CN101879101A - Bionic mechanical prosthetic hand driven by wrist joint - Google Patents
Bionic mechanical prosthetic hand driven by wrist joint Download PDFInfo
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- CN101879101A CN101879101A CN 201010256563 CN201010256563A CN101879101A CN 101879101 A CN101879101 A CN 101879101A CN 201010256563 CN201010256563 CN 201010256563 CN 201010256563 A CN201010256563 A CN 201010256563A CN 101879101 A CN101879101 A CN 101879101A
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- knuckle
- digitorum manus
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Abstract
The invention relates to a bionic mechanical prosthetic hand driven by a wrist joint, comprising a wrist module, a metacarpal joint module and a plurality of finger mechanisms. Each finger mechanism comprises a first knuckle, a second knuckle, a third knuckle, a facet joint knuckle connecting rod and a large joint knuckle connecting rod, wherein one end of the first knuckle is respectively connected with the facet joint knuckle connecting rod and the second knuckle, one end of the second knuckle is respectively connected with the large joint knuckle connecting rod and the third knuckle, one end of the third knuckle is connected with a through-going shaft, one end of the large joint knuckle connecting rod is connected with the driving rod of the wrist joint, the other end is connected with the facet joint knuckle connecting rod; and the wrist module comprises a wrist joint drive rod, a wrist connecting block and a wrist fixing ring, the wrist fixing ring fixed on the wrist is connected with the wrist connecting block rotatably through a connecting shaft. The prosthetic hand not only has the flexion and extension function of human fingers, and has grasping and kneading functions. The device is small and exquisite, and the appearance is close to the size of human fingers, so that the bionic mechanical prosthetic hand is suitable for patients with metacarpal amputation or high phalanx amputation to wear.
Description
Technical field
The present invention relates to a kind of artificial limb of upper limb of medical apparatus and instruments, especially relate to a kind of bionic mechanical prosthetic hand driven by wrist joint that can utilize the carpal joint motion to realize the bionical grip function of finger.
Background technology
The research that apery type people with disability does evil through another person is for the quality of life of improving the people with disability and promotes the social rehabilitation career development that this research has become a focus of rehabilitation worker engineering and robot subject.Since the nineties in 20th century, the intelligent Dextrous Hand with accurate extracting and operation occurs in succession, and as NASA humanoid dextrous hand, DLR humanoid dextrous hand, this class hands is background with the spatial operation, has multiple perceptive function, degree of intelligence height, system complex.On this basis, the man-shaped hand of in light weight, simple in structure, many fingers emerges in succession as Southampton hands, TBM hands, OTTOBOCK hands etc.Such is done evil through another person and has the feature that well personalizes aspect profile and the weight, but for most of people with disability's practical situation, costs an arm and a leg.
Summary of the invention
The present invention will provide a kind of bionic mechanical prosthetic hand driven by wrist joint, for disabled persons the doing evil through another person of apery type that this mechanical prosthetic hand is simple in structure, in light weight, can realize the finger grasping movement by self power source (carpal joint bends and stretches).
For achieving the above object, the technical solution used in the present invention is: a kind of bionic mechanical prosthetic hand driven by wrist joint, comprise wrist module, metacarpal joint module, and several finger mechanisms, be characterized in:
Finger mechanism comprises first articulations digitorum manus, second articulations digitorum manus, the 3rd articulations digitorum manus, little joint connecting rod, big joint connecting rod, and wherein, first articulations digitorum manus, one end is connected with second articulations digitorum manus with little joint connecting rod respectively; One end of second articulations digitorum manus is connected with big joint connecting rod and the 3rd articulations digitorum manus respectively; The 3rd articulations digitorum manus one end with run through the axle be connected; Big joint connecting rod one end is connected with wrist joint drive rod, and the other end is connected with little joint connecting rod;
Wrist module comprises wrist joint drive rod, wrist contiguous block and wrist retainer ring, and the wrist retainer ring that is fixed on wrist is rotationally connected by connecting axle and wrist contiguous block.
The wrist contiguous block passes through wrist joint drive rod, the metacarpal joint module is with big joint connecting rod and run through axle and be connected to form first connecting rod mechanism, and the disconnected palm drives the metacarpal joint module and it rotated around the connecting axle with the wrist contiguous block drive first connecting rod mechanism big joint connecting rod is rotated around running through axle;
Big joint connecting rod, the 3rd articulations digitorum manus, run through axle, metacarpal joint module, wrist joint drive rod and little joint connecting rod and form second connecting rod mechanism, under the driving of big joint connecting rod, make of the connecting axle rotation of little joint connecting rod around itself and the 3rd articulations digitorum manus.
The present invention compares with the existing product of doing evil through another person, and has the following advantages and beneficial effect:
The wrist joint function that this is done evil through another person and utilizes the residual position of hand to keep combines with mechanical apery type prosthetic finger.When carpal joint carried out flexion and extension, the palm that will drive on the mechanical apery type prosthetic finger referred to that driving mechanism rotates, thereby reached the passive flexion and extension of mechanical apery type prosthetic finger.This mechanism has also considered to have simulated normal staff and has been in little feature in the wrong at the naturalness finger when design.This mechanical prosthetic hand only adopts the power drive rod to carry out transmission with parallel drive rod, simple in structure, in light weight, characteristics such as maintain easily, thereby can make mechanical apery type prosthetic finger similar, also possess the function that existing beauty treatment finger or general EMG-controlling prosthetic hand finger can not be realized the flexion and extension of human finger joint simultaneously to the articulation structure merit of human finger.
This is done evil through another person and has carried out the design of apery practicability at aspects such as outward appearance, forms of motion, it has not only possessed the flexion and extension function of human finger, but also has possessed grasping, is affectedly bashful function, and its device is small and exquisite, profile is fit to be worn on incomplete on hand near the human finger size.
Description of drawings
Fig. 1 is an installation diagram of the present invention;
Fig. 2 is the side view when not flexing one's fingers;
Fig. 3 is the side view when flexing one's fingers;
Fig. 4 points not curved side view when being simulation amputation hands wearing;
Finger curved side view when Fig. 5 is simulation amputation hands wearing.
The specific embodiment
The present invention is further illustrated below in conjunction with accompanying drawing and example
To shown in Figure 5, of the present invention doing evil through another person mainly is made up of wrist module, finger mechanism, metacarpal joint module as Fig. 1.Wherein finger mechanism can be divided into the finger actuation module again and each dactylus is partly formed.Finger mechanism mainly is made of first articulations digitorum manus 1, second articulations digitorum manus 3, the 3rd articulations digitorum manus 5, little joint connecting rod 2, big joint connecting rod 4.Wrist module is made up of wrist joint drive rod 7, wrist contiguous block 9 and wrist retainer ring 8.
2. by No. 9, wrist contiguous block, wrist joint drive rod 7, metacarpal joint module 10, big joint connecting rod 4 with run through axle 6 and forms first connecting rod mechanism, metacarpal joint module 10 makes it rotate drive first connecting rod mechanism kinematic around the connecting axle with wrist contiguous block 9 and realizes first transmission under the disconnected palm drives.This transmission meeting makes big joint connecting rod 4 rotate around itself and the connecting axle that runs through axle 6 that runs through the hole.
3. by big joint connecting rod 4, the 3rd articulations digitorum manus 5, run through axle 6, metacarpal joint module 10, wrist joint drive rod 7 and little joint connecting rod 2 and form second connecting rod mechanism, second transmission of realization under the driving of big joint connecting rod 4.This transmission meeting makes little joint connecting rod 2 rotate around the connecting axle of itself and the 3rd articulations digitorum manus 5.
4. first articulations digitorum manus 1, little joint connecting rod 2, second articulations digitorum manus 3, big joint connecting rod 4 and the 3rd articulations digitorum manus 5 are formed third connecting rod mechanism, realize the 3rd transmission under the driving of little joint connecting rod 2.This transmission meeting makes first articulations digitorum manus 1 rotate around the connecting axle of its little joint connecting rod 2.
Claims (3)
1. bionic mechanical prosthetic hand driven by wrist joint, comprise wrist module, metacarpal joint module, several finger mechanisms, it is characterized in that: described finger mechanism comprises first articulations digitorum manus (1), second articulations digitorum manus (3), the 3rd articulations digitorum manus (5), little joint connecting rod (2), big joint connecting rod (4), wherein, first articulations digitorum manus (1) one end is connected with second articulations digitorum manus (3) with little joint connecting rod (2) respectively; One end of second articulations digitorum manus (3) is connected with big joint connecting rod (4) and the 3rd articulations digitorum manus (5) respectively; The 3rd articulations digitorum manus (5) one ends are connected with metacarpal joint module (10), and big joint connecting rod (4) one ends are connected with wrist joint drive rod (7), and the other end is connected with little joint connecting rod (2); Wrist module comprises wrist joint drive rod (7), wrist contiguous block (9), wrist retainer ring (8), and the wrist retainer ring (8) that is fixed on wrist is rotationally connected by connecting axle and wrist contiguous block (9).
2. bionic mechanical prosthetic hand driven by wrist joint according to claim 1, it is characterized in that: described wrist contiguous block (9) is by wrist joint drive rod (7), metacarpal joint module (10) is with big joint connecting rod (4) and run through axle (6) and be connected to form first connecting rod mechanism, and the disconnected palm drives metacarpal joint module (10) and it rotated around the connecting axle with wrist contiguous block (9) drive first connecting rod mechanism and make big joint connecting rod (4) around running through axle (6) rotation.
3. bionic mechanical prosthetic hand driven by wrist joint according to claim 1, it is characterized in that: described big joint connecting rod (4), the 3rd articulations digitorum manus (5), run through axle (6), a metacarpal joint module (10), wrist joint drive rod (7) and little joint connecting rod (2) is formed second connecting rod mechanism, under the driving of big joint connecting rod (4), make the connecting axle commentaries on classics of little joint connecting rod (2) around itself and the 3rd articulations digitorum manus (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102565639A CN101879101B (en) | 2010-08-19 | 2010-08-19 | Bionic mechanical prosthetic hand driven by wrist joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102565639A CN101879101B (en) | 2010-08-19 | 2010-08-19 | Bionic mechanical prosthetic hand driven by wrist joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101879101A true CN101879101A (en) | 2010-11-10 |
| CN101879101B CN101879101B (en) | 2012-08-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102565639A Expired - Fee Related CN101879101B (en) | 2010-08-19 | 2010-08-19 | Bionic mechanical prosthetic hand driven by wrist joint |
Country Status (1)
| Country | Link |
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| CN (1) | CN101879101B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104306086A (en) * | 2014-09-30 | 2015-01-28 | 东北大学 | Novel prosthetic hand without external power |
| CN104688392A (en) * | 2015-02-07 | 2015-06-10 | 东北大学 | Complete body-powered bionic manipulator |
| CN106726027A (en) * | 2016-02-24 | 2017-05-31 | 吉林大学 | A kind of drive lacking prosthetic hand |
| CN108955507A (en) * | 2018-07-09 | 2018-12-07 | 上海理工大学 | Identify the sensor that human body limb movement is intended to |
| CN113349995A (en) * | 2021-06-04 | 2021-09-07 | 哈尔滨工业大学 | Mechanical finger artificial limb |
| CN114248283A (en) * | 2021-12-30 | 2022-03-29 | 湖南农业大学 | Exoskeleton maintenance robot hand with Bluetooth sensing function |
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| JP2001104349A (en) * | 1999-10-12 | 2001-04-17 | Harada Denshi Kogyo Kk | Thumb shape adjustable artificial hand |
| WO2003017879A1 (en) * | 2001-08-27 | 2003-03-06 | Bergomed Ab | Modular system for mechanical hand |
| EP1354670A1 (en) * | 2000-12-06 | 2003-10-22 | Honda Giken Kogyo Kabushiki Kaisha | Multi-finger hand device |
| JP2006247805A (en) * | 2005-03-14 | 2006-09-21 | Hitachi Ltd | Hand mechanism |
| JP2008023276A (en) * | 2006-07-16 | 2008-02-07 | Hiroshi Yokoi | All-fingers movable type artificial hand |
| WO2008062625A1 (en) * | 2006-11-24 | 2008-05-29 | Panasonic Corporation | Multi-fingered robot hand |
| US20080188952A1 (en) * | 2007-02-05 | 2008-08-07 | Ada Technologies, Inc. | Pre-positionable prosthetic hand |
| WO2008098057A2 (en) * | 2007-02-06 | 2008-08-14 | Deka Integrated Solutions Corp. | Arm prosthetic device |
| CN201692100U (en) * | 2010-08-19 | 2011-01-05 | 上海理工大学 | Biomimetic mechanical artificial hand driven by power source per se |
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2010
- 2010-08-19 CN CN2010102565639A patent/CN101879101B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001104349A (en) * | 1999-10-12 | 2001-04-17 | Harada Denshi Kogyo Kk | Thumb shape adjustable artificial hand |
| EP1354670A1 (en) * | 2000-12-06 | 2003-10-22 | Honda Giken Kogyo Kabushiki Kaisha | Multi-finger hand device |
| WO2003017879A1 (en) * | 2001-08-27 | 2003-03-06 | Bergomed Ab | Modular system for mechanical hand |
| JP2006247805A (en) * | 2005-03-14 | 2006-09-21 | Hitachi Ltd | Hand mechanism |
| JP2008023276A (en) * | 2006-07-16 | 2008-02-07 | Hiroshi Yokoi | All-fingers movable type artificial hand |
| WO2008062625A1 (en) * | 2006-11-24 | 2008-05-29 | Panasonic Corporation | Multi-fingered robot hand |
| US20080188952A1 (en) * | 2007-02-05 | 2008-08-07 | Ada Technologies, Inc. | Pre-positionable prosthetic hand |
| WO2008098057A2 (en) * | 2007-02-06 | 2008-08-14 | Deka Integrated Solutions Corp. | Arm prosthetic device |
| CN201692100U (en) * | 2010-08-19 | 2011-01-05 | 上海理工大学 | Biomimetic mechanical artificial hand driven by power source per se |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104306086A (en) * | 2014-09-30 | 2015-01-28 | 东北大学 | Novel prosthetic hand without external power |
| CN104688392A (en) * | 2015-02-07 | 2015-06-10 | 东北大学 | Complete body-powered bionic manipulator |
| CN106726027A (en) * | 2016-02-24 | 2017-05-31 | 吉林大学 | A kind of drive lacking prosthetic hand |
| CN108955507A (en) * | 2018-07-09 | 2018-12-07 | 上海理工大学 | Identify the sensor that human body limb movement is intended to |
| CN113349995A (en) * | 2021-06-04 | 2021-09-07 | 哈尔滨工业大学 | Mechanical finger artificial limb |
| CN113349995B (en) * | 2021-06-04 | 2024-07-16 | 哈尔滨工业大学 | Mechanical finger artificial limb |
| CN114248283A (en) * | 2021-12-30 | 2022-03-29 | 湖南农业大学 | Exoskeleton maintenance robot hand with Bluetooth sensing function |
| CN114248283B (en) * | 2021-12-30 | 2024-05-24 | 湖南农业大学 | Exoskeleton maintenance robot with Bluetooth perception function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101879101B (en) | 2012-08-15 |
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