Thumb mechanism of underactuated self-adaptive hand prosthesis

An underactuated, self-adaptive technology applied in the field of anthropomorphic manipulators
CN1803413AInactive Publication Date: 2006-07-19HARBIN INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HARBIN INST OF TECH
Publication Date
2006-07-19
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a thumb device of little-driving self-adaptive artificial hand, which is characterized by the following: connecting one end of thumb finger-tip pin case (32) with the thumb finger-tip connecting rod pin shaft (37); fixing the thumb wheeled bearing (55) on the wave generator axle (54) under the thumb decelerator wheel (10); connecting the thumb decelerator wheel (10) with the wheeled pad (9) through the wheeled fixation pin (57); fixing the wave generator (52) of harmonic gear decelerator on the other end of the wave generator axle (54) of wheeled pad (9). The invention can display a 130 deg conical moving space in the moving course to realize the finger-pin little-driving movement, which is adaptive for the object shape to reach full-covering the object and stable grasping.
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Description

Technical field

[0001] The invention relates to an anthropomorphic robot hand. Background technique

[0002] Most existing prosthetic hand thumbs only have one direction of gripping movement. Such a thumb must be set perpendicular to the palm of the prosthetic hand. Both in appearance and function, it is very different from the thumb of a real human hand. It is also for this reason that many disabled people who need to install prosthetic hands are unwilling to use prosthetic hands. According to surveys, more than half of disabled people pay more attention to the realistic appearance of prosthetic hands than to their functions. It can be said that this is a big bottleneck in the current design of prosthetic hands. Contents of the invention

[0003] The purpose of the present invention is to provide an under-actuated adaptive prosthetic hand thumb mechanism to solve the problem that most existing prosthetic hand thumbs have only one direction of grasping movement. The inve...

Claims

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