55 results about "Metacarpal bones" patented technology

The embodiment of the utility model provides a dexterous hand finger, a dexterous hand and a robot, the dexterous hand finger comprises a cross shaft assembly, the cross shaft assembly comprises a first rotating shaft and a first shaft sleeve, the first rotating shaft is fixedly connected with the first shaft sleeve, and the minimum included angle between a first axis and a second axis is larger than or equal to 80 degrees; the first axis is the central axis of the first rotating shaft, and the second axis is the central axis of the first shaft sleeve; a first driving assembly is arranged in the knuckle assembly, and the output end of the first driving assembly is in transmission connection with the first rotating shaft; a second driving assembly is arranged in the metacarpal bone assembly, and the output end of the second driving assembly is in transmission connection with the first shaft sleeve; therefore, the arranged cross shaft assembly comprises the first rotating shaft and the first shaft sleeve, and the minimum included angle between the first axis and the second axis is larger than or equal to 80 degrees, so that the degree of freedom that the fingers of the dexterous hand bend towards the palm center and extend away from the palm center can be achieved through the first shaft sleeve; and the degree of freedom of abduction and adduction of the fingers of the dexterous hand is realized through the first rotating shaft.

An apparatus can include a metacarpal implant, a trapezium implant, and a spacer. The metacarpal implant can include a stem to be inserted into a first cavity of a metacarpal bone and having a first end and a second end, a radial lip, the radial lip extending from the second end, and an opening, the opening extending from the radial lip to the first end. The trapezium implant can include an implant head portion having a shape to match a shape of a trapezium bone and a first cavity insert, to be inserted into a second cavity of the trapezium bone extending from the bottom surface. The spacer can include a spacer head portion congruent to the implant head portion and an opening insert to be inserted in the opening and extending from the bottom surface.

According to the dexterous hand thumb, a first driving assembly is arranged in a carpal bone assembly, a second driving assembly is arranged at the first end of a metacarpal bone assembly, a third driving assembly is arranged at the second end of the metacarpal bone assembly, and a fourth driving assembly is arranged at the first end of a knuckle assembly; the first end of the first connecting piece is in transmission connection with an output shaft of the first driving assembly, the second end of the first connecting piece is in transmission connection with an output shaft of the second driving assembly, the first end of the second connecting piece is in transmission connection with an output shaft of the third driving assembly, and the second end of the second connecting piece is in transmission connection with an output shaft of the fourth driving assembly. Due to the fact that the dexterous hand thumb is provided with multiple driving assemblies, the dexterous hand thumb has multiple active freedom degrees, and the bionic performance of the dexterous hand thumb is improved.

The present disclosure relates to a prosthesis (400) configured for implantation in a carpometacarpal joint in the wrist, the prosthesis comprising a first and a second implant part member (405a,b) configured to be screwed into a radius and metacarpal bone respectively. Each implant part member (405a,b) comprising an articulation member (420a,b) configured to be received in the bone fixation member (410a,b) in a releasable manner. The articulation members (420a,b) comprise orientation pins (423) configured to be inserted into bore sections of the bone fixation members 410a,b. When seated in the bore sections, the first portions of the articulation members (420a,b) with the orientation pins (423) are substantially centered along the central axes of the bone fixation members (410a,b), thereby forming common central axes extending through the bone fixation members (410a,b) and the articulation members (420a,b). The radius articulation member (420a) comprises a replacement articular surface configured for articulation with a replacement articular surface located on the metacarpal articulation member (420b). The radius replacement articular surface has (420a) a configuration that is asymmetric about the common central axis of the radius bone fixation (410a) and articulation members (420a). The bore sections have cross-section (419) extending perpendicularly to the central axis defining a first polygonal outline (429). The orientation pins (423) have cross-sections defining a second polygonal contour line, such that when the orientation pins (423) of the articulation members (420a,b) are seated in the bores of the bone fixation members (410a,b), rotation of the articulation members (420a,b) in relation to the bone fixation members (410a,b) is prevented.

Disclosed is a device for total wrist fusion that includes (a) a first section, which is preferably a plate, that is positioned under the skin on top of the forearm, wrist and potentially part of the hand and connected to one or more of the radius or carpal bones, (b) a second section, which is preferably in the shape of an awl and is received in the cannula of the third metacarpal bone. Optionally, an anti-rotational third section may be included, which can connect to the top of the third metacarpal bone.

The utility model discloses a mechanical finger with a T-shaped shaft joint structure, which comprises a T-shaped shaft component, the T-shaped shaft component comprises a joint part and a shaft part, and a metacarpal bone unit and a finger unit are respectively hinged to two ends of the shaft part and the joint part; one end of the first rotary kinematic pair is connected to the finger unit, and the other end is movably connected to the distal end of the metacarpal bone unit; one end of the second rotary kinematic pair is connected to the finger unit, and the other end is movably connected to the near end of the metacarpal bone unit; when the rotating directions of the first rotating motion pair and the second rotating motion pair are opposite, the finger unit performs side-sway motion along the joint part relative to the metacarpal bone unit; and when the rotating directions of the first rotating motion pair and the second rotating motion pair are the same, the finger unit performs bending motion along the shaft part relative to the metacarpal bone unit. A parallel and stable double-supporting frame is formed, the torsion resistance and lateral load resistance of the joint in the side-sway and bending state are enhanced, and high-rigidity and high-precision double-degree-of-freedom movement in a compact space is achieved.

The application provides an underactuated bionic dexterous hand, a system and a control method thereof. The underactuated bionic dexterous hand comprises a palm, five fingers, a control plate and a steering engine installed on the back of the palm through a threaded hole. The thumb comprises a joint, a tendon rope for driving the bending of the finger, a metacarpal bone, a proximal phalanx and a distal phalanx connected through a cylindrical pin in sequence. The index finger, the middle finger, the ring finger and the little finger have the same structure and each comprises a joint, a tendon rope for driving the bending of the finger, a distal phalanx, a middle phalanx and a proximal phalanx connected through a cylindrical pin in sequence. A finger root stroke limiter is arranged at the metacarpophalangeal joint of the thumb and the palm, and the metacarpophalangeal joint of the index finger, the middle finger, the ring finger and the little finger and the palm, the middle phalanx and the distal phalanx are each provided with a finger root stroke limiter. The application has high human simulation degree, is light and flexible, and solves the technical problems of the overlarge size, the overly complex structure, the rigid motion and the low human simulation degree of the dexterous hand.

The invention discloses a bionic dexterous hand and a humanoid robot. The bionic dexterous hand comprises a metacarpal bone assembly, a plurality of finger assemblies and a driving assembly. Each finger assembly comprises a cross-shaped connecting unit and a phalanx unit, the cross-shaped connecting units are rotationally connected with the metacarpal bone assembly and the phalanx units respectively, and each phalanx unit comprises two phalanx blocks which are detachable in a left-right split mode; the driving assembly is in transmission connection with the finger assembly and drives the finger assembly to bend and laterally swing. The cross-shaped connecting unit allows the fingers to bend and swing laterally. On the other hand, connection support can be provided for the left and right detachable phalanx blocks. The maintainability and repairability of the dexterous hand are improved, and the replacement cost is reduced. And the finger movement is more accurate and controllable, so that the control difficulty is reduced, and the operation stability of the dexterous hand is improved.

The invention provides a multi-modal feedback bionic hand and a control method thereof, and relates to the technical field of bionic hands, the multi-modal feedback bionic hand comprises a skeleton structure layer, a driving execution layer, a bionic skin layer, a sensing monitoring layer and a processing module; the skeleton structure layer comprises a metacarpal bone and at least one phalanx; the driving execution layer comprises at least one phalanx driving unit, and each phalanx driving unit comprises a driving wire and a shape memory alloy spring; the bionic skin layer is used for wrapping the skeleton structure layer and the driving execution layer; the sensing monitoring layer comprises angle sensing units and fiber bragg grating sensing units, the angle sensing units are arranged at all joints of the phalanges, and the fiber bragg grating sensing units are arranged in the bionic skin layer; and the processing module is used for receiving the multi-mode sensing signal output by the sensing monitoring layer and controlling the driving signal output to the driving execution layer according to the multi-mode sensing signal. The bionic hand has high response speed and motion stability.

The utility model relates to the technical field of metacarpal bone medical treatment, and discloses a metacarpal bone absorbable intramedullary needle which comprises a main nail and a matching nail, the interior of the main nail is designed to be of a hollow threaded structure, the main nail and the matching nail are used in a paired and matched mode, and the main nail and the matching nail are both made of PLGA materials. The matching nails comprise the first matching nail, the second matching nail and the third matching nail, and the first matching nail, the second matching nail and the third matching nail can be sequentially and rotationally placed into the main nail. According to the utility model, the main nail and the matching nail are both made of the PLGA material, and the PLGA material has good biocompatibility, no toxicity and good capsulation and film forming performance, so that good stability can be provided, marrow fluid in metacarpal bone can be absorbed, a secondary extraction operation is avoided, the previous two operations are changed into one operation, and the operation efficiency is improved. And meanwhile, the treatment cost can be reduced, and the defects that the metal intramedullary needle needs to be taken out for the second time and the treatment cost is increased in the current domestic and international treatment schemes are overcome.

The utility model relates to a wrist fracture fixing device which comprises a front arc-shaped fixing frame and a rear arc-shaped fixing frame, a plurality of arc-shaped connecting holes are formed in the front arc-shaped fixing frame and the rear arc-shaped fixing frame in the arc-shaped direction, and two pulling and connecting rods are connected in the corresponding arc-shaped connecting holes in the front-back direction of the front arc-shaped fixing frame and the rear arc-shaped fixing frame in a penetrating mode to be in the state of pulling and fixing the front arc-shaped fixing frame and the rear arc-shaped fixing frame. The front shaft section of the front connecting seat forwards penetrates through an arc-shaped connecting hole of a front arc-shaped fixing frame and is spirally connected with a front locking nut in a screwed mode to be fixedly connected, a rear connector of the front connecting seat is hinged through a connector at the front end of a pull rod and a pin shaft perpendicular to the front-back direction, and the rear end of the pull rod penetrates through a rear arc-shaped fixing frame to be fixedly connected; a first kirschner wire for fixing the radius in a crimped and penetrating manner is arranged on the rear arc-shaped fixing frame through a rear nut assembly; the front arc-shaped fixing frame is connected with a supporting rod upwards supporting the carpal bone or the metacarpal bone in a penetrating mode through a supporting nut assembly. The device has the advantages that the metacarpal bone can be well supported, micro momentum is increased through fixing of the front and rear arc-shaped fixing frames, and the high-stability and high-quality healing and rehabilitation requirements are met.

The invention relates to the technical field of fracture reduction forceps, in particular to reduction forceps for metacarpal bone comminuted fracture, which comprise a forceps handle I and a forceps handle II, a rotating shaft is mounted at the intersection of the forceps handle I and the forceps handle II, limiting blocks are mounted on the inner sides of the upper ends of the forceps handle I and the forceps handle II, an elastic piece is mounted between the two limiting blocks, and the elastic piece is connected with the rotating shaft. A guide frame is installed on the first plier handle, a fixed plier head is installed at the lower end of the first plier handle, and an adjustable plier head is fixedly installed at the lower end of the second plier handle. The precise adjusting mechanism composed of the telescopic shaft, the ball head unit and the multiple tong head units is arranged in the adjustable tong head, so that a doctor can conduct synchronous or respective precise angle adjustment on the multiple tong head units according to spatial distribution of metacarpal bone comminuted fracture blocks; by means of the mechanical arm, multiple clamping points can be derived from one entry point, multiple bone blocks in different planes and at different angles can be synchronously clamped, the three-dimensional structure of the metacarpal bone is effectively recovered, and the mechanical arm is suitable for complex comminuted fractures.

The application belongs to the technical field of robots, and discloses a motion decoupling double-path rope-driven bionic thumb device, which comprises a distal phalanx, a proximal phalanx, a metacarpal bone, a thumb base, IP joints, MCP joints and CMC joints for connecting the phalanges; the distal phalanx, the proximal phalanx, the metacarpal bone and the thumb base are connected through tendon rope transmission. The rope path for driving the IP joint does not pass through the MCP joint, and the part of the rope path across the MCP joint is wrapped by a Bowden tube assembly, so that the length of the rope path remains constant when the MCP joint moves, and the motion decoupling of the MCP joint and the IP joint is realized; the rope path for driving the MCP joint is also wrapped by a Bowden tube assembly outside, so that the length of the rope path remains constant when the CMC joint moves, and the motion decoupling of the MCP joint and the CMC joint is realized. The application has the advantages of compact structure, joint motion decoupling, precise force control, strong bearing capacity and the like.

A surgical implant assembly includes a first anchor body and a second anchor body adapted to engage respective metacarpal bone surfaces of a first metacarpal bone and a second metacarpal bone; a main suture having a suture length extending between a first end section and a second end section of the main suture, the suture length of the main suture including a first suture section through the first anchor body and a second suture section through the second anchor body, a bridge section of the main suture extending between the first suture section and the second suture section of the main suture, a first suture segment is located between the bridge segment and the first end segment, and wherein a second suture segment is located between the bridge segment and the second end segment; a secondary suture having a suture length extending between a first end section and a second end section of the secondary suture, the secondary suture comprising a secondary suture section passing through the first anchor body, the secondary suture section being located between the first end section and the second end section of the secondary suture, and wherein any portion of the secondary suture does not pass through the second anchor body.

The utility model discloses an intramedullary needle for treating fracture and convenient to hold, which is provided with a treatment section and a holding section for operating and holding, and a positioning structure for holding and positioning is further arranged on the holding section. The intramedullary needle conforms to tubular bone biological fixation, the treatment section can be effectively prevented from rotating in the surgical treatment operation process through the holding section, the penetration depth and path of the treatment section can be further accurately controlled, the treatment accuracy is improved, and the treatment duration is shortened. When the intramedullary needle is used in the treatment process of metacarpal bone fracture, further damage to fracture local hematoma and periosteum can be avoided through closed reduction, blood supply of sclerotin is protected, and fracture healing is facilitated. The intramedullary needle is small in trauma, small in wound scar and beneficial to attractiveness; intramedullary fixation retains the minimally invasive characteristic of kirschner wire fixation, and the fixing effect is more stable and lasting than that of a kirschner wire, and the articular surface is not damaged.

A surgical implant assembly comprising: first and second anchor bodies adapted to engage respective metacarpal bone surfaces of first and second metacarpal bones, a primary suture having a suture length extending between first and second terminal segments of the primary suture, the suture length of the primary suture comprising a first suture segment that passes through the first anchor body and a second suture segment passing through the second anchor body with a bridging segment of the primary suture extending between the first and second suture segments of the primary suture wherein the first suture segment lies in between the bridging segment and the first terminal segment and wherein the second suture segment lies in between the bridging segment and the second terminal segment; a secondary suture having a suture length extending between first and second terminal segments of the secondary suture, the secondary suture comprising a secondary suture segment being passed through the first anchor body, the secondary suture segment being located between the first and second terminal segments of the secondary suture and wherein no portion of the secondary suture passes through the second anchor body.

The invention discloses a mobile equipment bionic holding handle for multi-finger operation. The handle comprises at least one holding body, and a bionics outline is constructed on the held surface of the holding body. The contour includes: at least one recessed structure configured to receive and guide at least one finger of a user in an extended state in the multi-finger operation posture; the raised structure is arranged at the lower part of the holding body and is configured to be supported in a metacarpal bone area of a palm of a user; the raised structure is deflected to the center of the mobile device by an angle of 0 to 70 degrees, preferably 35 degrees, to adjust the wrist posture, directing the gravity of the device to the forearm bone load. Through the scientific bionic design and the split type structure, the pressure of the palm center is effectively dispersed, the multi-finger operation comfort degree is greatly improved, and an external heat dissipation device and a wireless device receiver are perfectly compatible.

The application relates to the technical field of robots, in particular to a dexterous hand thumb, a dexterous hand and a robot, which solve the problem that a dexterous hand thumb with three degrees of freedom cannot simultaneously consider joint decoupling of the dexterous hand thumb and the size of the dexterous hand thumb. The dexterous hand thumb comprises a metacarpal bone driving assembly, a metacarpophalangeal driving assembly, a first phalanx, a second phalanx, a tendon and an interphalangeal driving assembly, realizes one palmar freedom degree and two bending freedom degrees of the dexterous hand thumb. The metacarpophalangeal driving assembly comprises a metacarpophalangeal driving source, a first worm, a first worm wheel and at least one first guide wheel. The tendon is sequentially passed through the first phalanx, bypasses one side of the first guide wheel away from the first worm, passes through a first shaft hole and is connected with the interphalangeal driving assembly, realizes movement decoupling of the tendon and the metacarpophalangeal driving assembly, the metacarpal bone driving assembly, the metacarpophalangeal driving assembly and the interphalangeal driving assembly can be arranged on a palm base plate, and the size of the dexterous hand thumb is reduced.

A bone joint implant (1) has a proximal portion (120) for translational movement over a metacarpal bone in a first carpometacarpal joint and a distal portion (110) for intramedullary engagement in a first metacarpal bone. An articulating link (103, 121, 123) is for polyaxial movement in which one portion (120) moves translationally over a bone and the other portion (110) rotates about the articulating link (121, 103). A flange (105) extends radially and about the link to limit relative rotational movement of the proximal and distal portions about the link and to provide resilience for contact between the proximal and distal portions. The flange has a profile surface (101) which in use mates with an abutment surface (125) of the proximal portion (122) when the portions articulate to a limit position. The flange (105) is included in an insert (100) in a stem (111) of the distal portion (110), the flange extending proximally of the stem (111) and preventing contact between the proximal portion (120) and the stem (111) during articulation.

An anthropomorphic robot hand comprises: a frame (00); four aligned fingers and respective actuation means to rotate the fingers relative to the frame (00); a metacarpal bone (10) fixed to the frame (00) so as to be able to rotate and translate along an axis of rotation (180) of the cylindrical joint; a thumb (11) fixed to the metacarpal bone (10) so as to be rotatable along an axis (140) of the rotary joint; means for actuating the thumb (11) and the metacarpal bone (10); the invention relates to a device for actuating a thumb and a metacarpal bone, characterized in that the device for actuating the thumb and the metacarpal bone comprises: a first sub-mechanism actuated by a first motor (M2) integral with the thumb (11) and configured to move, by means of a worm (R2), a ring gear (T2) fixed so as to engage with corresponding teeth provided on the metacarpal bone (10), the rotation of the proximal phalanx relative to the metacarpal bone corresponds to the rotation of the ring gear (T2); a second sub-mechanism actuated by a second motor (M3) integral with the frame (00) and configured to move, by a worm (R3), a ring (T3) configured to rotate, by a clutch (C1), the metacarpal bone (10) relative to the axis (180) of the cylindrical joint.

The invention relates to an orthosis (1) for wearing on a hand (2) of a person for at least limiting the movement of the carpometacarpal joint (CMCj) of the thumb, preferably also limiting the movement of the metacarpophalangeal joint (MCPj) of the thumb (2-1), the orthosis (1) comprising a metacarpal portion (3) extending across the metacarpal bones of the fingers 2 to 5 and a thumb portion (4) in a curved or ring shape fitting around the thumb (2-1), preferably around the proximal phalanx (6) of the thumb (2-1). The thumb portion (4) is connected to the metacarpal portion (3) via a thumb metacarpal portion (7) extending along and / or around the thumb metacarpal (8) when the orthosis (1) is worn on the hand (2).

This application discloses a biological dual-motion total wrist joint prosthesis, relating to the field of prosthesis structure technology. This biological dual-motion total wrist joint prosthesis achieves effective replacement of the wrist joint by incorporating a medullary rod and metacarpal fixation structure. In particular, the configuration of the palm fixation rod and rotation ball allows the prosthesis to function effectively at the wrist joint, replacing the damaged original joint and thus ensuring wrist rotation function. This structure not only effectively fixes the metacarpal bones but also improves the prosthesis's rotation angle and range of motion, avoiding the drawbacks of traditional prostheses that lack sufficient mobility to meet the patient's flexible movement needs. Wrist flexion, extension, and displacement movements are smoothly completed, significantly improving the prosthesis's performance.

The embodiment of the application provides a dexterous hand thumb, a dexterous hand and a robot, the dexterous hand thumb comprising: a first driving assembly arranged in a carpal bone assembly, a second driving assembly arranged at a first end of a metacarpal bone assembly and a third driving assembly arranged at a second end of the metacarpal bone assembly, a fourth driving assembly arranged at a first end of a phalanx assembly, and a first end of a first connecting piece is in transmission connection with an output shaft of the first driving assembly, a second end of the first connecting piece is in transmission connection with an output shaft of the second driving assembly, a first end of a second connecting piece is in transmission connection with an output shaft of the third driving assembly, and a second end of the second connecting piece is in transmission connection with an output shaft of the fourth driving assembly; because the dexterous hand thumb is provided with more driving assemblies, more active degrees of freedom are obtained, and the bionic performance of the dexterous hand thumb is improved.

The utility model belongs to the technical field of medical instruments, and particularly relates to a first metacarpal bone basilar fracture fixing splint. According to the first metacarpal bone basal part fracture fixing splint, the near-end plate can be fixed to the wrist of a patient through the third bridle, the far-end plate is fixed to the proximal joint basal part and the interphalangeal joint of the thumb through the first bridle and the second bridle, and the abduction angle of the thumb is controlled by adjusting the length of the adjusting rod; the first metacarpal bone basilar part is fixed, the hinged position of the near-end plate and the far-end plate is located at the wrist joint of the patient, the skin of the patient cannot be bruised, loosening caused by hand movement of the patient cannot happen, and therefore the good fixing effect is guaranteed.

The application discloses a self-locking double-acting full-wrist joint prosthesis, relates to the technical field of prosthesis structures, and realizes effective replacement of a wrist joint through the arrangement of a stem and a first locking screw. In particular, the arrangement of the palm fixing rod of the stem and the rotating ball part enables the prosthesis to play a role at the position of the wrist joint, replaces the damaged original joint, and thus guarantees the rotating function of the wrist. The structure not only can effectively fix the metacarpal bone, but also improves the rotating angle and the activity range of the prosthesis, avoids the defects that the traditional prosthesis cannot meet the flexible movement requirements of patients due to insufficient activity, and enables the flexion and extension and the deviation movement of the wrist to be smoothly completed, and thus the use performance of the prosthesis is remarkably improved.

Provided is a hemostatic device (110) that can effectively apply a compression force against a puncture site (p1-p4) even when the puncture site (p1-p4) formed at a prescribed position avoiding the index finger metacarpal bone (B1) and the thumb metacarpal bone (B2) of the hand (H) is hemostatic. The hemostatic device (100) has a support member (110) configured to cover a first puncture site (p1), a fixing member (120) configured to fix the support member (110) to the first puncture site (p1), and an expansion member (180) connected to the support member (110) and configured to compress the first puncture site (p1), the rigidity of the support member (110) being greater than the rigidity of the expansion member (180). The width (W) of the support member (110) narrows from an upper end portion (111) toward a lower end portion (112). The thickness of a side surface portion (113) of the support member (110) thins from the upper end portion (111) toward the lower end portion (112).

A small bone internal fixation system for orthopedic surgery is disclosed. This includes a fixation plate which is fixated to the bone before making the osteotomy cut of the head from the bone and can act as a cut guide for the cutting action. A buttress portion on a side of the fixation plate provides a front buttress surface which acts as the cutting guide and locates the translational movement of the cut head so as to prevent the metatarsal or metacarpal bone head from swiveling as it translates and allows for an easy method of temporarily and then permanently fixating the metatarsal or metacarpal head using firstly a wire guide and then a screw guided by the wire which fastens the bone head to the buttress portion.

The embodiment of the application provides a dexterous hand finger, a dexterous hand and a robot, the dexterous hand finger comprising: a cross shaft assembly comprising a first rotating shaft and a first shaft sleeve, the first rotating shaft being fixedly connected with the first shaft sleeve, and the minimum included angle between the first axis and the second axis being greater than or equal to 80 degrees; the first axis being the central axis of the first rotating shaft, and the second axis being the central axis of the first shaft sleeve; a first driving assembly being arranged in a knuckle assembly, and an output end of the first driving assembly being in transmission connection with the first rotating shaft; a second driving assembly being arranged in a metacarpal bone assembly, and an output end of the second driving assembly being in transmission connection with the first shaft sleeve; in this way, since the cross shaft assembly comprising the first rotating shaft and the first shaft sleeve, and the minimum included angle between the first axis and the second axis being greater than or equal to 80 degrees, after realizing the degree of freedom that the dexterous hand finger bends towards the palm and stretches away from the palm through the first shaft sleeve, the dexterous hand finger can realize the degree of freedom that the dexterous hand finger abducts and adducts through the first rotating shaft.

A bone joint implant (1) has a proximal part (120) for translational motion over the trapezium in a first carpometacarpal joint and a distal part (110) for intramedullary engagement in the first metacarpal bone. An articulating coupling (103, 121, 123) is for multi-axial motion with translational movement over a bone in one part (120) and rotation in the other part (110) about the articulating coupling (121, 103). A flange (105) extends radially and around the coupling to limit relative rotational motion of the proximal and distal parts about the coupling, and to provide resilience for contact between the proximal and distal parts. The flange has a contoured surface (101) matching an abutting surface (125) of the proximal part (122) upon articulation of the parts in use to extreme positions. The flange (105) is included in an insert (100) in a stem (111) of the distal part (110), the flange extending proximally of the stem (111) and prohibiting contact between the proximal part (120) and the stem (111) during articulation.

The invention belongs to the technical field of humanoid robots, and discloses a modularized thumb mechanical finger simulating human hand movement characteristics, which comprises a base module, a metacarpal bone module, a proximal knuckle and a distal knuckle. The base module provides a connection interface with a palm or arm robot. The metacarpal bone module has three active degrees of freedom and is driven by a lead screw sliding block mechanism, and palm aligning, abduction and toppling motions are accurately achieved. And the proximal knuckles realize bending movement. The far-side knuckles and the near-side knuckles move in a coupling mode through a four-connecting-rod mechanism, decoupling is achieved through a rocker sliding block mechanism, and the passive self-adaptive capacity is achieved. The human thumb movement function is highly simulated, the structure is compact, driving is efficient, fine finger alignment and grabbing operation can be stably completed, meanwhile, integration is facilitated through modular design, and the operability, adaptability and intelligent level of the humanoid dexterous hand are improved.