A wrist-driven adaptive force distribution semi-hand with stepless self-locking function

Abstract

This invention discloses a wrist-driven, adaptive force-distribution semi-palm prosthetic hand with stepless self-locking function, comprising a finger module, a palm module, an interfinite force adaptive distribution module, a stepless self-locking module, and a wrist module. The finger module has rotatable knuckles and is fixedly connected to the palm module. The palm module has a stump receiving cavity and is rotatably connected to the wrist module. The wrist module has a wrist fixing component. The interfinite force adaptive module and the stepless self-locking module are respectively disposed on the palm module. The wrist module and the interfinite force adaptive distribution module are connected by a first rope, which cooperates with the stepless self-locking module. The interfinite force adaptive distribution module is connected to the finger module by a second rope. The stepless self-locking module is self-locking. The interfinite force adaptive distribution module has interconnected moving and rotating components. This invention can achieve adaptive gripping of the semi-palm prosthetic hand and achieve self-locking during gripping.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation equipment and daily living aids, and in particular to a wrist-driven, adaptive force-distributing prosthetic hand with stepless self-locking function. Background Technology

[0002] The hand is one of the most functional limbs of the human body. As the primary executive organ for daily work, without the hand, people would be unable to perform almost all fine motor skills in daily life. However, in reality, some people lose this important limb due to various reasons such as congenital factors, diabetes, cardiovascular disease, and unpredictable accidents. my country has the largest number of amputees in the world, accounting for more than half of the disabled population. Upper limb amputation causes patients to lose the grasping, manipulation, and sensory abilities necessary for daily activities, affecting their quality of life.

[0003] Implanting humanoid prosthetic hands can significantly improve the quality of life for hand amputees. With advancements in materials science, computer science, and intelligent manufacturing, a wide variety of advanced prosthetic hands have been developed. However, a paradoxical situation has emerged: on the one hand, more and more prosthetic hands integrating multiple technologies and possessing various functions are being designed; on the other hand, the vast majority of hand amputees still wear prosthetic hands using older technologies, and many more hand amputees lack access to proper prosthetic care and affordable equipment, while new technologies have not been commercialized. There are three main reasons for this situation: First, most prosthetic hands currently designed are full-palm hands, while in reality, it is more common for amputees to have only part of their hand. Approximately 70% of upper limb amputees only lose part of their hand, that is, one or more phalanges or fingers. Second, the stumps of partial hand amputations are diverse and unique. Specific levels of amputation require specific prostheses to restore the shape and function of the amputee's hand. Different levels of amputation face different problems and challenges, requiring specific treatment for patients, and the appropriate prostheses also need to be designed individually. Third, multifunctional, high-performance prosthetic hands are expensive, and ordinary families often cannot afford them.

[0004] Therefore, those skilled in the art are dedicated to providing a wrist-driven, adaptive force-distribution semi-palm prosthesis with stepless self-locking function, suitable for wear by patients with partial upper limb amputation, inexpensive and truly practical. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is how to provide a wrist-driven, adaptive force distribution semi-palm prosthetic hand with stepless self-locking function.

[0006] To achieve the above objectives, the present invention provides a wrist-driven, adaptive force-distribution semi-palm prosthesis with stepless self-locking function, comprising a finger module, a palm module, an interdigital force adaptive distribution module, a stepless self-locking module, and a wrist module. The finger module has rotatable knuckles and is fixedly connected to the palm module. The palm module has a stump receiving cavity. The palm module is rotatably connected to the wrist module. The wrist module has a wrist fixation component. The interdigital force adaptive module and the stepless self-locking module are respectively disposed on the palm module. The wrist module and the interdigital force adaptive distribution module are connected by a first rope, which cooperates with the stepless self-locking module. The interdigital force adaptive distribution module is connected to the finger module by a second rope. The stepless self-locking module is capable of self-locking. The interdigital force adaptive distribution module has a movable component and a rotating component connected to each other. The movable component is connected to the first rope, and the rotating component is connected to the second rope.

[0007] Furthermore, the finger module includes a finger base, a proximal phalanx, a middle phalanx, a distal phalanx, a rope pulley, a first connecting rod, a second connecting rod, a first torsion spring, a second torsion spring, a first bearing, and a second bearing. The finger base is fixed to the palm module, the rope pulley is sleeved on the second bearing, the second bearing is fixed to the finger base, the large end of the proximal phalanx is sleeved on the second bearing, the small end of the proximal phalanx is connected to the large end of the middle phalanx through the first bearing, and the small end of the middle phalanx is connected to the large end of the distal phalanx through the first bearing. The first connecting rod connects the rope pulley and the middle phalanx, the second connecting rod connects the middle phalanx and the distal phalanx, the first torsion spring is installed between the rope pulley and the proximal phalanx, the second torsion spring is located between the proximal phalanx and the finger base, and one end of the second rope is connected to the rope pulley.

[0008] Furthermore, the palm module includes a palm base and a residual limb receiving cavity. The palm base is provided with a front end wiring hole, a finger base fixing hole, a receiving cavity fixing hole, a slide rail fixing hole, a slider baffle, a middle wiring hole, a self-locking device mounting shaft, a rear end wiring hole, and a wrist seat mating hole. The residual limb receiving cavity is riveted to the palm base.

[0009] Furthermore, the finger force adaptive distribution module includes a slide rail, a slider, a third bearing, a large force component frame, a small force component frame, and a pin. The slide rail is fixed on the palm base, the slider matches the slide rail, the large force component frame is connected to the slider through the third bearing, and the small force component frame is connected to the large force component frame through the pin.

[0010] Furthermore, the stepless self-locking module includes a one-way bearing, a one-way bearing outer ring, a spring, a telescopic column, a grooved rope pulley, a retaining ring, and a cotter pin. The one-way bearing is interference-fitted with the mounting shaft of the self-locking device, and the one-way bearing outer ring is interference-fitted with the one-way bearing. The spring is disposed in a first reserved hole in the one-way bearing outer ring. The grooved rope pulley is sleeved on the mounting shaft of the self-locking device and has a second reserved hole with a sloped bottom. One end of the telescopic column has a slope that matches the second reserved hole, and the other end of the telescopic column contacts the spring. The retaining ring is mounted on the top of the mounting shaft of the self-locking device via the cotter pin.

[0011] Furthermore, the wrist module includes a wrist support and a wrist strap. The wrist support is provided with a wrist rope fixing seat and a wrist-palm rotation shaft. The palm base is connected to the wrist support through the wrist-palm rotation shaft. One end of the first rope is connected to the wrist rope fixing seat, and the wrist strap is connected to the wrist support.

[0012] Preferably, the palm base, proximal phalanx, and middle phalanx are centrally symmetrically arranged.

[0013] Preferably, the finger module further includes a detachment pin, which is respectively installed on the first connecting rod and the second connecting rod.

[0014] Preferably, the front wiring hole, the middle wiring hole, and the rear wiring hole are provided with a lasso.

[0015] Preferably, the slider has a split structure, a fixed shaft and a pull wire hole are provided on the slider, the third bearing is sleeved on the fixed shaft, and the other end of the first rope is connected to the pull wire hole.

[0016] The present invention has at least the following beneficial technical effects:

[0017] The wrist-driven, self-locking, adaptive force-distributing prosthetic hand provided by this invention can achieve adaptive grasping of the prosthetic hand and achieve self-locking during the grasping process. It can be configured with an appropriate number of finger components according to the wearer's residual limb condition, which is highly applicable, low in manufacturing cost, and reduces the economic burden on the wearer to a certain extent.

[0018] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the semi-palm prosthetic hand provided in an embodiment of the present invention;

[0020] Figure 2This is a schematic diagram of the finger module of the semi-palm prosthetic hand provided in an embodiment of the present invention;

[0021] Figure 3 This is a side view of the finger module of the semi-palm prosthetic hand provided in an embodiment of the present invention;

[0022] Figure 4 yes Figure 3 AA view;

[0023] Figure 5 This is a schematic diagram of the hand module of the semi-palm prosthetic hand provided in an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the interphalangeal force adaptive distribution module of the semi-palm prosthetic hand provided in an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the stepless self-locking module of the semi-palm prosthetic hand provided in an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the telescopic column and slotted rope wheel of the semi-palm prosthetic hand provided in an embodiment of the present invention;

[0027] Figure 9 This is a schematic diagram of the wrist module of the semi-palm prosthetic hand provided in an embodiment of the present invention. Detailed Implementation

[0028] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0029] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.

[0030] like Figure 1As shown, the wrist-driven, adaptive force-distributing semi-palm prosthesis with stepless self-locking function in this embodiment includes a finger module 100, a palm module 200, an interdigital force adaptive module 300, a stepless self-locking module 400, and a wrist module 500. The finger module 100 mimics a human finger and is fixed on the palm module 200. The palm module 200 has a stump receiving cavity, which is fitted onto the palm of the amputee. The wrist module 500 is fixed to the forearm of the amputee, and the palm module 200 and the wrist module 500 are rotatably connected. The interdigital force adaptive distribution module 300 and the stepless self-locking module 400 are sequentially fixed to the back of the palm module 200. A first rope 600 connects the wrist module 500 and the finger force adaptive distribution module 300, and the first rope 600 also bypasses the stepless self-locking module; a second rope 700 connects the finger force adaptive distribution module 300 and the finger module 100; thus, the wearer's wrist movements can drive the bending of the finger module 100, achieving finger bending and mimicking the movements of human fingers. The finger module 100 includes four finger components, respectively used to mimic the index finger, middle finger, ring finger, and little finger of a human hand, and the number of finger components can also be set according to the wearer's needs.

[0031] like Figure 2 , Figure 3 and Figure 4 As shown, each finger component of the finger module 100 includes a finger base 101, a proximal phalanx 102, a middle phalanx 103, a distal phalanx 104, a pulley 105, a first connecting rod 106, a second connecting rod 107, a first torsion spring 108, a second torsion spring 109, a first bearing 110, a second bearing 111, and a locking pin 112. The finger base 101 is fixed to the palm module 200, the second bearing 111 is fixed to the finger base 101, and the pulley 105 is sleeved on the second bearing 111, thus allowing the pulley 105 to rotate. The large end of the proximal phalanx 102 is fitted onto the outer ring of the second bearing 111. The small end of the proximal phalanx 102 is connected to the large end of the middle phalanx 103 via the first bearing 110. The small end of the middle phalanx 103 and the distal phalanx 104 are connected via the second bearing 110. The first connecting rod 106 connects the pulley 105 and the middle phalanx 103, and the second connecting rod 107 connects the proximal phalanx 102 and the distal phalanx 104. Thus, when the pulley 105 rotates, it drives the first connecting rod 106 to rotate, which in turn drives the middle phalanx 103. The rotation of the middle phalanx 103 simultaneously drives the second connecting rod 107, which in turn drives the distal phalanx 104 to rotate. A first torsion spring 108 is installed between the pulley 105 and the proximal phalanx 102, causing the proximal phalanx 102 to rotate as the pulley 105 rotates. A second torsion spring 109 is installed between the proximal phalanx 102 and the finger base 101, achieving the reset of the entire finger module 100. Due to the presence of the first torsion spring 108 and the second torsion spring 109, the finger module 100 can simulate a human hand grasping.

[0032] The finger base 101, proximal phalanx 102, and middle phalanx 103 all adopt a centrally centered, half-design for easy assembly of the various parts on the back of the finger. The first bearing 110 is a rolling bearing, and the second bearing 111 is a flange bearing. There are four first bearings 110, installed in pairs at the connection between the distal phalanx 104 and the middle phalanx 103, and at the connection between the middle phalanx 103 and the proximal phalanx 102; there are two second bearings 111, symmetrically installed on the finger base 101. There are three anti-slip pins 112, installed on the bosses that rotate with the first connecting rod 106 and the second connecting rod 107, preventing the first connecting rod 106 and the second connecting rod 107 from slipping off the bosses.

[0033] One end of the second rope 700 is wrapped around the rope wheel 105. By pulling the second rope 700, the rope wheel 105 is driven to rotate, further enabling the bending of the finger module.

[0034] like Figure 5 As shown, the hand module 200 includes a hand base 201 and a residual limb receiving cavity 202. The hand base 201 is designed with a front wiring hole 203, a finger base fixing hole 204, a receiving cavity fixing hole 205, a slide rail fixing hole 206, a slider baffle 207, a middle wiring hole 208, a self-locking device mounting shaft 209, a rear wiring hole 210, and a wrist seat mating hole 211. The residual limb receiving cavity 202 is fixedly connected to the hand base 201 by riveting. The finger base fixing hole 204 is used for installing the finger module 100, and the finger base 101 is fixed to the hand base 201 by bolts. The residual limb receiving cavity 202 is fitted onto the wearer's residual hand portion. The front cable hole 203 is used to pass through the second rope 700, and the middle cable hole 208 and the rear cable hole 210 are used to pass through the first rope 600. The front cable hole 203, the middle cable hole 208 and the rear cable hole 210 are equipped with a sling to reduce the friction of the cable transmission.

[0035] like Figure 6As shown, the finger force adaptive distribution module 300 includes a slide rail 301, a slider 302, a third bearing 303, a large force component frame 304, a small force component frame 305, and a pin 306. The slide rail 301 is fixedly connected to the palm base 201 via bolts through the slide rail fixing holes 206, and is located on the back of the palm base 201. The slider 302 cooperates with the slide rail 301, allowing the slider 302 to move linearly along the slide rail 301. The rolling bearing 303 is mounted on the slider 302, and the large force component frame 304 is connected to the rolling bearing 303, allowing the large force component frame 304 to both rotate with the rolling bearing 303 and move with the slider 302. There are two small force component frames 305, each connected to both ends of the large force component frame 304 via the pin 306, allowing the small force component frames 305 to rotate around the pin 306. The small force frame 305 has wiring holes at both ends, and the total number of wiring holes is the same as the number of finger components, so that each wiring hole is connected to a finger component through a second rope 700.

[0036] In this embodiment, the third bearing 303 is a rolling bearing. The slider 302 is split into upper and lower sections to reduce costs by using standard parts. The upper part of the slider 302 is provided with a fixed shaft and a pull wire hole. The fixed shaft is used to install the third bearing 303, and the pull wire hole is used to connect the first rope 600. The slider 302 is moved by the first rope 600. The large force component 304 and the small force component 305 on the large force component 304 can rotate freely. Thus, under the pull of the second rope 700, the rotation of the large force component 304 and the small force component 305 can be realized according to the tension on each second rope 700, achieving adaptive force distribution.

[0037] like Figure 7 As shown, the stepless self-locking module 400 includes a one-way bearing 401, a one-way bearing outer ring 402, a spring 403, a telescopic column 404, a slotted rope pulley 405, a retaining ring 406, and a cotter pin 407. The one-way bearing 401 is installed at the bottom end of the self-locking device mounting shaft 209, with an interference fit in the inner hole, and the outer ring can rotate in one direction; the one-way bearing outer ring 402 and the one-way bearing 401 are interference fitted; the slotted rope pulley 405 is installed in the middle of the self-locking device mounting shaft 209, and the retaining ring 406 is installed at the top of the self-locking device mounting shaft 209 through the cotter pin 407 to axially limit the slotted rope pulley 405.

[0038] In this embodiment, the first rope 600 is divided into two sections. The first section connects the wrist support 501 and the slotted rope wheel 405, and the second section connects the slotted rope wheel 405 and the slider 302. Thus, the slider 302 can be pulled by rotating the slotted rope wheel 405. Figure 7 As shown, the slotted rope pulley 405 has two grooves, which are used to wind the two sections of the first rope 600 respectively.

[0039] like Figure 7 and Figure 8 As shown, the outer ring 402 of the one-way bearing has a first reserved hole, and the slotted rope wheel 405 has several second reserved holes. The first reserved hole can communicate with the second reserved hole. The spring 403 is placed in the first reserved hole. The bottom of the second reserved hole has a slope at a specific angle. The top of the telescopic column 404 is designed with a slope that matches the second reserved hole. In this way, the sloped end of the telescopic column 404 cooperates with the second reserved hole, and the other end of the telescopic column 404 contacts the spring 403. While the telescopic column 404 slides relative to the slope of the second reserved hole, it can compress the spring 403. The telescopic column 404 can slide out of the second reserved hole and slide into the next second reserved hole after the slotted rope wheel 405 rotates a certain angle.

[0040] The number of second reserved holes is determined by the entire cycle stroke of the device, and the slope angle is related to the maximum self-locking force.

[0041] like Figure 9 As shown, the wrist module 500 includes a wrist support 501, a wristband 502, and a rolling bearing 503. The wrist support 501 has a wristband fixing hole 504, through which the wristband 502 is connected to the wrist support 501. The wristband 502 is worn on the wrist and its tightness can be adjusted to fit different wearers' wrists. The rolling bearing 503 contains a wrist-palm rotation shaft 505, and the palm base 201 is connected to the wrist-palm rotation shaft 505 through a wrist seat mating hole 211. The wrist support 501 also has a wrist cord fixing seat 506, with one end of the first cord 600 connected to the wrist cord fixing seat 506.

[0042] In this embodiment, four finger components are provided. In other embodiments, the corresponding finger components and the second rope 700 can be removed according to the number of residual limbs of the wearer. This method is obvious and will not be described in detail here.

[0043] The working process of the wrist-driven and adaptive force-distributing prosthetic hand with stepless self-locking function in this embodiment is as follows:

[0044] First, the semi-palm prosthetic hand of the present invention is worn on the patient's residual limb. The patient's residual hand is placed in the residual limb receiving cavity 202, and the wrist is fitted with a wrist support 501 through a wrist strap 502.

[0045] Then, the wearer pulls the first cord 600 by bending their wrist. The wrist force is transmitted through the stepless self-locking module 400 to the finger force distribution module 300, which then pulls the second cord 700, achieving the bending of all four fingers. During this process, even if the wrist does not continue to bend, due to the inclined surface cooperation of the telescopic column 404 and the cord locking wheel 405, as well as the setting of the one-way bearing 401, there will be a component force in the horizontal circumferential direction that keeps the finger components in a self-locking state.

[0046] When the user needs to unlock their fingers after completing the grasping operation, they need to bend their wrist to its maximum range of motion to complete the unlocking. When the wrist is bent to its maximum range of motion, the vertical component of the inclined plane between the telescopic column 404 and the lanyard groove wheel 405 is greater than the elastic force of the compression spring 403. The telescopic column is pressed below the contact surface, and the lanyard groove wheel 405 reverses under the action of the elastic force of the first torsion spring 108 and the second torsion spring 109 until it is engaged by the telescopic column 404 into the next second pre-drilled hole. At this point, the entire prosthetic hand device enters a new working cycle.

[0047] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A wrist driven and adaptive force distribution semi-palm hand with stepless self-locking function, characterized in that, The device comprises a finger module, a palm module, an inter-finger force adaptive distribution module, a stepless self-locking module, a wrist module, the finger module has a rotatable knuckle, the finger module is fixedly connected with the palm module, the palm module has a residual limb receiving cavity, the palm module is rotatably connected with the wrist module, the wrist module has a wrist fixing part, the inter-finger force adaptive distribution module and the stepless self-locking module are respectively arranged on the palm module, the wrist module is connected with the inter-finger force adaptive distribution module through a first rope, the first rope cooperates with the stepless self-locking module, the inter-finger force adaptive distribution module is connected with the finger module through a second rope, the stepless self-locking module can be self-locked, the inter-finger force adaptive distribution module has a moving part and a rotating part connected with each other, the moving part is connected with the first rope, and the rotating part is connected with the second rope; The palm module comprises a palm base body and the residual limb receiving cavity, the palm base body is provided with a front end wiring hole, a finger base fixing hole, a receiving cavity fixing hole, a sliding rail fixing hole, a sliding block baffle, a middle wiring hole, a self-locking device mounting shaft, a rear end wiring hole and a wrist base matching hole, and the residual limb receiving cavity is riveted with the palm base body; The inter-finger force adaptive distribution module comprises a sliding rail, a sliding block, a third bearing, a large force component, a small force component and a pin shaft, the sliding rail is fixedly arranged on the palm base body, the sliding block is matched with the sliding rail, the large force component is connected with the sliding block through the third bearing, and the small force component is connected with the large force component through the pin shaft; The stepless self-locking module comprises a one-way bearing, a one-way bearing outer ring sleeve, a spring, an extension column, a clamping groove rope wheel, a check ring and a split pin, the one-way bearing is in interference fit with the self-locking device mounting shaft, the one-way bearing outer ring sleeve is in interference fit with the one-way bearing, the spring is arranged in a first reserved hole in the one-way bearing outer ring sleeve, the clamping groove rope wheel is sleeved on the self-locking device mounting shaft, the clamping groove rope wheel is provided with a second reserved hole, the first reserved hole can be in communication with the second reserved hole, the bottom of the second reserved hole is a slope, one end of the extension column is provided with a slope matched with the second reserved hole, the other end of the extension column is in contact with the spring, and the check ring is mounted on the top of the self-locking device mounting shaft through the split pin; the first rope is divided into two sections, a first section connects a wrist support of the wrist module and the clamping groove rope wheel, and a second section connects the clamping groove rope wheel and the sliding block; When the wrist is bent, the first rope is pulled, the finger module is bent, the slope of the extension column and the clamping groove rope wheel is matched, and the one-way bearing is arranged, so that a force component in a horizontal circumferential direction makes the finger module keep a self-locked state; when the finger is unlocked, the wrist is bent to the maximum stroke, the vertical force component of the slope between the extension column and the clamping groove rope wheel is greater than the elastic force of the spring, the extension column is pressed into the contact surface, the clamping groove rope wheel can be reversed until the extension column is clamped into the next second reserved hole, and a new working cycle is entered.

2. The wrist drive and adaptive force distribution semi-palm prosthetic hand with stepless self-locking function according to claim 1, characterized in that, The finger module comprises a finger base, a proximal phalanx, a middle phalanx, a distal phalanx, a rope wheel, a first connecting rod, a second connecting rod, a first torsional spring, a second torsional spring, a first bearing, a second bearing, the finger base is fixed on the palm module, the rope wheel is sleeved on the second bearing, the second bearing is fixed on the finger base, the proximal phalanx large end is sleeved on the second bearing, the proximal phalanx small end is connected with the middle phalanx large end through the first bearing, the middle phalanx small end is connected with the distal phalanx large end through the first bearing; the first connecting rod connects the rope wheel and the middle phalanx, the second connecting rod connects the middle phalanx and the distal phalanx, the first torsional spring is installed between the rope wheel and the proximal phalanx, the second torsional spring is arranged between the proximal phalanx and the finger base, one end of the second rope is connected with the rope wheel.

3. The wrist drive and adaptive force distribution semi-palm prosthetic hand with stepless self-locking function according to claim 1, characterized in that, The wrist module comprises the wrist support and a wrist strap, the wrist support is provided with a wrist rope fixing seat and a palm rotation shaft, the palm base body is connected with the wrist support through the palm rotation shaft, one end of the first rope is connected with the wrist rope fixing seat, and the wrist strap is connected with the wrist support.

4. The wrist drive and adaptive force sharing semi-mantle hand with stepless self-locking function according to claim 2, characterized in that, The finger base, the proximal phalanx and the middle phalanx are a centering half structure.

5. The wrist drive and adaptive force distribution semi-palm prosthetic hand with stepless self-locking function according to claim 2, characterized in that, The finger module further comprises a drop prevention pin, and the drop prevention pin is respectively installed on the first connecting rod and the second connecting rod.

6. The wrist drive and adaptive force sharing semi-mantle hand with stepless self-locking function according to claim 2, characterized in that, The front wire hole, the middle wire hole and the rear wire hole are provided with a lasso.

7. The wrist drive and adaptive force sharing semi-mantle hand with stepless self-locking function according to claim 2, characterized in that, The slider is an up-down split structure, the slider is provided with a fixed shaft and a pull wire hole, the third bearing is sleeved on the fixed shaft, and the other end of the first rope is connected with the pull wire hole.

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