CN101536934B - Electric motor built-in false finger - Google Patents
Electric motor built-in false finger Download PDFInfo
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- CN101536934B CN101536934B CN2009100719377A CN200910071937A CN101536934B CN 101536934 B CN101536934 B CN 101536934B CN 2009100719377 A CN2009100719377 A CN 2009100719377A CN 200910071937 A CN200910071937 A CN 200910071937A CN 101536934 B CN101536934 B CN 101536934B
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Abstract
The invention relates to an electric motor built-in false finger, which solves the problem that the effective utilization space of the existing artificial hand is insufficient. In the electric motor false finger, a microdisk type brushless electric machine is arranged in a base knuckle; a planetary reduction gear is arranged in the base knuckle, and an output shaft of the planetary reduction gear which is connected with a cone pinion which is externally meshed with a big bevel gear; a pre-tightening rope pulley is arranged on a first shaft of the middle between a substrate and a left side plate of the base knuckle; the big bevel gear is fixedly arranged on a circular end face of a first small straight gear; a first big straight gear is externally meshed with the first small straight gear; a second small straight gear is externally meshed with a second big straight gear which is fixedly connected with the left side plate of the base buckle; a transmission rope is arranged on a third shaft; the pre-tightening rope pulley is connected with the transmission rope by two wire cables; a connecting rod is connected with a far knuckle by a sixth shaft. The invention integrates the electric motor and an actuating mechanism in the interior of the finger, occupies small volume of a palm, has sufficient effective utilization space and liberates the space of the palm.
Description
Technical field
The present invention relates to a kind of prosthetic finger, be specifically related to a kind of electric motor built-in false finger.
Background technology
Twentieth century is since the 80s and 90s, develop rapidly along with the robot delicate technology, anthropomorphic manipulator all has bigger progress aspect profile, weight, degree of freedom configuration and the perceptive function, but along with improving day by day and the function of doing evil through another person perfect day by day to the functional requirement of doing evil through another person, do evil through another person and effectively utilize the insufficient problem of volume more and more significant, become the bottleneck that restriction is done evil through another person and further developed.
Summary of the invention
The objective of the invention is effectively to utilize the problem of insufficient space, and then a kind of electric motor built-in false finger is provided in order to solve existing doing evil through another person.
Electric motor built-in false finger of the present invention comprises miniature disk type brushless motor, drive mechanism and finger mechanism, described drive mechanism is by planetary reduction gear, cone pinion, first sliding bearing, large bevel gear, connecting rod, pre-bearing up pulley, the transmission rope sheave, two steel wire ropes, steel wire rope pretension piece, second sliding bearing, second, the 5th sliding bearing, four steel wire ropes connect ball, first small Spur gear, first spur gear, second small Spur gear and second largest spur gear are formed, described finger mechanism comprises pedestal, first, the 3rd, the 4th, the 3rd sliding bearing, the 4th sliding bearing, the base dactylus, middle finger joint and dactylus far away, described basic dactylus is made up of the basic dactylus left plate and the basic dactylus right plate of phase spiral-lock, described middle finger joint comprises middle finger joint right plate and the middle finger joint left plate that is oppositely arranged, one end of described basic dactylus left plate and basic dactylus right plate is connected by the 3rd end with middle finger joint right plate and middle finger joint left plate, the other end of described middle finger joint right plate and middle finger joint left plate is connected with dactylus far away by the 4th, the other end of base dactylus left plate and basic dactylus right plate is connected with the inwall of pedestal one end respectively by first, the contact surface of described basic dactylus left plate and first and pedestal is provided with the 3rd sliding bearing, and the contact surface of the large bevel gear of described basic dactylus right plate and first and planetary gear speed reducing mechanism is provided with the 4th sliding bearing; Described miniature disk type brushless motor is arranged in the basic dactylus; Described planetary reduction gear is installed in the basic dactylus, the outfan of described miniature disk type brushless motor is connected with the input of planetary reduction gear, the output shaft and the cone pinion of described planetary reduction gear are connected by profile, be connected described cone pinion and large bevel gear external toothing by first sliding bearing between described cone pinion and the basic dactylus left plate; Described pre-bearing up pulley is installed on intermediary first of pedestal and the basic dactylus left plate by finger setting, and pre-bearing up pulley and basic dactylus left plate and first contact surface is provided with second sliding bearing, on first between described basic dactylus left plate and the basic dactylus right plate first small Spur gear is installed, the large bevel gear of described planetary gear speed reducing mechanism is packed on the shoulder end face of first small Spur gear, the contact surface of described first small Spur gear and basic dactylus left plate is provided with the 5th sliding bearing, the other end of described pedestal is equipped with second, described second and first is set up in parallel, described second small Spur gear is sleeved on second, be fixed with first spur gear on the shoulder end face of described second small Spur gear, the described first spur gear and the first small Spur gear external toothing, described second small Spur gear and second largest spur gear external toothing, described second largest spur gear and basic dactylus left plate are affixed, described transmission rope sheave is installed in the 3rd and goes up by finger setting and affixed with the middle finger joint right plate, connect by two steel wire ropes between described pre-bearing up pulley and the transmission rope sheave, described two steel wire ropes are arranged in a crossed manner, one end of described steel wire rope pretension piece is arranged in the groove of pre-bearing up pulley, one end of steel wire rope pretension piece passes pedestal, it is affixed with the termination of two steel wire ropes respectively that described four steel wire ropes connect ball, the steel wire rope of steel cable one end connects ball and is installed in the groove of steel wire rope pretension piece, the steel wire rope of the other end of described steel cable connects ball and is installed in the groove of transmission rope sheave, the steel wire rope at another root steel wire rope two ends connects in the groove that ball is installed in pre-bearing up pulley respectively and in the groove of transmission rope sheave, one end of described connecting rod is connected with basic dactylus right plate by the 5th, and the other end of described connecting rod is connected with dactylus far away by the 6th.
The present invention has following beneficial effect: the present invention all is integrated in finger interior with motor and drive mechanism, and it is little to take the palm volume, does evil through another person and effectively utilizes the space abundance, has liberated the palm space; Broken existing research of doing evil through another person and also mainly concentrated on the arm skeleton that effectively utilizes the volume maximum present situation from the disconnected full hands stage, existing doing evil through another person requires the whole mutilated hand of upper limb disabled person patient when installing, and the forearm stump length there is certain requirement, research at the deformity of hand skeleton effectively utilizes the little space state that is in substantially of volume because of it, the present invention is connected with palm by connecting device, for providing artificial limb from the palm metacarpal bone from disconnected people with disability, the present invention is particularly suitable for using from disconnected people with disability from the palm metacarpal bone.Base of the present invention gives modularized design, and Installation and Debugging are convenient, and maintenance is quick, can form full palm hands and partly slap hands by matching with different palm, because of it takies the palm finite volume, can reduce the volume of palm greatly, has improved the integrated degree of doing evil through another person.Folding speed of the present invention is fast, and motion is steadily pointed and exerted oneself greatly, and the finger overall dimensions likens smaller to finger, and the motion mode height personalizes, and the overall performance of finger approaches actual finger.
Description of drawings
Fig. 1 is an overall structure cross-sectional schematic of the present invention, and Fig. 2 is a partial sectional view of the present invention, and Fig. 3 is a place partial enlarged drawing of Fig. 1, and Fig. 4 is the A-A cutaway view of Fig. 1, Fig. 5 be the B of Fig. 1 to view, Fig. 6 is an overall appearance sketch map of the present invention.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 1～Fig. 6, the electric motor built-in false finger of present embodiment comprises miniature disk type brushless motor 20, drive mechanism and finger mechanism, described drive mechanism is by planetary reduction gear 21, cone pinion 42, first sliding bearing 43, large bevel gear 26, connecting rod 6, pre-bearing up pulley 24, transmission rope sheave 17, two steel wire ropes 16, steel wire rope pretension piece 29, second sliding bearing 27, second 37, the 5th sliding bearing 39, four steel wire ropes connect ball 44, first small Spur gear 41, first spur gear 34, second small Spur gear 35 and second largest spur gear 38 are formed, described finger mechanism comprises pedestal 1, first 40, the 3rd 18, the 4th 12, the 3rd sliding bearing 48, the 4th sliding bearing 28, the base dactylus, middle finger joint and dactylus 11 far away, described basic dactylus is made up of the basic dactylus left plate 23 and the basic dactylus right plate 19 of phase spiral-lock, described middle finger joint comprises middle finger joint right plate 14 and the middle finger joint left plate 50 that is oppositely arranged, one end of described basic dactylus left plate 23 and basic dactylus right plate 19 is connected by the 3rd 18 end with middle finger joint right plate 14 and middle finger joint left plate 50, the other end of described middle finger joint right plate 14 and middle finger joint left plate 50 is connected with dactylus 11 far away by the 4th 12, the other end of base dactylus left plate 23 and basic dactylus right plate 19 is connected with the inwall of pedestal 1 one ends respectively by first 40, the contact surface of described basic dactylus left plate 23 and first 40 and pedestal 1 is provided with the 3rd sliding bearing 48, and the contact surface of the large bevel gear 26 of described basic dactylus right plate 19 and first 40 and planetary gear speed reducing mechanism is provided with the 4th sliding bearing 28; Described miniature disk type brushless motor 20 is arranged in the basic dactylus; Described planetary reduction gear 21 is installed in the basic dactylus, the outfan of described miniature disk type brushless motor 20 is connected with the input of planetary reduction gear 21, the output shaft of described planetary reduction gear 21 and cone pinion 42 are connected by profile, be connected described cone pinion 42 and large bevel gear 26 external toothings between described cone pinion 42 and the basic dactylus left plate 23 by first sliding bearing 43; Described pre-bearing up pulley 24 be installed in pedestal 1 and basic dactylus left plate 23 on intermediary first 40 by finger setting, and pre-bearing up pulley 24 and basic dactylus left plate 23 and first 40 contact surface is provided with second sliding bearing 27, on first 40 between described basic dactylus left plate 23 and the basic dactylus right plate 19 first small Spur gear 41 is installed, the large bevel gear 26 of described planetary gear speed reducing mechanism is packed on the shoulder end face of first small Spur gear 41, described first small Spur gear 41 is provided with the 5th sliding bearing 39 with the contact surface of basic dactylus left plate 23, the other end of described pedestal 1 is equipped with second 37, be set up in parallel for described second 37 and first 40, described second small Spur gear 35 is sleeved on second 37, be fixed with first spur gear 34 on the shoulder end face of described second small Spur gear 35, described first spur gear 34 and 41 external toothings of first small Spur gear, described second small Spur gear 35 and second largest spur gear 38 external toothings, described second largest spur gear 38 and basic dactylus left plate 23 are affixed, described transmission rope sheave 17 is installed on the 3rd 18 by finger setting and affixed with middle finger joint right plate 14, connect by two steel wire ropes 16 between described pre-bearing up pulley 24 and the transmission rope sheave 17, described two steel wire ropes 16 are arranged in a crossed manner, one end of described steel wire rope pretension piece 29 is arranged in the groove of pre-bearing up pulley 24, one end of steel wire rope pretension piece 29 passes pedestal 1, it is affixed with the termination of two steel wire ropes 16 respectively that described four steel wire ropes connect ball 44, the steel wire rope of steel cable 16 1 ends connects ball 44 and is installed in the groove of steel wire rope pretension piece 29, the steel wire rope of the other end of described steel cable 16 connects ball 44 and is installed in the groove 17-1 of transmission rope sheave 17, the steel wire rope at another root steel wire rope 16 two ends connects in the groove 24-1 that ball 44 is installed in pre-bearing up pulley 24 respectively and in the groove 17-1 of transmission rope sheave 17, one end of described connecting rod 6 is connected with basic dactylus right plate 19 by the 5th 5, and the other end of described connecting rod 6 is connected with dactylus 11 far away by the 6th 9.Described planetary reduction gear 21 constitutes planetary gear speed reducing mechanism, described first sliding bearing 43, cone pinion 42, large bevel gear 26, first small Spur gear 41, first spool 40, first spur gear 34, second small Spur gear 35, second spool 37, pedestal 36 and basic dactylus right plate 19 constitute cyclic trains, finger mechanism adopts the unity couping mode, point basic dactylus and middle finger joint and adopt rope drive, middle finger joint adopts the connecting rod transmission with dactylus far away, and the speed reducing ratio of planetary reduction gear 21 is 64: 1.
The specific embodiment two: referring to Fig. 1 and Fig. 3, the electric motor built-in false finger of present embodiment also increases position sensor, described position sensor is made up of potentiometer 32, sliding bearing 33 and potentiometer connecting plate 31, described potentiometer connecting plate 31 is sleeved on second 37 and is packed on the inwall of pedestal 1, described potentiometer 32 is packed on the potentiometer connecting plate 31 and by sliding bearing 33 and is connected with second 37, and the lower end of sliding bearing 33 and first spur gear 34 are affixed.So be provided with, obtain the absolute position in basic joint by the change in voltage of potentiometer through conversion.Other composition is identical with the specific embodiment one with annexation.
The specific embodiment three: referring to Fig. 4, the electric motor built-in false finger of present embodiment also increases torque sensor, described torque sensor is made up of two foil gauges 49, and described two foil gauges 49 are affixed on the basic dactylus left plate 23 along the axis symmetry of prosthetic finger.So be provided with, pass through to convert obtaining moment by the variation of foil gauge.Foil gauge is affixed on the moment sensitive part of basic dactylus left plate with symmetric mode, and the moment sensitive part of basic dactylus left plate is the position of whole moments of bearing finger.Other composition is identical with the specific embodiment two with annexation.
The specific embodiment four: referring to Fig. 4 and Fig. 5, the middle finger joint of present embodiment also increases has middle finger joint upper cover plate 7 and middle finger joint to refer to tripe 22, described middle finger joint upper cover plate 7 is arranged on the upper end of middle finger joint right plate 14 and middle finger joint left plate 50, and middle finger joint refers to that tripe 22 is arranged on the lower end of middle finger joint right plate 14 and middle finger joint left plate 50.So be provided with, middle finger joint upper cover plate 7, middle finger joint right plate 14, middle finger joint left plate 50 and middle finger joint refer to that tripe 22 constitutes the middle finger joint profile, make the profile of prosthetic finger vivider true to nature, more approach finger.Other composition is identical with the specific embodiment one, two or three with annexation.
The specific embodiment five: referring to Fig. 1 and Fig. 4, the finger mechanism of present embodiment also increases basic joint cover plate of upper layer 46, base joint lower floor cover plate 45, middle joint cover plate 15 and joint far away cover plate 13, described basic joint cover plate of upper layer 46 is coated on outside the basic joint and is configured on the pedestal 36 by gluing, base joint lower floor cover plate 45 places basic joint cover plate of upper layer 46 inboards and is fixed on the basic dactylus left plate 23, joint cover plate 15 is coated on outside the middle joint in described, joint cover plate 15 is disposed on the basic dactylus right plate 19 by axle 18 in described, described joint far away cover plate 13 is coated on outside the joint far away, and described joint far away cover plate 13 is disposed on the dactylus 11 far away by axle 12.So be provided with, base joint cover plate of upper layer 46, basic joint lower floor cover plate 45, middle joint cover plate 15 and joint far away cover plate 13 have kept the profile of finger-joint in motor process, make the profile of prosthetic finger vivider true to nature, more approach finger, simultaneously the gear in flexible PCB line and the pedestal is separated, guaranteed the normal operation of mechanism.Other composition is identical with the specific embodiment four with annexation.
Operation principle: (begin to make steel wire rope 16 and pre-bearing up pulley 24 and transmission rope sheave 17 fit tightly referring to Fig. 1～Fig. 6), constitute basic dactylus drive mechanism with fixed drive ratio by adjusting steel wire rope pretension piece 29.The planetary reduction gear 21 that through speed reducing ratio is 64: 1 will be the low speed transmission with the high speed rotating of miniature disk type brushless motor 20, to reduce the prosthetic finger noise, planetary reduction gear 21 is given large bevel gear 26 by cone pinion 42 with transmission of power, the large bevel gear 26 and first small Spur gear 41 are duplicate gear and can rotate around first 40, power passes to first spur gear 34 by first small Spur gear 41, the first spur gear 34 and second small Spur gear 35 are duplicate gear and can rotate around second 37, power passes to second largest spur gear 38 by second small Spur gear 35, second largest spur gear 38 and basic dactylus left plate 23 are affixed, power passes to basic dactylus right plate 19 by basic dactylus left plate 23, thereby drives basic dactylus motion; Pre-bearing up pulley 24 is affixed with pedestal 36, the base dactylus rotates, cause that the coiling length of steel cable 16 on pre-bearing up pulley 24 increases, the coiling length of another root steel wire rope 16 on pre-bearing up pulley 24 reduces, make transmission rope sheave 17 rotate around axle 18, transmission rope sheave 17 is affixed with middle finger joint, and basic dactylus Motion Transmission is to middle finger joint; Middle finger joint moves through the middle finger joint four-bar mechanism that is made of basic dactylus left plate 23, basic dactylus right plate 19, the 5th spool 5, connecting rod 6, the 6th spool 9, middle finger joint right plate 14, middle finger joint left plate 50, the 4th spool 12 and dactylus 11 far away and is delivered to dactylus far away, and that realizes personalizing closes up and stretching.Position sensor: potentiometer connecting plate 31 is sleeved on second 37 and is packed on the inwall of pedestal 1, described potentiometer 32 is packed on the potentiometer connecting plate 31 and by sliding bearing 33 and is connected with second 37, the lower end of sliding bearing 33 and first spur gear 34 are affixed, second small Spur gear 35 is 2: 1 with the gear ratio of second largest spur gear 38, close up from pointing to open up into fully fully, base dactylus rotational angle is 95 degree, second small Spur gear, 35 rotational angles are 190 degree, can change scope (300 degree) less than the maximum of potentiometer 32, so can obtain the absolute position in basic joint through converting by the change in voltage of potentiometer 32.Torque sensor: foil gauge 49 is affixed on the moment sensitive part of basic dactylus left plate 23 with symmetric mode, base dactylus left plate 23 cooperates by profile with basic dactylus right plate 19 and screw connects and composes basic dactylus, power is from miniature 20 beginnings of disk type brushless motor, through planetary reduction gear 21, cone pinion 42, large bevel gear 26, first small Spur gear 41, first spur gear 34, second small Spur gear 35 and second largest spur gear 38 are delivered to basic dactylus left plate 23, be delivered to basic dactylus through basic dactylus left plate 23 again, so whole moments of finger are born at foil gauge 49 position of pasting.
Claims (5)
1. electric motor built-in false finger, it comprises miniature disk type brushless motor (20), drive mechanism and finger mechanism, it is characterized in that: described drive mechanism is by planetary reduction gear (21), cone pinion (42), first sliding bearing (43), large bevel gear (26), connecting rod (6), pre-bearing up pulley (24), transmission rope sheave (17), two steel wire ropes (16), steel wire rope pretension piece (29), second sliding bearing (27), second (37), the 5th sliding bearing (39), four steel wire ropes connect ball (44), first small Spur gear (41), first spur gear (34), second small Spur gear (35) and second largest spur gear (38) are formed, described finger mechanism comprises pedestal (1), first (40), the 3rd (18), the 4th (12), the 3rd sliding bearing (48), the 4th sliding bearing (28), the base dactylus, middle finger joint and dactylus (11) far away, described basic dactylus is made up of the basic dactylus left plate (23) and the basic dactylus right plate (19) of phase spiral-lock, described middle finger joint comprises middle finger joint right plate (14) and the middle finger joint left plate (50) that is oppositely arranged, one end of described basic dactylus left plate (23) and basic dactylus right plate (19) is connected with the end of middle finger joint right plate (14) with middle finger joint left plate (50) by the 3rd (18), the other end of described middle finger joint right plate (14) and middle finger joint left plate (50) is connected with dactylus (11) far away by the 4th (12), the other end of base dactylus left plate (23) and basic dactylus right plate (19) is connected with the inwall of pedestal (1) one end respectively by first (40), described basic dactylus left plate (23) is provided with the 3rd sliding bearing (48) with the contact surface of first (40) and pedestal (1), and described basic dactylus right plate (19) is provided with the 4th sliding bearing (28) with the contact surface of the large bevel gear (26) of first (40) and planetary gear speed reducing mechanism; Described miniature disk type brushless motor (20) is arranged in the basic dactylus; Described planetary reduction gear (21) is installed in the basic dactylus, the outfan of described miniature disk type brushless motor (20) is connected with the input of planetary reduction gear (21), the output shaft of described planetary reduction gear (21) and cone pinion (42) are connected by profile, be connected described cone pinion (42) and large bevel gear (26) external toothing between described cone pinion (42) and the basic dactylus left plate (23) by first sliding bearing (43); Described pre-bearing up pulley (24) is installed on pedestal (1) and the basic dactylus left plate (23) intermediary first (40) by finger setting, and pre-bearing up pulley (24) is provided with second sliding bearing (27) with the contact surface of basic dactylus left plate (23) and first (40), on first (40) between described basic dactylus left plate (23) and the basic dactylus right plate (19) first small Spur gear (41) is installed, the large bevel gear of described planetary gear speed reducing mechanism (26) is packed on the shoulder end face of first small Spur gear (41), described first small Spur gear (41) is provided with the 5th sliding bearing (39) with the contact surface of basic dactylus left plate (23), the other end of described pedestal (1) is equipped with second (37), described second (37) are set up in parallel with first (40), described second small Spur gear (35) is sleeved on second (37), be fixed with first spur gear (34) on the shoulder end face of described second small Spur gear (35), described first spur gear (34) and first small Spur gear (41) external toothing, described second small Spur gear (35) and second largest spur gear (38) external toothing, described second largest spur gear (38) is affixed with basic dactylus left plate (23), described transmission rope sheave (17) is installed in the 3rd (18) and goes up by finger setting and affixed with middle finger joint right plate (14), connect by two steel wire ropes (16) between described pre-bearing up pulley (24) and the transmission rope sheave (17), described two steel wire ropes (16) are arranged in a crossed manner, one end of described steel wire rope pretension piece (29) is arranged in the groove of pre-bearing up pulley (24), one end of steel wire rope pretension piece (29) passes pedestal (1), it is affixed with the termination of two steel wire ropes (16) respectively that described four steel wire ropes connect ball (44), the steel wire rope of steel cable (16) one ends connects ball (44) and is installed in the groove of steel wire rope pretension piece (29), the steel wire rope of the other end of described steel cable (16) connects ball (44) and is installed in the groove (17-1) of transmission rope sheave (17), the steel wire rope at another root steel wire rope (16) two ends connects in the groove (24-1) that ball (44) is installed in pre-bearing up pulley (24) respectively and in the groove (17-1) of transmission rope sheave (17), one end of described connecting rod (6) is connected with basic dactylus right plate (19) by the 5th (5), and the other end of described connecting rod (6) is connected with dactylus (11) far away by the 6th (9).
2. according to the described electric motor built-in false finger of claim 1, it is characterized in that: described electric motor built-in false finger also comprises position sensor, described position sensor is by potentiometer (32), the 6th sliding bearing (33) and potentiometer connecting plate (31) are formed, described potentiometer connecting plate (31) is sleeved on second (37) and goes up and be packed on the inwall of pedestal (1), described potentiometer (32) is packed in potentiometer connecting plate (31) and upward and by the 6th sliding bearing (33) is connected with second (37), and the lower end of the 6th sliding bearing (33) and first spur gear (34) are affixed.
3. according to the described electric motor built-in false finger of claim 2, it is characterized in that: described electric motor built-in false finger also comprises torque sensor, described torque sensor is made up of two foil gauges (49), and described two foil gauges (49) are affixed on the basic dactylus left plate (23) along the axis symmetry of prosthetic finger.
4. according to claim 1,2 or 3 described electric motor built-in false fingers, it is characterized in that: described middle finger joint comprises that also middle finger joint upper cover plate (7) and middle finger joint refer to tripe (22), described middle finger joint upper cover plate (7) is arranged on the upper end of middle finger joint right plate (14) and middle finger joint left plate (50), and middle finger joint refers to that tripe (22) is arranged on the lower end of middle finger joint right plate (14) and middle finger joint left plate (50).
5. according to the described electric motor built-in false finger of claim 4, it is characterized in that: described finger mechanism also comprises basic joint cover plate of upper layer (46), base joint lower floor's cover plate (45), middle joint cover plate (15) and joint cover plate (13) far away, described basic joint cover plate of upper layer (46) is coated on outside the basic joint and is configured on the pedestal (1) by gluing, base joint lower floor's cover plate (45) places basic joint cover plate of upper layer (46) inboard and is fixed on the basic dactylus left plate (23), joint cover plate (15) is coated on outside the middle joint in described, joint cover plate (15) is disposed on the basic dactylus right plate (19) by the 3rd (18) in described, described joint far away cover plate (13) is coated on outside the joint far away, and described joint far away cover plate (13) is disposed on the dactylus far away (11) by the 4th (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100719377A CN101536934B (en) | 2009-04-30 | 2009-04-30 | Electric motor built-in false finger |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100719377A CN101536934B (en) | 2009-04-30 | 2009-04-30 | Electric motor built-in false finger |
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| CN101536934A CN101536934A (en) | 2009-09-23 |
| CN101536934B true CN101536934B (en) | 2011-01-05 |
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| CN2009100719377A Expired - Fee Related CN101536934B (en) | 2009-04-30 | 2009-04-30 | Electric motor built-in false finger |
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| CN106618967A (en) * | 2017-01-25 | 2017-05-10 | 东北大学 | Novel portable hand exoskeleton recovery device |
| CN106943279B (en) * | 2017-04-27 | 2023-05-12 | 东北大学 | Hand exoskeleton and two-hand follow-up rehabilitation device |
| WO2020024730A1 (en) * | 2018-08-01 | 2020-02-06 | 北京因时机器人科技有限公司 | Mechanical finger and mechanical arm |
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| US5080682A (en) * | 1990-07-05 | 1992-01-14 | Schectman Leonard A | Artificial robotic hand |
| CN1406560A (en) * | 2001-09-06 | 2003-04-02 | 上海天竹康复科技发展有限公司 | Simulated electronic artificial hand |
| CN2680418Y (en) * | 2003-11-20 | 2005-02-23 | 陈建良 | Hand prosthesis with holding power reinforcing effect |
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| US5080682A (en) * | 1990-07-05 | 1992-01-14 | Schectman Leonard A | Artificial robotic hand |
| CN1406560A (en) * | 2001-09-06 | 2003-04-02 | 上海天竹康复科技发展有限公司 | Simulated electronic artificial hand |
| CN2680418Y (en) * | 2003-11-20 | 2005-02-23 | 陈建良 | Hand prosthesis with holding power reinforcing effect |
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| 俞昌东，姜力，黄海，史士才，刘宏.残疾人用假手的机构研究.《机械制造》.2007,第45卷(第518期),第19-22页. * |
| 黄海,姜力,候琳琪,刘宏,高海波.HIT/DLR仿人假手拇指机构的研究.《哈尔滨工程大学学报》.2007,第28卷(第2期),第207-211页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101536934A (en) | 2009-09-23 |
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