52 results about "Proximal phalanx" patented technology

The invention discloses a bionic rope-driven finger, which adopts single tendon rope drive to be matched with a movement coupling transmission rod, and solves the technical problems that the number of tendon ropes of the existing rope-driven finger is large, and multi-joint coordinated movement is difficult. The finger comprises a near-end knuckle, a middle knuckle and a far-end knuckle which are hinged in sequence, and the whole finger can be driven to bend through a tendon rope anchored to the far-end knuckle. The tendon rope is connected to the near-end knuckles and the far-end knuckles in a pivoted mode through the movement coupling transmission rods arranged on the spanning middle knuckles, and when the tendon rope pulls the far-end knuckles to bend, the movement coupling transmission rods mechanically transmit movement to the near-end knuckles, so that the two knuckles automatically form a coordinated bending proportion, and the natural movement mode of human fingers is simulated. The elastic restoring element provides stretching restoring force when the tendon rope is loosened, so that the fingers automatically return to the straightened state, and bidirectional movement control is achieved through the single tendon rope. According to the scheme, the tendon rope layout is simplified, the assembling efficiency and reliability are improved, and stable grabbing is achieved.

The invention discloses a single-motor-driven two-finger clamping jaw with a parallel clamping and self-adaption function, and relates to the technical field of industrial robots. A winding groove is integrally formed in the center of the tail end of each far knuckle and hinged to the top end of the corresponding near knuckle through a front joint shaft, the tail end of each near knuckle is hinged to the top end of the corresponding root knuckle through a rear joint shaft, and the far knuckles apply eversion torque. The winding wheel disc is installed on the rear joint shaft and provided with a reset clockwork coil spring, the driving connecting piece is connected with the tail end of the far knuckle and the edge of the winding wheel disc, and the coupling rope is connected with the edge of a winding groove of the far knuckle and the top end of the root knuckle. The linear motor drives a sliding block in a longitudinal sliding groove in the middle of the base, the two mechanical fingers are symmetrically installed on the two transverse sides of the base, the middle of the driving rope penetrates through the sliding block, and the two ends of the driving rope are fixed and wound on the winding wheel disc. The two two-degree-of-freedom mechanical fingers are driven by a single motor, flexible switching between parallel clamping grabbing and self-adaptive grabbing is achieved, the grabbing efficiency, stability and environment adaptability are improved, and the control difficulty is reduced.

The invention belongs to the field of robots, and particularly relates to a three-degree-of-freedom rigid-flexible coupling dexterous finger and a dexterous hand, and the dexterous finger comprises a finger knuckle module, a double-end spherical hinge connecting rod, a palm inner finger driving module, a driving transmission mechanism and an arm inner finger driving module. By fusing a rigid space connecting rod mechanism and a flexible driving transmission mechanism, the contradiction that a traditional rigid structure lacks flexibility and a flexible structure is insufficient in rigidity is ingeniously solved. Two degrees of freedom of flexion and extension and adduction and abduction of fingers at metacarpophalangeal joints are realized by utilizing a spatial connecting rod mechanism formed by a knuckle supporting frame, a proximal phalanx, a deflection transverse shaft and a double-end spherical hinge connecting rod; meanwhile, the power of the finger driving module in the arm is efficiently transmitted to the interphalangeal joints through the driving transmission mechanism, the middle joint and the distal phalanx are driven to achieve coupling or self-adaptive buckling, and therefore the third degree of freedom is obtained, and the problem that the contradiction exists between insufficient flexibility of a traditional rigid structure and insufficient rigidity of a flexible structure is solved.

A method of preparing a metatarsophalangeal joint for fusion may involve surgically accessing the metatarsophalangeal joint and separating the metatarsal from the opposed proximal phalanx at the joint. The technique may involve preparing an end of the metatarsal and preparing an end of the opposed proximal phalanx for fusion. With or without the aid of a bone positioner, the metatarsal may be moved in one or more planes, such as the frontal and transverse planes. The proximal phalanx may also be moved in one or more planes, for example relative to the moved metatarsal. Subsequently, a bone fixation device can be applied across or through the metatarsophalangeal joint separating the metatarsal from the opposed proximal phalanx.

The application provides a finger exoskeleton device and a motion decoupling method thereof, a middle phalanx transmission mechanism arranged at a proximal phalanx part and connected with a driving mechanism; a distal phalanx transmission mechanism arranged at a distal phalanx part and connected with the middle phalanx transmission mechanism; and the driving mechanism is used to provide power. The application has the beneficial effect that the finger exoskeleton device and the motion decoupling method thereof can increase the rotation angle of the distal phalanx by decoupling the motion of the distal phalanx and the middle phalanx under the stress action of the middle phalanx only when the grip is insufficient, so that the grip is sufficient.

The application belongs to the technical field of humanoid robots, and discloses a modular mechanical thumb finger with the motion characteristics of a human thumb, which comprises a base module, a metacarpal module, a proximal phalanx and a distal phalanx. The base module provides a connecting interface with a palm or an arm robot. The metacarpal module has three active degrees of freedom and is driven by a screw block mechanism to accurately realize opposition, abduction and dumping motions. The proximal phalanx realizes bending motion. The distal phalanx is coupled with the proximal phalanx through a four-bar linkage mechanism and is decoupled through a rocker block mechanism, and has passive adaptive capability. The application highly imitates the motion function of a human thumb, has compact structure, efficient driving, and can stably complete fine opposition and gripping operations. Meanwhile, the modular design facilitates integration, and improves the operability, adaptability and intelligent level of the humanoid dexterous hand.

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 utility model discloses a finger structure and robot, finger structure includes linear drive assembly, near-end knuckle, middle knuckle, far-end knuckle and flexible rope, linear drive assembly includes motor, worm and worm gear that connect in proper order, near-end knuckle, middle knuckle and far-end knuckle are rotatingly connected in proper order, and the flexible rope is connected in proper order to drive the near-end knuckle, middle knuckle and far-end knuckle. One end of the flexible rope is wound on the worm gear, the other end of the flexible rope is connected to the far-end knuckles, and the motor, the worm and the worm gear sequentially drive the flexible rope to be stretched or loosened so as to drive the far-end knuckles and the middle knuckles to be bent or straightened. By the adoption of the design mode, due to the flexibility characteristic of the flexible rope, the state of the fingers can be adjusted in a self-adaptive mode in the buckling and stretching process, and therefore the flexible self-adaptive grabbing function is achieved, and objects of different shapes and sizes can be flexibly coped with. In addition, due to the fact that the worm gear and the worm have the self-locking characteristic, the finger has the large load capacity.

A robotic gripper comprising: a base; a first finger comprising a proximal phalanx connected to the base by a joint; a second finger comprising a proximal phalanx connected to the base by a joint, the first and second fingers being movable relative to each other; wherein the base comprises a suction cup arranged to allow the gripper to interact with an object by suction.

It measures finger movements accurately with a simple configuration. [Solution] A measuring device 1 for measuring the movement of a finger 3, comprising: a base portion 11 attached to the proximal phalanx 26 of the finger 3; a distal phalanx attachment portion 12 attached to the distal phalanx 28 of the finger 3; a connecting link 13 having one end 13a rotatably connected to the base portion 11 around a first rotation axis A1 and the other end 13b rotatably connected to the distal phalanx attachment portion 12 around a second rotation axis A2, connecting the base portion 11 and the distal phalanx attachment portion 12; and a sensor 14 for measuring the relative position of the distal phalanx attachment portion 12 with respect to the base portion 11, wherein the first rotation axis A1 is positioned on the fingertip 28a side of the PIP joint 22 when the finger 3 is extended.

The utility model discloses an elastic power-assisted fingerstall for assisting typewriting. The elastic power-assisted fingerstall comprises a near knuckle sleeve and a wrist sleeve, wherein the near knuckle sleeve is sleeved on a near knuckle of an index finger, and the wrist sleeve is sleeved on a wrist; the near knuckle sleeve is connected with the wrist sleeve through an elastic strip, and the elastic strip is distributed along the back of the index finger and the back of the palm; and the elastic strip is provided with a tension degree adjusting mechanism. After the elastic assisting fingerstall is worn, the tension degree of the elastic strip is adjusted through the tension degree adjusting mechanism, so that the elastic strip is in an elastic stretching state in a ready typing state. When the keyboard or the mouse is knocked and the index finger is lifted, the elastic strip elastically contracts along the finger back to provide backward and upward pulling assisting force; the working mode that the index finger completely depends on active contraction is changed into the working mode that active contraction and passive contraction are mixed, the index finger extensor contraction strength is reduced through assistance, the tension degree of the index finger extensor and auxiliary muscle groups of the index finger extensor is effectively relieved, and therefore the morbidity probability of chronic strain is reduced.

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.

The invention relates to the technical field of manipulators, and discloses a bionic dexterous hand. The bionic dexterous hand comprises a palm mechanism, a thumb mechanism and at least one finger mechanism, the rotary driving assembly is used for driving the first side-sway driving assembly to rotate around a first axis, the first side-sway driving assembly is used for driving the first near knuckle to perform side-sway motion around a second axis, and the first driving part is in driving connection with the first near knuckle and is used for driving the first middle knuckle assembly to perform flexion and extension motion; the second driving part is in driving connection with the first far knuckle assembly and is used for driving the first far knuckle assembly to bend and stretch; the first far knuckle assembly is used for driving the first fingertip to bend and stretch; the second side-sway driving assembly is used for driving the second near knuckle assembly to make side-sway motion around a sixth axis, and the second near knuckle assembly is used for driving the second middle knuckle assembly to make flexion and extension motion; the second middle knuckle assembly is used for driving the second far knuckle assembly to bend and stretch, and the second far knuckle assembly is used for driving the second fingertip to bend and stretch.

A finger joint reduction simulation training device includes forearm, carpal, metacarpal, proximal phalanx, and middle phalanx portions, and at least one biasing element. The carpal portion is attached to a distal end of the forearm portion. The metacarpal portion is connected to the carpal attachment. The proximal phalanx portion has a proximal end that is connected to the metacarpal portion and a distal end opposite to the proximal end. The distal end includes a dislocation guide surface with a depression formed therein. The middle phalanx portion is positioned adjacent the proximal phalanx portion and includes a proximal end with a terminal surface configured to shift relative to the dislocation guide surface and includes a projection configured to extend into the depression of the dislocation guide surface. The biasing element is configured to bias the terminal surface of the middle phalanx portion against the dislocation guide surface.

To provide an artificial joint capable of adjusting the size of a hinge to the size of the resected surface of each bone.SOLUTION: An artificial joint 1A is applied to a proximal interphalangeal joint. The artificial joint 1A integrally has: a proximal stem 10 inserted into a hole 521 in the proximal phalanx 52 located on the proximal side of the joint; a distal stem 20 inserted into a hole 531 in a middle phalanx 53 located on the distal side of the joint; and a hinge 30 pivotally connecting the proximal stem 10 and the distal stem 20. The hinge 30 includes: a proximal wall 31 facing the distal end 52E of the proximal phalanx 52; a distal wall 32 facing a proximal end 53E of the middle phalanx 53; and a connecting portion 33 connecting the proximal wall 31 and the distal wall 32. The maximum width of the proximal wall 31 in the left-right direction is smaller than the maximum width of the distal wall 32 in the left-right direction.SELECTED DRAWING: Figure 2

Five mechanical fingers of the variable-stiffness rope-driven manipulator are the same in structure and each comprise a near-end phalanx, a middle-section phalanx and a far-end phalanx, and the near-end phalanx, the middle-section phalanx and the far-end phalanx are sequentially and rotationally connected; the variable-rigidity mechanism comprises a mounting part and a variable-rigidity transmission part, the five mechanical fingers are distributed on the mounting part at intervals, the near-end phalanx is rotationally connected with the mounting part, the variable-rigidity transmission part is in sliding connection with the mounting part, and the transmission assembly is connected with the variable-rigidity transmission part; the variable stiffness steering engine is connected with the transmission assembly; wherein each mechanical finger is provided with a stretching tendon rope and a bending tendon rope; a first coupling rope is connected between the middle phalanx and the far-end phalanx, and a second coupling rope is connected between the far-end phalanx and the near-end phalanx. The variable-rigidity rope-driven manipulator has low tendon rope tension when grabbing an object; the variable-rigidity mechanical arm can grab an object with the surface prone to breakage through rigidity adjustment, and has enough safety during man-machine interaction, and belongs to the technical field of variable-rigidity mechanical arms.

The utility model relates to an anti-collision motorcycle glove which comprises a glove body, and the glove body is provided with a palm part, a finger part arranged above the palm part and a wrist part arranged below the palm part. The finger part comprises a finger part body and an elastic sleeve, the finger part body wraps the proximal phalanx and the middle phalanx, the elastic sleeve is connected to the tail end of the finger part body and can wrap the distal phalanx, the elastic sleeve is cylindrical, and the free end of the elastic sleeve is folded towards the back of the hand and is detachably fixed to the finger part body through a connecting piece. The flexibility of fingers is guaranteed, and a half-finger stall can be converted into a full-finger stall when needed.

The application belongs to the technical field of bionic robots, and particularly relates to a bionic finger structure. The technical scheme is as follows: a bionic finger structure comprises a proximal phalanx, one end of the proximal phalanx is rotationally connected with a middle phalanx, the other end of the middle phalanx is rotationally connected with a distal phalanx, the lower side of the distal phalanx is connected with a distal phalanx steel rope, a middle phalanx pulley is sleeved on the rotation shaft between the middle phalanx and the proximal phalanx, the other end of the distal phalanx steel rope is connected with the proximal phalanx after winding around the upper side of the middle phalanx pulley, and the lower side of the middle phalanx is connected with a middle phalanx steel rope; the end of the proximal phalanx away from the middle phalanx is rotationally connected with a finger cross, the two sides of the finger cross are respectively rotationally connected with a proximal phalanx left pulley and a proximal phalanx right pulley, a cross steel rope is fixed on the proximal phalanx, one section of the cross steel rope is connected with the proximal phalanx left pulley and then wound out from the proximal phalanx left pulley, and the other section of the cross steel rope is connected with the proximal phalanx right pulley and then wound out from the proximal phalanx right pulley. The application provides a bionic finger structure.

The application discloses a finger prosthesis and relates to the technical field of prostheses. The finger prosthesis comprises a fixing frame, a proximal phalanx sleeve, a traction rope, a sliding block, a first transmission member, a second transmission member, a middle phalanx prosthesis and a distal phalanx prosthesis. The fixing frame is connected with the sliding block through the traction rope, the sliding block is slidably arranged on the proximal phalanx sleeve, one end of the middle phalanx prosthesis is hingedly connected with the proximal phalanx sleeve, the other end of the middle phalanx prosthesis is hingedly connected with the distal phalanx prosthesis, the sliding block is rotationally matched with the middle phalanx prosthesis through the first transmission member, the middle phalanx prosthesis is rotationally matched with the distal phalanx prosthesis through the second transmission member, the proximal phalanx sleeve can rotate relative to the fixing frame when a disabled person bends the proximal phalanx, so as to pull the sliding block to slide through the traction rope, thereby driving the middle phalanx prosthesis to rotate through the first transmission member, and further driving the distal phalanx prosthesis to rotate through the second transmission member. The finger prosthesis provided by the application can realize flexible rotation, meets the daily life needs of the disabled person, has a simple structure, low production cost and wide application range.

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).

The application relates to a connecting rod transmission three-joint underdrive mechanism for finger rehabilitation, which comprises a proximal phalanx sliding groove connecting rod mechanism and a middle phalanx sliding groove connecting rod mechanism. Through the proximal phalanx sliding groove and the proximal phalanx connecting rod system, the middle phalanx can keep following the proximal phalanx; in the same way, the distal phalanx can keep following the middle phalanx through the middle phalanx sliding groove connecting rod. Therefore, the mechanism can adopt one drive to synchronously control the angles of the three phalanges. The application can effectively reduce the driving quantity of a non-flexible hand rehabilitation medical robot, reduce the control difficulty, and solve the defects of poor control precision, high device cost and heavy weight of the existing non-underdrive manipulator.

The invention provides an under-actuated dexterous hand and a robot. The under-actuated dexterous hand comprises a driving assembly and a driving transmission assembly, and the driving assembly is arranged on a palm; each finger comprises a proximal finger section, a middle finger section and a distal finger section, and the proximal end of the proximal finger section is connected with the driving assembly so that the proximal finger section can rotate relative to the palm; the far end of the near knuckle finger section is rotationally connected with a middle knuckle finger section and a far knuckle finger section in sequence; the driving transmission assembly is arranged on the near knuckle finger section, and at least part of the driving transmission assembly extends to the middle knuckle finger section so that the middle knuckle finger section can rotate relative to the near knuckle finger section, and meanwhile the far knuckle finger section can rotate relative to the middle knuckle finger section. The driving assembly is arranged in the palm to drive the near knuckle finger section to rotate relative to the palm, meanwhile, the driving transmission assembly is arranged in the finger to drive the middle knuckle finger section and the far knuckle finger section to rotate in the same direction, and then the finger is switched between the bending state and the stretching state. A traditional rotating motor driving system is replaced, the overall structure is simplified, the size of the dexterous hand is greatly reduced, and meanwhile the integration cost is reduced.

The application discloses a mechanical finger, a control method, device and equipment of the mechanical finger and a medium, and relates to the field of robots.The mechanical finger 100 comprises a proximal phalanx 10, a distal phalanx 20 and a base 30; the bottom of the proximal phalanx 10 is movably connected with the top of the base 30, and the bottom of the distal phalanx 20 is movably sleeved on the top of the proximal phalanx 10; a proximal phalanx motor 11 and a distal phalanx motor 21 are fixedly arranged in the base 30, the proximal phalanx 10 is in transmission connection with the proximal phalanx motor 11, and the distal phalanx 20 is in transmission connection with the distal phalanx motor 21.In this embodiment, the proximal phalanx motor 11 and the distal phalanx motor 21 are arranged in the base 30, so that the sizes of the proximal phalanx 10 and the distal phalanx 20 tend to the actual sizes of a human hand, and thus the precise control of the mechanical finger 100 is realized.

The utility model discloses a multi-degree-of-freedom all-drive dexterous hand and robot, the multi-degree-of-freedom all-drive dexterous hand comprises a palm and a plurality of fingers, the plurality of fingers are arranged on the palm at intervals, the fingers comprise a proximal knuckle finger, a middle knuckle finger, a distal knuckle finger, a first motor, a second motor, a third motor and a fourth motor, wherein each of the first motor, the second motor, the third motor and the fourth motor is a frameless torque motor and is used for driving the fingers to bend or stretch so as to grab or release an object. By means of the direct driving mode, finger joints can move more directly and sensitively, finer and more complex actions can be achieved, and flexibility of fingers is greatly enhanced. Meanwhile, the space occupied by the driving structure is reduced, so that the internal structure of the bionic hand is simpler, more space is provided for layout of all parts of the fingers, and improvement of the overall compactness and miniaturization degree of the bionic hand is facilitated.

The invention discloses a shoe sole supporting piece and a shoe, and relates to the field of shoes. The shoe sole supporting piece comprises a half sole part, an arch part and a heel part, the half sole part comprises an outer edge part, the outer edge part corresponds to the outer edge position of a foot sole half sole, the projection of the inner side of the outer edge part partially overlaps with the projection of a first metatarsophalangeal joint, and the projection of the outer side of the outer edge part partially overlaps with the projection of a fourth metatarsophalangeal joint and the projection of a fifth metatarsophalangeal joint; the projection of the first supporting part is partially overlapped with the projection of the second distal phalanx extending through the second metatarsophalangeal joint and the third metatarsophalangeal joint to the arch part; the projection of the second supporting part is partially overlapped with the projection of the first proximal phalanx extending through the second proximal phalanx to the third middle phalanx; the projection of at least one first through hole is partially overlapped with the projection between the first metatarsophalangeal joint and the second metatarsophalangeal joint; the projection of at least one second through hole is partially overlapped with the projection between the third metatarsophalangeal joint and the fourth metatarsophalangeal joint.

The present invention relates to a finger rehabilitation exercise apparatus comprising: a proximal bracket for supporting the proximal phalange of a finger; a linear actuating module which has a proximal end hinge-coupled to the proximal bracket, and which can extend and contract in the longitudinal direction of the proximal bracket; a first scissor linkage assembly which is folded or unfolded in a scissor linkage form and which has proximal ends hinge-coupled to two points of the distal end of the proximal bracket and the distal end of the linear actuating module so as to be bent and unfolded toward the palm when the linear actuating module extends and to be folded toward the front of the proximal bracket when the linear actuating module contracts; a middle phalange bracket which supports the middle phalange of the finger and which has a proximal end to which each of both sides of the distal side of the first scissor linkage assembly is hinge-coupled, so as to rotate toward the palm when the first scissor linkage assembly is unfolded and to rotate toward the front of the proximal bracket when the first scissor linkage assembly is folded; a second scissor linkage assembly which is folded or unfolded in a scissor linkage form, and which is hinge-coupled to each of both sides of the distal side of the middle phalange bracket so as to be symmetrical to the first scissor linkage assembly with the middle phalange bracket therebetween; a gear assembly provided on the middle phalange bracket so as to transmit, as the folding or unfolding motion of the second scissor linkage assembly, the folding or unfolding motion of the first scissor linkage assembly; and a distal bracket provided at the distal end of the second scissor linkage assembly so as to support the distal phalange of the finger. Therefore, independent rehabilitation exercises for each individual finger, that is, the index finger, the middle finger, the ring finger, the little finger, and the thumb are possible.

Bio-mechanical finger prosthesis (10) comprising a proximal portion (11) for coupling to a person's hand (100), and at least both a proximal phalanx (13) which can be associated with a stump (111) of a finger, an intermediate phalanx (14) and a distal phalanx (15) articulated together in succession, and also a transmission unit (25) configured to determine an articulated rotation of said phalanges (13, 14, 15).

The application discloses a dexterous hand finger structure and a dexterous hand, wherein the dexterous hand finger structure comprises a base, a proximal phalanx, a middle phalanx, a distal phalanx, a first driving assembly and a second driving assembly. The proximal phalanx is hinged to the base through a first joint shaft, and the middle phalanx and the distal phalanx are sequentially hinged. The first driving assembly drives the proximal phalanx to bend through a first tendon. The second driving assembly drives the middle phalanx and the distal phalanx to bend through a second tendon. The first joint shaft is fixed to the base, and a side wall of the first joint shaft is provided with a through hole. The transmission path of the second tendon is configured as follows: the second tendon is led out from a second driver, sequentially passes through the through hole on the base and the first joint shaft, and is fixed to the distal phalanx after passing around the second joint shaft and the third joint shaft. The design makes the tendon path for driving the middle phalanx and the distal phalanx pass through the fixed joint shaft center, effectively blocks the path length interference of the tendon for the middle phalanx and the distal phalanx caused by the movement of the proximal phalanx, realizes the complete decoupling and independent precise control of the movement of each joint, and is simple and reliable in structure and suitable for precise operation scenes.

The utility model relates to an interphalangeal joint prosthesis with a bionic structure, which belongs to the technical field of medical prostheses and is characterized in that the near end of a near-end prosthesis is connected with a near phalanx, and the far end of a far-end prosthesis is connected with a middle phalanx; the far end of the near-end prosthesis is of a bionic structure of a near-end articular surface of the interphalangeal joint, the near end of the liner is of a bionic structure of a far-end articular surface of the interphalangeal joint, and the far end of the near-end prosthesis and the near end of the liner are matched and can rotate relative to each other; the liner is made of flexible materials and provides buffering between the near-end prosthesis and the far-end prosthesis. Through cooperation of the bionic structure, miniaturization is achieved, and meanwhile the flexibility and stability of the interphalangeal joint prosthesis of the bionic structure in the flexion and extension movement are guaranteed through the structure of the human body.