A device and method for testing the tip force and response time of a prosthetic thumb

Abstract

The application discloses a device and method for testing fingertip force and response time of a dexterous hand thumb, which comprises a test platform, a detection tool and a supporting column. The test platform is provided with a detection station for mounting a thumb to be detected. The thumb comprises a thumb root, a knuckle part and a fingertip part. The knuckle part can swing relative to the thumb root and can be bent and straightened for adjustment. The detection tool is mounted on the detection station and is used for mounting the thumb root to realize positioning of the thumb. A gap is formed on the test platform. The supporting column extends upward through the gap. A pressure sensor is mounted on the upper end of the supporting column. The height position of the supporting column and the pressure sensor is matched with the thumb. When the knuckle part is bent in the vertical state, the fingertip part can abut against the pressure sensor to realize detection of the pressing force of the fingertip part.

Description

Technical Field

[0001] This invention relates to the field of dexterity performance testing technology, and more specifically, to a device for testing the fingertip force and response time of a dexterity hand's thumb, and also to a testing method using the device. Background Technology

[0002] With the iterative upgrades of humanoid robot dexterous hand technology, the thumb, as the execution unit responsible for core actions such as grasping, fingering, and pressing, directly determines the overall operational capability of the dexterous hand through its fingertip force output and action response time. Therefore, specialized performance testing of the dexterous hand thumb is necessary. Currently, most dexterous hand thumb testing relies on manual assistance. Operators manually drive the thumb to complete flexion, extension, and swinging movements, using a stopwatch to record the action response time; external pressure tools are used to manually apply pressure and read the fingertip force data.

[0003] Because manual timing is prone to reaction errors, it is difficult to accurately capture the precise timing of the thumb's movement, resulting in biased test data and reduced test accuracy. Furthermore, in existing automated testing devices, the pressure detection module and the movement time detection module are often arranged independently, making it difficult to simultaneously detect response time and fingertip force, thus limiting testing efficiency and the amount of information obtained. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a device and method for testing the fingertip force and response time of the thumb of a dexterous hand. It can automatically detect the complete response time and fingertip pressure of the thumb of a dexterous hand, replace manual testing, eliminate human error, and realize the comparative detection of the fingertip force of the left and right thumbs and the detection of dynamic stability.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A device for testing the fingertip force and response time of a dexterous hand's thumb includes a test platform, a testing fixture, and a support column. The test platform has a testing station for mounting the thumb to be tested. The thumb includes a base, knuckle, and fingertip. The knuckle can swing relative to the base and can bend and straighten. The testing fixture is mounted on the testing station to mount the base of the thumb, thus positioning it correctly. A clearance groove is provided on the test platform, through which the support column extends upwards. A pressure sensor is mounted on the upper end of the support column. The height of the support column and pressure sensor is adapted to the thumb. When the knuckle is bent in an upright position, the fingertip can abut against the pressure sensor, thus detecting the pressure applied by the fingertip. A slide rail is mounted on the lower part of the test platform, and a slide block is slidably mounted on the slide rail. The slide block is driven by a sliding actuator, and a support seat is mounted on the slide block. The lower end of the support column is mounted on the support seat. The slide block can move the support column along the slide rail, causing the support column to clear the clearance groove.

[0007] Furthermore, it also includes a light sensor, a light sensor setting and detection station, and the light sensor is used to detect the position of the fingertip during the bending and straightening of the knuckle.

[0008] Furthermore, the light sensor includes light sensor one, light sensor two, light sensor three, and light sensor four; when the bending and stretching motion of the knuckle moves in the horizontal direction, light sensor one corresponds to the position of the fingertip in a fully bent state, and light sensor two corresponds to the position of the fingertip in a fully extended state; when the bending and stretching motion of the knuckle moves in the vertical direction, light sensor three corresponds to the position of the fingertip in a fully bent state, and light sensor four corresponds to the position of the fingertip in a fully extended state.

[0009] Furthermore, the test platform is symmetrically equipped with two sets of testing stations and two testing fixtures, which can simultaneously test two symmetrical thumbs.

[0010] Furthermore, the support base is rotatably mounted on the slide, and a rotating connector is fixedly connected to the slide. The support base is rotatably connected to the slide through the rotating connector. Support parts and balance parts are formed on both sides of the support base, and a support column is installed on the upper side of the support part. The support part and the support column can be deflected up and down with the rotating connector as the axis of rotation.

[0011] Furthermore, a lower base plate is fixedly installed on the lower side of the test platform via a connecting rod, and the lower base plate is approximately parallel to the test platform; a limit plate is installed on the upper part of the lower base plate, and the limit plate is adjusted in height by a lifting drive mechanism; when the limit plate is in the lowered state, the upper side of the limit plate is separated from the support part of the support seat, and the support seat is in a deflectable movable state; when the limit plate is in the raised state, the upper side of the limit plate abuts against the lower surface of the support part, the support seat is in a balanced state, and the support column is in a vertical state.

[0012] Furthermore, a central hinge is provided in the middle of the limiting plate, and limiting support parts are formed at both ends of the limiting plate. The two limiting support parts support the support parts of the two support seats respectively. The lifting drive mechanism includes a main lifter, which is fixedly installed on the lower base plate. The main lifter has a main lifting rod, the upper end of which is rotatably connected to the central hinge. The limiting plate forms an equal-arm lever structure. When the thumbs on both sides perform pressure detection, the pressure is transmitted to both ends of the limiting plate through the support column.

[0013] Furthermore, the lifting drive mechanism also includes two auxiliary lifters, which are respectively installed on the lower side of the bottom plate and correspond to the lower side of the two limiting supports. The auxiliary lifters have an auxiliary lifting rod that can extend and retract upward. When the auxiliary lifting rod retracts, the upper end of the auxiliary lifting rod separates from the limiting support. When the auxiliary lifting rod extends, the upper end of the auxiliary lifting rod abuts against the limiting support, and the limiting support then abuts against the support of the support seat, so that the support column remains in an upright state.

[0014] Furthermore, the support section has an adjusting screw hole that runs vertically through it, and the lower end of the support column has an external thread that engages with the adjusting screw hole. An adjusting hole is located in the middle of the lower end of the support column. The auxiliary lifting rod is a hollow structure with a rotating adjusting rod running through it. The rotating adjusting rod can be raised, lowered, and rotated. When the rotating adjusting rod extends upward, its upper end extends into the adjusting hole. Rotating the rotating adjusting rod can drive the support column to rotate, thereby adjusting the height of the support column.

[0015] The present invention also provides a method for testing the fingertip force and response time of a dexterous hand's thumb, using the device described above, and comprising the following steps:

[0016] The thumb is mounted on the detection fixture at the detection station; the knuckle of the thumb is driven to bend and straighten, and the moment when the fingertip reaches the fully bent and fully extended position during the bending and straightening process is detected by the light sensor. The time taken for the bending and straightening action of the knuckle is calculated based on the arrival time.

[0017] Move the slide block to the pressure detection position, drive the knuckle to stand upright and bend, so that the fingertip abuts against the pressure sensor at the top of the support column, and detect the pressing pressure of the fingertip.

[0018] In summary, the present invention has the following beneficial effects:

[0019] The support column and pressure sensor automatically collect the fingertip pressing pressure, which can achieve stable collection of fingertip force and help ensure the reproducibility of the pressure test conditions. The support column can make way along the relief groove and automatically exit the detection path during response time detection, realizing the integration of response time detection and fingertip force detection.

[0020] By automatically detecting the moment when the fingertips reach the fully bent and fully extended positions using a light sensor, the time taken for the knuckles to bend and straighten can be calculated, replacing manual stopwatch timing and improving the accuracy of action response time detection.

[0021] By symmetrically setting up two sets of detection stations, both thumbs of the left and right hands can be detected simultaneously. With the help of the support base, rotating connector and spring structure, the support column can remain stable when under pressure, which helps to improve the accuracy of pressure detection. The limit plate forms an equal arm lever structure, and the pressure of the two thumbs is transmitted to both ends of the limit plate through the support column, which can realize the direct comparison of the pressure of the fingertips of the left and right thumbs, making it easy to judge the consistency of the fingertip force of the left and right thumbs. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the dexterous hand thumb testing device in this embodiment. Figure 1 ;

[0023] Figure 2 This is a schematic diagram of the overall structure of the dexterous hand thumb testing device in this embodiment. Figure 2 ;

[0024] Figure 3 This is a schematic diagram of the overall structure of the dexterous hand thumb testing device in this embodiment. Figure 3 ;

[0025] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0026] Figure 5 This is a schematic diagram of the overall structure of the dexterous hand thumb testing device in this embodiment. Figure 4 ;

[0027] Figure 6 This is a schematic diagram of the test structure of the dexterous hand thumb testing device in this embodiment;

[0028] Figure 7 This is a schematic diagram of the structure of the limiting plate and the lifting drive mechanism in this embodiment;

[0029] Figure 8 This is a schematic diagram of the support column height adjustment structure in this embodiment.

[0030] Reference numerals: Test platform 1; Inspection fixture 101; Clearance groove 102; Slide rail 103; Thumb 2; Thumb base 201; Knuckle 202; Fingertip 203; Light sensor 1 301; Light sensor 2 302; Light sensor 3 303; Light sensor 4 304; Support column 4; Pressure sensor 401; Adjustment hole 402; Support base 5; Support part 501; Balance part 502; Spring 503; Adjustment screw hole 504; Slide 6; Rotating connector 601; Sliding actuator 602; Lower base plate 7; Limiting plate 8; Intermediate hinge part 801; Limiting support part 802; Lifting drive mechanism 9; Main lifter 901; Main lifting rod 902; Auxiliary lifter 903; Auxiliary lifting rod 904; Through hole 905; Rotation adjustment rod 10. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Example 1

[0033] This embodiment discloses a device for testing the fingertip force and response time of a dexterous hand's thumb, such as... Figure 1 , Figure 2 As shown, the device includes a test platform 1, which serves as the basic support component of the equipment. A testing station is formed on the test platform 1 for mounting the thumb 2 to be tested. In this embodiment, the component being tested is the thumb 2. Unlike the index finger and other fingers, the thumb 2 requires not only bending but also swinging.

[0034] In this embodiment, the thumb 2 includes a thumb root 201, a knuckle 202 connected to the thumb root 201, and a fingertip 203 formed at the end of the knuckle 202. With the thumb root 201 as support, the knuckle 202 can swing, and can adjust its bending and straightening. During the bending and straightening process of the knuckle 202, the position of the fingertip 203 also undergoes adaptive changes.

[0035] A testing fixture 101 is installed on the testing station of the testing platform 1. The testing fixture 101 can be used to install the thumb root 201 of the thumb 2 to achieve the installation and positioning of the entire thumb 2.

[0036] During the testing process, this device tests the thumb of a dexterous hand. There are two types of tests: the first is the thumb's complete response time, and the second is the thumb's fingertip pressure test.

[0037] The complete response time of the thumb is the time it takes for the knuckle 202 of the thumb 2 to go from a bent to an extended state. During the detection process, the fingertip 203 is detected by a light sensor. Four baffles are fixed around the outer perimeter of the test platform 1 corresponding to the detection station, and light sensors are installed on the corresponding baffles.

[0038] During the testing process, the knuckle portion 202 of the thumb 2 has two main orientations. The first is a horizontal orientation, as shown in the reference... Figure 1 The bending and extending motion of the knuckle 202 moves in the horizontal direction. The fully bent and fully extended states are detected by light sensor 1 301 and light sensor 2 302 respectively, and the fingertip 203 of the knuckle 202 is detected.

[0039] Reference Figure 2 In the second orientation, the knuckle 202 is roughly vertical, with the bending and extension direction being up and down. This is detected by light sensors 303 and 304, which detect the fully bent and fully extended states respectively, and the fingertip 203 is also detected. The timing of the bending and extension movements is obtained by triggering the corresponding light sensors.

[0040] This embodiment can detect pressure on the fingertip 203 of the thumb 2. For example... Figure 3 As shown, a clearance groove 102 is provided on the test platform 1. A support column 4 extends upward through the clearance groove 102, and a pressure sensor 401 is installed at the upper end of the support column 4. The height of the support column 4 and the pressure sensor 401 is adapted to the thumb 2. When the knuckle 202 of the thumb 2 is in the upright state, the bending of the knuckle 202 allows the fingertip 203 at the end of the knuckle 202 to abut against the pressure sensor 401, thereby realizing the test of the pressing pressure of the fingertip 203.

[0041] Since the thumb 2 also needs to be bent during the testing process, it will interfere with the support column 4. Therefore, in this embodiment, the support column 4 is set to be adjustable, so that it can move along the clearance groove 102 to avoid interference when pressure testing is not performed. Specifically, a slide rail 103 is installed on the lower part of the test platform 1, and the direction of the slide rail 103 is consistent with the direction in which the support column 4 needs to make clearance. A slide block 6 is slidably installed on the support column 4, and the slide block 6 is driven and adjusted by a sliding driver 602. A support base 5 is installed on the slide block 6, and the lower end of the support column 4 is installed on the support base 5, which can support the support column 4 and the pressure sensor 401 at the upper end.

[0042] This embodiment also discloses a method for testing the thumb of a dexterous hand, using the above-mentioned equipment, including the following steps: installing the thumb on a testing fixture at a testing station; driving the knuckle of the thumb to bend and straighten, detecting the time when the fingertip reaches the fully bent and fully extended positions during the bending and straightening process of the knuckle using a light sensor, and calculating the time taken for the bending and straightening actions of the knuckle based on the arrival time; moving the slide to move the support column to the pressure detection position, driving the knuckle to stand upright and bend, so that the fingertip abuts against the pressure sensor at the upper end of the support column, and detecting the pressing pressure of the fingertip.

[0043] When the bending and extending motion of the knuckles moves horizontally, light sensor one detects that the fingertip has reached a fully bent position, and light sensor two detects that the fingertip has reached a fully extended position; when the bending and extending motion of the knuckles moves vertically, light sensor three detects that the fingertip has reached a fully bent position, and light sensor four detects that the fingertip has reached a fully extended position.

[0044] Example 2

[0045] This embodiment also discloses another device for testing the fingertip strength and response time of a dexterous hand's thumb, based on Embodiment 1, and further referring to... Figures 3-7 Please provide a detailed explanation.

[0046] like Figure 3 , Figure 4 As shown, in another embodiment, two sets of testing stations are symmetrically arranged on the testing platform 1, and two testing fixtures 101 are provided, which can simultaneously test two symmetrical thumbs 2. That is, during the testing process, the thumbs 2 of the left and right hands of the dexterous hand can be installed on the testing platform for testing.

[0047] During pressure testing, pressure comparison testing can be achieved using the two thumbs 2 of the left and right hands. Furthermore, the pressure at the fingertips of both thumbs 2 can be tested using one thumb 2 as a standard. Stability testing under dynamic pressure can also be achieved.

[0048] In this embodiment, the support base 5 is rotatably mounted on the slide 6. A rotating connector 601 is fixedly connected to the slide 6. The support base 5 is rotatably connected to the slide 6 at a relatively central position via the rotating connector 601. A support portion 501 and a balancing portion 502 are formed on both sides of the support base 5, respectively, with a support column 4 mounted on the upper side of the support portion 501. The support portion 501 and the support column 4 can achieve a small up-and-down deflection movement about the rotating connector 601 as the axis of rotation.

[0049] Furthermore, to maintain stability during non-pressure testing, an elastic spring 503 can be placed between the upper side of the balance part 502 and the test platform 1. The spring 503 can apply a downward elastic force to the balance part 502, thereby maintaining the balance of the support base 5. Specifically, the spring 503 can be fixedly embedded in the balance part 502, and the upper end of the spring 503 abuts against the lower side of the test platform 1. The spring 503 can move with the support base 5.

[0050] like Figure 5 As shown, a lower base plate 7 is fixedly installed on the underside of the test platform 1 via several connecting rods, and the lower base plate 7 is approximately parallel to the test platform 1. A limit plate 8 is installed on the upper part of the lower base plate 7, and the limit plate 8 can be adjusted up and down by a lifting drive mechanism 9. When the limit plate 8 is in the lowered state, the upper side of the limit plate 8 will separate from the support part 501 of the support seat 5. At this time, the support seat 5 is in a relatively movable state and can deflect and swing. When the limit plate 8 is in the raised state, the upper side of the limit plate 8 can abut against the lower surface of the support part 501 of the support seat 5. At this time, the support seat 5 is in a balanced state, and the support column 4 on the upper side of the support part 501 is in a vertical state; the upper end of the spring 503 is also disengaged from the test platform 1. When the upper support column 4 is subjected to pressure, it can maintain a stable state, and thus pressure can be detected by the pressure sensor 401 at the upper end.

[0051] like Figure 6 , Figure 7 As shown, in this embodiment, the limiting plate 8 is movable. The lifting drive mechanism 9 includes a main lifter 901, which is fixedly installed on the lower base plate 7. The main lifter 901 has a main lifting rod 902. A middle hinge 801 is provided in the middle of the limiting plate 8, and the middle hinge 801 is rotatably connected to the upper end of the main lifting rod 902. Limiting support parts 802 are formed at both ends of the limiting plate 8. The two limiting support parts 802 support the support parts 501 of the two support seats 5 respectively, thereby achieving support. The limiting plate 8 forms an equal-arm lever structure. When pressure is detected, the left and right thumbs 2 can transmit pressure downward through the support column 4, and then transmit the pressure to both ends of the limiting plate 8, thus realizing the detection of pressure on both sides. Through the equal-arm lever structure, the pressure of the fingertips of the left and right thumbs 2 can be directly compared.

[0052] In addition, the lifting drive mechanism 9 also includes two auxiliary lifters 903, which are respectively installed on the lower side of the lower base plate 7 and correspond to the lower sides of the two limiting support parts 802. Each auxiliary lifter 903 has an upwardly retractable auxiliary lifting rod 904. When the auxiliary lifting rod 904 is in the retracted state, its upper end can separate from the limiting support part 802, thus not providing support or limiting the limiting plate 8. When the auxiliary lifting rod 904 is in the extended state, its upper end abuts against the supporting limiting support part 802, and then the limiting support part 802 abuts against the supporting part 501 of the supporting support seat 5, thereby maintaining the support column 4 in an upright state and ensuring the stability of the support column 4 under pressure.

[0053] The device in this embodiment can also realize dynamic pressing detection in a unilateral limiting state, and can simulate the repeated loading conditions when a dexterous hand's thumb actually grasps, and detect the dynamic force output characteristics.

[0054] During the testing process, the auxiliary lifting rod 904 of one of the auxiliary lifting devices 903 can be extended upwards, while the auxiliary lifting rod 904 of the other auxiliary lifting device 903 can be retracted. The upper end of the extended auxiliary lifting rod 904 abuts against the limiting support part 802, which in turn abuts against the support part 501 of the support seat 5, keeping the support column 4 on that side in an upright state; the limiting support part 802 on the retracted side separates from the auxiliary lifting rod 904, and the support seat 5 and support column 4 on that side are in a deflectable state.

[0055] During the testing process, the extended thumb 2 undergoes stable pressure detection, with its fingertip 203 pressing against the pressure sensor 401. Because the support column 4 on this side remains upright and stably supported, the pressure sensor 401 can acquire stable static pressure detection parameters, and the pressing action of the thumb 2 on this side can be directly detected by the pressure sensor 401 on that side. The contracted thumb 2 cyclically performs bending and straightening movements at a set frequency. At the end of the bending stroke, the fingertip 203 presses against the corresponding pressure sensor 401, reaching a peak pressure. During the straightening return stroke, the fingertip 203 gradually detaches from the pressure sensor 401, and the pressure drops. Throughout the cycle, the pressure sensor 401 continuously acquires real-time pressure signals and outputs a complete dynamic pressure-time curve.

[0056] Several dynamic parameters can be extracted from this curve: peak pressure of a single press, used to evaluate the maximum output force of the thumb tip; pressure rise time, used to evaluate the force response speed of the knuckle 202 bending action; pressure release time, which can evaluate the force follow-through of the straightening return stroke; and peak force deviation of multiple press cycles, which can evaluate the force output stability of the thumb during long-term operation.

[0057] In this embodiment, the auxiliary lifting rod 904 on the extended side provides a rigid support reference for the support column 4 on the corresponding side, avoiding interference with the detection results caused by the swing of the support seat 5 in the double-sided deflectable state; at the same time, the retracted side retains a deflectable margin, which can offset the impact of the fingertip pressing moment.

[0058] Furthermore, a comparative test can be conducted, using one thumb 2 as a standard, applying a reference pressure to it while applying different pressures to the other thumb 2, to test the stability of the other thumb 2 under different reference pressures; it can also test the adjustment accuracy of the other thumb 2 under different pressures.

[0059] Example 3

[0060] This embodiment also discloses another device for testing the fingertip strength and response time of a dexterous hand's thumb, based on Embodiment 2, and further referring to... Figure 8 The support column 4 can also be configured to be adjustable vertically. An adjusting screw hole 504 extending vertically through the support part 501 is provided. An external thread is provided at the lower end of the support column 4. Furthermore, an adjusting hole 402 is also provided in the middle of the lower end of the support column 4.

[0061] Additionally, the auxiliary lifting rod 904 can be configured as a hollow structure. A rotating adjusting rod 10 is installed through the auxiliary lifting rod 904. The rotating adjusting rod 10 achieves lifting and lowering actions through a lifting drive device and rotational actions through a rotation drive device. By adjusting the rotating adjusting rod 10 upwards, the upper end of the rotating adjusting rod 10 can extend into the adjusting hole 402. Then, by rotating the adjusting hole 402, the support column 4 can be rotated, thereby raising the height of the support column 4 and changing the position height of the pressure sensor 401 at the upper end of the support column 4.

[0062] Because the support column 4 and the pressure sensor 401 have different height states, the actual pressure generated by the fingertip 203 will also differ during pressure testing. This allows for the detection of the stability of the pressure on the fingertip 203 under different bending conditions of the knuckle 202. Furthermore, the lifting stroke of the support column 4 can be controlled by the number of rotations of the thread.

[0063] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A device for testing the fingertip force and response time of a dexterous hand's thumb, characterized in that, The test platform (1), the testing fixture (101), and the support column (4) are included. A testing station is formed on the test platform (1) for installing the thumb (2) to be tested. The testing fixture (101) is installed at the testing station for installing the base of the thumb (201) to achieve the installation and positioning of the thumb (2). A clearance groove (102) is provided on the test platform (1), and the support column (4) extends upward through the clearance groove (102). A pressure sensor (401) is installed at the upper end of the support column (4). The height of the support column (4) and the pressure sensor (401) is... The device is adapted to the thumb (2). When the knuckle (202) is bent in the upright state, the fingertip (203) can abut against the pressure sensor (401). A slide rail (103) is installed on the lower part of the test platform (1). A slide seat (6) is slidably installed on the slide rail (103). The slide seat (6) is driven by the sliding driver (602). A support seat (5) is installed on the slide seat (6). The lower end of the support column (4) is installed on the support seat (5). The slide seat (6) can drive the support column (4) to move along the slide rail (103) so that the support column (4) can make way along the clearance groove (102).

2. The device for testing the fingertip force and response time of a dexterous hand's thumb according to claim 1, characterized in that, It also includes a light sensor, a light sensor setting and detection station, and the light sensor is used to detect the position of the fingertip (203) during the bending and straightening of the knuckle (202).

3. The device for testing the fingertip force and response time of a dexterous hand's thumb according to claim 2, characterized in that, The light sensors include light sensor one (301), light sensor two (302), light sensor three (303), and light sensor four (304). When the bending and stretching motion of the knuckle (202) moves in the horizontal direction, the position of light sensor one (301) corresponds to the position of the fingertip (203) in its fully bent state, and the position of light sensor two (302) corresponds to the position of the fingertip (203) in its fully extended state. When the bending and stretching motion of the knuckle (202) moves in the vertical direction, the position of light sensor three (303) corresponds to the position of the fingertip (203) in its fully bent state, and the position of light sensor four (304) corresponds to the position of the fingertip (203) in its fully extended state.

4. The device for testing the fingertip force and response time of a dexterous hand's thumb according to claim 1, characterized in that, Two sets of testing stations are symmetrically arranged on the test platform (1), and two testing fixtures (101) are provided, which can simultaneously test two left and right symmetrical thumbs (2).

5. The device for testing the fingertip force and response time of a dexterous hand's thumb according to claim 4, characterized in that, The support base (5) is rotatably mounted on the slide (6), and a rotating connector (601) is fixedly connected to the slide (6). The support base (5) is rotatably connected to the slide (6) through the rotating connector (601). A support part (501) and a balance part (502) are formed on both sides of the support base (5). The support column (4) is installed on the upper side of the support part (501). The support part (501) and the support column (4) can deflect.

6. The device for testing the fingertip force and response time of a dexterous hand's thumb according to claim 5, characterized in that, A lower base plate (7) is fixedly installed on the lower side of the test platform (1) by a connecting rod; a limit plate (8) is installed on the upper part of the lower base plate (7), and the limit plate (8) is adjusted by lifting drive mechanism (9); When the limiting plate (8) is in the descending state, the upper side of the limiting plate (8) is separated from the support part (501) of the support seat (5), and the support seat (5) is in a deflectable movable state; when the limiting plate (8) is in the ascending state, the upper side of the limiting plate (8) abuts against the lower surface of the support part (501), the support seat (5) is in a balanced state, and the support column (4) is in a vertical state.

7. The device for testing the fingertip force and response time of a dexterous hand's thumb according to claim 6, characterized in that, A middle hinge (801) is provided in the middle position of the limiting plate (8), and a limiting support (802) is formed at both ends of the limiting plate (8). The two limiting support (802) support the support (501) of the two support seats (5) respectively. The lifting drive mechanism (9) includes a main lifter (901), which is fixedly installed on the lower base plate (7). The main lifter (901) has a main lifting rod (902), and the upper end of the main lifting rod (902) is rotatably connected to the middle hinge (801). The limiting plate (8) forms an equal-arm lever structure.

8. The device for testing the fingertip force and response time of a dexterous hand's thumb according to claim 7, characterized in that, The lifting drive mechanism (9) also includes two auxiliary lifters (903), which are respectively installed on the lower side of the bottom plate (7) and correspond to the lower side of the two limiting support parts (802). The auxiliary lifter (903) has an auxiliary lifting rod (904) that can extend and retract upward. When the auxiliary lifting rod (904) retracts, the upper end of the auxiliary lifting rod (904) separates from the limiting support part (802). When the auxiliary lifting rod (904) extends, the upper end of the auxiliary lifting rod (904) abuts against the limiting support part (802), and the limiting support part (802) abuts against the support part (501) of the support seat (5), so that the support column (4) remains in an upright state.

9. The device for testing the fingertip force and response time of a dexterous hand's thumb according to claim 8, characterized in that, The support part (501) has an adjustment screw hole (504) that runs vertically through it. The lower end of the support column (4) is provided with an external thread. The lower end of the support column (4) is threaded into the adjustment screw hole (504). An adjustment hole (402) is provided in the middle of the lower end of the support column (4). The auxiliary lifting rod (904) is designed as a hollow structure. A rotating adjustment rod (10) is provided inside the auxiliary lifting rod (904). The rotating adjustment rod (10) can be raised, lowered and rotated. When the rotating adjustment rod (10) extends upward, the upper end of the rotating adjustment rod (10) extends into the adjustment hole (402). Rotating the rotating adjustment rod (10) can drive the support column (4) to rotate and adjust the height of the support column (4).

10. A method for testing the fingertip force and response time of a dexterous hand's thumb, characterized in that, The device used as described in any one of claims 1 to 9 comprises the following steps: The thumb (2) is installed on the detection fixture (101) at the detection station; the knuckle (202) of the thumb (2) is driven to bend and straighten, and the moment when the fingertip (203) reaches the fully bent position and the fully extended position during the bending and straightening process of the knuckle (202) is detected by the light sensor. The time taken for the bending and straightening action of the knuckle (202) is calculated based on the arrival time. Move the slide (6) to move the support column (4) to the pressure detection position, drive the knuckle (202) to stand up and bend, so that the fingertip (203) abuts against the pressure sensor (401) at the upper end of the support column (4) to detect the pressing pressure of the fingertip (203).

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