CN104799982A - Single-motor underactuation prosthetic hand based on continuum differential mechanism - Google Patents
Single-motor underactuation prosthetic hand based on continuum differential mechanism Download PDFInfo
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- CN104799982A CN104799982A CN201510246103.0A CN201510246103A CN104799982A CN 104799982 A CN104799982 A CN 104799982A CN 201510246103 A CN201510246103 A CN 201510246103A CN 104799982 A CN104799982 A CN 104799982A
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Abstract
The invention discloses a prosthetic hand which comprises a palm, a motor driving unit and the continuum differential mechanism, wherein the motor driving unit and the continuum differential mechanism are fixed on the palm; the continuum differential mechanism can convert one output into multiple outputs so as to respectively control all fingers to move; furthermore, when the prosthetic hand catches an object, the continuum differential mechanism can be bent to deform. According to the prosthetic hand disclosed by the invention, by adoption of the continuum differential mechanism, the prosthetic hand is relatively simple in structure; meanwhile, when a certain finger or certain fingers touches or touch the object, loads on alloy wires corresponding to the fingers which do not touch the object are lower, so that the prosthetic hand can continue to move, and a continuum structure in the continuum differential mechanism continues to be deformed; therefore, the corresponding fingers can continue to be bent until the fingers can touch the object completely, and the four fingers can touch the contour of the outer surface of the caught object, and thus the function of catching or operating the object can be well realized.
Description
Technical field
The present invention relates to a kind of drive lacking prosthetic hand of humanoid, specifically a kind of motor-driven drive lacking prosthetic hand of only use one based on continuum differential attachment, is applied to rehabilitation medical instrument field, is specially adapted to hand patients with amputation.
Background technology
Due to reasons such as contingency, industrial injury, diseases, creating a large amount of patients with amputation in the world, is wherein hand patients with amputation mostly, and they cannot the daily life requirement of complete independently, and thus quality of life significantly reduces.In order to improve the quality of life of hand amputation people with disability, associated companies and scientific research institution have developed various artificial limb, comprise the single-degree-of-freedom prosthetic hand obtaining extensive use and the multi-freedom artificial limb hands with humanoid.
Single-degree-of-freedom prosthetic hand can complete limited grasp motion by simple fingers opening-closing, function singleness, and practicality is poor, and does not have apery profile, is discord with human body after dressing, and is vulnerable to patient's repulsion.Multi-freedom artificial limb hands has staff outward appearance, easily accepted by patient, and be provided with the pass joint number close with staff thus there is better motility, diversified action can be realized, but this multi-freedom artificial limb hands is owing to using more hinge, connecting rod or other traditional transmission mode, complex structure, cost are high, are not also widely used at present.
Summary of the invention
The object of this invention is to provide a kind of energy and adapt to different body forms, thus the prosthetic hand of more coordination, the motion more close with staff can be completed.
For achieving the above object, the present invention proposes a kind of novel drive lacking prosthetic hand, only adopt a motor as driving input, the driving of motor input is assigned to five driver outputs, then be delivered on each joints of five fingers, comply with grasping movement with what complete prosthetic hand; Devise a kind of continuum differential attachment especially, its driving input and driver output each several part complete being connected also can continuous modifications.Under the driving of motor, continuum differential attachment not only can integrally move, simultaneously, when capturing different objects, continuum differential attachment can also produce corresponding distortion, make each road movement output have different outputs, thus make prosthetic hand have adaptability to different crawl objects.
Owing to not using the conventional motion such as hinge, connecting rod secondary in continuum differential attachment, thus eliminate the return difference of drive system.A large amount of use elastic alloy wire, as driving and transmitting element, makes prosthetic hand have very strong adaptive ability, obviously alleviates the weight of prosthetic hand simultaneously.
System only adopts a motor as driving input, and realize more movement output, structure is simple, and cost obviously reduces.Simultaneously between each finger to move through continuum differential attachment interrelated, make the coordinated movement relation of each joint tool of finger, and can adapt to different body forms, prosthetic hand thus more coordination, the motion more close with staff can be completed.
Prosthetic hand of the present invention is primarily of palm and finger, and electric-motor drive unit, continuum differential attachment and battery form.Prosthetic hand of the present invention copies human hand dimensions to build, and has the outward appearance close with staff and size.
Prosthetic hand is primarily of palm and five finger compositions, and five fingers are separately fixed at correspondence position on palm.Its middle finger is by a power transmission shaft Direct driver, and realize the bending of finger and launch, a road motion input is converted into 4 road movement outputs by continuum differential attachment by all the other four fingers, thus drives four fingers except thumb.The upset dactylus of thumb is passive, the rollover states of external force adjustable thumb, and thumb upset joint can remain on arbitrary overturn state under the effect of intraarticular frictional force, thus makes prosthetic hand be suitable for the crawl of different objects.
Electric-motor drive unit: electric-motor drive unit is fixed on palm inside.Motor is fixed on pedestal by a support, pedestal fixes quill shaft simultaneously, linear bearing is furnished with in quill shaft, a power transmission shaft is had to slide in linear bearing wherein, power transmission shaft is fixed with a tooth bar, with the gears meshing on motor, the rack-and-pinion that rotates through of motor drives power transmission shaft to seesaw in linear bearing.Transmission the tip of the axis is connected in the drive link of thumb, drives thumb to bend and stretches.Meanwhile, tooth bar is also fixed with one for clamping the clamp structure of B alloy wire, thus drives the input B alloy wire of continuum differential attachment also to seesaw simultaneously.
Continuum differential attachment: continuum differential attachment is referred to and drives input to be connected by flexible member with driver output, form each several part complete connected can the drive mechanism of continuous modification.One end and the power transmission shaft of the input B alloy wire of continuum differential attachment are fixed together, and driven can be moved forward and backward by motor; Input B alloy wire is through fixed disk, the other end is fixed on the middle part of an end disk, the two ends of end disk are fixed with one first respectively and export B alloy wire, material is thus formed the elementary cell of a continuum differential attachment, a road motion input be divide into two-way movement output.A motion input not only can drive two movement outputs to move simultaneously, and in the unbalanced situation of the carrying of two-way movement output, three B alloy wires can bend towards same direction, makes two first to export B alloy wire and has different outputs.Further, two first export B alloy wire and are each passed through fixed disk, are fixed on the middle part of two other end disk, and each end disk is similarly fixed with two second and exports B alloy wire, and such Jiu Jiang mono-tunnel motion input is allocated to four road movement outputs.The B alloy wire of four road movement outputs is separately fixed on the connecting rod of four fingers, four just can be driven to point and realize bending, stretching.
Be embedded with battery and control circuit in palm simultaneously, form a prosthetic hand system completed.This prosthetic hand system can be contained on the deformed limb of patient by reception cavity, just can control prosthetic hand by modes such as electromyographic signals and realize various grasping movement.
According to an aspect of the present invention, provide a kind of prosthetic hand, it is characterized in that, described prosthetic hand comprises:
Electric-motor drive unit, described electric-motor drive unit is provided with pedestal and motor, wherein said motor is fixed on described pedestal and the output shaft of motor is provided with gear, described pedestal is fixed with quill shaft simultaneously, be provided with a power transmission shaft in this quill shaft to slide wherein, this power transmission shaft is fixed with a tooth bar, the gears meshing on this tooth bar and motor, thus the rotating through rack and pinion engagement of motor and drive described power transmission shaft rectilinear motion in quill shaft; This transmission the tip of the axis is connected in the drive link of thumb, bends and stretch for driving thumb; And tooth bar is also fixed with one for clamping the clamp structure of B alloy wire;
Continuum differential attachment, described continuum differential attachment is provided with fixed disk, multiple end disk, input B alloy wire, the first output B alloy wire and the second output B alloy wire, described fixed disk is provided with the multiple holes passed for described input B alloy wire and output B alloy wire, one end of described input B alloy wire is fixedly connected with described clamp structure, thus realize rectilinear movement by the driving of motor, and the other end is fixed on the middle part of an end disk; The two ends of this end disk are fixed with one end that one first exports B alloy wire respectively, these two first other ends exporting B alloy wire are each passed through described fixed disk and are fixed on the middle part of two other end disk, each two ends in two other end disk described are fixed with two second respectively and export B alloy wire, thus four described second output B alloy wires also connect with corresponding finger of described prosthetic hand respectively through described fixed disk, thus drive four finger motions except thumb; And
Palm, for fixing described electric-motor drive unit and described continuum differential attachment and finger.
Preferably, described prosthetic hand also comprises battery and controller, and described battery is that described motor and described controller are powered, and described controller carrys out drive motors rotate for receiving electromyographic signal or external signal.
Preferably, the described pedestal of described electric-motor drive unit is fixed with simultaneously two ring supports, the two ends of described quill shaft are connected to described two ring supports, and thumb is fixed on described quill shaft, in wherein said two ring supports, one is split ring and is provided with screw, be used for adjusting the frictional force between this ring support and quill shaft, the upset of thumb can be adjusted, keep the attitude after adjustment simultaneously.
In one preferred embodiment, described thumb is provided with upset dactylus, second knuckle and third knuckle successively from root to end, connect respectively by pin between them, form three rotary joints, wherein overturning dactylus is fixed on described quill shaft, and described second knuckle is connected via connecting rod one end with described power transmission shaft.
In above-described embodiment, preferably, described power transmission shaft is fixed with first connecting rod, first connecting rod is connected by the first pin with one end of second connecting rod, the other end of second connecting rod is connected by the second pin with third connecting rod, and second connecting rod is connected on second knuckle by the second pin simultaneously, and second connecting rod is also connected with third connecting rod by the 3rd pin, third connecting rod is connected on the 4th pin through second knuckle, and the 4th pin is connected on the third knuckle of thumb.
In one preferred embodiment, each finger except thumb comprises base, first knuckle and second knuckle, base is fixed on palm, first knuckle is connected by the first pin and first connecting rod with base, connected by the second pin between first knuckle and second knuckle, thus define two rotary joints, described second exports one of B alloy wire is connected with one end of described first connecting rod, thus drives this finger motion.
In above-described embodiment, preferably, the second pin is also provided with a torsion spring, make joint keep deployed condition, and one end of the other end of first connecting rod and second connecting rod is hinged, the other end of second connecting rod pass through the second pin and second knuckle hinged.
In one preferred embodiment, described continuum differential attachment comprises a fixed disk, 3 end disk, input B alloy wire, two first output B alloy wires and four second output B alloy wires, and described fixed disk is fixed on described pedestal.
Overall work principle of the present invention is as follows: according to the difference of the shape of object to be crawled, can adjust the position of the upset dactylus of thumb in advance, makes thumb remain on the position of suitable this object of crawl.Then, control electric machine rotation by switch or electromyographic signal, band carry-over bar and power transmission shaft move, and drive thumb to realize bending by connecting rod.Meanwhile, the input B alloy wire of continuum differential attachment is driven to move forward and backward by the clamp structure be fixed on tooth bar.The motion of an input B alloy wire is divided into the motion that four export B alloy wire by continuum differential attachment, and be connected respectively to forefinger, middle finger, the third finger and little finger of toe, these four fingers bend simultaneously, inwardly firmly grasps object.When wherein certain root or a few finger contact are to object, because the continuum of continuum differential attachment inside can produce flexural deformation, bear the little B alloy wire of load still can move, corresponding finger still can be bent, until these fingers also touch object completely, make four to point the outer surface profile all contacting crawled object, good crawl is realized to object.
Accompanying drawing explanation
Fig. 1 is the perspective view of the single motor drive lacking prosthetic hand based on continuum differential attachment of the present invention;
Fig. 2 is the perspective view of the electric-motor drive unit of prosthetic hand;
Fig. 3 is the perspective view of the continuum differential attachment of prosthetic hand;
Fig. 4 is continuum differential attachment diastrophic schematic diagram of continuum when outfan load imbalance;
Fig. 5 is the schematic perspective view of the thumb structure of prosthetic hand; And
Fig. 6 is the schematic perspective view of the forefinger structure of prosthetic hand.
Detailed description of the invention
Below with reference to accompanying drawing, preferred embodiment of the present invention is described in detail, so that clearer understanding objects, features and advantages of the present invention.It should be understood that embodiment shown in the drawings is not limitation of the scope of the invention, and the connotation just in order to technical solution of the present invention is described.
As shown in Figure 1, the prosthetic hand 1000 of the present embodiment mainly comprises electric-motor drive unit 100, continuum differential attachment 200, thumb 300, forefinger 400, middle finger 500, the third finger 600, little finger of toe 700 and battery 800 and palm 900, and each parts are all fixed on palm 900.Below respectively the structure of various piece and function are described in detail.
Fig. 2 shows the perspective view of the electric-motor drive unit 100 of prosthetic hand.As shown in Figure 2, motor 1 is fixed on pedestal 3 by electric machine support 2.The output shaft (not shown) of motor is fixed with a gear 4, engages with tooth bar 5.Pedestal 3 is fixed with two ring supports 6 and 7 simultaneously, two supports is fixed with a quill shaft 8, thumb is fixed on this quill shaft 8.Wherein, ring support 7 is split ring, split ring is provided with screw 9, be used for adjusting the frictional force (having been come by the gap adjusted between them) between ring support 7 and quill shaft 8, the upset dactylus (as shown in Figure 5) being fixed on the thumb 300 on quill shaft 8 can be adjusted, keep the attitude after adjustment simultaneously.
The linear bearing 10 of quill shaft 8 internal fixtion, has a power transmission shaft 11 to pass in linear bearing 10.One end and the tooth bar 5 of power transmission shaft 11 are fixed, and tooth bar 5 engages with the gear 4 on the output shaft being fixed on motor 1, thus power transmission shaft 11 can move forward and backward under the drive of motor 1.The other end of power transmission shaft 11 is fixed with a connecting rod 12, and connecting rod 12 is connected to the connecting rod 33 (as shown in Figure 5) on thumb 300, thus drives thumb 300 realize bending or launch motion.Meanwhile, tooth bar 5 is also fixed with a clamp structure 13, it has a hole can pass for B alloy wire 14, B alloy wire 14 can be locked by tightening screw 15.
Fig. 3 shows the perspective view of the continuum differential attachment 200 of prosthetic hand.As shown in Figure 3, fixed disk 16 is fixed on pedestal 3, which is provided with the multiple holes passed for each elastic alloy wire.Particularly, elastic alloy wire (input B alloy wire) 14 is through one of them hole, and one end of elastic alloy wire 14 is fixed in end disk 17, is locked by screw 18.The two ends of end disk 17 are fixed with the top of B alloy wire (first exports B alloy wire) 19 and 20 respectively.Similarly, B alloy wire 19 and 20 is also locked in end disk 17 respectively by screw 21 and 22, material is thus formed the elementary cell of a continuum differential attachment.The motion of elastic alloy wire 14 Shang mono-tunnel can be inputted the two-way movement output that divide on elastic alloy wire 19 and 20 by this continuum differential attachment.
B alloy wire 19 is through the hole on fixed disk 16, and end is fixed in end disk 23.Same, end disk 23 is fixed with B alloy wire 24 and 25.Like this, the motion of elastic alloy wire 19 Shang mono-tunnel is inputted the two-way movement output that divide on elastic alloy wire 24 and 25.
B alloy wire 20 is through another hole on fixed disk 16, and end is fixed in end disk 50.Same, end disk 50 is fixed with B alloy wire 26 and 27.The motion of elastic alloy wire 20 Shang mono-tunnel is inputted the two-way movement output that divide on elastic alloy wire 26 and 27.
By such continuum differential attachment, the movement transition of elastic alloy wire 14 is become the motion of elastic alloy wire 24 ~ 27.
Fig. 4 show the continuum differential attachment 200 of prosthetic hand when B alloy wire 24 ~ 27 bears different loads, the diastrophic schematic diagram of continuum.When driving elastic alloy wire 14 to seesaw, continuum differential attachment not only can integrally move forward and backward, and according to the difference of the load be applied on elastic alloy wire 24 ~ 27, continuum can produce corresponding distortion, to adapt to extraneous load, as shown in Figure 4.
Fig. 5 shows the perspective view of the thumb 300 of prosthetic hand.As shown in Figure 5, the first knuckle (upset dactylus) 28 of thumb is fixed on quill shaft 8, thus thumb 300 and quill shaft 8 entirety can be rotated around the axis of quill shaft.Meanwhile, adjust the frictional force between quill shaft 8 and ring support 7 by adjustment screw 9, making thumb overturn dactylus can adjust easily, can keep the attitude adjusted in advance in the use procedure of prosthetic hand simultaneously.
First knuckle 28, to be connected with pin 32 respectively by pin 31 between second knuckle 29 and third knuckle 30, to form three rotary joints.The connecting rod 12 be enclosed within power transmission shaft 11 is connected by pin 34 with connecting rod 33.The other end of connecting rod 33 is same with connecting rod 35 to be connected by pin 36.Connecting rod 35 is connected on second knuckle 29 by pin 31 simultaneously.The opposite side of connecting rod 35 is connected with connecting rod 38 by pin 37.There is a hole can passed through for connecting rod 38 thumb second knuckle 29 inside, and the other end of connecting rod 38 is connected on pin 39 through this hole, and pin 39 is connected on thumb third knuckle 30.When motor 1 is with carry-over bar 5 and power transmission shaft 11 to move forward and backward by gear 4, is rotated by connecting rod 12,33 drivening rod 35 and second knuckle 29, also drive third knuckle 30 to rotate by connecting rod 38 simultaneously simultaneously, thus realize the bending of thumb and launch.
Fig. 6 shows the perspective view of the forefinger 400 of prosthetic hand.As shown in Figure 6, forefinger 400 is fixed on palm 900 by forefinger base 39 (such as via screw).The first knuckle 40 of forefinger and forefinger base 39 are connected by pin 41 and are connected with connecting rod 46 between them, and forefinger first knuckle 40 is connected by another pin 43 equally with forefinger second knuckle 42, and such forefinger just defines two rotary joints.Pin 43 is also installed with a torsion spring 44 simultaneously, makes joint keep deployed condition.Wherein elastic alloy wire 24 of four road movement outputs of continuum differential attachment 200 is connected on connecting rod 46 by pin 45.The other end of connecting rod 46 is connected with another root connecting rod 48 by pin 47.Connecting rod 48 connects forefinger second knuckle 42 by pin 49.
When motor 1 is with carry-over bar 5 and clamp structure 13 to move backward by gear 4, drive the elastic alloy wire 14 of continuum differential attachment 200 to move backward simultaneously.The conversion of motion of an elastic alloy wire 14 is the motion of four elastic alloy wires 24 ~ 27 by continuum differential attachment 200, elastic alloy wire 24 wherein corresponding to forefinger pulls connecting rod 46 and first knuckle 40 to rotate, and now relatively between second knuckle 42 with first knuckle 40 keeps motionless; When first knuckle 40 touches object, second knuckle 42 starts to rotate until it also touches object.
Middle finger 500, nameless 600 has similar structure and operation principle with little finger of toe 700 to forefinger 400, and flexible B alloy wire 25,26 and 27 drives respectively, is not described in detail in this.In addition, in palm, be also embedded with battery and control circuit simultaneously, form a prosthetic hand system completed.
The prosthetic hand overall work principle of the present embodiment is as follows: according to the difference of the shape of object to be crawled, can adjust the position of the upset dactylus of thumb in advance, makes thumb remain on the position of suitable this object of crawl.Then, control motor 1 by switch or electromyographic signal and rotate, the gear 3 be fixed on motor 1 is with carry-over bar 4 and power transmission shaft 11 to move backward, drives thumb to realize bending by connecting rod 12,31.On the other hand, the elastic alloy wire 14 of continuum differential attachment 200 is driven to move by the clamp structure 13 be fixed on tooth bar 4.The conversion of motion of an elastic alloy wire 14 is the motion of four elastic alloy wires 24 ~ 27 by continuum differential attachment 200, is connected respectively to forefinger, middle finger, the third finger and little finger of toe, and these four fingers bend simultaneously, inwardly firmly grasps object.When wherein certain root or a few finger contact are to object, due to the continuum flexural deformation of continuum differential attachment 200 inside, bear the little B alloy wire of load still can move, corresponding finger still can be bent, until these fingers also touch object completely, make four to point the outer surface profile all contacting crawled object, thus realize the function of crawl or operation object well.
Below described preferred embodiment of the present invention in detail, but it will be appreciated that, after having read above-mentioned teachings of the present invention, those skilled in the art can make various changes or modifications the present invention.These equivalent form of values fall within the application's appended claims limited range equally.
Claims (8)
1. a prosthetic hand, is characterized in that, described prosthetic hand comprises:
Electric-motor drive unit, described electric-motor drive unit is provided with pedestal and motor, wherein said motor is fixed on described pedestal and the output shaft of motor is provided with gear, described pedestal is fixed with quill shaft simultaneously, be provided with a power transmission shaft in this quill shaft to slide wherein, this power transmission shaft is fixed with a tooth bar, the gears meshing on this tooth bar and motor, thus the rotating through rack and pinion engagement of motor and drive described power transmission shaft rectilinear motion in quill shaft; This transmission the tip of the axis is connected in the drive link of thumb, bends and stretch for driving thumb; And tooth bar is also fixed with one for clamping the clamp structure of B alloy wire;
Continuum differential attachment, described continuum differential attachment is provided with fixed disk, multiple end disk, input B alloy wire, the first output B alloy wire and the second output B alloy wire, described fixed disk is provided with the multiple holes passed for described input B alloy wire and output B alloy wire, one end of described input B alloy wire is fixedly connected with described clamp structure, thus realize rectilinear movement by the driving of motor, and the other end is fixed on the middle part of an end disk; The two ends of this end disk are fixed with one end that one first exports B alloy wire respectively, these two first other ends exporting B alloy wire are each passed through described fixed disk and are fixed on the middle part of two other end disk, each two ends in two other end disk described are fixed with two second respectively and export B alloy wire, thus four described second output B alloy wires also connect with corresponding finger of described prosthetic hand respectively through described fixed disk, thus drive four finger motions except thumb; And
Palm, for fixing described electric-motor drive unit and described continuum differential attachment and finger.
2. prosthetic hand according to claim 1, is characterized in that, described prosthetic hand also comprises battery and controller, and described battery is that described motor and described controller are powered, and described controller carrys out drive motors rotate for receiving electromyographic signal or external signal.
3. prosthetic hand according to claim 1, it is characterized in that, the described pedestal of described electric-motor drive unit is fixed with simultaneously two ring supports, the two ends of described quill shaft are connected to described two ring supports, and thumb is fixed on described quill shaft, in wherein said two ring supports, one is split ring be provided with screw, is used for adjusting the frictional force between this ring support and quill shaft, the upset of thumb can be adjusted, keep the attitude after adjustment simultaneously.
4. prosthetic hand according to claim 1, it is characterized in that, described thumb is provided with upset dactylus, second knuckle and third knuckle successively from root to end, connect respectively by pin between them, form three rotary joints, wherein overturning dactylus is fixed on described quill shaft, and described second knuckle is connected via connecting rod one end with described power transmission shaft.
5. prosthetic hand according to claim 4, it is characterized in that, described power transmission shaft is fixed with first connecting rod, first connecting rod is connected by the first pin with one end of second connecting rod, the other end of second connecting rod is connected by the second pin with third connecting rod, and second connecting rod is connected on second knuckle by the second pin simultaneously, and second connecting rod is also connected with third connecting rod by the 3rd pin, third connecting rod is connected on the 4th pin through second knuckle, and the 4th pin is connected on the third knuckle of thumb.
6. prosthetic hand according to claim 1, it is characterized in that, each finger except thumb comprises base, first knuckle and second knuckle, base is fixed on palm, first knuckle is connected by the first pin and first connecting rod with base, is connected, thus define two rotary joints between first knuckle and second knuckle by the second pin, described second exports one of B alloy wire is connected with one end of described first connecting rod, thus drives this finger motion.
7. prosthetic hand according to claim 6, it is characterized in that, the second pin is also provided with a torsion spring, make joint keep deployed condition, and one end of the other end of first connecting rod and second connecting rod is hinged, the other end of second connecting rod by the second pin and second knuckle hinged.
8. prosthetic hand according to claim 1, it is characterized in that, described continuum differential attachment comprises a fixed disk, 3 end disk, input B alloy wire, two first output B alloy wires and four second output B alloy wires, and described fixed disk is fixed on described pedestal.
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| CN201510246103.0A CN104799982B (en) | 2015-05-14 | 2015-05-14 | Single motor drive lacking prosthetic hand based on continuum differential attachment |
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| CN201510246103.0A CN104799982B (en) | 2015-05-14 | 2015-05-14 | Single motor drive lacking prosthetic hand based on continuum differential attachment |
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| CN106038009A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Prosthetic hand |
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| CN106667628A (en) * | 2016-12-05 | 2017-05-17 | 上海交通大学 | Half-palm artificial limb hand |
| CN107693175A (en) * | 2017-10-27 | 2018-02-16 | 伏彦龙 | A kind of artificial limb manipulator and its arm |
| CN108908391A (en) * | 2018-08-14 | 2018-11-30 | 东南大学 | A kind of bionic mechanical hand based on differential design |
| CN108917589A (en) * | 2018-07-18 | 2018-11-30 | 上海交通大学 | A kind of manipulator joint angle measurement system, platform and measurement method |
| CN111513898A (en) * | 2020-05-15 | 2020-08-11 | 华中科技大学 | Under-actuated prosthetic hand with self-adaptive grabbing function |
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| CN108908391A (en) * | 2018-08-14 | 2018-11-30 | 东南大学 | A kind of bionic mechanical hand based on differential design |
| CN111513898A (en) * | 2020-05-15 | 2020-08-11 | 华中科技大学 | Under-actuated prosthetic hand with self-adaptive grabbing function |
| CN111513898B (en) * | 2020-05-15 | 2021-06-29 | 华中科技大学 | Under-actuated prosthetic hand with self-adaptive grabbing function |
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| CN104799982B (en) | 2016-10-19 |
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