis is worn on the patient's residual limb. The entire prosthesis socket of the upper arm mechanism 1 is designed with a curved surface to fit the surface of the patient's residual limb, conforming to ergonomics and improving the patient's comfort. After the patient activates the upper limb prosthesis, the control system extracts the electromyographic signals from the patient's residual limb and analyzes the electromyographic signal data to obtain the patient's movement intention. It then matches appropriate angular velocity and torque values ​​to each joint of the prosthesis. The controller sends control commands to the actuators, controlling the servo motors of each joint to rotate at the required angular velocity to achieve flexion and extension, internal and external rotation of the elbow joint, and grasping actions of the four fingers of the dexterous hand. During use, the patient can use the upper limb prosthesis's built-in storage mechanism 5, lighting mechanism 6, and alarm mechanism 7 according to their own needs to solve difficulties in daily life.

[0038] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A multifunctional upper limb prosthetic mechanism, comprising a prosthetic body and a control system, characterized in that, The prosthesis body includes a prosthetic upper arm mechanism, an elbow flexion and extension mechanism, an elbow internal and external rotation mechanism, and a dexterous hand connected in sequence. The prosthetic upper arm mechanism is equipped with a first servo motor and is connected to the elbow flexion and extension mechanism through a connecting shaft. The elbow flexion and extension mechanism is equipped with a second servo motor and is connected to the elbow internal and external rotation mechanism through a rotating base. The elbow internal and external rotation mechanism is connected to the dexterous hand. The dexterous hand uses a rope transmission method to control the movement of each finger to achieve grasping action. The control system obtains the patient's movement intention by receiving electromyographic signals from the patient's residual limb and controls each servo motor to achieve the corresponding movement of each joint of the prosthesis at the required operating speed, position, and output torque.

2. The multifunctional upper limb prosthesis mechanism according to claim 1, characterized in that, The prosthetic upper arm mechanism mainly consists of a first servo motor, a main synchronous pulley, a synchronous belt, a driven synchronous pulley, an upper arm shell, multiple first long bolts, and a connecting shaft. The upper arm shell has a left-right split structure and is fixedly connected by multiple first long bolts. The first servo motor is embedded in the hollow cavity formed by the upper arm shell. The output shaft of the first servo motor is fixedly connected to the main synchronous pulley. The main synchronous pulley is connected to the driven synchronous pulley through the synchronous belt. The driven synchronous pulley is located at the bottom of the upper arm shell. The connecting shaft passes through the center of the driven synchronous pulley and connects the upper arm shell and the elbow flexion and extension shell. The elbow flexion and extension shell is fixedly connected to the driven synchronous pulley.

3. The multifunctional upper limb prosthesis mechanism according to claim 1, characterized in that, The elbow flexion and extension mechanism mainly consists of a second servo motor, a bevel gear, a slewing base, an elbow flexion and extension housing, and multiple second long bolts. The elbow flexion and extension housing includes left and right parts connected and fixed by multiple second long bolts. The second servo motor is enclosed in the hollow cavity formed by the elbow flexion and extension housing. The output end of the second servo motor is fixedly connected to the bevel gear. The bevel gear is located below the second servo motor and meshes with the bevel gear. The bevel gear is clamped and fixed to the slewing base. The bevel gear drives the slewing base to rotate. The slewing base is engaged and fixed with the elbow internal and external rotation mechanism to realize the internal and external rotation of the elbow joint.

4. The multifunctional upper limb prosthesis mechanism according to claim 1, characterized in that, The dexterous hand includes a palm shell and fingers. Each finger includes a steel wire rope, a roller, a limiter, and a torsion spring. The limiter is embedded in a groove inside the finger shell. The two ends of the limiter are inserted into the reserved holes of the humerus joint axis and the fingertip joint axis, respectively, to limit the rotation angle range of the humerus joint and the fingertip joint. One end of the steel wire rope is fixed inside the rope winding device, and the other end is connected to the fingertip joint axis. The roller is sleeved on the humerus joint axis, and the surface of the roller is in close contact with the steel wire rope. The torsion spring is set at the finger joint to store angular momentum to achieve finger reset.

5. A multifunctional upper limb prosthesis mechanism according to claim 4, characterized in that, Each rope winding device corresponds to a rope winding servo, which is arranged inside the palm housing or the housing of the elbow inward and outward rotation mechanism, depending on the situation.

6. A multifunctional upper limb prosthesis mechanism according to claim 1, characterized in that, The multifunctional upper limb prosthesis also includes additional functional mechanisms, such as a storage mechanism, a lighting mechanism, and an alarm mechanism.

7. A multifunctional upper limb prosthesis mechanism according to claim 5, characterized in that, The storage mechanism is located inside the elbow extension housing and includes a hinge, a snap fastener, and a snap positioning element. The elbow extension housing has a built-in metal partition that, together with the hinge, forms a closed space. The snap positioning element is located on the elbow extension housing, and the snap fastener is located at the end of the hinge.

8. A multifunctional upper limb prosthesis mechanism according to claim 5, characterized in that, The lighting mechanism is mounted on the elbow inward and outward rotation mechanism and includes a lighting unit, a scissor arm, and a slider. The scissor arm connects the lighting unit and the slider. The elbow inward and outward rotation housing is provided with a slide rail, and the slider cooperates with the slide rail. The position of the lighting unit can be adjusted by dragging the slider to slide in the slide rail.

9. A multifunctional upper limb prosthesis mechanism according to claim 5, characterized in that, The alarm mechanism includes a buzzer alarm button and an SMS / telephone alarm button, both of which are connected to the control system.

10. A multifunctional upper limb prosthesis mechanism according to claim 1, characterized in that, The housings of all parts of the upper limb prosthesis are made of aluminum alloy.

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