A prosthetic hand finger that replicates the approaching and grasping functions of a human hand

Abstract

The present invention discloses a prosthetic hand finger that replicates the functions of the approaching and grasping phases of a human hand. It includes a metacarpal bone, a proximal phalanx, a middle phalanx, a distal phalanx, a friction clutch, an active rope, a passive rope, and an elastic component. The friction clutch is slidably mounted on the metacarpal bone. The active rope bypasses the friction clutch, with one end of the active rope connected to the proximal phalanx and the other end connected to the middle phalanx. The two ends of the passive rope are respectively connected to the proximal phalanx and the distal phalanx. The elastic components are provided between the metacarpal bone and the proximal phalanx, between the proximal phalanx and the middle phalanx, and between the middle phalanx and the distal phalanx. Through the friction clutch installed in the metacarpal bone, this prosthetic hand finger combines the functions of the approaching and grasping phases, achieving the biomimicry of the entire movement process from approaching an object to firmly grasping the object, and improving the operation experience of hand amputees.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a prosthetic hand finger that replicates the approaching and grasping phases of a human hand. Background Art

[0002] When the four fingers of a human hand approach an object to be grasped (approaching phase), each joint will exhibit a flexion effect at a similar angular velocity. After grasping the object (grasping phase), an adaptive grasping effect will be generated according to the shape of the object. Existing prosthetic hand fingers only focus on the function of the grasping phase and do not consider the importance of the approaching phase. For a prosthetic hand, it is most important to have the imitation of movement and conform to the operating habits of amputees. In other words, only prosthetic hand fingers with both of these two functions will be more in line with the operating habits of human hands, that is, starting from locking the object to be grasped, when the fingers approach the object, each joint has gradually started to flex simultaneously. After contacting the object, an adaptive grasping will be implemented according to the shape of the object. In addition, in the approaching phase, the pose change of the prosthetic hand finger in space is random and arbitrary, so it is also necessary to consider offsetting the influence of the momentary change of the gravity moment of each joint in space on the movement trajectory. Summary of the Invention

[0003] The purpose of the present invention is to provide a prosthetic hand finger that replicates the approaching and grasping phases of a human hand. The prosthetic hand finger combines the functions of the approaching and grasping phases through a friction clutch installed in the metacarpal bone, enabling each joint of the finger to flex simultaneously at the same angular velocity when approaching the target object in the approaching phase in any pose in space; when in the grasping phase of contacting 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 offset the influence of the change of the gravity moment in different poses in space on the movement trajectory of the finger in real time. Finally, the imitation of the entire movement process from the finger approaching the object to stably grasping the object is realized, improving the operating experience of hand amputees.

[0004] To achieve the above technical effects, the technical solution of the present invention is as follows:

[0005] The present invention discloses a prosthetic hand finger that replicates the approaching and grasping functions of a human hand, including a metacarpal bone, a proximal phalanx, a middle phalanx, and a distal phalanx that are sequentially rotatably connected; a friction clutch that is slidably mounted on the metacarpal bone; an active rope that passes around the friction clutch, with one end of the active rope connected to the proximal phalanx and the other end connected to the middle phalanx; a passive rope whose two ends are respectively connected to the proximal phalanx and the distal phalanx; and an elastic component that is provided between the metacarpal bone and the proximal phalanx, between the proximal phalanx and the middle phalanx, and between 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 flexed proximal phalanx, middle phalanx, and distal phalanx to extend.

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

[0007] In some specific embodiments, a guiding groove is provided on the metacarpal bone, and the driving rope is fitted in the guiding 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. 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 further 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. 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. The two torsion segments of the third torsion spring are respectively connected to the middle phalanx and the distal phalanx.

[0011] In some embodiments, one end of the metacarpal bone is provided with a first rotating protrusion, both ends of the proximal phalanx are provided with second rotating protrusions, both ends of the middle phalanx are provided with third rotating protrusions, and one end of the distal phalanx is provided with a fourth rotating protrusion, where: a first rotating shaft is disposed through the first rotating protrusion and one of the second rotating protrusions; a second rotating shaft is disposed through the other second rotating protrusion and one of the third rotating protrusions; a third rotating shaft is disposed through the other third rotating protrusion and the fourth rotating protrusion.

[0012] In some embodiments, one end of the metacarpal bone facing the proximal phalanx has a first inclined surface, both ends of the proximal phalanx are provided with second inclined surfaces, both ends of the middle phalanx are provided with third inclined surfaces, and one end of the distal phalanx facing the middle phalanx is provided with a fourth inclined surface; where: during the flexion process of the proximal phalanx, the middle phalanx, and the distal phalanx, the second inclined surface can abut against the first inclined surface and the third inclined surface, and the third inclined surface can abut against 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, an installation groove is provided on the metacarpal bone, and the friction clutch is fitted in the installation groove.

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

[0015] The beneficial effects of the prosthetic hand finger that replicates the approaching and grasping phases of the human hand in the embodiments of the present invention: Through the friction clutch installed in the metacarpal bone, the functions of the approaching and grasping phases are combined, so that in any spatial position and posture of the prosthetic hand finger, during the approaching phase of approaching the target object, each joint of the finger can flex simultaneously at the same angular velocity; during the grasping phase of contacting the object, the finger can conform to the shape of the object to achieve adaptive grasping. At the same time, the frictional force of the friction clutch and the elastic components on the extension sides of each joint are used to automatically offset the influence of the change in the gravitational moment in different spatial positions and postures on the movement trajectory of the finger in real time. Finally, the biomimetic nature of the entire movement process of the finger from approaching the object to stably grasping the object is realized, improving the operation experience of hand amputee patients.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the prosthetic hand finger that replicates the approaching and grasping phases of the human hand in the embodiments of the present invention.

[0018] Figure 2It is a schematic structural diagram of the other direction of the prosthetic hand finger that replicates the approaching and grasping phases of the human hand in an embodiment of the present invention.

[0019] Reference numerals:

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

[0021] 200, proximal phalanx; 201, second rotating protrusion; 202, second inclined surface;

[0022] 300, middle phalanx; 301, third rotating protrusion; 302, third inclined surface;

[0023] 400, distal phalanx; 401, fourth rotating 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. Detailed implementation manners

[0026] To make the technical problems solved by the present invention, the technical solutions adopted, and the achieved technical effects clearer, the technical solutions of the present invention will be further described below with reference to the accompanying drawings and through specific implementation manners.

[0027] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the accompanying drawings. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

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

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0030] The following refers to Figure 1 - Figure 2 Describe the specific structure of the prosthetic finger that replicates the approaching and grasping phases of the human hand in the embodiments of the present invention.

[0031] The present invention discloses a prosthetic finger (hereinafter referred to as the prosthetic finger) that replicates the approaching and grasping phases of the human hand. As Figure 1 and Figure 2 shown, the prosthetic finger includes a metacarpal bone 100, a proximal phalanx 200, a middle phalanx 300, and a distal phalanx 400 that are sequentially rotatably connected. The prosthetic finger further includes a friction clutch 500, an active rope 600, a passive rope 700, and an elastic component. The friction clutch 500 is slidably installed on the metacarpal bone 100. The active rope 600 bypasses 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 is provided 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 flexion of the proximal phalanx 200 and the middle phalanx 300 under the action of an external driving device, and the elastic component is used to drive the extension of the flexed proximal phalanx 200, middle phalanx 300, and distal phalanx 400.

[0032] It can be understood that during the actual working process, when the finger is in the approaching phase, the external driving device drives the friction clutch 500 to translate. The active rope 600 therein is affected by the static friction force inside the friction clutch 500 and will not undergo relative sliding. At the same time, it also acts together with the elastic force of the elastic component to offset the influence of the variable gravitational moment acting on the prosthetic finger at any position in space. Therefore, both ends of the active rope 600 can drive the proximal phalanx 200 and the middle phalanx 300 to flex simultaneously. Due to the existence of the passive rope 700, when the proximal phalanx 200 flexes, the distal phalanx 400 also flexes simultaneously. Therefore, during the approaching 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 at any pose, and this movement also mimics the movement trajectory of the human hand during the approaching phase. When the finger is in the grasping phase, assuming that the proximal phalanx 200 first contacts the object and the movement stops, the fixed end of the active rope 600 at the proximal phalanx 200 can no longer pull the distal phalanx 400 to flex. Therefore, the active rope 600 will have relative sliding inside the friction clutch 500, and the corresponding static friction force will automatically become dynamic friction force, that is, the fixed end of the active rope 600 at the middle phalanx 300 will continue to pull the middle phalanx 300 to flex, and then the distal phalanx 400 will also flex accordingly until the middle phalanx 300 or the distal phalanx 400 contacts the object and the movement stops. At this point, the adaptive grasping action of the finger in the grasping phase is also realized, which is also in line with the movement characteristics of the human hand.

[0033] In summary, through the friction clutch 500 installed in the metacarpal bone 100, the functions of the approaching phase and the grasping phase of the prosthetic finger are combined, enabling the prosthetic finger to flex all joints at the same angular velocity simultaneously at any pose in space during the approaching phase when approaching the target object; during the grasping phase when contacting 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 500 and the elastic components on the extension sides of each joint are used to automatically offset the influence of the change in gravitational moment at different poses in space on the movement trajectory of the finger in real time. Finally, the mimetic nature of the entire movement process of the finger from approaching the object to stably grasping the object is realized, improving the operation experience of hand amputee patients.

[0034] It should be added that during the actual working process, the friction clutch 500 made of different materials can be replaced, and then the movement effect of non-synchronous multi-joints can be achieved by using the different friction coefficients of different materials. Adjusting the fixed positions of both ends of the passive rope 700 can produce the movement effect of non-synchronous joints; adjusting the distance from the active rope 600 to the rotation centers of each joint can change the flexion speed and torque of the joints.

[0035] It should be additionally noted that in other embodiments of the present invention, the specific number of phalanges can also be selected according to actual needs. At least one auxiliary phalanx can also be provided between the middle phalanx 300 and the distal phalanx 400. Specifically, if there is one auxiliary phalanx between the middle phalanx 300 and the distal phalanx 400, the proximal phalanx 200 is connected to the auxiliary phalanx by a passive rope 700, and the middle phalanx 300 is connected to the distal phalanx 400 by a passive rope 700. That is to say, when the number of phalanges in the embodiments of the present invention is greater than three, two alternately arranged phalanges are connected by a passive rope 700.

[0036] In some embodiments, such as Figure 1 and Figure 2 shown, one end of the friction clutch 500 is provided with a driving rope 800, and the driving rope 800 is connected to an external driving device. It can be understood that the connection between the friction clutch 500 and the external driving device is achieved through the driving rope 800, and the connection method is very convenient and the connection reliability is relatively high. The external driving device can be selected as a motor. Of course, it should be additionally noted here that the external driving device can be replaced with an electric push rod, a pneumatic push rod or a hydraulic push rod, which is directly connected to the friction clutch 500 to drive its movement, and is not limited to the structure in which the motor drives the driving rope 800 to move.

[0037] In some specific embodiments, a guiding groove 101 is provided on the metacarpal bone 100, and the driving rope 800 is fitted in the guiding groove 101. It can be understood that the guiding groove 101 can limit the sliding direction of the driving rope 800, thereby avoiding the phenomenon that the movement of the friction clutch 500 is skewed due to the skew of the driving rope 800.

[0038] In some embodiments, such as Figure 2As shown, the elastic component 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 can be understood that a first spring 901 is provided between the metacarpal bone 100 and the proximal phalanx 200. When the proximal phalanx 200 flexes, 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 realizing the 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 realizing the extension of 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 driven by 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 realizing the extension of the distal phalanx 400. By providing the first spring 901, the second spring 902, and the third spring 903, the extension of the proximal phalanx 200, the middle phalanx 300, and the distal phalanx 400 is conveniently realized.

[0039] In some specific embodiments, such as Figure 2As shown in the figure, the elastic component 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 can be understood that through the first connecting rope 904, the second connecting rope 905, and the third connecting rope 906, during the actual working process, when the first spring 901 is stretched, it can be stretched under the action of the first connecting rope 904, and the end of the first spring 901 fixed on the metacarpal bone 100 does not move. Thus, the stretching direction of the first spring 901 can be restricted, ensuring that the flexion and extension directions of the proximal phalanx 200 conform to the bionic characteristics. During the actual working process, when the second spring 902 is stretched, it can be stretched under the action of the second connecting rope 905, and the end of the second spring 902 fixed on the proximal phalanx 200 does not move. Thus, the stretching direction of the second spring 902 can be restricted, ensuring that the flexion and extension directions of the middle phalanx 300 conform to the bionic characteristics. During the actual working process, when the third spring 903 is stretched, it can be stretched under the action of the third connecting rope 906, and the end of the third spring 903 fixed on the middle phalanx 300 does not move. Thus, the stretching direction of the third spring 903 can be restricted, ensuring that the flexion and extension directions of the distal phalanx 400 conform to the bionic characteristics.

[0040] It should be supplemented here that in the embodiments 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 the actual situation. They can be elastic ropes with better 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 herein.

[0041] In some alternative 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 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. The two torsion sections of the third torsion spring are respectively connected to the middle phalanx 300 and the distal phalanx 400. It can be understood that in the actual design, the type of the elastic component can be selected according to the shape of the prosthetic finger. Selecting three torsion springs as the elastic component simplifies the structure of the entire prosthetic finger and facilitates assembly.

[0042] It should be supplemented here that in the embodiments of the present invention, the specific structure of the elastic component can be adjusted according to actual needs. Springs can be selected, torsion springs can be selected, or both springs and torsion springs can be included simultaneously.

[0043] In some embodiments, such as Figure 1 As shown, 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 second rotating protrusions 201, both ends of the middle phalanx 300 are provided with third rotating protrusions 301, and one end of the distal phalanx 400 is provided with a fourth rotating protrusion 401. The first rotating shaft is passed through the first rotating protrusion 102 and one second rotating protrusion 201; the second rotating shaft is passed through the other second rotating protrusion 201 and one third rotating protrusion 301; the third rotating shaft is passed through the other third rotating protrusion 301 and the fourth rotating protrusion 401. It can be understood that during the actual assembly process, the first rotating protrusion 102 is fitted to one second rotating protrusion 201, and then the first rotating shaft is inserted. The other second rotating protrusion 201 is fitted to one third rotating protrusion 301 and then the second rotating shaft is inserted. The other third rotating protrusion is fitted to the fourth rotating protrusion 401 and then the third rotating shaft is inserted to complete the assembly of the three joints, and the operation is very convenient.

[0044] It should be supplemented here that in some embodiments, there are two first rotating protrusions 102, and one second rotating protrusion 201 is clamped between the two first rotating protrusions 102. Both ends of the middle phalanx 300 are provided with two spaced third rotating protrusions 301, and the other rotating protrusion 201 is clamped between the two third rotating protrusions 301, and the fourth rotating protrusion 401 is clamped 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 may have arc surfaces, and on the one hand, they 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. Here, 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.

[0045] Optionally, the first rotating shaft, the second rotating shaft, and the third rotating shaft can all be connected to angle sensors. The angle sensors are used to detect the angles rotated by the first rotating shaft, the second rotating shaft, and the third rotating shaft during the actual working process, so as to realize the real-time monitoring of the motion conditions of the proximal phalanx 200, the middle phalanx 300, and the distal phalanx 400.

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

[0047] In some embodiments, such as Figure 2As shown in the figure, one end of the metacarpal bone 100 facing the proximal phalanx 200 has a first inclined surface 103, both ends of the proximal phalanx 200 are provided with second inclined surfaces 202, both ends of the middle phalanx 300 are provided with third inclined surfaces 302, and one end of the distal phalanx 400 facing the middle phalanx 300 is provided with a fourth inclined surface 402; 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 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 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 during the actual working process, the first inclined surface 103 and the second inclined surface 202 provide a flexion space for the proximal phalanx 200 and can limit the maximum flexion angle of the proximal phalanx 200, the second inclined surface 202 and the third inclined surface 302 provide a flexion space for the middle phalanx 300 and can limit the maximum flexion angle of the middle phalanx 300, and the third inclined surface 302 and the fourth inclined surface 402 provide a flexion space for the distal phalanx 400 and can limit the maximum flexion angle of the distal phalanx 400, thus 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 Figure 1 shown, an installation groove 104 is provided on the metacarpal bone 100, and the friction clutch 500 is fitted in the installation groove 104. Thus, it can play a role in protecting and restricting the friction clutch 500, ensuring the working reliability of the prosthetic finger. It should be added that the shape and size of the installation groove 104 can be defined according to the size and shape of the friction clutch 500, as long as it is ensured that the friction clutch 500 can slide stably in the installation groove 104 and will 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 weights of the proximal phalanx 200, the middle phalanx 300 and the distal phalanx 400 can be reduced, facilitating use.

[0050] Optionally, the weight-reducing grooves are formed as strip-shaped grooves along the length directions of the proximal phalanx 200, the middle phalanx 300 and the distal phalanx 400, whereby the weights of the proximal phalanx 200, the middle phalanx 300 and the distal phalanx 400 can be reduced as much as possible. Of course, in other embodiments of the present invention, the specific shapes, sizes and distributions of the weight-reducing grooves can be selected and adjusted according to actual needs.

[0051] Embodiment:

[0052] As Figure 1 and Figure 2As shown in the figure, the prosthetic hand fingers that reproduce the approaching and grasping phases of the human hand include a metacarpal bone 100, a proximal phalanx 200, a middle phalanx 300, a distal phalanx 400, a friction clutch 500, a driving rope 600, a driven rope 700, and an elastic component. One end of the friction clutch 500 is provided with a driving rope 800, and the driving rope 800 is connected to an external driving device. The metacarpal bone 100 is provided with a guiding groove 101 and a mounting groove 104, and the driving rope 800 is fitted in the guiding groove 101. The friction clutch 500 is slidably mounted in the mounting groove 104. The driving rope 600 bypasses the friction clutch 500, and one end of the driving rope 600 is connected to the proximal phalanx 200, and the other end is connected to the middle phalanx 300. Both ends of the driven rope 700 are respectively connected to the proximal phalanx 200 and the distal phalanx 400. The elastic component further 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 fixedly connected to the metacarpal bone 100, 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. 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 second rotating protrusions 201, both ends of the middle phalanx 300 are provided with third rotating protrusions 301, and one end of the distal phalanx 400 is provided with a fourth rotating protrusion 401. A first rotating shaft passes through the first rotating protrusion 102 and one of the second rotating protrusions 201; a second rotating shaft passes through the other second rotating protrusion 201 and one of the third rotating protrusions 301; a third rotating shaft passes through the other third rotating protrusion 301 and the fourth rotating protrusion 401. One end of the metacarpal bone 100 facing the proximal phalanx 200 has a first inclined surface 103, both ends of the proximal phalanx 200 are provided with second inclined surfaces 202, both ends of the middle phalanx 300 are provided with third inclined surfaces 302, and one end of the distal phalanx 400 facing the middle phalanx 300 is provided with a fourth inclined surface 402; 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 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 to limit 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 prosthetic hand fingers that reproduce the approaching and grasping phases of the human hand in this embodiment are as follows:

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

[0055] Second: It integrates the two functions of the approaching phase and the grasping phase into one;

[0056] Third: No additional motor is added due to the increase in functions, so the weight of the finger remains unchanged, which is convenient for use;

[0057] Fourth: It uses the frictional force and the spring force to jointly offset the influence of the constantly changing gravity moment at any spatial position and attitude, enhancing the bionic characteristics of the prosthetic finger.

[0058] In the description of this specification, the descriptions referring to terms such as "some embodiments", "other embodiments", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0059] The above content is only the preferred embodiment of the present invention. For those of ordinary skill in the art, based on the idea of the present invention, there will be changes in the specific implementation manners and application scopes. The content of this specification should not be construed as a limitation to the present invention.

Claims

1. A prosthetic hand finger that replicates the approaching and grasping functions of a human hand, characterized in that, It includes a metacarpal bone (100), a proximal phalanx (200), a middle phalanx (300), and a distal phalanx (400) that are sequentially rotatably connected; A friction clutch (500), and the friction clutch (500) is slidably mounted on the metacarpal bone (100); A driving rope (600), the driving rope (600) bypasses the friction clutch (500), and one end of the driving rope (600) is connected to the proximal phalanx (200), and the other end is connected to the middle phalanx (300); A driven rope (700), and both ends of the driven rope (700) are respectively connected to the proximal phalanx (200) and the distal phalanx (400); An elastic component, and 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 flexed proximal phalanx (200), middle phalanx (300), and distal phalanx (400) to extend.

2. The prosthetic hand finger for replicating the approaching and grasping phases of a human hand according to claim 1, characterized in that, One end of the friction clutch (500) is provided with a driving rope (800), and the driving rope (800) is connected to the external driving device.

3. The prosthetic hand finger for replicating the approaching and grasping phases of a human hand according to claim 2, characterized in that, A guiding groove (101) is provided on the metacarpal bone (100), and the driving rope (800) is fitted in the guiding groove (101).

4. The prosthetic hand finger for reproducing the approaching and grasping phases of a human hand according to claim 1, characterized in that, The elastic component 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).

5. The prosthetic hand finger for reproducing the approaching and grasping phases of a human hand according to claim 4, characterized in that, The elastic component 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).

6. The prosthetic hand finger for reproducing the approaching and grasping phases of a human hand according to claim 1, wherein 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 (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). The two torsion segments of the third torsion spring are respectively connected to the middle phalanx (300) and the distal phalanx (400).

7. The prosthetic hand finger for reproducing the approaching and grasping phases of a human hand according to claim 1, wherein 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 second rotating protrusions (201), both ends of the middle phalanx (300) are provided with third rotating protrusions (301), and one end of the distal phalanx (400) is provided with a fourth rotating protrusion (401), wherein: The first rotating shaft is inserted through the first rotating protrusion (102) and one of the second rotating protrusions (201); The second rotating shaft is inserted through the other second rotating protrusion (201) and one of the third rotating protrusions (301); The third rotating shaft is inserted through the other third rotating protrusion (301) and the fourth rotating protrusion (401).

8. The prosthetic hand finger for replicating the approaching and grasping phases of a human hand according to claim 1, characterized in that, One end of the metacarpal bone (100) facing the proximal phalanx (200) has a first inclined surface (103), both ends of the proximal phalanx (200) are provided with second inclined surfaces (202), both ends of the middle phalanx (300) are provided with third inclined surfaces (302), and one end of the distal phalanx (400) facing the middle phalanx (300) is provided with a fourth inclined surface (402); 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 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) to limit the maximum flexion angle of the proximal phalanx (200), the middle phalanx (300) and the distal phalanx (400).

9. The prosthetic hand finger for reproducing the approaching and grasping phases of a human hand according to claim 1, characterized in that, An installation groove (104) is provided on the metacarpal bone (100), and the friction clutch (500) is fitted in the installation groove (104).

10. The prosthetic hand finger that replicates the approaching and grasping phases of a human hand according to claim 1, characterized in that, Weight-reducing grooves are provided on the proximal phalanx (200), the middle phalanx (300) and the distal phalanx (400).

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