The invention relates to the field of wearable intelligent substitutes for human limbs, and
medical equipment, and in particular to a multi-sensor closed-chain
cascade-type hand
prosthesis based on myoelectric control. The hand
prosthesis comprises a four-finger mechanism, a
thumb mechanism, a hand back plate, a motor support plate, motors and an electrical part, wherein the four-finger mechanismcomprises a fake finger group, a rocker group and a connecting
rod group, the
thumb mechanism comprises a
thumb false finger group, a thumb rocker group and a thumb connecting
rod group, the electrical part comprises a sensor group, an
electric control group, a display and an
electromyography acquisition module, the sensor group comprises a variety of sensor modules, the sensor group is embedded in far finger sections of fake fingers, the
electrical control group comprises a core PCB board, a
motor drive module and a battery, and the
electromyography acquisition module is embedded in a contactposition between the inner side of the motor support plate and a
forearm, and fits with the extensor digitorum and flexor digitorum superficialis of the
forearm. The hand
prosthesis adopts myoelectric control,
motor drive, closed-chain
cascade-type structure transmission, and multi-sensor
feedback control, can be modularly disassembled to adapt to different hand signs, and reproduces and enrichesoriginal
hand functions.