Artificial hand finger capable of reproducing functions of approach phase and grasp phase of hands

Abstract

Disclosed in the present invention is an artificial hand finger capable of reproducing the functions of an approach phase and a grasp phase of hands. The artificial hand finger comprises a metacarpal bone, a proximal knuckle, a middle knuckle, a distal knuckle, a friction clutch, a driving rope, a driven rope, and elastic assemblies. The friction clutch is slidably mounted on the metacarpal bone, the driving rope bypasses the friction clutch, the driving rope is connected to the proximal knuckle at one end thereof and is connected to the middle knuckle at the other end thereof, two ends of the driven rope are respectively connected to the proximal knuckle and the distal knuckle, and the elastic assemblies are arranged between the metacarpal bone and the proximal knuckle, between the proximal knuckle and the middle knuckle and between the middle knuckle and the distal knuckle. In the artificial hand finger, the functions of the approach phase and the grasp phase are combined by means of the friction clutch mounted in the metacarpal bone, such that the bionic performance of the finger during an entire motion process from approaching an object to stably grasping the object is achieved, and the operation experience of a patient with a hand amputated is improved.

Description

A prosthetic hand finger that reproduces the approach and grasping phase functions of a human hand Technical Field

[0001] The present invention relates to the field of robotics technology, in particular to artificial hand fingers that reproduce the functions of approaching and grasping phases of a human hand. Background Art

[0002] When the four fingers of a human hand approach a target object (approach phase), each joint flexes at similar angular velocities. After grasping the target object (grasp phase), they adapt to the object's shape, producing an adaptive grasp. Existing prosthetic fingers focus solely on the grasp phase, neglecting the importance of the approach phase. For a prosthetic hand, it is crucial to possess biomimetic movements and adapt to the amputee's operating habits. In other words, only prosthetic fingers that possess both of these functions will better align with human hand operating habits. Starting with locking onto the target object, as the fingers approach, each joint gradually and simultaneously flexes. Once contact is made, they adapt to the object's shape and perform a grasping operation. Furthermore, during the approach phase, the position of the prosthetic fingers in space changes randomly and arbitrarily, necessitating the consideration of offsetting the effects of the momentary changes in the gravitational torque of each joint on the motion trajectory. Technical issues

[0003] The purpose of the present invention is to propose a prosthetic hand finger that reproduces the functions of the approach phase and grasping phase of the human hand. The prosthetic hand finger combines the functions of the approach phase and the grasping phase through a friction clutch installed in the metacarpal bone. This allows the prosthetic hand finger to bend simultaneously at the same angular velocity when approaching the target object in any spatial posture; and when in the grasping phase when in contact with the object, the finger can conform to the shape of the object to achieve adaptive grasping. At the same time, the friction force of the friction clutch and the elastic components on the extension side of each joint are used to automatically and in real time offset the influence of the change of gravity torque on the finger movement trajectory in different spatial postures. Ultimately, the bionic nature of the finger's entire movement process from approaching an object to stably grasping the object is achieved, improving the operating experience of hand amputees. Technical Solutions

[0004] In order to achieve the above technical effects, the technical solutions of the present invention are as follows:

[0005] The present invention discloses a prosthetic hand finger that reproduces the approach and grasping phase functions of a human hand, comprising a metacarpal bone, a proximal phalanx, a middle phalanx and a distal phalanx that are connected in sequence and rotated; a friction clutch, which is slidably mounted on the metacarpal bone; an active rope, which passes around the friction clutch, and one end of the active rope is connected to the proximal phalanx, and the other end is connected to the middle phalanx; a passive rope, the two ends of the passive rope are respectively connected to the proximal phalanx and the distal phalanx; an elastic component, which is arranged between the metacarpal bone and the proximal phalanx, the proximal phalanx and the middle phalanx, and the middle phalanx and the distal phalanx; wherein: the friction clutch can drive the proximal phalanx and the middle phalanx to flex under the action of an external driving device, and the elastic component is used to drive the proximal phalanx, the middle phalanx and the distal phalanx in the flexed state to extend.

[0006] In some embodiments, a drive rope is provided at one end of the friction clutch, and the drive rope is connected to the external drive device.

[0007] In some specific embodiments, a guide groove is provided on the metacarpal bone, and the drive rope is fitted into the guide groove.

[0008] In some embodiments, the elastic component includes a first spring, a second spring and a third spring, one end of the first spring is fixedly connected to the metacarpal bone, and the other end is connected to the proximal phalanx, one end of the second spring is fixedly connected to the proximal phalanx, and the other end is connected to the middle phalanx, and one end of the third spring is fixedly connected to the middle phalanx, and the other end is connected to the distal phalanx.

[0009] In some specific embodiments, the elastic component also includes a first connecting rope, a second connecting rope and a third connecting rope, one end of the first connecting rope is connected to the first spring, and the other end is fixedly connected to the proximal phalanx, one end of the second connecting rope is connected to the second spring, and the other end is fixedly connected to the middle phalanx, and one end of the third connecting rope is connected to the third spring, and the other end is fixedly connected to the distal phalanx.

[0010] In some embodiments, the elastic component includes a first torsion spring, a second torsion spring and a third torsion spring, the two torsion ends of the first torsion spring are respectively connected to the metacarpal bone and the proximal phalanx, the two torsion ends of the second torsion spring are respectively connected to the proximal phalanx and the middle phalanx, and the two torsion segments of the third torsion spring are respectively connected to the middle phalanx and the distal phalanx.

[0011] In some embodiments, a first rotating protrusion is provided at one end of the metacarpal bone, a second rotating protrusion is provided at both ends of the proximal phalanx, a third rotating protrusion is provided at both ends of the middle phalanx, and a fourth rotating protrusion is provided at one end of the distal phalanx, wherein: a first rotating axis is passed through the first rotating protrusion and one of the second rotating protrusions; a second rotating axis is passed through another of the second rotating protrusions and one of the third rotating protrusions; and a third rotating axis is passed through another of the third rotating protrusions and the fourth rotating protrusion.

[0012] In some embodiments, the metacarpal bone has a first inclined surface at one end facing the proximal phalanx, a second inclined surface is provided at both ends of the proximal phalanx, a third inclined surface is provided at both ends of the middle phalanx, and a fourth inclined surface is provided at one end of the distal phalanx facing the middle phalanx; wherein: during the flexion process of the proximal phalanx, the middle phalanx and the distal phalanx, the second inclined surface can stop at the first inclined surface and the third inclined surface, and the third inclined surface can stop at the fourth inclined surface to limit the maximum flexion angle of the proximal phalanx, the middle phalanx and the distal phalanx.

[0013] In some embodiments, a mounting groove is provided on the metacarpal bone, and the friction clutch is fitted into the mounting groove.

[0014] In some embodiments, weight-reducing grooves are provided on the proximal phalanx, the middle phalanx, and the distal phalanx. Beneficial effects

[0015] The beneficial effects of the prosthetic hand fingers that reproduce the approach phase and grasping phase functions of the human hand according to the embodiment of the present invention are as follows: through the friction clutch installed in the metacarpal bone, the functions of the approach phase and the grasping phase are combined, so that the prosthetic hand fingers can bend simultaneously at the same angular velocity when approaching the target object in any position in space; and when in the grasping phase when in contact with the object, the fingers can conform to the shape of the object to achieve adaptive grasping. At the same time, the friction force of the friction clutch and the elastic components on the extension side of each joint are used to automatically and in real time offset the influence of the change of gravity torque on the movement trajectory of the fingers in different positions in space. Ultimately, the bionics of the fingers from approaching the object to stably grasping the object is achieved, which improves the operation experience of patients with hand amputations.

[0016] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 is a schematic structural diagram of fingers of a prosthetic hand that reproduces the functions of the approach phase and the grasping phase of a human hand according to an embodiment of the present invention.

[0018] FIG2 is a schematic structural diagram of fingers of a prosthetic hand in another direction for reproducing the approach and grasping functions of a human hand according to an embodiment of the present invention.

[0019] Reference numerals:

[0020] 100, metacarpal bone; 101, guide groove; 102, first rotation protrusion; 103, first inclined surface; 104, mounting groove;

[0021] 200, proximal knuckle; 201, second rotation protrusion; 202, second inclined surface;

[0022] 300, middle finger joint; 301, third rotation protrusion; 302, third inclined surface;

[0023] 400, distal phalanx; 401, fourth rotation protrusion; 402, fourth inclined surface;

[0024] 500, friction clutch; 600, active rope; 700, passive rope; 800, driving rope;

[0025] 901, first spring; 902, second spring; 903, third spring; 904, first connecting rope; 905, second connecting rope; 906, third connecting rope. Modes for Carrying Out the Invention

[0026] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the present invention are further described below with reference to the accompanying drawings and through specific implementation methods.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0028] In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of the features, and are used to distinguish and describe features, without distinction of order or importance. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0029] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0030] The specific structure of the fingers of a prosthetic hand that reproduces the functions of the approach phase and the grasping phase of a human hand according to an embodiment of the present invention will be described below with reference to FIG. 1 and FIG. 2 .

[0031] The present invention discloses a prosthetic finger (hereinafter referred to as the prosthetic finger) that replicates the human hand's approach and grasping phases. As shown in Figures 1 and 2, the prosthetic finger comprises a metacarpal bone 100, a proximal phalanx 200, a middle phalanx 300, and a distal phalanx 400, which are rotatably connected in sequence. The prosthetic finger also includes a friction clutch 500, an active cable 600, a passive cable 700, and an elastic assembly. The friction clutch 500 is slidably mounted on the metacarpal bone 100. The active cable 600 passes through the friction clutch 500, with one end of the active cable 600 connected to the proximal phalanx 200 and the other end to the middle phalanx 300. The passive cable 700 has two ends connected to the proximal phalanx 200 and the distal phalanx 400, respectively. The elastic assembly is disposed between the metacarpal bone 100 and the proximal phalanx 200, between the proximal phalanx 200 and the middle phalanx 300, and between the middle phalanx 300 and the distal phalanx 400. The friction clutch 500 can drive the proximal phalanx 200 and the middle phalanx 300 to flex under the action of an external driving device, and the elastic component is used to drive the proximal phalanx 200, the middle phalanx 300 and the distal phalanx 400 in the flexed state to extend.

[0032] It is understood that during actual operation, when the finger is in the approach phase, the external drive device drives the friction clutch 500 in translation. The active cable 600 is affected by the static friction within the friction clutch 500, preventing relative slip. At the same time, the elastic force of the elastic component acts in conjunction with the active cable 600 to offset the effects of the varying gravitational torque on the prosthetic finger at any position in space. Consequently, the two ends of the active cable 600 can simultaneously drive the proximal phalanx 200 and the middle phalanx 300 to flex. Furthermore, due to the presence of the passive cable 700, the distal phalanx 400 flexes simultaneously with the proximal phalanx 200. Therefore, during the approach phase, the three joints of the finger (the connection between the metacarpal bone 100 and the proximal phalanx 200, the connection between the proximal phalanx 200 and the middle phalanx 300, and the connection between the middle phalanx 300 and the distal phalanx 400) will move along a fixed trajectory in any position, a motion that is also biomimetic to the trajectory of the human hand during the approach phase. When the finger is in the grasping phase, assuming that the proximal phalanx 200 first contacts the object and stops moving, the active rope 600 at the fixed end of the proximal phalanx 200 will also be unable to continue to pull the distal phalanx 400 to bend. Therefore, the active rope 600 will produce relative sliding inside the friction clutch 500, and the corresponding static friction force will automatically turn into dynamic friction force, that is, the active rope 600 at the fixed end of the middle phalanx 300 will continue to pull the middle phalanx 300 to bend, and then the distal phalanx 400 will also bend, until the middle phalanx 300 or the distal phalanx 400 contacts the object and stops moving. At this point, the adaptive grasping action of the finger in the grasping phase is also realized, which is also consistent with the movement characteristics of the human hand.

[0033] In summary, the prosthetic hand's fingers, through the friction clutch 500 installed in the metacarpal bone 100, combine the functions of the approach phase and the grasping phase. This allows the prosthetic hand's fingers to flex simultaneously at the same angular velocity during the approach phase, when approaching a target object, in any spatial position. During the grasping phase, when in contact with the object, the fingers can conform to the object's shape to achieve adaptive grasping. Simultaneously, the friction of the friction clutch 500 and the elastic components on the extension side of each joint automatically and in real time offset the effect of changes in gravitational torque on the finger's motion trajectory at different spatial positions. Ultimately, the bionic nature of the finger's entire motion process, from approaching an object to stably grasping it, is achieved, improving the operational experience for hand amputees.

[0034] It should be noted that, in actual operation, the friction clutch 500 can be replaced with a different material, and the different friction coefficients of different materials can be used to achieve the asynchronous movement effect of multiple joints. Adjusting the fixed positions of the two ends of the passive rope 700 can produce the asynchronous movement effect of the joints; adjusting the distance from the active rope 600 to the rotation center of each joint can change the speed and torque of the joint flexion.

[0035] It should be noted that in other embodiments of the present invention, the specific number of phalanges can be selected based on actual needs, and at least one auxiliary phalange can be provided between the middle phalange 300 and the distal phalange 400. Specifically, if an auxiliary phalange is provided between the middle phalange 300 and the distal phalange 400, the proximal phalange 200 and the auxiliary phalange are connected by a passive tether 700, and the middle phalange 300 and the distal phalange 400 are connected by a passive tether 700. In other words, when the number of phalanges in an embodiment of the present invention is greater than three, the two alternate phalanges are connected by a passive tether 700.

[0036] In some embodiments, as shown in Figures 1 and 2, a drive rope 800 is provided at one end of the friction clutch 500, and the drive rope 800 is connected to an external drive device. It will be appreciated that the connection between the friction clutch 500 and the external drive device via the drive rope 800 is very convenient and highly reliable. The external drive device can be a motor. Of course, it should be noted that the external drive device can be replaced with an electric push rod, a pneumatic push rod, or a hydraulic push rod, directly connected to the friction clutch 500 to drive its movement, and is not limited to the above-mentioned structure where the motor drives the drive rope 800.

[0037] In some specific embodiments, a guide groove 101 is provided on the metacarpal bone 100, and the drive rope 800 is fitted into the guide groove 101. It is understood that the guide groove 101 can limit the sliding direction of the drive rope 800, thereby preventing the friction clutch 500 from moving skewed due to the skew of the drive rope 800.

[0038] In some embodiments, as shown in FIG2 , the elastic assembly includes a first spring 901, a second spring 902, and a third spring 903. One end of the first spring 901 is fixedly connected to the metacarpal bone 100, and the other end is connected to the proximal phalanx 200. One end of the second spring 902 is fixedly connected to the proximal phalanx 200, and the other end is connected to the middle phalanx 300. One end of the third spring 903 is fixedly connected to the middle phalanx 300, and the other end is connected to the distal phalanx 400. It is understood that the first spring 901 is provided between the metacarpal bone 100 and the proximal phalanx 200. When the proximal phalanx 200 is flexed, the first spring 901 is stretched. When the external force on the friction clutch 500 disappears, the first spring 901 can contract and return to its original length, thereby achieving extension of the proximal phalanx 200. A second spring 902 is provided between the proximal phalanx 200 and the middle phalanx 300. When the middle phalanx 300 flexes, the second spring 902 is stretched. When the proximal phalanx 200 extends, the second spring 902 can contract and return to its original length, thereby extending the middle phalanx 300. A third spring 903 is provided between the middle phalanx 300 and the distal phalanx 400. When the distal phalanx 400 flexes under the influence of the passive rope 700, the third spring 903 is stretched. When the proximal phalanx 200 extends, the third spring 903 can contract and return to its original length, thereby extending the distal phalanx 400. The provision of the first spring 901, the second spring 902, and the third spring 903 facilitates the extension of the proximal phalanx 200, the middle phalanx 300, and the distal phalanx 400.

[0039] In some specific embodiments, as shown in FIG2 , the elastic assembly further includes a first connecting rope 904, a second connecting rope 905, and a third connecting rope 906. One end of the first connecting rope 904 is connected to the first spring 901, and the other end is fixedly connected to the proximal phalanx 200. One end of the second connecting rope 905 is connected to the second spring 902, and the other end is fixedly connected to the middle phalanx 300. One end of the third connecting rope 906 is connected to the third spring 903, and the other end is fixedly connected to the distal phalanx 400. It is understood that, through the first connecting rope 904, the second connecting rope 905, and the third connecting rope 906, during actual operation, when the first spring 901 is stretched, it can be stretched under the action of the first connecting rope 904, while the end of the first spring 901 fixed to the metacarpal bone 100 does not move, thereby limiting the stretching direction of the first spring 901, thereby ensuring that the flexion and extension directions of the proximal phalanx 200 conform to bionic characteristics. During actual operation, the second spring 902 is stretched under the action of the second connecting rope 905. The end of the second spring 902 fixed to the proximal phalanx 200 does not move, thereby limiting the stretching direction of the second spring 902, thereby ensuring that the flexion and extension directions of the middle phalanx 300 conform to biomimetic characteristics. During actual operation, the third spring 903 is stretched under the action of the third connecting rope 906. The end of the third spring 903 fixed to the middle phalanx 300 does not move, thereby limiting the stretching direction of the third spring 903, thereby ensuring that the flexion and extension directions of the distal phalanx 400 conform to biomimetic characteristics.

[0040] It should be noted here that, in the embodiment of the present invention, the specific materials of the first connecting rope 904, the second connecting rope 905 and the third connecting rope 906 can be selected according to actual conditions. They can be elastic ropes with good elasticity or ropes with relatively poor elasticity. The specific materials of the first connecting rope 904, the second connecting rope 905 and the third connecting rope 906 are not limited here.

[0041] In some optional embodiments, the elastic assembly includes a first torsion spring, a second torsion spring, and a third torsion spring. The first torsion spring has two torsion ends connected to the metacarpal bone 100 and the proximal phalanx 200, respectively. The second torsion spring has two torsion ends connected to the proximal phalanx 200 and the middle phalanx 300, respectively. The third torsion spring has two torsion segments connected to the middle phalanx 300 and the distal phalanx 400, respectively. It will be appreciated that in actual design, the type of elastic assembly can be selected based on the shape of the prosthetic finger. Selecting three torsion springs as the elastic assembly simplifies the structure of the entire prosthetic finger and facilitates assembly.

[0042] It should be noted that, in the embodiment of the present invention, the specific structure of the elastic component can be adjusted according to actual needs, and either a spring or a torsion spring can be selected, or both a spring and a torsion spring can be included.

[0043] In some embodiments, as shown in FIG1 , a first rotational protrusion 102 is provided at one end of the metacarpal bone 100, a second rotational protrusion 201 is provided at both ends of the proximal phalanx 200, a third rotational protrusion 301 is provided at both ends of the middle phalanx 300, and a fourth rotational protrusion 401 is provided at one end of the distal phalanx 400. A first rotational axis is provided through the first rotational protrusion 102 and one of the second rotational protrusions 201; a second rotational axis is provided through another second rotational protrusion 201 and one of the third rotational protrusions 301; and a third rotational axis is provided through another third rotational protrusion 301 and the fourth rotational protrusion 401. It is understood that during the actual assembly process, the first rotational protrusion 102 is attached to one of the second rotational protrusions 201, then inserted into the first rotational protrusion; another second rotational protrusion 201 is attached to one of the third rotational protrusions 301, then inserted into the second rotational protrusion; and another third rotational protrusion is attached to the fourth rotational protrusion 401, then inserted into the third rotational protrusion, thereby completing the assembly of the three joints. This is very convenient.

[0044] It should be noted that in some embodiments, there are two first rotating protrusions 102, one second rotating protrusion 201 is sandwiched between the two first rotating protrusions 102, two third rotating protrusions 301 are provided at each end of the middle phalanx 300, another rotating protrusion 201 is sandwiched between the two third rotating protrusions 301, and a fourth rotating protrusion 401 is sandwiched between the two third rotating protrusions 301. The first rotating protrusion 102, the second rotating protrusion 201, the third rotating protrusion 301, and the fourth rotating protrusion 401 can have arcuate surfaces and rotate relative to each other. That is, in this embodiment, the distribution and shape of the first rotating protrusion 102, the second rotating protrusion 201, the third rotating protrusion 301, and the fourth rotating protrusion 401 can be various and can be designed according to actual needs. The first rotating protrusion 102, the second rotating protrusion 201, the third rotating protrusion 301, and the fourth rotating protrusion 401 are not specifically limited herein.

[0045] Optionally, the first rotating shaft, the second rotating shaft and the third rotating shaft can all be connected to angle sensors. During actual operation, the angle sensors are used to detect the angles of rotation of the first rotating shaft, the second rotating shaft and the third rotating shaft, thereby realizing real-time monitoring of the movement conditions of the proximal phalanx 200, the middle phalanx 300 and the distal phalanx 400.

[0046] It should be supplemented that, in the embodiment of the present invention, the type of the angle sensor can be selected according to actual needs, and the specific type of the angle sensor and the detection method are not limited here.

[0047] In some embodiments, as shown in FIG2 , the metacarpal bone 100 has a first inclined surface 103 at one end facing the proximal phalanx 200, second inclined surfaces 202 are provided at both ends of the proximal phalanx 200, third inclined surfaces 302 are provided at both ends of the middle phalanx 300, and a fourth inclined surface 402 is provided at one end of the distal phalanx 400 facing the middle phalanx 300; wherein: during the flexion process of the proximal phalanx 200, the middle phalanx 300 and the distal phalanx 400, the second inclined surface 202 can stop at the first inclined surface 103 and the third inclined surface 302, and the third inclined surface 302 can stop at the fourth inclined surface 402 to limit the maximum flexion angle of the proximal phalanx 200, the middle phalanx 300 and the distal phalanx 400. It can be understood that in actual working process, the first inclined plane 103 and the second inclined plane 202 provide flexion space for the proximal phalanx 200 and can limit the maximum flexion angle of the proximal phalanx 200, the second inclined plane 202 and the third inclined plane 302 provide flexion space for the middle phalanx 300 and can limit the maximum flexion angle of the middle phalanx 300, the third inclined plane 302 and the fourth inclined plane 402 provide flexion space for the distal phalanx 400 and can limit the maximum flexion angle of the distal phalanx 400, thereby ensuring that the flexion and extension directions of the proximal phalanx 200, the middle phalanx 300 and the distal phalanx 400 conform to the bionic characteristics.

[0048] In some embodiments, as shown in FIG1 , a mounting slot 104 is provided on the metacarpal bone 100, and the friction clutch 500 fits within the mounting slot 104. This protects and constrains the friction clutch 500, ensuring the operational reliability of the prosthetic finger. It should be noted that the shape and size of the mounting slot 104 can be determined based on the size and shape of the friction clutch 500, as long as the friction clutch 500 can slide stably within the mounting slot 104 and does not collide with the metacarpal bone 100.

[0049] In some embodiments, weight-reducing grooves are provided on the proximal phalanx 200, the middle phalanx 300, and the distal phalanx 400. Thus, the weight of the proximal phalanx 200, the middle phalanx 300, and the distal phalanx 400 can be reduced, making them easier to use.

[0050] Optionally, the weight-reducing grooves are formed as strip grooves along the length direction of the proximal phalanx 200, the middle phalanx 300, and the distal phalanx 400, thereby minimizing the weight of the proximal phalanx 200, the middle phalanx 300, and the distal phalanx 400. Of course, in other embodiments of the present invention, the specific shape, size, and distribution of the weight-reducing grooves can be selected and adjusted according to actual needs.

[0051] Example:

[0052] As shown in Figures 1 and 2, the prosthetic hand, which replicates the human hand's approach and grasping phases, comprises a metacarpal bone 100, proximal phalanx 200, middle phalanx 300, distal phalanx 400, friction clutch 500, active cable 600, passive cable 700, and an elastic assembly. A drive cable 800 is attached to one end of the friction clutch 500 and is connected to an external drive device. A guide groove 101 and a mounting groove 104 are provided on the metacarpal bone 100, and the drive cable 800 engages with the guide groove 101. The friction clutch 500 is slidably mounted in the mounting groove 104. The active rope 600 passes around the friction clutch 500, and one end of the active rope 600 is connected to the proximal phalanx 200 and the other end is connected to the middle phalanx 300. The two ends of the passive rope 700 are respectively connected to the proximal phalanx 200 and the distal phalanx 400. The elastic component also includes a first spring 901, a second spring 902, a third spring 903, a first connecting rope 904, a second connecting rope 905 and a third connecting rope 906. One end of the first spring 901 is connected to the metacarpal bone. The metacarpal bone 100 is fixedly connected to the first spring 901, one end of the first connecting rope 904 is connected to the other end of the first spring 901, and the other end is fixedly connected to the proximal phalanx 200. One end of the second spring 902 is fixedly connected to the proximal phalanx 200. One end of the second connecting rope 905 is connected to the other end of the second spring 902, and the other end is fixedly connected to the middle phalanx 300. One end of the third spring 903 is fixedly connected to the middle phalanx 300. One end of the third connecting rope 906 is connected to the other end of the third spring 903, and the other end is fixedly connected to the distal phalanx 400. A first rotating protrusion 102 is provided at one end of the metacarpal bone 100, a second rotating protrusion 201 is provided at both ends of the proximal phalanx 200, a third rotating protrusion 301 is provided at both ends of the middle phalanx 300, and a fourth rotating protrusion 401 is provided at one end of the distal phalanx 400. The first rotation axis passes through the first rotation protrusion 102 and a second rotation protrusion 201; the second rotation axis passes through another second rotation protrusion 201 and a third rotation protrusion 301; and the third rotation axis passes through another third rotation protrusion 301 and a fourth rotation protrusion 401. The metacarpal bone 100 has a first inclined surface 103 on the end facing the proximal phalanx 200, second inclined surfaces 202 on both ends of the proximal phalanx 200, third inclined surfaces 302 on both ends of the middle phalanx 300, and a fourth inclined surface 402 on the end of the distal phalanx 400 facing the middle phalanx 300. During flexion of the proximal phalanx 200, the second inclined surface 202 can abut against the first inclined surface 103 and the third inclined surface 302, and the third inclined surface 302 can abut against the fourth inclined surface 402, thereby limiting the maximum flexion angle of the proximal phalanx 200, the middle phalanx 300, and the distal phalanx 400. The proximal phalanx 200 , the middle phalanx 300 and the distal phalanx 400 are all provided with weight-reducing grooves.

[0053] The beneficial effects of the artificial hand fingers of this embodiment that reproduce the approach and grasping phase functions of a human hand are as follows:

[0054] First: It truly reproduces the entire bionic movement process of human fingers;

[0055] Second: Integrate the two functions of approach phase and grasping phase into one;

[0056] Third: No additional motor is required to increase the function, so the weight on the fingers does not increase, making it convenient to use;

[0057] Fourth: Friction and spring forces are used together to offset the influence of the ever-changing gravitational torque at any position in space, thereby improving the bionic characteristics of the prosthetic hand fingers.

[0058] Throughout this specification, references to "some embodiments," "other embodiments," and the like indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0059] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there may be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A prosthetic hand finger that reproduces the approach and grasping phase functions of a human hand, characterized in that: It comprises a metacarpal bone (100), a proximal phalanx (200), a middle phalanx (300) and a distal phalanx (400) which are rotatably connected in sequence; A friction clutch (500), wherein the friction clutch (500) is slidably mounted on the metacarpal bone (100); An active rope (600), wherein the active rope (600) passes around the friction clutch (500), and one end of the active rope (600) is connected to the proximal knuckle (200), and the other end is connected to the middle knuckle (300); A passive rope (700), wherein two ends of the passive rope (700) are respectively connected to the proximal knuckle (200) and the distal knuckle (400); An elastic component, wherein the elastic component is arranged between the metacarpal bone (100) and the proximal phalanx (200), between the proximal phalanx (200) and the middle phalanx (300), and between the middle phalanx (300) and the distal phalanx (400); wherein: The friction clutch (500) can drive the proximal phalanx (200) and the middle phalanx (300) to flex under the action of an external driving device, and the elastic component is used to drive the proximal phalanx (200), the middle phalanx (300) and the distal phalanx (400) in a flexed state to extend.

2. The artificial hand finger that reproduces the approach phase and grasping phase functions of a human hand according to claim 1, characterized in that: A driving rope (800) is provided at one end of the friction clutch (500), and the driving rope (800) is connected to the external driving device.

3. The artificial hand finger that reproduces the approach phase and grasping phase functions of a human hand according to claim 2, characterized in that: The metacarpal bone (100) is provided with a guide groove (101), and the driving rope (800) is matched with the guide groove (101).

4. The artificial hand finger that reproduces the approach phase and grasping phase functions of a human hand according to claim 1, characterized in that: The elastic component comprises a first spring (901), a second spring (902) and a third spring (903); one end of the first spring (901) is fixedly connected to the metacarpal bone (100), and the other end is connected to the proximal phalanx (200); one end of the second spring (902) is fixedly connected to the proximal phalanx (200), and the other end is connected to the middle phalanx (300); one end of the third spring (903) is fixedly connected to the middle phalanx (300), and the other end is connected to the distal phalanx (400).

5. The artificial hand finger for reproducing the approach phase and grasping phase functions of a human hand according to claim 4, characterized in that: The elastic component also includes a first connecting rope (904), a second connecting rope (905) and a third connecting rope (906), one end of the first connecting rope (904) is connected to the first spring (901), and the other end is fixedly connected to the proximal phalanx (200), one end of the second connecting rope (905) is connected to the second spring (902), and the other end is fixedly connected to the middle phalanx (300), and one end of the third connecting rope (906) is connected to the third spring (903), and the other end is fixedly connected to the distal phalanx (400).

6. The artificial hand finger that reproduces the approach phase and grasping phase functions of a human hand according to claim 1, characterized in that: The elastic component comprises a first torsion spring, a second torsion spring and a third torsion spring, wherein the two torsion ends of the first torsion spring are respectively connected to the metacarpal bone (100) and the proximal phalanx (200), the two torsion ends of the second torsion spring are respectively connected to the proximal phalanx (200) and the middle phalanx (300), and the two torsion segments of the third torsion spring are respectively connected to the middle phalanx (300) and the distal phalanx (400).

7. The artificial hand finger that reproduces the approach phase and grasping phase functions of a human hand according to claim 1, characterized in that: One end of the metacarpal bone (100) is provided with a first rotating protrusion (102), both ends of the proximal phalanx (200) are provided with a second rotating protrusion (201), both ends of the middle phalanx (300) are provided with a third rotating protrusion (301), and one end of the distal phalanx (400) is provided with a fourth rotating protrusion (401), wherein: A first rotating shaft is disposed through the first rotating protrusion (102) and one of the second rotating protrusions (201); The second rotating shaft is disposed through another of the second rotating protrusions (201) and one of the third rotating protrusions (301); The third rotating shaft is disposed through another third rotating protrusion (301) and the fourth rotating protrusion (401).

8. The artificial hand finger that reproduces the approach phase and grasping phase functions of a human hand according to claim 1, characterized in that: The metacarpal bone (100) has a first inclined surface (103) at one end facing the proximal phalanx (200), second inclined surfaces (202) are provided at both ends of the proximal phalanx (200), third inclined surfaces (302) are provided at both ends of the middle phalanx (300), and a fourth inclined surface (402) is provided at one end of the distal phalanx (400) facing the middle phalanx (300); wherein: during the flexion process of the proximal phalanx (200), the middle phalanx (300) and the distal phalanx (400), the second inclined surface (202) can stop at the first inclined surface (103) and the third inclined surface (302), and the third inclined surface (302) can stop at the fourth inclined surface (402) to limit the maximum flexion angle of the proximal phalanx (200), the middle phalanx (300) and the distal phalanx (400).

9. The artificial hand finger that reproduces the approach phase and grasping phase functions of a human hand according to claim 1, characterized in that: The metacarpal bone (100) is provided with a mounting groove (104), and the friction clutch (500) is matched with the mounting groove (104).

10. The artificial hand finger that reproduces the approach phase and grasping phase functions of a human hand according to claim 1, characterized in that: The proximal phalanx (200), the middle phalanx (300) and the distal phalanx (400) are all provided with weight-reducing grooves.

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