WO2018006722A1

WO2018006722A1 - Bionic prosthetic hand

Info

Publication number: WO2018006722A1
Application number: PCT/CN2017/090255
Authority: WO
Inventors: 景晓蓓; 雍旭; 徐睿; 郑悦; 田岚; 张浩诗; 李向新; 李光林
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2016-07-04
Filing date: 2017-06-27
Publication date: 2018-01-11
Also published as: JP6712332B2; CN106038007B; JP2019520163A; CN106038007A

Abstract

Provided is a bionic prosthetic hand, comprising: a palm part (1); a finger part (2) having an index finger component (21), a middle finger component (22), a ring finger component (23), a little finger component (24) and a thumb component (25), wherein the index finger component (21), the middle finger component (22), the ring finger component (23) and the little finger component (24) are separately connected to the upper end of the palm part (1) in a manner of being capable of opening or closing; and a web part (3) vertically rotatably connected to the inner side of the palm part (1), the thumb component (25) being connected to the web part (3) in a manner of being capable of opening or closing. The thumb component (25) of the bionic prosthetic hand can rotate inwards or outwards, and the index finger component (21), the middle finger component (22), the ring finger component (23), the little finger component (24) and the thumb component (25) can realize spreading and flexion actions. The bionic prosthetic hand has a low weight, and is convenient for a patient to wear and use for a long time.

Description

Bionic prosthetic hand

Technical field

The invention relates to a prosthetic hand, in particular to a bionic prosthetic hand in the field of rehabilitation medical devices.

Background technique

The myoelectric prosthetic hand can replace the missing limbs and provide convenience for the daily life of disabled patients with upper limbs. It is one of the important research directions in the field of rehabilitation engineering.

Safety proportional control of existing products The myoelectric prosthetic hand has only three fingers: thumb, index finger and middle finger. It can only achieve the single mode action of hand opening or closing to complete the grab; in addition, the safe proportional control of myoelectric The fingers of the prosthetic hand are an integrated structure, and coupling motion based on multiple joints cannot be achieved. Therefore, the practicality of this product in daily life is not high.

In the existing products, there are also five-finger prosthetic hands. In addition to the coupling movement between the ring finger and the little finger, each finger movement can be controlled individually to achieve more hand movements; and the four fingers other than the thumb have the far knuckles. The characteristics of the joint motion of the two joints outside the joint. However, the metacarpal wrist joint of the thumb of the prosthetic hand does not have independent degrees of freedom, so the rotation of the inner or outer rotation of the thumb needs to be manually assisted to rotate; in addition, although it realizes the bionic design of appearance and action, Due to the heavier weight (more than 500g), it imposes a heavy burden on the patient and is not suitable for long-term wear.

At present, the existing multi-degree-of-freedom myoelectric prosthetic hand gives degrees of freedom to each joint to achieve independent movement of a single finger and joint, and the number of movements is large, but due to the large number of motors, the control system is complicated and the maintenance cost is high; Because of the heavy weight, it directly causes the patient to suffer from soreness and fatigue after wearing for a long time, so that it cannot be worn and used for a long time. Therefore, this kind of prosthetic hand is not only greatly reduced in practicality, but the most important point is that it is expensive and difficult to be accepted by ordinary families for ordinary patients.

Secondly, the electromyographic prosthetic hand on the market is made of metal material in the main part, which not only increases the weight, but also uses the traditional transmission method such as gears at the joints, and the multi-stage meshing makes the transmission efficiency poor, and the torque of the motor is not obtained. Maximizing the performance will eventually require the use of expensive, large-volume, high-torque output motors. However, such remedies have increased the cost and increased the weight.

In addition, the existing myoelectric prosthetic hand is also unsatisfactory in grasping ability, not only when the object is grasped, the user has to change and adjust the appropriate grasping posture through the auxiliary movement of the upper limb due to the interference of other fingers, and When grasping the object, the grabbing material is made because the finger pad structure does not have viscoelastic properties containing a certain covering force and friction. The stability of the body is not enough. Moreover, when the finger is subjected to an external force (parallel to the palm plane), the finger joint is easily damaged due to the absence of the load protection structure, so that the practicality of the entire prosthetic hand is greatly reduced, and this directly leads the user to think that There is a big reason for the lack of dexterity of myoelectric prosthetic hands and the low practicality.

Moreover, since the existing myoelectric prosthetic hand shape is not bionic, the patient is likely to attract the attention of the surrounding people when wearing the prosthetic hand in public, so that the wearer is in conflict, and the willingness to use is reduced, so that it is better to use no action. The functional decorative prosthetic hand also resists the use of myoelectric prosthetic hands with a shape that is not bionic.

Summary of the invention

It is an object of the present invention to provide a bionic prosthetic hand with a thumb assembly capable of internal or external rotation, and an index finger assembly, a middle finger assembly, a ring finger assembly, a little finger assembly and a thumb assembly capable of performing an extension or flexion action, the bionic prosthetic hand being light in weight The shape is bionic, which is convenient for patients to wear and use for a long time.

The invention provides a bionic prosthetic hand, the bionic prosthetic hand comprising:

Palm component

a finger member having an index finger assembly, a middle finger assembly, a ring finger assembly, a little finger assembly, and a thumb assembly, wherein the index finger assembly, the middle finger assembly, the ring finger assembly, and the little finger assembly are respectively openably coupled to the palm member Upper end

A tiger mouth member that is vertically rotatably coupled to an inner side of the palm member, the thumb assembly being openably coupled to the tiger mouth member.

The features and advantages of the bionic prosthetic hand of the present invention are:

1. The present invention contemplates using only two small motors (ie, a finger drive motor and a thumb drive motor) as drives to drive the five fingers of the thumb assembly, the index finger assembly, the middle finger assembly, the ring finger assembly, and the little finger assembly, respectively. Stretching or flexing action, as well as internal or external rotation of the metacarpal wrist joint of the thumb assembly. That is, the present invention drives the thumb assembly to rotate or rotate externally by a thumb drive motor that is connected to the tiger's mouth member to drive the thumb to rotate internally or externally, so that the thumb assembly can be vertically rotated to form with the other four finger assemblies. Parallel or opposite different spatial positions; and the rotational axis of the motor driven by the finger simultaneously drives the five finger assemblies to flex or stretch. Therefore, the thumb assembly and the other four finger components cooperate to complete the three types of grasping, precision grasping and side grabbing of various forms, which are the main grasping modes in the daily life of normal people up to 85%.

2. The present invention drives the five finger assemblies to simultaneously stretch or flex by the rotation axis of the finger drive motor, through the path lengths of different reins pipes disposed in the palm members, so that the matching is carried in different lengths of different reins pipes. The reins are used to achieve the separation movement of the finger assembly. That is, the invention further derives the separation extension of the ring finger component and the little finger component. The late motion causes the ring finger assembly and the little finger assembly to be structurally designed to produce delayed buckling relative to the index finger assembly and the middle finger assembly to effectively avoid false touch or interference problems. This makes it possible to avoid the phenomenon that the ring finger component and the little finger component contact the object before the forefinger component and the middle finger component are in contact with the object during the precise grasping, thereby improving the grasping ability.

3. The present invention calculates and matches five elastic bands which are most suitable for the stiffness coefficient according to the different lengths of each finger assembly, and the elastic bands are respectively disposed on the finger back portions of the respective finger assemblies. That is, as a passive recovery power source, an elastic band disposed at the back of the finger of the five finger assemblies will pull the finger assemblies to perform the stretching action. Specifically, when the finger drive motor drives the rotation axis to reverse and relax the traction of each finger component reel, each finger component will return to the five-finger open state due to the resilience of the elastic bands at the back of the finger. The stretching action of each finger assembly.

Fourth, the flexible finger joint structure of the distal knuckle joint of the present invention and the rigid joint member skeleton can be integrally formed by a 3D printer, so as to avoid the increase of the process and the cost caused by the installation or bonding; or, the flexible finger The abdominal structure can also be attached to the joint member frame by bonding or inlaying. The finger pad structure is a flexible structure made of a flexible rubber material, thereby improving the contact area of the finger assembly when grasping the object and enhancing the surface friction performance, and improving the covering force and the surface friction force when the article is grasped, so as to greatly Improve the stability of the gripping object.

5. Regarding the frictionless structure, for example, the reference "in addition, the center of rotation of the proximal knuckle joint and the palm member, and the center of rotation of the middle knuckle joint and the proximal knuckle joint are all a slewing line, the joints Since the parts are formed along the respective centers of rotation to form a line contact structure with no friction generated by other joints, the conventional joint rotation pair is prevented from causing friction during movement due to surface contact with each other, thereby weakening the finger output force. The frictionless wire contact configuration of the invention can maximize the output force efficiency of the finger drive motor to the respective finger assemblies." Or "as compared to existing prosthetic hands, the use of shaft connections at the joints and joints, It is bound to generate friction between the mutual contact surfaces to reduce the output efficiency of the force. The non-axial connection between the joint members of the finger assemblies of the present invention, that is, the line contact method, the friction force is zero, and the pair is avoided. The internal losses caused by the finger drive motor output."

DRAWINGS

Figure 1 is a front elevational view of a bionic prosthetic hand of the present invention.

Figure 2 is a rear elevational view of the bionic prosthetic hand of the present invention.

3 is a schematic view showing the structure of a palm member of a bionic prosthetic hand of the present invention.

4 is a schematic view showing the structure of a thumb assembly of a bionic prosthetic hand of the present invention.

Figure 5 is a schematic view showing the structure of the index finger assembly of the bionic prosthetic hand of the present invention.

Figure 6 is a schematic view showing the structure of the index finger assembly of the bionic prosthetic hand of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

As shown in FIGS. 1 and 2, the present invention provides a bionic prosthetic hand comprising a palm member 1, a finger member 2 and a tiger mouth member 3, wherein: the finger member 2 has an index finger assembly 21, a middle finger assembly 22, a ring finger assembly 23, a little finger assembly 24 and a thumb assembly 25, the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the little finger assembly 24 are respectively openably coupled to an upper end of the palm member 1; the tiger mouth member 3 is The thumb member 25 is openably coupled to the tiger mouth member 3 in a vertically rotatably connected manner to the inner side of the palm member 1.

Specifically, the palm member 1 is a member having a shape similar to a human hand shape. In the present invention, the overall shape of the palm member 1 is bionic according to the average size and size of the adult female right hand; the palm member 1 is on both sides thereof. And the structure close to the wrist is designed as a transition surface shape to more realistically simulate the shape of the human hand. In this embodiment, the lower end of the palm member 1 (that is, the end portion of the palm member 1 and the wrist is connected) is connected with a connecting shaft 11 capable of expanding the wrist joint, so as to facilitate the later expansion of the wrist function or directly as a fixed connection end. use.

The finger member 2 is composed of an index finger assembly 21, a middle finger assembly 22, a ring finger assembly 23, a little finger assembly 24, and a thumb assembly 25, wherein the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, and the little finger assembly 24 are respectively coupled to the upper end of the palm member 1. . In the present invention, the position angle of the index finger assembly 21 and the middle finger assembly 22 on the palm member 1 coincides with the position of the spatial engagement analysis calculation at the time of precision grasping; and the position of the ring finger assembly 23 and the little finger assembly 24 on the palm member 1 is located. The angle is in line with the irregular arc distribution of the human hand. In the present embodiment, as shown in FIG. 3, a finger driving motor 4 is disposed in the palm member 1, and a rotating shaft 41 is connected to the finger driving motor 4, and the rotating shaft 41 drives the motor 4 through a plurality of plugs 42 and a finger. The rotating shaft is connected; a sliding bearing 43 is disposed at the outer side of the palm member 1, and a central shaft 44 is bored in the sliding bearing 43, and the rotating shaft 41 is positioned and supported by the sliding bearing 43 and the central shaft 44. The rotating shaft 41 is spaced apart from the axial direction thereof with a plurality of annular grooves 411. The index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, the little finger assembly 24 and the thumb assembly 25 pass the index finger reins 211 and the middle finger reins respectively. 221, the ring finger reins 231, the little finger reins 241 and the thumb reins 251 are connected in the plurality of annular grooves 411 of the rotating shaft 41, so that the finger driving motor 4 can pass the above reins (ie, the index finger reins 211, The middle finger reins 221, the ring finger reins 231, the little finger reins 241 and the thumb reins 251) drive the respective finger assemblies (ie, the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, The little finger assembly 24 and the thumb assembly 25) together perform the five-finger flexion action (i.e., the closing action). In this way, when the finger drive motor 4 drives the rotating shaft 41 to rotate forward, the five reins can drive the five finger assemblies to achieve the closing action; and when the finger driving motor 4 drives the rotating shaft 41 to reverse, the five turns are equivalent. The rope is relaxed, in preparation for the opening action of the five finger components.

In this embodiment, as shown in FIG. 3, there are five routing pipes in the palm member 1, and the five routing pipes include an index finger reins pipe 12, a middle finger reins pipe 13, a ring finger reins pipe 14, and a little finger reins. The pipe 15 and the thumb reins pipe 16 , wherein the index finger reins 211 are disposed in the index finger reins pipe 12 , the middle finger reins 221 are disposed in the middle finger reins pipe 13 , and the ring finger reins 231 are disposed in the ring finger reins pipe In the 14th, the little finger reins 241 are placed in the little finger reins pipe 15 and the thumb reins 251 are placed in the thumb reins pipe 16. Further, the palm member 1 is provided with a cavity 17, and the five routing conduits are respectively connected to the cavity 17, and the cavity 17 is disposed at an upper portion of the palm member 1, and the finger driving motor 4 and the rotating shaft 41 are located at the same. In the cavity 17. In the present embodiment, as shown in FIG. 2, the cavity 17 is peripherally provided with a protective cover 18. Since the index finger reins 211, the middle finger reins 221, the ring finger reins 231, the little finger reins 241 and the thumb reins 251 are precision core drives that drive the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, the little finger assembly 24, and the thumb assembly 25. Partly, and considering that the shape needs to simulate the actual shape of the human hand without additionally adding unnecessary space volume, it is necessary to provide the built-in cavity 17 to place the above-mentioned transmission portion and the protective cover 18 to prevent dust and avoid it. Protective treatment of foreign matter contact.

Considering that during precision picking, if the four finger assemblies of the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the little finger assembly 24 are simultaneously flexed at the same angular velocity, the ring finger assembly 23 and the little finger assembly 24 are prone to occur prior to the other. The three finger assemblies (ie, the index finger assembly 21, the middle finger assembly 22, and the thumb assembly 25) contact the grasping target to cause problems such as accidental touch or interference, such as when grasping a small volume object placed on a plane The thumb assembly 25, the index finger assembly 21 and the middle finger assembly 22 cooperate to form a precise kneading of the three-point contact, and at this time, if the ring finger assembly 23 and the little finger assembly 24 are simultaneously flexed at the same speed to contact the plane, the bionic prosthetic hand cannot achieve three fingers. The three points of the component are precisely pinched, so that the precision gripping action is not well implemented or the crawling fails.

Therefore, in one embodiment of the present invention, the length of the ring finger reins 231 and the length of the little finger reins 241 are both designed to be larger than the length of the index finger reins 211 and the length of the middle finger reins 221 .

Specifically, the length of the ring finger reel 231 refers to the actual length between the end of the ring finger reel 231 connected from the ring finger assembly 23 to the end connected to the rotating shaft 41, and the length of the small finger reel 241 refers to the length. The actual length of the little finger reins 241 from the end connected to the little finger assembly 24 to the end connected to the rotating shaft 41, the length of the index finger reel 211 is the end of the index finger reel 211 from the index finger assembly 21 To the connection to the rotating shaft 41 The actual length between the ends, the length of the middle finger reins 221 refers to the actual length of the middle finger reins 221 from one end connected to the middle finger assembly 22 to the end connected to the rotating shaft 41. The index finger reins 211, the middle finger reins 221, the ring finger reins 231 and the little finger reins 241 are respectively passed through the index finger reins pipe 12, the middle finger reins pipe 13, the ring finger reins pipe 14, the little finger 位于 located in the palm member 1. In the rope duct 15, the length of the ring finger reel 231 and the length of the little finger reins 241 are designed to be larger than the length of the index finger reins 211 and the length of the middle finger reins 221, that is, the length of the ring finger reins duct 14 The length of the small finger reins duct 15 is designed to be greater than the length of the index finger reins duct 12 and the length of the middle finger reins duct 13.

The present invention achieves the separation movement of the respective finger assemblies by matching the path lengths of the different reins conduits disposed within the palm member 1 to match the lengths of the different reins that are threaded within the different reins conduits, such that the ring finger assembly 23 and the little finger assembly The buckling motion of 24 is retarded by the flexion motion of index finger assembly 21 and middle finger assembly 22; in this manner, thumb assembly 25, index finger assembly 21 and middle finger assembly 22 will form three faster than the ring finger assembly 23 and the little finger assembly 24 reach the same flexion angle. The precise pinching action is performed to avoid the above-mentioned accidental touch or interference problem.

In an embodiment of the present invention, as shown in FIG. 1 and FIG. 3, the palm member 1 is further provided with a thumb driving motor 5, and the tiger mouth member 3 is connected to the rotating shaft 51 of the thumb driving motor 5, and the end of the thumb assembly 25 is pivoted. Connected to the tiger mouth component 3.

In the present embodiment, as shown in FIG. 4, the thumb assembly 25 includes a metacarpal wrist joint 252, a proximal knuckle joint 253, and a distal knuckle joint 254 that are sequentially connected. The metacarpal wrist joint 252 passes through the thumb. The cord 251 is coupled to the rotational shaft 41 of the finger drive motor 4, and the proximal knuckle joint 253 is coupled to the metacarpal wrist joint 252 by a plug 255 that is coupled to the proximal portion by a plug (not shown). Knuckle joint 253.

The metacarpal wrist joint 252 has a pivot end 2521 pivotally connected to the other side of the tiger mouth member 3 through the pivot end 2521 of the metacarpal wrist joint 252, thereby enabling the thumb assembly 25 to be realized relative to the tiger mouth member 3. Flexing or stretching. Further, the metacarpal wrist joint 252 of the thumb assembly 25 is connected with a tiger mouth skateboard 256. The tiger mouth slide 256 is slidably inserted into the tiger mouth member 3. The tiger mouth slide 256 is provided with a chute 2561, and the tiger mouth member 3 is provided. The limit plug 31 is fixed to the tiger mouth member 3 through the sliding slot 2561. When the tiger mouth skateboard 256 slides in the tiger mouth member 3 through the thumb reel 251, that is, when the thumb assembly 25 performs the flexion or extension action, the sliding groove 2561 reciprocates relative to the limit plug 31, thereby restricting the tiger mouth skateboard 256 at the tiger's mouth. The maximum extreme position within the component 3 is limited by the angle at which the metacarpal wrist joint 252 of the thumb assembly 25 flexes or stretches to prevent the metacarpal wrist joint 252 from disengaging from the tiger mouth component 3 during sliding. And the purpose of eliminating the angle error and increasing the strength of the thumb assembly 25 at the extended limit position can be achieved.

The end of the mouth member 3 and the thumb drive motor 5 of the present invention are fixed at one end by a floating positioning connection. Specifically, the thumb drive motor 5 is disposed at the inner lower portion of the inner side of the palm member 1, the upper end of the tiger mouth member 3 and the thumb drive The rotating shaft 51 of the moving motor 5 is fixedly connected; the other end of the tiger mouth member 3 is provided with a connecting hole 32 which is connected to the short shaft 10 at the lower end of the palm member by a clearance fit to form a rotating pair. When the rotating shaft 51 of the thumb drive motor 5 follows its rotation, the tiger mouth member 3 connected thereto is driven to drive the thumb assembly 25 to perform an internal rotation or an external rotation motion; and the connection manner in which one end of the fixed end floats ensures the thumb The smooth rotation of the inner or outer rotation of the assembly 25 provides a rigid support.

The present invention drives the thumb assembly 25 to rotate or rotate externally by the tiger mouth member 3 attached to the rotating shaft 51 of the thumb drive motor 5, so that the thumb assembly 25 can be rotated to different spatial positions parallel or opposite to the remaining four fingers; The rotating shaft 41 of the drive motor 4 drives the five finger assemblies (i.e., the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, the little finger assembly 24, and the thumb assembly 25) to effect flexion or extension. The internal or external rotation of the thumb assembly 25 and the flexion or extension of the five finger assemblies will cooperate with the three types of grasping modes of grasping force, precision grasping and side grasping in various forms, and this multi-modal grasping The rate of taking action in normal people's daily life is as high as 85%.

According to an embodiment of the present invention, the structure of the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the little finger assembly 24 are the same, respectively, which are respectively connected by the proximal knuckle joint member 61, the middle knuckle joint member 62 and the distal finger. The joint joint member 63 is formed by the index finger reins 211, the middle finger reins 221, the ring finger reins 231 or the little finger reins 241 connected to the rotating shaft 41, and the middle knuckle joint member 62 is rotatably connected to the near The upper end of the knuckle joint member 61 is connected to the upper end of the middle knuckle joint member 62.

Specifically, since the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, and the little finger assembly 24 are identical in structure except for the length of the finger joint, the structure of the index finger assembly 21 is merely taken as an example. As shown in FIGS. 5 and 6, the index finger assembly 21 is composed of three parts, a proximal knuckle joint member 61, a middle knuckle joint member 62, and a distal knuckle joint member 63. The transmission mechanism of the index finger assembly 21 drives the proximal phalanx joint member 61 by the finger drive motor 4 disposed in the palm member 1 to drive the proximal knuckle joint member 61, wherein one end of the index finger reins 211 passes the index finger reins conduit 12 and the finger. The rotating shaft 41 of the driving motor 4 is connected, and the other end thereof is fixed to the inside of the proximal knuckle joint member 61 through the wire hole 611; while the rotating shaft 41 of the finger driving motor 4 drives the proximal knuckle joint member 61 to rotate, it is driven. The second index finger reins 212 rotates, wherein the second index finger reins 212 are fixed at both ends, one end of which is fixed to the inside of the middle knuckle joint member 62 through the wire hole 621, and the other end passes through the proximal finger through the wire hole 612 The joint member 61 is fixed to the palm member 1.

When the finger drive motor 4 drives the index finger reins 211 to rotate, the combined linkage of the index finger reins 211 and the second index finger reins 212 causes the proximal knuckle joint member 61 and the middle knuckle joint member 62 to simultaneously flex, and because of the reins The transmission can realize the natural and anthropomorphic grasping action of the object. The distal knuckle joint member 63 is fixed to the middle knuckle joint member 62 by the plug 631, which can be customized, and is easy to disassemble and maintain.

Further, in the present invention, a cavity 613 is provided inside the proximal knuckle joint member 61, and an elastic member 614 is mounted in the cavity 613. In the present embodiment, two elastic members are symmetrically mounted in the cavity 613. The elastic member 614 can be, for example, a spring. Here, only the elastic member 614 located on the right side of the cavity 613 will be described as an example. As shown in FIG. 5, one end of the elastic member 614 is fixed to the middle knuckle joint member 62 by the upper reins through the wire hole 615, and the other end of the elastic member 614 is fixed to the palm member by the lower reins through the wire hole 616. 1, the upper reins and the lower reins are fixed length. Thus, when the index finger assembly 21 receives a large external force (parallel to the plane of the palm member 1), the elastic member 614 will be deformed, whereby the elastic member 614 can function not only as a damping for flexible avoidance but also for transmitting force. The two fixed ends of the proximal knuckle joint member 61 and the middle knuckle joint member 62 are weakened to weaken the impact force, thereby realizing a load-protecting structure of the passively displaceable index finger assembly 21 which is not easily damaged, and the bionic prosthetic hand is greatly improved. Security.

In addition, in the present invention, an upper inner inclined surface 617 and a lower inner inclined surface 618 are formed at both ends of the proximal knuckle joint member 61, and one end of the middle knuckle joint member 62 is connected to the proximal knuckle joint member 61. A lower inner inclined surface 622 is formed, and the upper inner inclined surface 617, the lower inner inclined surface 618 and the lower inner inclined surface 622 are disposed to ensure that the proximal knuckle joint member 61 is relatively close to the palm member 1 and the middle knuckle joint member 62 is relatively close to the knuckle joint member. In addition, the center of rotation of the proximal knuckle joint member 61 and the palm member 1, and the center of rotation of the middle knuckle joint member 62 and the proximal knuckle joint member 61 are both a revolving line, and the joint members are The line contact structure is formed along the respective center of rotation to form a friction-free structure with other joints, and the conventional joint rotation pair is prevented from causing friction during the movement due to surface contact with each other to weaken the finger output force. The frictionless wire contact configuration of the present invention can maximize the output force efficiency of the finger drive motor 4 to the respective finger assemblies.

Additionally, in an embodiment of the invention, the distal knuckle joint member 63 can be integrally formed with the middle knuckle joint member 62; or, in other embodiments, the distal knuckle joint member 63 can pass through a plurality of plugs The 631 is fixedly attached to the middle knuckle joint member 62, so that not only the installation becomes very simple, but the distal knuckle joint member 63 can be directly and conveniently replaced for later maintenance if damage occurs; in addition, the index finger assembly 21 is provided. The main advantage of being divided into three parts (ie, the proximal knuckle joint 61, the middle knuckle joint 62, and the distal knuckle joint 63) is that it can be personalized according to the length and thickness of each patient's finger or joint. Customization will greatly expand the scope of application of this bionic prosthetic hand to different users.

In an embodiment of the present invention, as shown in FIG. 2 and FIG. 4, the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, the little finger assembly 24, and the thumb assembly 25 are respectively connected with elastic bands 213 and elastic. The belt 222, the elastic band 232, the elastic band 242, and the elastic band 257, and the elastic band 213, the elastic band 222, the elastic band 232, the elastic band 242, and the elastic band 257 are respectively connected to the palm member 1 through the respective finger assemblies. Wherein, the elastic band 213, the elastic band 222, the elastic band 232, and the elastic band 242 shown in FIG. 2 are the protrusions installed in the grooves and grooves at the back of each finger assembly finger. Between the gaps formed.

Specifically, as shown in FIGS. 3 and 4, at the upper end of the back side of the palm member 1, that is, at the position of the palm member 1 where the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, and the little finger assembly 24 are disposed, Four hooks 19 are provided respectively, and the elastic band 213, the elastic band 222, the elastic band 232 and the elastic band 242 respectively penetrate the middle finger joints 62 of the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the little finger assembly 24, respectively. The proximal knuckle joint members 61 are attached to the four hooks 19 on the palm member 1. The elastic band 257 is connected to the tiger mouth member 3 through the proximal knuckle joint 253 and the metacarpal wrist joint 252 of the thumb assembly 25.

According to the present invention, five elastic bands which are most suitable for the stiffness coefficient are calculated and matched according to different lengths of each finger assembly, and the elastic band 213, the elastic band 222, the elastic band 232, the elastic band 242 and the elastic band 257 are respectively disposed on the index finger assembly 21. , the middle finger assembly 22, the ring finger assembly 23, the little finger assembly 24, and the finger back portion of the thumb assembly 25, that is, as a passive recovery power source, the elastic band disposed at the back of the finger of the five finger assemblies will pull the finger assemblies to stretch action. Specifically, when the finger driving motor 4 drives the rotating shaft 41 to reverse and relax the pulling of the finger assembly reins, each finger assembly will return to the five-finger open state due to the resilience of each elastic band at the back of the finger. Achieve the stretching action of the finger assembly.

According to one embodiment of the invention, the index finger assembly 21, the middle finger assembly 22, the distal knuckle joint 63 of the ring finger assembly 23 and the little finger assembly 24, and the distal knuckle joint 254 of the thumb assembly each include an articulation frame 632 and a connection A finger pad structure 633 on the joint member frame 632.

Specifically, the finger pad structure 633 and the joint member frame 632 can be integrally formed by a 3D printer to avoid the increase in the process and the cost increase caused by the mounting and bonding; or, in other embodiments, the finger pad structure 633 can be Attached to the joint member frame 632 by bonding or inlaying, the inlaid connection means that a fitting structure such as a bump and a groove is provided between the joint member frame 632 and the finger pad structure 633 to make the joint member skeleton The 632 and the finger pad structure 633 are snap-fitted with each other. In the present invention, the finger pad structure 633 is a flexible structure constructed using a flexible rubber material. Taking the index finger assembly 21 as an example, the ratio of the flexible material to the skeleton is calculated and calculated at the distal knuckle joint member 63. The amount of the approximation is similar to the viscoelasticity of the finger pad of a normal person, where the volume ratio of the finger pad structure 633 of the distal knuckle joint member 63 to the joint member frame 632 is 0.54 to 0.66. In this way, the covering force of the object when the finger component grasps the object is increased, and the friction generated when contacting the surface of the article is increased to greatly improve the stability of the grasping object.

The present invention contemplates using only two small motors (i.e., finger drive motor 4 and thumb drive motor 5) as a drive to simultaneously drive thumb assembly 25, index finger assembly 21, middle finger assembly 22, ring finger assembly 23 and little finger assembly 24 The five fingers extend or flex; and the inner or outer rotation of the thumb assembly 25 about the shaft 51 of the thumb drive motor 5. Through the combination of the above actions, various forms of grip grabbing, precision gripping and side gripping can be produced. There are three capture modes, and these capture actions account for 85% of everyday life. Further, in the present invention, the proximal knuckle joint member 61 is provided with a load protection device for subjecting the finger assembly (i.e., the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the little finger assembly 24) to a large lateral force. Flexible avoidance can be produced without being easily damaged.

In addition, the bionic prosthetic hand of the present invention is more user-friendly in designing some details of the patient's actual use: designing the delayed motion of the ring finger component 23 and the little finger component 24 to improve the grasping ability during precision grasping. The flexible structure is used to approximate the viscoelastic characteristics of the human finger belly to improve the grasping ability, and the easy-to-detach and easy-maintained finger joint structure suitable for personalization.

Finally, the invention also considers the simplification of the structure and the convenient maintenance in the manufacturing and installation process, and combines the 3D printing technology to finally realize the lightweight, low cost and bionic design, which greatly improves the cost performance of the bionic prosthetic hand. And practicality.

1. Compared with the existing prosthetic hand using single motor control and only five-finger active buckling and stretching action, the bionic prosthetic hand of the present invention realizes the control of the thumb by adding a thumb drive motor 5 within a range allowed within the palm member 1. The inner or outer rotation of the assembly 25 solves the intermediate steps of manually adjusting the position of the thumb of the prosthetic hand before grasping the different objects, or fixing the lock with a tool before starting to grasp the object. .

Second, compared with the existing prosthetic hand made of all-metal, not only the cost is high, but also the weight is too large, so that the patient cannot be worn for a long time due to excessive burden, the invention adopts high-strength resin material combined with 3D printing processing. The joint parts of the finger assembly not only shorten the manufacturing cycle, low cost, and do not require secondary processing, the most important thing is to greatly reduce the weight, and obtain a good evaluation of small burden and no discomfort after the patient actually wears for a long time. Feedback.

3. Compared with the existing prosthetic hand which can only flex or stretch at the same time and can only grasp the single grasping mode, the present invention only uses two small motors to respectively drive the inner or outer rotation of the thumb assembly. The action and the stretching or flexing action of the five-finger component, and the combination of these actions can couple the side grabbing, precision gripping and gripping gripping actions that account for 85% of the hand movements in actual daily life, which not only increases the gripping action And improved practicality.

4. Compared with the current situation that the existing prosthetic hand does not further improve the grasping ability at the fingertip, the present invention adopts a finger-belly structure 633 of a flexible rubber material, that is, a bionic simulation of the human finger belly is designed. The viscoelastic structure is used to increase the coating force and friction of the object when the object is grasped, and the gripping ability is improved by improving the stability when grasping the object. In addition, the finger pad structure 633 and the joint member frame 632 are printed in 3D, which eliminates the increase in the number of processes and the cost caused by the mounting and bonding.

5. Compared with the existing prosthetic hand, in the current situation of difficult maintenance and no consideration of the finger load protection mechanism, the present invention designs a finger joint that can be customized and easily disassembled and maintained, and also achieves a large finger. Lateral (Parallel to the palm plane) External forces can create a flexible avoidance that is not susceptible to damage to the passive proximally displaced proximal knuckle joint 61.

Sixth, compared with the existing prosthetic hand, the use of shaft connection at the joints and joints will inevitably generate friction between the mutual contact surfaces to reduce the force output efficiency. The non-axial connection, that is, the line contact mode, is adopted between the joint members of the finger assemblies of the present invention, so that the frictional force is zero, and the internal loss caused by the output of the finger drive motor 4 is avoided.

In addition, those skilled in the art can understand that the above-mentioned bionic prosthetic hand of the present invention is within the allowable range of the palm member 1, and the finger driving motor 4 and the thumb driving motor 5 of the present invention can be replaced by other motor or pneumatic hydraulic driving means; Within the allowable range of the palm member 1 and each finger assembly, each of the reins can be arbitrarily laid out; the reel linkage linkage in each finger assembly can be replaced by a belt drive or other type of composite linkage; The length and position can change the flexion angular velocity of the finger joint and adjust the output force. Therefore, the transmission system can also be used in any other mechanical transmission of the non-bionic prosthetic hand; all the plug-type fixings between the joints can be replaced with bolts. Other forms of fastening such as fixing, snapping, etc.; in addition to 3D integrated printing, the flexible structure of the finger pad structure 633 can also be used in other combinations such as inlaying, bonding, etc.; Small, so the size and appearance of the palm part 1 and each finger assembly can be arbitrarily changed; It can be replaced with elastic parts with inherent stiffness coefficient such as springs, torsion springs or rubber bands; the materials and manufacturing methods used in the manufacture of the whole bionic prosthetic hand are not limited to resin, rubber-like materials and 3D printing, and can be selected according to needs. Other materials or changes in manufacturing methods. In addition to the PE wire, each reel can be replaced with a wire, rope or belt of other materials.

The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to be limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art Modifications or equivalents are intended to be included within the scope of the appended claims.

Claims

A bionic prosthetic hand, wherein the bionic prosthetic hand comprises:

Palm component

a finger member having an index finger assembly, a middle finger assembly, a ring finger assembly, a little finger assembly, and a thumb assembly, wherein the index finger assembly, the middle finger assembly, the ring finger assembly, and the little finger assembly are respectively openably coupled to the palm member Upper end

A tiger mouth member that is vertically rotatably coupled to an inner side of the palm member, the thumb assembly being openably coupled to the tiger mouth member.
A bionic prosthetic hand according to claim 1, wherein said palm member is provided with a finger driving motor, said finger driving motor is connected to a rotating shaft, and said rotating shaft is provided with a plurality of rings in an axial direction thereof. a groove, the index finger assembly, the middle finger assembly, the ring finger assembly, the little finger assembly, and the thumb assembly are respectively connected by an index finger reins, a middle finger reins, a ring finger reins, a little finger reins, and a thumb reins The plurality of annular grooves of the rotating shaft.
The bionic prosthetic hand according to claim 2, wherein the length of the ring finger reins and the length of the little finger reins are greater than the length of the index finger reins and the length of the middle finger reins.
A bionic prosthetic hand according to claim 2, wherein said palm member is provided with a cavity, said finger driving motor and said rotating shaft are both located in said cavity, and said cavity is provided with a protective cover board.
The bionic prosthetic hand according to claim 1, wherein the palm member is provided with a thumb driving motor, the tiger mouth member is coupled to a rotating shaft of the thumb driving motor, and one end of the thumb assembly is pivotally connected to the tiger mouth component.
The bionic prosthesis hand according to claim 5, wherein the thumb assembly is connected with a tiger mouth slide, the tiger mouth slide is slidably inserted into the tiger mouth member, and the tiger mouth slide is provided with a sliding slot. A limiting plug is disposed on the component of the tiger mouth, and the limiting plug is disposed in the sliding slot.
The bionic prosthetic hand according to claim 1, wherein the index finger assembly, the middle finger assembly, the ring finger assembly, the little finger assembly, and the thumb portion of the thumb assembly are respectively provided with an elastic band, the elasticity A strap is attached to the palm member.
The bionic prosthetic hand according to claim 2, wherein the structure of the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly are the same, respectively, which are respectively connected by a proximal knuckle joint, a middle finger a joint joint member and a distal knuckle joint member connected to the rotating shaft by the index finger reins, the middle finger reins, the ring finger reins or the little finger reins The middle knuckle joint member is rotatably coupled to the An upper end of the proximal knuckle joint member, the distal knuckle joint member being coupled to an upper end of the middle knuckle joint.
A bionic prosthetic hand according to claim 8, wherein said proximal knuckle joint member is provided with an elastic member, one end of said elastic member being coupled to said middle knuckle joint member by an upper reel, said elastic member The other end is connected to the palm member by a lower reins.
The bionic prosthetic hand according to claim 8, wherein the distal knuckle joint member is integrally formed with the middle knuckle joint member; or the distal knuckle joint member is fixedly coupled to the middle finger by a plurality of plugs Joint joints.
The bionic prosthetic hand according to claim 2, wherein said thumb assembly comprises a metacarpal wrist joint member, a proximal knuckle joint member, and a distal knuckle joint member, which are sequentially connected, said metacarpal wrist joint member passing said thumb reins Connected to the rotating shaft, the proximal knuckle joint is connected to the metacarpal wrist joint by a plug, and the distal knuckle joint is connected to the proximal knuckle joint by a plug.
A biomimetic prosthetic hand according to claim 8 or claim 11, wherein the distal knuckle joint member comprises an articular member skeleton and a finger pad structure attached to the joint member skeleton.
The bionic prosthetic hand according to claim 12, wherein the finger pad structure and the joint member frame are integrally formed by a 3D printer; or the finger pad structure is joined to the joint member by bonding or inlaying Skeleton.