CN104434349B - Sort merge is light-duty does evil through another person - Google Patents
Sort merge is light-duty does evil through another person Download PDFInfo
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- CN104434349B CN104434349B CN201410645617.9A CN201410645617A CN104434349B CN 104434349 B CN104434349 B CN 104434349B CN 201410645617 A CN201410645617 A CN 201410645617A CN 104434349 B CN104434349 B CN 104434349B
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Abstract
The invention discloses that a kind of sort merge is light-duty does evil through another person, by the combination of difference in functionality module, it is possible to suitable in different brackets finger individuals with disabilities, assisted that daily normal staff can be done by a certain extent take, pinch, the action such as bending。Including main body module, motor module, thumb module with refer to module。Wherein thumb is divided into disabled to metacarpal bone and disabled to proximal phalanx two class according to different disabled situations, other four refer to according to different disabled situations be divided into disabled to metacarpal bone, disabled to proximal phalanx and deformity to middle phalanx three class。This employing modularized design of doing evil through another person, is divided into different modules, easy disassembly, repairing and replacing by the artificial limb adapting to different situations；Different control modes is selected for different finger deformity situations, makes the mechanism of control artificial limb affect little on other activity of hand, farthest expanded the hand activities of people with disability；Compact conformation, close to the shape of staff in profile, meets the psychological need of people with disability。
Description
Technical field
Invention relates to a kind of light-duty do evil through another person, and is specifically related to that a kind of sort merge is light-duty does evil through another person。
Background technology
At present, market is sold finger prosthesis accounts for maximum ratio is ornamental finger prosthesis, the artificial limb namely made of silica gel, not there is the function of motion, and due to need individually customized and and the particularity of material, price is higher。On the market of finger prosthesis, the only seldom mechanical artificial limb of ratio, and be substantially from external import, and mechanical artificial limb is divided into two types: one is that motor drives, and intelligence system processes, Mechanical course, and sensor device feeds back；This type of artificial limb price is high, and weight is bigger, although powerful, but has significant limitation。Another kind is purely mechanic, to sacrifice the certain degree of freedom of hand to exchange the driving force of finger place frame for movement for。By the artificial limb that " X-Finger " of famous doctor DanDidrick invention is exactly Purely mechanical, but its application space is limited, for the various numerous and complicated disability situations sending out assorted, solution can not all be proposed, and it needs nearly several thousand dollars, the price of great number makes it difficult to popularize, and allows each people with disability's income。
Summary of the invention
In view of this, the present invention provides that a kind of sort merge is light-duty does evil through another person, by the combination of difference in functionality module, it is possible to suitable in different brackets finger individuals with disabilities, assisted that daily normal staff can be done by a certain extent take, pinch, the action such as bending。
Light-duty the doing evil through another person of described sort merge includes: main body module, motor module, thumb module and refer to module；Described finger module correspondence other finger except thumb。
Described main body module includes palm of the hand lid and the back of the hand supports；Described palm of the hand lid and rami dorsalis manus fagging are joined together to form for being sleeved on the housing outside palm。
Described motor module includes: the wrist collar, transverse movement support bar, Coupling Shaft and drive disk assembly；Described drive disk assembly includes: slide block, gear, tooth bar, roller A and steel wire rope B。
Be perpendicular to palm direction for z-axis direction, with direction that finger stretches naturally for y-axis direction, the direction being perpendicular to yz plane is x-axis direction, and the annexation of described motor module is: one end of described Coupling Shaft and the protruding pin joint on the wrist collar；One end pin joint of the other end and transverse movement support bar；The other end of described transverse movement support bar is connected with the gear being arranged on side, rami dorsalis manus fagging little finger place, and along the z-axis direction, described gear engages described Gear axis with tooth bar along the y-axis direction；Described roller A is coaxially affixed with gear, and position corresponding with referring to module on described rami dorsalis manus fagging is provided with the column-shaped projection for lay winding wire ropes B；One end of described steel wire rope B is fixed on roller A, and the other end is connected with the root referring to module。
When there being two or more to refer to module, one end of described steel wire rope B is fixed on roller A, the other end, by referring to that the root of module is connected from the column-shaped projection corresponding to its farthest finger module with this, then separates a road at the column-shaped projection place of all the other each finger modules, is connected with the corresponding root referring to module。
If thumb is disabled to metacarpal bone, described thumb module includes: thumb metacarpal set, thumb back supporting bar, thumb lever, for the thumb A simulating thumb far to save to refer to, for the thumb B simulating thumb closely to save to refer to and the drive disk assembly formed by roller B and steel wire rope C；Its annexation is: one end of described thumb back supporting bar is affixed with rami dorsalis manus fagging, and the other end overlaps A pin joint with thumb metacarpal, enables thumb metacarpal set to rotate along thumb back supporting bar around y-axis direction；One end of described thumb lever A is hinged with the end points place of thumb A, and the other end is hinged with thumb metacarpal set A；One end of thumb B is hinged with the non-end points place of thumb A, and the other end is hinged with thumb metacarpal set A；And overlap coaxial affixed roller B on the jointed shaft of A at thumb B with thumb metacarpal, one end of steel wire rope C is fixed on roller B, and the other end is fixed in thumb back supporting bar。
If thumb deformity can be moved to proximal phalanx and deformed limb part, described thumb module is compared with the thumb module when thumb deformity is to metacarpal bone: do not include the described drive disk assembly formed by roller B and steel wire rope C, and described thumb B is sleeved on the near of the residual finger of thumb to save the fingerstall on referring to。
If other finger except thumb is disabled to metacarpal bone, described finger module includes: finger supporting seat, for the finger A simulating finger far to save to refer to, for simulating finger C, finger bar A and the finger bar B saving the finger B referred in finger, referring to for simulating finger closely to save；Described finger supporting seat is fixed on the rami dorsalis manus fagging of main body module, steel wire rope B in motor module is connected with finger C, one end of finger C and finger bar B is hinged with finger supporting seat respectively, the other end of finger C is hinged with the non-end points place of finger B, one end of the other end finger B of finger bar B is hinged, the other end of finger B is hinged with the non-end points place of finger A, and one end of finger bar A is hinged with the non-end points place of finger bar B, and the other end is hinged with the end points place of finger A。
If other finger deformity except thumb can be moved to proximal phalanx and deformed limb part, compared with finger module when described finger module is with deformity to metacarpal bone: described finger C is sleeved on finger deformed limb closely to save the fingerstall on referring to, is not connected with the steel wire rope B in motor module。
When other finger except thumb is disabled to middle phalanx or distal phalanx, described finger module is the fingerstall being connected with finger deformed limb。
Beneficial effect:
(1) this light-duty doing evil through another person outside need not provide power source, only use residual finger and metacarpal bone to be realized the effects such as the bending of simulation finger by the structure such as member structure and rack-and-pinion, greatly reduce cost and owing to external power-free source and sensor make reliability be greatly increased。
(2) this employing modularized design of doing evil through another person, user according to the disabled degree of oneself finger and disabled position, can select different functional modules to assemble, and meets the demand of different disabled situation crowd, and motility is strong, uses scope wide。And different control modes is selected for different finger deformity situations, make the mechanism of control artificial limb affect little on other activity of hand, farthest expand the hand activities of people with disability；Compact conformation, close to the shape of staff in profile, meets the psychological need of people with disability。
Accompanying drawing explanation
Fig. 1 and Fig. 2 be five fingers all disabled to metacarpal bone time the light-duty structural representation done evil through another person；
Fig. 3 is the partial enlarged drawing at A place in Fig. 2；
Fig. 4 is the motion principle figure of three linkages in thumb modules A；
Fig. 5 refers to the motion principle figure figure of five-rod in modules A；
Fig. 6 be five fingers all disabled to proximal phalanx time the light-duty structural representation done evil through another person；
Fig. 7 be disabled to middle phalanx or distal phalanx time vacation fingerstall set structural representation。
Wherein, the 1-wrist collar, 2-the back of the hand protect lid, 3-forefinger A1, 4-forefinger B1, 5-palm of the hand lid, 6-thumb back supporting bar A, 7-thumb metacarpal set A, 8-thumb B1, 9-thumb A1, 10-transverse movement support bar, 11-screw-nut, 12-gear, 13-slide block, 14-roller, 15-forefinger C1, 16-rami dorsalis manus fagging, 17-thumb metacarpal set B, 18-thumb A2, 19-thumb B2, 20-forefinger A2, 21-forefinger B2, 22-forefinger C2
Detailed description of the invention
Develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention。
The present embodiment provides that a kind of sort merge is light-duty does evil through another person, simple in construction, and cost is low, and user can carry out multiple sort merge according to different disability situations, and motility is strong, and this is done evil through another person and can assist in people with disability and complete daily routines such as taking, pinch。
For adapting to different individuals with disabilities's disabled degree and the difference at disabled position, according to thumb and other four refer to disappearance joint number order and deformity situation difference carry out classification design respectively。Thumb is divided into disabled to metacarpal bone and disabled to proximal phalanx two class according to different disabled situations, other four refer to (forefinger, middle finger, third finger and little finger) according to different disabled situations be divided into disabled to metacarpal bone, deformity to proximal phalanx and deformity to middle phalanx three class。
Describe in detail for disabled situation three kinds different separately below。
(1) the disabled situation to metacarpal bone
For having at least finger in five fingers, disabled to metacarpal bone, (or proximal phalanx residual finger partial-length is inadequate, it is not provided that the power of digital flexion) time, its Design Mechanism is: when residual finger is thumb, with thumb metacarpal bone relative to the back of the hand plane activity for drive, control thumb bending。When other four finger that residual finger is except thumb, with the transverse movement of wrist for driving, control the bending of finger；When there being two or more finger to need wrist to control, in parallel in the transmission of main body module, it is achieved parallel control。
Based on this, thered is provided light-duty do evil through another person structure as depicted in figs. 1 and 2 (in Fig. 1 and Fig. 2 display be five fingers all disabled to metacarpal bone time the light-duty structure done evil through another person), when only thumb deformity is to metacarpal bone, corresponding light-duty doing evil through another person includes: main body module and thumb modules A；When having at least a finger disabled to metacarpal bone in other four finger, corresponding light-duty doing evil through another person includes: main body module refers to corresponding finger modules A and motor module with residual。
Wherein main body module includes: the back of the hand protection lid, palm of the hand lid and rami dorsalis manus fagging。Described palm of the hand lid and rami dorsalis manus fagging are joined together to form for being sleeved on the housing outside palm, the back of the hand protection lid be directly sleeved on outside rami dorsalis manus fagging, it is to avoid on it moving component directly exposed affect outside attractive in appearance。
Motor module includes: the wrist collar, transverse movement support bar, Coupling Shaft and drive disk assembly。Wherein drive disk assembly includes: slide block, gear, roller and steel wire rope B。For convenience of description, be perpendicular to palm direction for z-axis direction, accept as unavoidable the direction of stretching, extension for y-axis direction with finger, the direction being perpendicular to yz plane is x-axis direction。Its annexation is: the wrist collar is for being socketed in the wrist of user, owing to adopting 3D printing technique, it is possible to obtaining corresponding doing evil through another person according to the actual parameter of user, the thus obtained wrist collar can mate with user wrist sizes。And by wrist sleeve ring design be can the version of folding, to facilitate dismounting。One end pin joint (enabling transverse movement support bar to rotate along the x-axis direction relative to Coupling Shaft) of the protruding pin joint (enabling steering spindle to rotate along the z-axis direction relative to the wrist collar) on one end of Coupling Shaft and the wrist collar, the other end and transverse movement support bar；The other end of transverse movement support bar is connected with the drive disk assembly being arranged on side, rami dorsalis manus fagging little finger place, particularly as follows: process external tooth on the side of side, rami dorsalis manus fagging little finger place, it is consequently formed the tooth bar engaged with described gear, by the slide block being fixed on rami dorsalis manus fagging, described gear is carried out spacing, ensureing that it engages in tooth bar all the time, the axis of described gear is along the z-axis direction。Transverse movement support bar is affixed by screw-nut and slide block。The roller being fixed with steel wire rope B is coaxially affixed with gear so that it is can rotate with gear synchronous。Position corresponding with referring to modules A on rami dorsalis manus fagging is provided with the column-shaped projection for lay winding wire ropes B。The one ends wound of steel wire rope B is on roller, and the other end and the finger modules A root corresponding with residual finger connect, and when roller is along with pinion rotation, steel wire rope B is swept away by roller and shortens, thus referring to module output moment of torsion to this, module bends to drive this to refer to。When other four finger has two or more finger disabled to metacarpal bone, when namely having two or more to refer to modules A, with this, the steel wire rope B other end is by referring to that the root of modules A is connected from the column-shaped projection corresponding to its farthest finger modules A, then a road is separated at the column-shaped projection place of all the other each finger modules A, connect with the corresponding root referring to modules A, all finger modules A are thus driven to synchronize bending, it is achieved parallel control。
Thumb modules A includes: thumb metacarpal overlaps A, thumb back supporting bar A and by thumb A1(simulation thumb far saves and refers to), thumb B1Three linkages that (simulation thumb closely saves and refers to) and thumb lever A are constituted, for simulating the bending of thumb。The motion principle of three described linkages is shown in Fig. 4。Its annexation is: one end of thumb back supporting bar A is affixed with rami dorsalis manus fagging, and the other end overlaps A pin joint with thumb metacarpal, enables thumb metacarpal set A to rotate along thumb back supporting bar A around y-axis。During use, thumb metacarpal set A is directly socketed on thumb metacarpal bone。One end of described thumb lever A and thumb A1End points place hinged, set A is hinged for the other end and thumb metacarpal；Thumb B1One end and thumb A1Non-end points place hinged, set A is hinged for the other end and thumb metacarpal, its with the jointed shaft of thumb metacarpal set A on the coaxial affixed roller being wound with steel wire rope C, the other end of steel wire rope C is fixed on thumb back supporting bar A。In this kind of situation: with the activity of thumb metacarpal for driving, the pulling force that steel wire rope C produces is driving force；When thumb metacarpal drives thumb metacarpal set A to move to the centre of the palm, time namely away from thumb back supporting bar A, steel wire rope C shrinks, and drives thumb B1With thumb A1Rotate around x-axis, it is achieved the bending of thumb。For realizing the automated backhaul of thumb, thumb module arranges torsionspring, one end of torsionspring and thumb B1Connecting, the other end overlaps A with thumb metacarpal and is connected。When thumb metacarpal set A is not applied active force by thumb metacarpal, thumb B1With thumb A1Automated backhaul under the effect of torsionspring。
Refer to that modules A can be forefinger modules A, middle finger modules A, third finger modules A or little finger modules A, for forefinger modules A, including: finger supporting seat with by forefinger A1(simulation forefinger far saves and refers to), forefinger B1(save in simulation forefinger and refer to), forefinger C1(simulation forefinger closely saves and refers to), forefinger bar A1And forefinger bar B1The five-rod constituted, for simulating the bending of forefinger。The motion principle of described five-rod is shown in Fig. 5。Wherein finger supporting seat is fixed on the rami dorsalis manus fagging of main body module, the steel wire rope B in motor module and forefinger C1Connect, forefinger C1With forefinger bar B1One end hinged with finger supporting seat respectively, forefinger C1The other end and forefinger B1Non-end points place hinged, forefinger bar B1Other end forefinger B1One end hinged, forefinger B1The other end and forefinger A1Non-end points place hinged, one end of forefinger bar A and forefinger bar B1Non-end points place hinged, the other end and forefinger A1End points place hinged。The forefinger C being now connected with steel wire rope B1For drive rod, the pulling force that steel wire rope B produces is driving force, drives forefinger C by steel wire rope B1Bending, thus simulating the bending of forefinger。For realizing forefinger C1Automated backhaul, forefinger modules A arranges torsionspring, one end of torsionspring and forefinger C1Connecting, the other end is connected with finger supporting seat。
(2) disabled dividing to proximal phalanx and residual finger can as the situation of motor
For deformity to proximal phalanx and residual finger divide can as motor time, its Design Mechanism is: using the bending of the relative metacarpal bone of proximal phalanx as driving force, controls the bending of corresponding finger。
Based on this, thered is provided light-duty do evil through another person structure as shown in Figure 6 (in Fig. 6 display be five fingers all disabled to proximal phalanx time the light-duty structure done evil through another person), including main body module, thumb module B and/or the finger module B corresponding with residual finger (forefinger, middle finger, the third finger and little finger)。
This main body module is identical with the structure of main body module in situation ()。
Thumb module B includes: thumb metacarpal overlaps B and by thumb A2(simulation thumb far saves and refers to), thumb B2Three linkages that (simulation thumb closely saves and refers to) and thumb lever B are constituted。This three linkages motion principle is identical with the motion principle of three linkages in thumb modules A。Wherein one end of thumb lever B and thumb A2Hinged, the other end is hinged with thumb metacarpal set B, thumb B2One end and thumb A2Non-end points place hinged。During use, thumb metacarpal is overlapped B and is socketed on thumb metacarpal bone, thumb B2It is socketed on the proximal phalanx of thumb, with the activity of the proximal phalanx of thumb for driving, controls thumb A2Bending。
Refer to module B (can be forefinger module B, middle finger module B, nameless module B or little finger module B), for forefinger module B, including: forefinger A2(the remote joint of simulation refers to), forefinger B2(in simulation, joint refers to), forefinger C2(the nearly joint of simulation refers to), forefinger bar A2With forefinger bar B2Constitute a five-rod, for simulating the bending of forefinger。This five-rod motion principle is identical with the motion principle of five-rod in finger modules A。Forefinger bar B2One end and main body module in palm of the hand lid hinged, forefinger C2One end be enclosed within the residual finger of forefinger, the other end and forefinger B2Non-end points place hinged, forefinger bar B2Other end forefinger B2One end hinged, forefinger B2The other end and forefinger A2Non-end points place hinged, forefinger bar A2One end and forefinger bar B2Non-end points place hinged, the other end and forefinger A2End points place hinged。Refer to module B and refer to being distinguished as of modules A: forefinger C2For fingerstall form, being sleeved on proximal phalanx, now the source of driving force is the power that the proximal phalanx of residual finger produces, thus utilizing residual referring to as to drive forefinger A into power source2With forefinger B2Bending。
(3) the disabled situation to middle phalanx or distal phalanx
It is directed to disabled to middle phalanx or distal phalanx situation, far refer to that due to finger the motion of joint itself can be just very poor, it is contemplated that practicality problem, abandon the motion that distal phalanx vacation refers to, directly the false fingerstall shown in Fig. 7 is socketed on residual finger, and is connected with residual finger by supporting construction。
User, for the disabled situation of oneself, selects required functional module, combination to form applicable the light-duty of oneself and does evil through another person,
As shown in the table:
Such as, when thumb and the forefinger of user are residual to metacarpal bone, middle finger and the third finger are residual to proximal phalanx, when little finger deformity is to middle phalanx or distal phalanx, then doing evil through another person that it is required should include: main body module, thumb modules A, forefinger modules A, middle finger module B, nameless module B and little finger fingerstall。After choosing corresponding functional module, utilizing 3D printing technique, take 3D to print at the relatively small position of the stress such as phalanges, material is ABS such that it is able to be greatly reduced the quality of entirety。Use steel to strengthen the reliability of entirety in leverage junction。
In sum, these are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention。All within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention。
Claims (6)
1. sort merge is light-duty does evil through another person, it is characterised in that including: main body module, motor module, thumb module and refer to module；Described finger module correspondence other finger except thumb；
Described main body module includes palm of the hand lid and rami dorsalis manus fagging；Described palm of the hand lid and rami dorsalis manus fagging are joined together to form for being sleeved on the housing outside palm；
Described motor module includes: the wrist collar, transverse movement support bar, Coupling Shaft and drive disk assembly；Described drive disk assembly includes: slide block, gear, tooth bar, roller A and steel wire rope B；
Be perpendicular to palm direction for z-axis direction, with direction that finger stretches naturally for y-axis direction, the direction being perpendicular to yz plane is x-axis direction, and the annexation of described motor module is: one end of described Coupling Shaft and the protruding pin joint on the wrist collar；One end pin joint of the other end and transverse movement support bar；The other end of described transverse movement support bar is connected with the gear being arranged on side, rami dorsalis manus fagging little finger place, and along the z-axis direction, described gear engages the axis of described gear with tooth bar along the y-axis direction；Described roller A is coaxially affixed with gear, and position corresponding with referring to module on described rami dorsalis manus fagging is provided with the column-shaped projection for lay winding wire ropes B；One end of described steel wire rope B is fixed on roller A, and the other end is connected with the root referring to module；
When there being two or more to refer to module, one end of described steel wire rope B is fixed on roller A, the other end, by referring to that the root of module is connected from the column-shaped projection corresponding to its farthest finger module with this, then separates a road at the column-shaped projection place of all the other each finger modules, is connected with the corresponding root referring to module；
If thumb is disabled to metacarpal bone, described thumb module includes: thumb metacarpal set, thumb back supporting bar, thumb lever, for the thumb A simulating thumb far to save to refer to, for the thumb B simulating thumb closely to save to refer to and the drive disk assembly formed by roller B and steel wire rope C；Its annexation is: one end of described thumb back supporting bar is affixed with rami dorsalis manus fagging, and the other end overlaps pin joint with thumb metacarpal, enables thumb metacarpal set to rotate along thumb back supporting bar around y-axis direction；One end of described thumb lever is hinged with the end points place of thumb A, and the other end is hinged with thumb metacarpal set；One end of thumb B is hinged with the non-end points place of thumb A, and the other end is hinged with thumb metacarpal set；And on the jointed shaft that thumb B and thumb metacarpal overlap coaxial affixed roller B, one end of steel wire rope C is fixed on roller B, and the other end is fixed in thumb back supporting bar；
If thumb deformity can be moved to proximal phalanx and deformed limb part, described thumb module is compared with the thumb module when thumb deformity is to metacarpal bone: do not include the described drive disk assembly formed by roller B and steel wire rope C, and described thumb B is sleeved on the near of the residual finger of thumb to save the fingerstall on referring to；
If other finger except thumb is disabled to metacarpal bone, described finger module includes: finger supporting seat, for the finger A simulating finger far to save to refer to, for simulating finger C, finger bar A and the finger bar B saving the finger B referred in finger, referring to for simulating finger closely to save；Described finger supporting seat is fixed on the rami dorsalis manus fagging of main body module, steel wire rope B in motor module is connected with finger C, one end of finger C and finger bar B is hinged with finger supporting seat respectively, the other end of finger C is hinged with the non-end points place of finger B, the other end of finger bar B is hinged with one end of finger B, the other end of finger B is hinged with the non-end points place of finger A, and one end of finger bar A is hinged with the non-end points place of finger bar B, and the other end is hinged with the end points place of finger A；
If other finger deformity except thumb can be moved to proximal phalanx and deformed limb part, compared with finger module when described finger module is with deformity to metacarpal bone: described finger C is sleeved on finger deformed limb closely to save the fingerstall on referring to, is not connected with the steel wire rope B in motor module；
When other finger except thumb is disabled to middle phalanx or distal phalanx, described finger module is the fingerstall being connected with finger deformed limb。
2. as claimed in claim 1 sort merge is light-duty does evil through another person, it is characterised in that the described wrist collar is can the version of folding。
3. sort merge is light-duty as claimed in claim 1 does evil through another person, it is characterised in that also including the back of the hand protection lid in described main body module, described the back of the hand protection lid is directly sleeved on outside rami dorsalis manus fagging。
4. sort merge is light-duty as claimed in claim 1 does evil through another person, it is characterised in that carry out spacing by the slide block being fixed on rami dorsalis manus fagging to described gear, it is ensured that it engages with tooth bar all the time；Described transverse movement support bar is affixed with slide block。
5. sort merge is light-duty as claimed in claim 1 does evil through another person, it is characterised in that arranging torsionspring in thumb module, one end of described torsionspring is connected with thumb B, and the other end is connected with thumb metacarpal set。
6. sort merge is light-duty as claimed in claim 1 does evil through another person, it is characterised in that arranging torsionspring in referring to module, one end of described torsionspring is connected with forefinger C, and the other end is connected with finger supporting seat。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410645617.9A CN104434349B (en) | 2014-11-14 | 2014-11-14 | Sort merge is light-duty does evil through another person |
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| CN201410645617.9A CN104434349B (en) | 2014-11-14 | 2014-11-14 | Sort merge is light-duty does evil through another person |
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| CN104434349A CN104434349A (en) | 2015-03-25 |
| CN104434349B true CN104434349B (en) | 2016-06-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106726027B (en) * | 2016-02-24 | 2019-01-22 | 吉林大学 | A kind of drive lacking prosthetic hand |
| CN108371575A (en) * | 2018-01-23 | 2018-08-07 | 莆田学院 | A kind of severed finger auxiliary grip and knocking device |
| CN110538015B (en) * | 2019-09-06 | 2021-07-02 | 山东科技大学 | Mechanical artificial limb arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWM240200U (en) * | 2003-09-29 | 2004-08-11 | Wen-Tung Chang | Prosthetic hand for gripping forms changeable |
| US20060212129A1 (en) * | 2005-03-16 | 2006-09-21 | Lake Joseph C | Partial hand prosthesis |
| DE102005061266A1 (en) * | 2005-12-20 | 2007-08-16 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Hand prosthesis and power transmission device |
| CN201324304Y (en) * | 2006-11-28 | 2009-10-14 | 李玉江 | Muscle electrical-control arm artificial limb capable of stretching fingers |
| CN201572217U (en) * | 2009-12-03 | 2010-09-08 | 上海纳米技术及应用国家工程研究中心有限公司 | Human-simulated artificial hand used for rehabilitation |
| CN201822939U (en) * | 2010-10-12 | 2011-05-11 | 李长远 | Myoelectric control artificial limb capable of realizing finger flexing independently |
| CN202665754U (en) * | 2012-02-07 | 2013-01-16 | 张兴安 | Electronic hand prosthesis based on toe control |
| US9320621B2 (en) * | 2012-10-18 | 2016-04-26 | Motion Control | Hand prosthesis |
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