Continuous prosthetic hand capable of extending four fingers outwards
By setting a specific dent structure on each finger of the prosthetic hand, the bending and abduction movement of the fingers are achieved, which solves the problem that the existing prosthetic hand cannot achieve abduction movement and improves the operation flexibility of the hand.
Patent Information
- Application Number
- CN202420611989.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-27
- Publication Date
- 2025-04-04
- Estimated Expiration
- 2034-03-27
AI Technical Summary
The existing prosthetic hand has four fingers except the thumb, which can only be bent and cannot achieve abduction movement, limiting the hand's operating flexibility.
A continuum prosthetic hand with four fingers abducted continuum is designed, and the bending and abducting movement of the finger is achieved by providing a first dent portion parallel to the palm plane and a second dent portion perpendicular to the palm plane on each finger.
It improves the range of movement and diversity of the prosthetic hand, allowing the fingers to move in the three-dimensional working space, and enhances the flexibility of the hand.
Smart Images
Figure CN222708469U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of bionic hands, and more specifically relates to a continuum prosthetic hand with four fingers abducted. Background Art
[0002] At present, most prosthetic hands have only bending freedom of the four fingers except the thumb, but cannot achieve abduction movement. The working space of the fingers is limited to a plane, which is different from the human fingers with a three-dimensional working space. However, many hand operations in life require abduction freedom, such as grasping a large-diameter object such as a CD. The lack of abduction freedom will affect the flexibility of the human hand. The reason why most prosthetic hands are not equipped with abduction freedom is that the abduction of each finger is independently controlled, which makes the structure too complicated and the drive system too large to be convenient to wear. Utility Model Content
[0003] The purpose of the utility model is to address the deficiencies in the prior art and to provide a continuum prosthetic hand with four fingers that can be abducted. Each finger can be made to have bending and abduction movements through the first indentation and the second indentation, thereby increasing the range of motion of the prosthetic hand and providing more operating actions.
[0004] In order to achieve the above object, the utility model provides a continuum prosthetic hand capable of abduction of four fingers, comprising:
[0005] A palm, with an index finger, a middle finger, a ring finger and a little finger connected to the top, a thumb arranged at the middle of the palm, each finger being provided with a first indentation portion parallel to the palm plane and a second indentation portion perpendicular to the palm plane, the first indentation portion being provided at the metacarpophalangeal joint, and the second indentation portion being provided at the distal fingertip joint and the proximal fingertip joint.
[0006] Optionally, the finger is a hollow structure, the outer wall of the finger is provided with four through holes along the circumferential direction, a driving rope is provided in the through hole, and a linear motor connected to the driving rope is provided in the palm.
[0007] Optionally, a return spring is also arranged in the finger.
[0008] Optionally, the length of the first indentation of the thumb is greater than the length of the first indentation of the remaining fingers.
[0009] Optionally, the first indentation portion and the second indentation portion include a plurality of indentations, the indentations in the first indentation portion are staggered in two directions perpendicular to the palm plane, and the indentations in the second indentation portion are staggered in two directions parallel to the palm plane.
[0010] Optionally, the drive rope is a stainless steel wire.
[0011] Optionally, the linear motor connected to the thumb and the linear motor connected to the other fingers are arranged in opposite directions.
[0012] Optionally, the material of the finger is nylon or nickel-titanium alloy.
[0013] Optionally, an end cover is provided at the top end of the finger, and the drive rope connects the linear motor to the end cover.
[0014] Optionally, the thumb is connected to the palm via a universal bearing.
[0015] The utility model provides a continuum prosthetic hand with four fingers that can be abducted, and its beneficial effects are: the prosthetic hand uses fingers with a dimple structure to replace traditional hinge-type finger joints, so that the driving of the fingers is simpler, the number of drivers is reduced, and the fingers have higher compliance and can change according to the shape of the object when grasping the object. In addition, a first dimple portion perpendicular to the palm plane is provided on the finger to form a lateral abduction joint of the finger, so that the fingers of the prosthetic hand have the ability to abduct, and the prosthetic hand can complete a fan-shaped opening.
[0016] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present invention.
[0018] Figure 1 The schematic diagram of the structure of a continuum prosthetic hand with four fingers abducted according to an embodiment of the utility model is shown.
[0019] Description of reference numerals:
[0020] 1. Palm; 2. Index finger; 3. Middle finger; 4. Ring finger; 5. Little finger; 6. Thumb; 7. First indentation; 8. Second indentation. DETAILED DESCRIPTION
[0021] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.
[0022] The utility model provides a continuum prosthetic hand capable of abducting four fingers, comprising:
[0023] The palm has an index finger, a middle finger, a ring finger and a little finger connected at the top, a thumb is arranged in the middle of the palm, each finger is arranged with a first indentation portion parallel to the palm plane and a second indentation portion perpendicular to the palm plane, the first indentation portion is arranged at the metacarpophalangeal joint, and the second indentation portion is arranged at the distal fingertip joint and the proximal fingertip joint.
[0024] Specifically, the prosthetic hand adopts a traditional structure to connect the palm and five fingers, except that a first indentation portion and a second indentation portion are provided on each finger. Since the indentations are opened in different directions, the fingers are bent and deformed along the opening direction of the first indentation portion so that the fingers can achieve abduction movement, and the fingers are bent and deformed along the opening direction of the second indentation portion so that the fingers can achieve bending movement. In this way, the movement angle of the prosthetic hand is closer to that of a human hand, so that the fingers of the prosthetic hand can move in a three-dimensional working space.
[0025] Optionally, the finger is a hollow structure, the outer wall of the finger is provided with four through holes along the circumferential direction, a driving rope is provided in the through holes, and a linear motor connected to the driving rope is provided in the palm.
[0026] Specifically, each finger of the prosthetic hand is a hollow structure, and a through hole is set at every 90 degrees on the outer wall of the finger. The drive rope is connected in the through hole, and the drive rope can be pulled by the linear motor. When the finger needs to be unfolded, the drive rope on the side close to the bend can be shortened by the linear motor, and the length of the drive rope on the other side can be lengthened by the linear motor, so that the finger can achieve abduction movement.
[0027] Optionally, a return spring is also arranged inside the finger.
[0028] Specifically, when the linear motor does not adjust the length of the driving rope, the finger will return to the initial state under the action of the elastic potential energy of the return spring, keeping the finger and the palm on the same plane for easy movement.
[0029] Optionally, the length of the first indentation of the thumb is greater than the lengths of the first indentations of the remaining fingers.
[0030] Optionally, the linear motor connected to the thumb and the linear motors connected to other fingers are arranged in opposite directions.
[0031] Specifically, the first indentation of the metacarpophalangeal joint of the thumb is longer than that of the other four fingers, making the thumb more flexible and able to dock with the other four fingers for grasping. When docking, the thumb moves in the opposite direction to the other four fingers, and the thumb motor is also inverted in the palm in the opposite layout to the other four finger drive motors.
[0032] In one embodiment, the thumb has an initial deflection angle of 70° in both bending and abduction directions, so that the thumb movement space can realize gestures such as docking with four fingers and side pinching.
[0033] Optionally, the first indentation portion and the second indentation portion include a plurality of indentations, the indentations in the first indentation portion are staggered in two directions perpendicular to the palm plane, and the indentations in the second indentation portion are staggered in two directions parallel to the palm plane.
[0034] Specifically, the first indentation portion and the second indentation portion are both composed of multiple indentations. The indentations in the first indentation portion are opened in a direction parallel to the palm plane, and the indentations opened along the left side of the palm and the indentations opened along the right side of the palm are staggered along the length direction of the fingers, so that when the fingers need to be spread out, the fingers can swing left and right; the indentations in the second indentation portion are opened in a direction perpendicular to the palm plane, and the indentations opened along the front side of the palm and the indentations opened along the back side of the palm are staggered along the length direction of the fingers, which can ensure normal bending of the fingers. Using this prosthetic hand can expand the movement space of the flexible fingers from a plane to a three-dimensional space.
[0035] Optionally, the driving rope is a stainless steel wire, so that the driving rope is not prone to elastic deformation.
[0036] Optionally, the finger is made of nylon or nickel-titanium alloy, and the finger may also be made of other elastic and flexible materials.
[0037] Optionally, an end cap is provided at the top of the finger, and a driving rope connects the linear motor to the end cap.
[0038] Specifically, the finger adopts a hollow structure, and the driving rope is passed through the through hole. One end of the driving rope is connected to the linear motor, and the other end of the driving rope is connected to the end cover at the finger end. In this way, when the linear motor tightens the driving rope, the end cover will squeeze the finger. Since the driving rope on one side is collected and the driving rope on the opposite side is in a released state, the finger will bend toward the side where the driving rope is tightened, and the indentation can leave space for the finger to bend, achieving a complete angle close to that of a human hand.
[0039] Optionally, the thumb is connected to the palm via a universal bearing.
[0040] Specifically, the rotation range between the thumb and the palm is increased, so that the thumb can rotate on the plane of the palm, and the bending or abduction of the thumb is achieved through the first indented portion and the second indented portion.
[0041] Example
[0042] like Figure 1 As shown, the utility model provides a continuum prosthetic hand capable of abducting four fingers, comprising:
[0043] A palm 1 is provided with an index finger 2, a middle finger 3, a ring finger 4 and a little finger 5 at the top, a thumb 6 is provided in the middle of the palm, and each finger is provided with a first indentation 7 parallel to the plane of the palm 1 and a second indentation 8 perpendicular to the plane of the palm 1. The first indentation 7 is provided at the metacarpophalangeal joint, and the second indentation 8 is provided at the distal fingertip joint and the proximal fingertip joint.
[0044] In this embodiment, the finger is a hollow structure, and the outer wall of the finger is provided with four through holes along the circumferential direction. A driving rope is provided in the through holes, and a linear motor connected to the driving rope is provided in the palm.
[0045] In this embodiment, a return spring is also arranged inside the finger.
[0046] In this embodiment, the length of the first indentation 7 of the thumb 6 is greater than the lengths of the first indentations 7 of the other fingers.
[0047] In this embodiment, the first indentation portion 7 and the second indentation portion 8 include a plurality of indentations, the indentations in the first indentation portion 7 are staggered in two directions perpendicular to the plane of the palm 1 , and the indentations in the second indentation portion 8 are staggered in two directions parallel to the plane of the palm 1 .
[0048] In this embodiment, the driving rope is a stainless steel wire.
[0049] In this embodiment, the linear motor connected to the thumb 6 and the linear motors connected to other fingers are arranged in opposite directions.
[0050] In this embodiment, the material of the finger is nylon or nickel-titanium alloy.
[0051] In this embodiment, an end cover is provided at the top end of the finger, and a driving rope connects the linear motor to the end cover.
[0052] In this embodiment, the thumb 6 is connected to the palm 1 via a universal bearing.
[0053] In summary, the four-fingered continuum prosthetic hand has fingers made of elastic and flexible materials such as nickel-titanium alloy or nylon. The finger itself is a hollow tubular structure with indentations arranged in an alternating manner on its tube wall. When the driving rope on the front of the finger is tightened, the distal fingertip joint, proximal fingertip joint and metacarpophalangeal joint bending section of the finger will produce bending movement at the same time; when the driving rope on the side of the finger is tightened, the metacarpophalangeal joint abduction section of the finger will produce an abduction movement away from the middle finger; when the corresponding driving rope is relaxed, the finger will return to its original position under the action of its own elastic potential energy.
[0054] The various embodiments of the utility model have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims
1. A continuum prosthetic hand capable of abduction of four fingers, characterized in that: include: A palm, with an index finger, a middle finger, a ring finger and a little finger connected to the top, a thumb arranged in the middle of the palm, and each finger arranged with a first indentation parallel to the palm plane and a second indentation perpendicular to the palm plane, the first indentation arranged at the metacarpophalangeal joint, and the second indentation arranged at the distal fingertip joint and the proximal fingertip joint; The finger is a hollow structure, the outer wall of the finger is provided with four through holes along the circumferential direction, a driving rope is provided in the through hole, and a linear motor connected to the driving rope is provided in the palm.
2. The four-finger abduction continuum prosthetic hand according to claim 1, characterized in that: A return spring is also arranged inside the finger.
3. The four-finger abduction continuum prosthetic hand according to claim 1, characterized in that: The length of the first indentation of the thumb is greater than the lengths of the first indentations of the other fingers.
4. The four-finger abduction continuum prosthetic hand according to claim 1, characterized in that: The first indentation portion and the second indentation portion include a plurality of indentations, wherein the indentations in the first indentation portion are staggered in two directions perpendicular to the palm plane, and the indentations in the second indentation portion are staggered in two directions parallel to the palm plane.
5. The four-finger abduction continuum prosthetic hand according to claim 1, characterized in that: The driving rope is a stainless steel wire.
6. The four-finger abduction continuum prosthetic hand according to claim 1, characterized in that: The linear motor connected to the thumb and the linear motor connected to the other fingers are arranged in opposite directions.
7. The four-finger abduction continuum prosthetic hand according to claim 1, characterized in that: The material of the finger is nylon or nickel-titanium alloy.
8. The four-finger abduction continuum prosthetic hand according to claim 1, characterized in that: An end cover is provided at the top end of the finger, and the driving rope connects the linear motor with the end cover.
9. The four-finger abduction continuum prosthetic hand according to claim 1, characterized in that: The thumb is connected to the palm via a universal bearing.