120 results about "Metacarpophalangeal joint" patented technology

A work glove particularly useful for gardening, automobile mechanical work and any other type of use which brings the palmar side of the hand in contact with work or the like which may result in stinging, bruising, or blistering of the fingers, thumb and palm of a human hand is provided with protective padding disclosed or positioned for overlying at least the distal halves of the index finger and long finger metacarpals excluding the metacarpalphalangeal joints of the index finger and the long finger. Preferably, the glove also includes protective padding disposed along a thumb stall of the glove at a location adapted to be along an ulnar border as well as the A2 pulleys of the thumb's proximal phalanx between the metacarpalphalangeal joint and the interphalangeal joint.

A humanoid electric hand includes a metacarpophalangeal joint and an interphalangeal joint. The interphalangeal joint bends or extends together with a bending or extending operation of the metacarpophalangeal joint, by linking a finger motor for driving a finger to a worm deceleration mechanism, an output gear of which moves rotationally to bend or extend the metacarpophalangeal joint, and by linking the metacarpophalangeal joint to the interphalangeal joint via a link mechanism.

Provided is a data glove which imparts little discomfort when worn, and is capable of accurately detecting movement of a hand, comprising: a glove main body; and a plurality of strain sensors which are disposed on the dorsal side of the glove main body in regions corresponding to at least one finger, and which detect stretch and contraction of the glove main body. The strain sensors preferably include a first strain sensor and a second strain sensor which are disposed on the dorsal side of the glove main body to correspond respectively to a proximal interphalangeal joint and a metacarpophalangeal joint of at least one finger of the second through fifth fingers, and which detect stretch and contraction of the glove main body in a proximal-distal direction. The data glove preferably further comprises a plurality of stretch prevention parts which limit the elongation of the glove main body.

The invention relates to an exoskeleton finger function rehabilitation device based on a multi-section continuous structure. The exoskeleton finger function rehabilitation device comprises a finger driving mechanism pasted on a glove module through a hook-and-loop fastener, the finger driving mechanism is connected with a linear push rod motor, the linear push rod motor is fixed to a loading platform, and the loading platform is connected to the sleeve module and located at the forearm position of the injured hand; the finger driving mechanism comprises an exoskeleton index finger driving mechanism, an exoskeleton middle finger driving mechanism, an exoskeleton ring finger driving mechanism and an exoskeleton little finger driving mechanism covering the metacarpophalangeal joint end, the proximal finger joint end and the distal finger joint end of all exoskeleton fingers; the linear push rod motor drives spring sheets to move forward to cause the spring sheets to deform and bend and drive the fingers to bend, and when moving backwards, the linear push rod motor drives the fingers to stretch. The exoskeleton finger function rehabilitation device is capable of providing CPM rehabilitation training on a patient and is simple and compact in structure and adaptive to fingers of different patients in size.

The invention discloses an all-drive type smart manipulator. The all-drive type smart manipulator comprises a chute type palm, four fingers and a thumb, wherein the thumb and the four fingers respectively sequentially comprise an upper metacarpophalangeal joint, a middle metacarpophalangeal joint, a lower metacarpophalangeal joint and a basic joint, the basic joints of the four fingers are respectively arranged in the chute type palm in parallel in the same direction by virtue of respective rectangular fixed blocks; the basic joint of the thumb is vertically arranged on the chute type palm by virtue of a round fixed block on a thumb mounting and adjusting structure, the thumb mounting and adjusting structure is arranged in a chute at the lower part of the chute type palm, and the mounting position and orientation of the thumb are manually adjusted and fixed; and the five fingers respectively form three driving curve degrees of freedom and one driving sway degree of freedom, so that twenty driving degrees of freedom are formed in total. The fingers are all driven by adopting a built-in stepping motor, a spiral bevel gear is adopted to realize rotation of the joints, and the kinematic accuracy is high. The orientation and mounting position of the thumb can be adjusted in the mechanical structure in the invention, thus the dexterity and grabbing stability of the manipulator are improved, and the grabbing space of the manipulator is increased.

The invention provides a micro-intelligent exoskeleton finger recovery robot which comprises a hand back part, a finger part, a steel wire transmission mechanism, a gear transmission mechanism, a motor, a connecting shaft, a driving shaft, a driven shaft and a bending sensor. The micro-intelligent exoskeleton finger recovery robot mainly provides two degrees of freedom at metacarpophalangeal (MCP) joints and proximal interphalangeal (PIP) joints, the steel wire transmission mechanism and the gear transmission mechanism are driven by the motor to motion to realize bending and stretching of fingers of a hemiplegic patient, and the bending sensor feeds back the bending angle of the fingers in real time. The micro-intelligent exoskeleton finger recovery robot adopts network communication connection, has high technical content, can assist the patient in completing recovery training safely, and can effectively stimulate brain nerves to promote the recovery of a hand by means of scientific reciprocating motion. Besides, the micro-intelligent exoskeleton finger recovery robot has the advantages of being portable, wearable, suitable for domestic recovery, and the like.

The invention provides a wearable type pneumatic muscle and knuckle active / passive rehabilitation training device which is capable of effectively assisting a patient to finish repeated functional trainings of multi-knuckle compound motions of fingers. The training device comprises a wearable support, a metacarpophalangeal joint two-way, a finger-near joint two-way, a finger-far joint two-way, a fingertip two-way and an air pipes. Finger-far joint pneumatic muscles are fixed on the metacarpophalangeal joint two-way and the finger-near joint two-way and communicated with the finger-far joint two-way. Finger-near joint pneumatic muscles are fixed on the finger-far joint two-way and the finger-near joint two-way and communicated with the finger-near joint two-way. Metacarpophalangeal joint muscles are fixed on the finger-near joint two-way and the metacarpophalangeal joint two-way and communicated with the metacarpophalangeal joint two-way. According to the invention, the training device used for simulating degree of freedom of knuckles; larger work space can be provided in a rehabilitation training; the knuckles are provided with active and passive assisting trainings; by use of the wearable structure, the training device is simple in structure, light and highly targeted in trainings, and can be directly used on fingers of a patient, and for active and passive cooperative trainings of knuckles in a complex training mode.

The invention relates to a portable multi-mode controlled hand function rehabilitation training device, wherein a four-fingered driving mechanism and a four-fingered reducing mechanism are arranged on a thumb plate; a thumb driving mechanism and a thumb reducing mechanism are arranged on the thumb plate; the four-fingered driving mechanism is connected with a connecting rod mechanism by the four-fingered reducing mechanism; the connecting rod mechanism is connected with a curved chute mechanism and a self-adaption finger adjusting mechanism; the curved chute mechanism is driven by the four-fingered driving mechanism, so that the movement of metacarpal joints and the movement of proximal phalangeal joints are realized; the thumb driving mechanism is connected with a thumb driving connecting rod mechanism by the thumb reducing mechanism; the driving connecting rod mechanism is connected to a thumb curved chute mechanism; the front end of the thumb curved chute mechanism is connected with a non-elastic bandage for thumbs; the thumb driving mechanism drives the thumb curved chute mechanism to prompt thumb joints to move. According to the portable multi-mode controlled hand function rehabilitation training device, two micro-motors are used for realizing single training of thumbs, and joint training and grabbing training of four fingers; the independent movements of thumb metacarpophalangeal joints, four-finger metacarpophalangeal joints and proximal phalangeal joints under a simple structure are realized.

The invention relates to an exoskeletal thumb moving function rehabilitation robot. The robot comprises an execution part, a transmission part and a drive part, wherein the execution part is divided into an interphalangeal joint module, a metacarpophalangeal joint module and a carpometacarpal joint module; in the carpometacarpal joint module, a metacarpal seat is fixed on the palm and wrist of a patient; the metacarpal seat and a metacarpal seat connector form a dip angle of 30 degrees, and the metacarpal seat connector has an angle of 45 degrees; an angle sensor is fixedly connected to a joint horizontal rotor, and is fixedly connected with an abduction / adduction coil; an adjustable bearing block is fixedly connected with a size adjusting jack; one end of a palm driven rod and the adjusting bearing block form a rotating pair, and the other end of the palm driven rod and a palm drive rod form a rotating pair; and the palm drive rod is fixed on a palm drive shaft, and the drive shaft and a palm drive bearing block form a rotating pair. According to the exoskeletal thumb moving function rehabilitation robot, four degrees of freedom active and passive rehabilitation of the thumb can be realized, and the problem that the robot is difficult to wear due to the difference between the physiological structure of the thumb and the other four fingers can be solved.

The invention relates to a finger rehabilitation robot, in particular to an exoskeleton type wounded finger rehabilitation robot. The exoskeleton type wounded finger rehabilitation robot can solve the problems that an existing exoskeleton type wounded finger rehabilitation robot is large in labor intensity and long in rehabilitation time and cannot directly feed a rehabilitation effect back. A metacarpophalangeal joint unit of an index finger exoskeleton is fixed to a first spur gear at the front end of a drive module through a screw; a metacarpophalangeal joint unit of a middle finger exoskeleton is fixed to a second spur gear at the front end of the drive module through a screw; a metacarpophalangeal joint unit of a ring finger exoskeleton is fixed to a third spur gear at the front end of the drive module through a screw; a metacarpophalangeal joint unit of a little finger exoskeleton is fixed to a fourth spur gear at the front end of the drive module through a screw, three steel wires are respectively led out of a pulley block of an artificial muscle drive module, and the led-out ends of the three steel wires are sequentially connected with the a first pulley of a distal interphalangeal joint unit, a second pulley of a proximal interphalangeal joint unit and a third pulley of the metacarpophalangeal joint unit. The exoskeleton type wounded finger rehabilitation robot is applied to exoskeleton type wounded finger rehabilitation.

The invention discloses a prosthetic electric smart manipulator. The prosthetic electric smart manipulator comprises an electric thumb, four electric fingers and a mechanical palm, wherein the electric thumb and the four electric fingers respectively sequentially an upper metacarpophalangeal joint, a middle metacarpophalangeal joint, a lower metacarpophalangeal joint and a base body, the lower metacarpophalangeal joints of the four electric fingers are respectively arranged in the mechanical palm in the same direction by virtue of the respective base bodies, the lower metacarpophalangeal joint of the electric thumb is arranged in the mechanical palm by virtue of the base body of the electric thumb, the electric thumb is positioned at the other side of the mechanical palm, and the five electric fingers and the mechanical palm are in the same plane; and the electric thumb has four driving degrees of freedom, each electric finger has three driving degrees of freedom and one driven degree of freedom, so that sixteen driving degrees of freedom and four driven degrees of freedom are formed in total, are consist with the degrees of freedom of a hand, thus a hardware device is provided for master-slave control of the manipulator. According to the invention, arrangement in a bionic hand shape, skeleton structure of fingers of the hand and movement functional design of the fingers of the hand are adopted, thus the manipulator in the invention not only can be applied to the industrial field but also can be used as an artificial limb of the hand.

The invention discloses a full-joint measurement type data glove. The data glove is connected with a manipulator or a computer end and comprises a glove body with two layer structures and a pluralityof bending degree sensors and a plurality of strain sensors, wherein the bending degree sensors and the strain sensors are located between the two layer structures. The bending degree sensors are arranged at metacarpophalangeal joints and interphalangeal joints at the glove body. The strain sensors are arranged at the metacarpophalangeal joints of the glove body. The bending degree sensors and thestrain sensors are used for obtaining the movement information of the fingers perpendicular to the palm and the fingers parallel to the palm. By means of the full-joint measurement type data glove, the longitudinal and transverse movement information of the fingers of an operator can be obtained, and the movement information is transmitted to the manipulator or the computer end; and in addition,the inner layer structure of the glove body is made of nitrile or rubber, the outer layer structure is made of cotton, and the full-joint measurement type data glove further has the advantages of being simple in wearing mode and low in maintenance difficulty.

The invention discloses a 32-degree-of-freedom bionic compliant internal skeleton dexterous hand. The dexterous hand uses an anatomy structure of a human hand for reference, a hand portion is of an inner skeleton type, and the outer surface is suitable for being covered with a flexible bionic skin layer with a certain thickness; a joint adopts double-driver antagonistic type drive, so that the compliance operation and the robustness are both taken into account; a tendon coupling piece and a tendon sheath fixing piece are adopted, so that the hand portion and a wrist portion can be easily disassembled and assembled; metacarpophalangeal joints of five fingers all have convolution degrees of freedom so that the fingers can automatically and compliantly adapt to a complex curved surface; a carpometacarpal joint of a thumb has two degrees of freedom of bending-stretching and annular rotation, a metacarpophalangeal joint of the thumb has the degree of freedom of side sway, carpometacarpal joints of a ring finger and a small finger have degrees of freedom of bending-stretching and inward retracting-outward stretching, an opposing action can be performed so that complex pinching operationcan be executed; the axes of all the degrees of freedom of the multi-degree-of-freedom joint are orthogonal, so that control and motion planning calculation is facilitated; and the dexterous hand is very suitable for compliantly operating objects of complex shapes, so that production, disassembly, assembly and maintenance are facilitated.

An externally-powered prosthesis mechanism usable with persons with amputations at or proximal to the level of the metacarpophalangeal joint, as well as persons with high-level amputations. The prosthesis mechanism includes a grasping mechanism including a mechanically operable finger member and a mechanically operable thumb member kinematically linked to the finger member such that the grasping mechanism is disposed in respective opened and closed configurations when the finger member is respectively moved away from and toward the thumb member. The prosthesis mechanism further includes a drive system extending tangentially with respect to the grasping mechanism and including a motor operatively connected to drive at least one planetary gear stage, which is operatively connected to drive the grasping mechanism to the opened configuration when the motor is driven in a first direction and further drive the grasping mechanism to the closed configuration when the motor is driven in a second opposite direction.

The invention relates to a preparation method of a conductive thermoplastic starch polymer and a polymer-based humanoid soft finger with a folding paper structure, belongs to the technical field of humanoid fingers, and aims to solve the problems that in an existing humanoid soft finger with the variable rigidity realized by utilizing a thermal phase change material, the variable rigidity responsespeed is low due to long response time of conversion from a glass state to a high-elasticity state, and the joint motion flexibility and the rigidity of the humanoid soft finger cannot be realized atthe same time. The polymer-based humanoid soft finger comprises a finger root, a metacarpophalangeal joint, a proximal phalanx, an interphalangeal joint, a middle phalanx, a finger tip joint, a distal phalanx, a strain restraint layer, a variable rigidity layer, a cooling layer and a contact layer, wherein each joint is provided with a U-shaped groove, and the outer side of each joint is wrappedwith Yoshimura line type folding paper; and three self-made conductive thermoplastic starch polymer plates are arranged at the bottom of the finger. The humanoid soft finger not only can realize rapidand active control of the rigidity of the phalanxes, but also can realize synchronous and passive adjustment of joint flexible motion and joint rigidity, and has the advantages of fast variable rigidity, high adaptability and flexibility in motion.

The invention relates to a flexible manipulator based on sensing of a bionic strain sensor array. A liquid crystal elastic body (1) has a hand-shaped structure, and an elastic insulating bottom plate(4) is positioned at the position of a palm, is embedded in the liquid crystal elastic body (1) and can deform when pressure is applied to the elastic insulating bottom plate (4); an array formed by bionic strain sensors (2) adheres to the elastic insulating bottom plate (4); the bionic strain sensors (2) are connected with power supply portions (5), the power supply portions (5) are Wheatstone electric brides, and the inside of each electric bridge is connected with the corresponding bionic strain sensor (2); each power supply portion (5) is connected with a control module (7) through an amplifying circuit module (6); flexible circuit polyimide films are separately embedded at positions of first interphalangeal joints, second interphalangeal joints and metacarpophalangeal joints of all fingers of the liquid crystal elastic body (1), and can bent along with bending of the liquid crystal elastic body (1); and each polyimide film heater (3) is connected with the corresponding control module (7). The flexible manipulator based on sensing of the bionic strain sensor array is suitable for objects which are small in mass, small in size and difficult to grab comparatively.

The invention relates to a hand brace for immobilizing and adjustably positioning one or more digits of the hand, and more specifically, to a brace having a flexible sheet member for application to a wrist and hand, at least one adjustable stabilizing member extending the length of the sheet member that is sufficiently rigid to maintain joints at a desired angle of flexion, a semi-rigid member positioned against the flexible sheet member for protecting and supporting joints of the hand and defining an opening for relieving pressure on a joint, and straps for adjustably securing the invention to the hand. Advantageously the invention immobilizes the hand such that the fourth and fifth metacarpophalangeal joints of the hand are positioned at a desired angle of flexion and fourth and fifth interphalangeal joints of the hand are positioned at a desired angle of extension.

The invention discloses a wearable and portable hand rehabilitation training device. The wearable and portable hand rehabilitation training device comprises a wearing part, a driving part and a connecting part, wherein the wearing part is used for a to-be-rehabilitated / trained hand to wear, and motion of the wearing part is realized under the driving of the driving part, so that rehabilitation training of the hand is realized; the connecting part is used for realizing connection between the wearing part and the driving part. According to the wearable and portable hand rehabilitation training device disclosed by the invention, motion of eight joints such as metacarpophalangeal joints and middle joints of an index finger, a middle finger, a ring finger and a little finger can be driven by utilizing two driving motors, and human hand motion function rehabilitation treatment can be realized; the wearable and portable hand rehabilitation training device has the advantages of wearability, portability, light mass, small size, simpleness in control, high safety coefficient, energy saving and the like, is particularly suitable for the field of the medical instruments and has wide research value and a wide application prospect.

The invention relates to a data glove for detecting finger movement state of human hands, in particular to a thumb metacarpophalangeal joint movement detection device, and aims to solve the problem that an existing data glove is high in sensor price, complex in system, difficult to maintain and the like. The device which clings to the outside of a human hand to detect joint movement is designed, and a unique connecting mode and ingenious joint measuring point layout are adopted, so that impedance and influence, on finger movement of an operator, of a detection mechanism are lowered or eliminated; when the operator uses the device, flexibility and lightness in movement of fingers can be maintained to greatest extent, and movement state of joints can be accurately detected, so that finger joints of a controlled slave hand and corresponding finger joints of the operator are enabled to act coordinately, and complex control on the slave hand with multiple degrees of freedom is enabled to be visual, simple and convenient.

The invention provides a functional rehabilitation robot based on flexible cable-driven hand movement. The functional rehabilitation robot is composed of a driving unit and an execution unit connected with the driving unit; the execution unit comprises a metacarpophalangeal joint unit module for driving the finger root joints to move, a proximal interphalangeal joint unit module for driving the finger middle joints to move and a distal interphalangeal joint unit module for driving the finger end joints to move, and the driving unit comprises three sets of driving modules which work independently, have the completely same structure and correspondingly drive the metacarpophalangeal joint unit module, the proximal interphalangeal joint unit module and the distal interphalangeal joint unit module. According to the functional rehabilitation robot, not only can the three freedom degrees of the fingers except for the thumb and the movement angles of all the joints be met, but also a serial elastic driver is introduced, and therefore precise control over the joint moment is guaranteed; in addition, most parts are made through 3D printing, the weight of the acting fingers is greatly decreased on the premise that the strength is guaranteed; furthermore, the robot adapts to the individual difference of the finger length within a certain range.

A thumb function rehabilitation exoskeleton robot relates to exoskeleton robots. The thumb function rehabilitation exoskeleton robot solves the problem that existing rehabilitation mechanical arm cannot thoroughly simulate natural motions of finger joints, is poor in rehabilitation treatment effects and lacks a sensing function. According to the thumb function rehabilitation exoskeleton robot, an interphalangeal joint unit and a metacarpophalangeal joint unit drive thumb joints and metacarpophalangeal joints to bend or stretch through flat guide rod mechanisms; a thumb carpal joint unit is centered to the carpal joint of a thumb directly through a metacarpal adjustment mechanism to achieve contracting or extending motions of the carpal joint; a transmission driving mechanism is powered by a direct current motor; a cable reel module transfers the moment output by the direct current motor to the interphalangeal joint unit, the metacarpophalangeal unit and the carpal joint unit through Bowden cables. The thumb function rehabilitation exoskeleton robot is applicable thumb function rehabilitation.

The invention discloses a method for computing hand rehabilitation indexes based on a sensing technology. The method comprises the steps that a space sensor is arranged in a pair of intelligent gloves and corresponds to a target joint in position, wherein the target joint comprises a thumb interphalangeal joint, a thumb metacarpophalangeal joint, four-finger proximal interphalangeal joints, a metacarpophalangeal joint and a wrist joint. A patient wears the intelligent gloves to complete training actions, the training actions include a hand exercise stretching action, a hand exercise fist making action and a patient fist making action. The space sensor acquires kinematics parameters of the target joint in each training action, and the kinematics parameters include sagittal axis motion angle variation and strength variation. The rehabilitation indexes of the patient are determined according to kinematics parameters. By the adoption of the method, the rehabilitation indexes of the patient can rapidly and accurately calculated, accordingly the rehabilitation situation of the patient is converted into digital quantity, a doctor is effectively guided to assess the rehabilitation situation of the patient, and a rehabilitation plane is further perfected to select hand actions having clinic treatment values.

The invention relates to a flexible hand functional rehabilitation training device. The device comprises a double-shaft output speed reducer, a pair of first-stage synchronous belt drive mechanisms symmetrically arranged on the two sides of the speed reducer and in drive connection with the speed reducer, second-stage planet synchronous belt drive mechanisms in drive connection with the first-stage synchronous belt drive mechanisms, an adaptive adjusting bracket in drive connection with the second-stage planet synchronous belt drive mechanisms through gear sets, and finger flexible drive modules arranged on the adaptive adjusting bracket. Compared with the prior art, the overall structure is compact, the problems that hand rehabilitation of a stroke patient is difficult, and hand training can be carried out only by depending on professional doctors can be effectively solved, the current situation that existing hand rehabilitation equipment is poor in adaptability is broken through, left and right interchange can be achieved, rapid adjustment of the lengths of modules and the intervals between the modules is driven, and independent motion of thumb metacarpophalangeal joints, four-finger metacarpophalangeal joints and proximal interphalangeal joints under a lightweight structure can be achieved.

The invention discloses a multi-degree of freedom human-simulated rigid-flexible mixing hand and a manufacturing technology thereof, and belongs to the technical field of robots. Each soft finger includes metacarpophalangeal joints and interphalangeal joints, wherein a central air flue communicates with a central air cavity. A plurality of metacarpophalangeal joint air cavities surround the central air flues. A layer of fiber limiting threaded pipes are wound around the metacarpophalangeal joint air cavities. The central air flues and the tail ends of the multiple metacarpophalangeal joint aircavities are inserted into a finger base. A ventilating cavity is formed inside the body of a hard palm, and the hard palm fix the soft fingers through screws. Each central air flue, each metacarpophalangeal joint cavity and each central air cavity achieve air inflow through capillary silica gel hoses. The active degree of freedom is multiple, the human hand joint structure is simulated, and thejoint angle and motion relations are close to human hand parameters. Due to the joint type structure, compared with a continuous bent soft claw, the hand has the larger enveloping space, the grabbingperformance is better, the flexibility is good, and the hand has the good adaptability for soft and fragile objects and unstructured environment.

The invention provides a multi-degree-of-freedom soft finger rehabilitation robot. The robot comprises a flexible exoskeleton glove, a flexible angle sensor, Bowden cables and a driving module, wherein the flexible angle sensor is distributed on the flexible exoskeleton glove, the driving module comprises a single-chip microcomputer and a plurality of groups of motor drives, each group of motor drive is composed of a direct-current motor, a worm and gear and a motor control cabinet, the flexible exoskeleton glove adopts a three-finger structure, the motor drives are installed at metacarpal bones, close to metacarpophalangeal joints, of the flexible exoskeleton glove and at proximal phalanxes, close to second joints of three fingers, of the flexible exoskeleton glove; the motor drives are connected with the joint ends or the pointed ends of the flexible exoskeleton glove through the Bowden cables, and the second digital joints and the metacarpophalangeal joints of glove fingers can be driven to move through the Bowden cables. According to the robot, the second digital joints and the metacarpophalangeal joints of the fingers can be independently controlled, six degrees of freedom canbe controlled, the comfort and the functionality are achieved, and meanwhile, the cost is saved.

The invention discloses a five-finger independently-driven mechanical artificial hand, which comprises five fingers and a wrist and is characterized in that the fingers and the wrist commonly have 19 degrees of freedom, wherein each finger is respectively provided with three joints, i.e. a distal interphalangeal joint, a proximal interphalangeal joint and a metacarprophalangeal joint; three joints of each finger are connected with a drive motor through a first line and a second line so as to draw each finger to move; the wrist is provided with three joints, i.e. a joint rotating around a z shaft, a joint rotating around an x shaft and a joint, which is arranged between the joint rotating around the z shaft and the joint rotating around the x shaft, rotates around a y shaft; and the joints of the wrist are provided with windings of the drive motor for driving the wrist to rotate. Compared with the prior art, five fingers of the mechanical artificial hand have similar joint structures to fingers of people and higher degree of freedom; and in addition, the invention has the advantages of simple structure, light weight as well as good flexibility, low cost and flexible motion by pulling hand through lines, so that the invention is beneficial for the disabled to use in daily life.