CN104997579B - Intelligent myoelectric limb hand with high precision small bracing wire control system - Google Patents
Intelligent myoelectric limb hand with high precision small bracing wire control system Download PDFInfo
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- CN104997579B CN104997579B CN201510457571.2A CN201510457571A CN104997579B CN 104997579 B CN104997579 B CN 104997579B CN 201510457571 A CN201510457571 A CN 201510457571A CN 104997579 B CN104997579 B CN 104997579B
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Abstract
Intelligent myoelectric limb hand with high precision small bracing wire control system, the prosthetic hand include manipulator, artificial limb arm, connecting line, waist-mounted type battery and control system box and electromyographic signal sensor；Manipulator is arranged on the front end of artificial limb arm, and connecting line connection waist-mounted type battery is connected with control system box and artificial limb arm, electromyographic signal sensor with waist-mounted type battery with control system box.Due to the mode for taking bracing wire to control, simple for structure, fault rate is relatively low, and cost is relatively low, is adapted to the routine use demand of general patient.
Description
Technical field
The present invention relates to a kind of intelligent myoelectric limb arm device, belongs to intelligent instrument field of helping the disabled.
Background technology
At present, the important problem of prosthetic hand research field be design while meet in light weight, small volume, High power output,
The multi-freedom artificial limb hand of flexible movements.Research for intelligent artificial limb hand-drive mode is broadly divided into two kinds of directions：One kind note
The various actions of hand are accurately reproduced by mechanical structures such as the gear trains of complexity again.The advantages of this mode be precision compared with
Height, action is abundant, but the deficiency brought simultaneously is fault rate height, and weight is big, and cost is high, and wherein weight is big and cost is high
This two inferior positions especially embarrass common prosthetic hand user to be received.
Another direction is then the motion that bracing wire manipulation finger-joint is driven by motor.Its advantage be mechanical structure greatly
Simplify, weight reduction, while cost is relatively low therewith.And by controlling bracing wire the continuous research of prosthetic hand, it can pass through at present
High-precision control is realized to prosthetic hand using greater number of motor stay wire groups.Compared to complicated gear transmission mechanism, it is transported
Flowing mode is with effect closer in the motion of actual human hand.But in order to reach high-precision control, the quantity of bracing wire group of motors
More than ten groups can be reached, cause that power plant module volume weight is bigger than normal and the cabling of bracing wire is more numerous and diverse.
Also there are two kinds of research directions for stay-supported prosthetic hand at present, one kind is to finger using more bracing wire group of motors
Joint, which reaches, to be precisely controlled, but the weight of its group of motors can not be optimized very well with volume, for the daily of patient
Using causing necessarily to bear.Another kind is to try to mitigate the weight of prosthetic hand, meets basic operation using only a small amount of motor, its
Practicality is higher, using comfortable simple, but has inevitably been short of in terms of control accuracy.
The content of the invention
The present invention provides a kind of intelligent myoelectric limb hand with high precision small bracing wire control system, the purpose is to for
Overcome that existing line-controlled high-precision intelligent artificial limb bracing wire is numerous and diverse, and the big weight of group of motors volume is unfavorable for dressing greatly based on drawing
Deficiency.
Technical scheme：The present invention is achieved by the following technical solutions：
Intelligent myoelectric limb hand with high precision small bracing wire control system, it is characterised in that：The prosthetic hand includes
Manipulator, artificial limb arm, connecting line, waist-mounted type battery and control system box and electromyographic signal sensor；Manipulator is arranged on vacation
The front end of limb arm, connecting line connection waist-mounted type battery and control system box and artificial limb arm, electromyographic signal sensor are hung with waist
Formula battery is connected with control system box.
Motor driving is provided with artificial limb arm, motor driving includes the gear-box for minimizing motor and matching
With double-deck roller, miniaturization motor connects waist-mounted type electricity by gear-box connected double-layer roller, miniaturization motor by connecting line
Pond and control system box.
The prosthetic hand also includes low drawing coefficient bracing wire, and the bracing wire is made up of crust, terminal and interior lines, and terminal is arranged on outer
Skin both ends, interior lines pass through crust and terminal, and the terminal of side is fixed on the positioning disk of artificial limb arm front end, and opposite side is then fixed
In the joint root of required connection, joint needed for the connection of interior lines one end, the other end is connected with double-deck roller, every in double-deck roller
One layer of roller fixes an interior lines, and two interior lines are fixed in a reverse direction, to meet when motor rotates, realizes same time control
Receive a requirement put in two interior lines one of system.
Anchorage shoe and threading hole are provided with every layer of roller of double-deck roller.
One end of bracing wire is fixed on anchorage shoe through threading hole, and the other end draws from motor roller embedded groove
Go out, a side terminal is fixed by positioning disk, be drawstring through comb-line plate and be connected to required each joint finally by flexible pipe packet
Position.
Comb-line plate carries out combing packet by arranging rectangular circular hole to bracing wire.
Motor is driven to two groups, and every 7 motors driving, one group of group of motors of composition, every group of 7 motors are driven with circle-shaped
Evenly distributed, in the motor driving of every group of arrangement, motor is inside to minimize, and the outside mode of double-deck roller is arranged；Two groups of electricity
Machine drives interlaced plug hole arrangement, the i.e. two neighboring motor of corresponding first group of motors of each motor driving of the second group of motors
Position between driving, is smoothly drawn bracing wire with facilitating.
Every finger of manipulator is driven equipped with two motors, and four bracing wires, i.e. control line are drawn in two motor drivings altogether
First, control line two, strength line one and strength line two, the one motor driving of control line one and the mutually opposing connection of control line two, power
Measure line one to drive with mutually opposing one motor of connection of strength line two, control line one and control line two are put in finger, control line
One is positioned close to extension side outside digital flexion, and control line two is positioned close to digital flexion inner face contraction side, the He of line one processed
Control line two intersects the bending of control finger and stretched at finger tip；Strength line one is arranged at finger root with strength line two,
Strength line one is positioned close to the outside of finger root rotation, and strength line two is positioned close to the inner side of finger root rotation, power
Measure the rotation that line one controls root joint with strength line two.
The pitching rotating shaft of two chutes of band is provided with the mechanical wrist of manipulator, pitching rotating shaft is by two motors
Driving is driven respectively, and two bracing wires are drawn in a motor driving, and two bracing wires are embedded in chute, and then pass through two from both sides
The receipts of root bracing wire one one are put, and realize the pitching of palm to the frictional force of chute by bracing wire；
The lateral rotation axle with chute is provided with the root of mechanical wrist, motor, which drives, draws two bracing wires, two
Bracing wire is embedded in chute, and then when motor drives, two receipts of bracing wires one one are put, and pass through friction of the bracing wire to chute from both sides
Power, the horizontal rotation of existing mechanical wrist.
Be provided with the lateral rotation axle with chute in thumb root, two bracing wires are drawn in motor driving, two bracing wires from
Both sides, it is embedded in chute, and then two receipts of bracing wires one one are put when motor drives, the frictional force by bracing wire to chute is real
The horizontal rotation of existing thumb
Waist-mounted type battery and control system box, including control module, battery pack, communication interface and control panel, control
Module connects the communication interface of battery pack and setting on the battery pack, communication interface connection connecting line and electromyographic signal sensor.
Advantage and effect：The present invention provides a kind of intelligent myoelectric limb with high precision small bracing wire control system
Hand, it can not only complete the high-precision control to five fingers and wrist joint, and intelligent artificial limb hand is carried out
The comfortable wearing of long period and use.Present invention design high precision small bracing wire control system, sets in the middle part of artificial limb arm
Count group of motors embedded groove, totally ten four grooves be divided to two groups circumferentially to arrange, each motor slot carry corresponding bracing wire passage in order to
Bracing wire is drawn.From the small brushless dc motor with hall sensor, the motor with gear-box is embedded in motor slot, motor
By driving runner to control the folding and unfolding of bracing wire after gearbox speed reduction, wherein, two-layer equation runner can drive two bracing wires reverse simultaneously
Rotate, realize a piece effect put of a receipts.A disk spacer is fixed in group of motors front end, fixation is drawn out of motor slot
28 bracing wires terminal.Bracing wire is combed using the wire carding plate with 28 circular holes afterwards.In artificial limb arm front end
Bracing wire is grouped export by design passage on demand, reaches each finger and wrist joint.The present invention design waist-mounted type battery pack and
Control system box, the larger battery pack of weight and control module are integrated in Box mounted to waist.Prosthetic hand main body and Box mounted to waist it
Between by one there is good flexible data wire to be connected.It is fixed on by bandage with user.
In summary, the present invention can be while accurately being controlled five fingers and wrist joint, by weighing body
The all larger motor gearbox group of product, put by way of minimizing motor and embedding inside artificial limb arm, greatly reduce module
Size, be more suitable for requirement of the intelligent artificial limb hand for weight and volume, being easy to wear reduces the row of bracing wire while use
Journey.Bracing wire contraction in length, and most of all from cabling inside artificial limb arm, it is more stable during use, be less prone to it is other
The winding scratching of object and influence the situation of prosthetic hand steady operation.Heavier battery pack and control mould are integrated with Box mounted to waist
Block, due to being worn on waistband, using comfortably relaxing significantly simultaneously for weight limitation, for increasing battery capacity, prolong
Long usage time, upgrading hardware performance are extremely advantageous.Simultaneously because take bracing wire control mode, it is simple for structure, fault rate compared with
Low, cost is relatively low, is adapted to the routine use demand of general patient.
Brief description of the drawings：
Fig. 1 is the overall structure total figure of the present invention；
Fig. 2 is miniaturization motor module figure；
Fig. 3 is guy structure figure；
Fig. 4 is high precision small bracing wire control system schematic diagram；
Fig. 5 is motor inline mode schematic diagram；
Fig. 6 is group of motors profile；
Fig. 7 is finger-joint bracing wire wire laying mode schematic diagram；
Fig. 8 is waist-mounted type battery and control system box schematic diagram；
Fig. 9 is palm root chute schematic diagram；
Figure 10 is thumb root chute schematic diagram.
Embodiment：The present invention is described further below in conjunction with the accompanying drawings：
The present invention provides a kind of intelligent myoelectric limb hand with high precision small bracing wire control system, the artificial limb handbag
Include manipulator 1, artificial limb arm 2, connecting line 3, waist-mounted type battery and control system box 4 and electromyographic signal sensor 5；Manipulator 1
The front end of artificial limb arm 2 is arranged on, connecting line 3 connects waist-mounted type battery and control system box 4 and artificial limb arm 2, electromyographic signal
Sensor 5 is connected with waist-mounted type battery with control system box 4.
Motor driving is provided with artificial limb arm 2, motor driving includes the gear for minimizing motor 6 and matching
Case 7 and double-deck roller 8, miniaturization motor 6 are connected by the connected double-layer roller 8 of gear-box 7, miniaturization motor 6 by connecting line 3
Waist-mounted type battery and control system box 4.
The prosthetic hand also includes low drawing coefficient bracing wire, and the bracing wire is made up of crust 10, terminal 11 and interior lines 12, terminal 11
The both ends of crust 10 are arranged on, interior lines 12 pass through crust 10 and terminal 11, and the terminal of side is fixed on the positioning of the front end of artificial limb arm 2
On disk, opposite side is then fixed on the joint root of required connection, joint needed for the connection of the one end of interior lines 12, the other end and double-deck roller
8 connect, and each layer of roller in double-deck roller 8 fixes an interior lines 12, and two interior lines 12 are fixed in a reverse direction, with full
Foot realizes that a requirement put is received in two interior lines one of control simultaneously when motor rotates.
Anchorage shoe 9 and threading hole are provided with every layer of roller of double-deck roller 8.
One end of bracing wire is fixed on anchorage shoe 9 through threading hole, and the other end is from motor roller embedded groove 13
Draw, a side terminal 11 is fixed by positioning disk 14, be drawstring through comb-line plate 15 finally by flexible pipe 16 packet be connected to needed for
Each joint part.
Comb-line plate 15 carries out combing packet by arranging rectangular circular hole to bracing wire.
Motor is driven to two groups, and every 7 motors driving, one group of group of motors of composition, every group of 7 motors are driven with circle-shaped
Evenly distributed, in the motor driving of every group of arrangement, inside to minimize motor 6, the outside mode of double-deck roller 8 is arranged；Two groups
Motor drives interlaced plug hole arrangement, i.e. each motor driving of the second group of motors 18 corresponds to adjacent the two of the first group of motors 17
Position between individual motor driving, is smoothly drawn bracing wire with facilitating.
Every finger of manipulator 1 is driven equipped with two motors, and four bracing wires, i.e. control line are drawn in two motor drivings altogether
One 20, control line 2 21, strength line 1 and strength line 2 23, control line 1 and the mutually opposing connection one of control line 2 21
Motor drives, and strength line 1 drives with mutually opposing one motor of connection of strength line 2 23, control line 1 and control line two
21 put in finger, and control line 1 is positioned close to extension side outside digital flexion, and control line 2 21 is positioned close to finger
Inner face contraction side is bent, line 1 and control line 2 21 processed intersect the bending of control finger and stretched at finger tip；Strength line one
22 are arranged at finger root with strength line 2 23, and strength line 1 is positioned close to the outside of finger root rotation, strength line
2 23 are positioned close to the inner side of finger root rotation, and strength line 1 controls the rotation of root joint with strength line 2 23.
The pitching rotating shaft of two chutes 28 of band is provided with the mechanical wrist of manipulator 1, pitching rotating shaft is by two
Motor driving is driven respectively, and two bracing wires are drawn in a motor driving, and two bracing wires one on the other, are embedded in chute from both sides
In, and then receive one by two bracing wires one and put, the pitching of palm is realized to the frictional force of chute by bracing wire；
The root of mechanical wrist is provided with the transverse direction with chute 29（Axially）Two drawings are drawn in rotary shaft, motor driving
Line, two bracing wires one on the other, are embedded in chute, and then when motor drives, two receipts of bracing wires one one are put, and are passed through from both sides
Bracing wire is to the frictional force of chute 29, the horizontal rotation of existing mechanical wrist.
The axial rotary shaft of transverse direction with chute 30 is provided with thumb root, motor, which drives, draws two bracing wires, two
Bracing wire one on the other, is embedded in chute, and then when motor drives, two receipts of bracing wires one one are put, and pass through bracing wire pair from both sides
Chute（30）Frictional force, realize the horizontal rotation of thumb
Waist-mounted type battery and control system box, including control module 24, battery pack 25, communication interface 26 and control panel
27, control module 24 connects battery pack 25 and the communication interface 26 being arranged in battery pack 25, and communication interface 26 connects connecting line
3 and electromyographic signal sensor 5.
The present invention is described in further detail below in conjunction with the accompanying drawings：
Fig. 1 is the overall schematic of the present invention.As shown in figure 1, the present invention includes manipulator 1, artificial limb arm 2, connecting line
3rd, waist-mounted type battery and control system box 4.Manipulator by artificial limb arm embed dynamical system by draw it is line-controlled in the form of enter
Row control, artificial limb arm, front end are that bracing wire combs space, and middle part is embedded group of motors, and rear portion is to fixed ring set.System
Power supply and control system be located at waist-mounted type battery and control system box, user waist can be worn on, by connecting line with
Prosthetic hand main body carries out data exchange and electric energy and supplied, and the electromyographic signal sensor 5 on arm is detecting the myoelectricity of user
Signal.
Fig. 2 is used miniaturization motor 6 and the gear-box 7 and double-deck roller 8 that match.Motor and associated gear
Case installation coordinates, and bracing wire is controlled by double-deck pulley.Double-deck pulley is provided with anchorage shoe 9 two layers, can wear bracing wire
It is fastened after crossing hole.After two bracing wires are fixed in a reverse direction, when motor rotates, it can be controlled simultaneously with realizing
Two receipts of bracing wires one one are put.
Fig. 3 is used low drawing coefficient bracing wire, and by crust 10, terminal 11, interior lines 12 form, and a side terminal is fixed on
Positioning disk, opposite side are then fixed on the joint root of required connection.After two terminals are fixed, due to the stretching system of bracing wire
Number is very low and length of the invention for reducing bracing wire to greatest extent, with the motion of wrist and each finger-joint, two-terminal it
Between bracing wire can deform upon, but length keeps constant, such motor rotate caused by bracing wire folding and unfolding length can be accurate
Reappeared at joint end, complete the accurate control to prosthetic hand
Fig. 4 is high precision small bracing wire control system schematic diagram.Bracing wire is drawn from motor embedded groove 13, passes through positioning
Disk 14 fixes a side terminal.Comb-line plate 15 carries out combing packet by arranging rectangular circular hole to bracing wire, finally by flexible pipe
16 packets are connected to required each joint part.
The insertion arrangement mode of motor, therefore separately shown 14 motors in Fig. 5 can not be clearly found out in Fig. 4
It is grouped arrangement mode.Arranged as illustrated, the first group of motors 17 and the second group of motors 18 respectively include 7 motor even circumferentials, two
Group motor is interlaced in vertical direction, smoothly to draw bracing wire.
Fig. 6 is group of motors profile, and bracing wire leadout hole 19 two is one group, and correspond to a motor runner respectively two are anti-
To the bracing wire of motion, thus scheme visible, due to two groups of motor vertical direction alternates, 28 wires can smoothly be led
Go out.
Fig. 7 is finger-joint bracing wire wire laying mode schematic diagram, and every finger is furnished with two groups of motors, can control four drawings
Line, control line 1 and control line 2 21 are a motor control, counter motion, can control the bending of finger and stretch.Power
It is another motor control that line 1, which is measured, with strength line 2 23, can be closed by controlling the rotation of root joint to increase close to palm
The strength of section, to obtain the performance of high grip.
Fig. 8 is waist-mounted type battery and control system box, including control module 24, battery pack 25, communication interface 26 and control
Panel 27, the larger battery pack of weight and control module are hung over into waist, mitigate the burden of user, help to make for a long time
With.
Fig. 9 is palm root chute schematic diagram, bracing wire after extraction, be embedded in after the binding of chute opposite side chute it
In, a receipts are put by respective drive motor driven bracing wire one, using rotation of the frictional force with moving axis, realize the transverse rotation of wrist
With the pitching of palm.
Figure 10 is thumb root chute schematic diagram, and bracing wire is embedded in chute, driven by motor, real using frictional force
The transverse rotation of existing thumb root.
Claims (8)
1. the intelligent myoelectric limb hand with high precision small bracing wire control system, it is characterised in that：The prosthetic hand includes machine
Tool hand（1）, artificial limb arm（2）, connecting line（3）, waist-mounted type battery and control system box（4）With electromyographic signal sensor（5）；Machine
Tool hand（1）It is arranged on artificial limb arm（2）Front end, connecting line（3）Connect waist-mounted type battery and control system box（4）And prosthetic hand
Arm（2）, electromyographic signal sensor（5）With waist-mounted type battery and control system box（4）Connection；
In artificial limb arm（2）Motor driving is inside provided with, motor driving includes minimizing motor（6）And the gear to match
Case（7）With double-deck roller（8）, minimize motor（6）Pass through gear-box（7）Connected double-layer roller（8）, minimize motor（6）It is logical
Cross connecting line（3）Connect waist-mounted type battery and control system box（4）；
The prosthetic hand also includes low drawing coefficient bracing wire, and the bracing wire is by crust（10）, terminal（11）And interior lines（12）Form, terminal
（11）It is arranged on crust（10）Both ends, interior lines（12）Through crust（10）And terminal（11）, the terminal of side is fixed on prosthetic hand
Arm（2）On the positioning disk of front end, opposite side is then fixed on the joint root of required connection, interior lines（12）Closed needed for the connection of one end
Section, the other end and double-deck roller（8）Connection, double-deck roller（8）In each layer of roller fix an interior lines（12）, in two
Line（12）Fix in a reverse direction, to meet when motor rotates, realize that a requirement put is received in two interior lines one of control simultaneously.
2. the intelligent myoelectric limb hand according to claim 1 with high precision small bracing wire control system, its feature
It is：In double-deck roller（8）Every layer of roller on be provided with anchorage shoe（9）And threading hole.
3. the intelligent myoelectric limb hand according to claim 2 with high precision small bracing wire control system, its feature
It is：One end of bracing wire is fixed on anchorage shoe through threading hole（9）On, the other end is from motor roller embedded groove（13）In
Draw, pass through positioning disk（14）Fix a side terminal（11）, it is drawstring through comb-line plate（15）Finally by flexible pipe（16）Packet connects
It is connected to required each joint part.
4. the intelligent myoelectric limb hand according to claim 3 with high precision small bracing wire control system, its feature
It is：Comb-line plate（15）Combing packet is carried out to bracing wire by arranging rectangular circular hole.
5. the intelligent myoelectric limb hand according to claim 1 with high precision small bracing wire control system, its feature
It is：Motor is driven to two groups, and every 7 motors driving, one group of group of motors of composition, every group of 7 motors are driven with circle-shaped uniform
Arrangement, in the motor driving of every group of arrangement, to minimize motor（6）Inwardly, double-deck roller（8）Outside mode is arranged；Two groups
Motor drives interlaced plug hole arrangement, i.e. the second group of motors（18）Corresponding first group of motors of each motor driving（17）Phase
Position between adjacent two motors driving, is smoothly drawn bracing wire with facilitating.
6. the intelligent myoelectric limb hand according to claim 5 with high precision small bracing wire control system, its feature
It is：Manipulator（1）Every finger driven equipped with two motors, four bracing wires, i.e. control line are drawn in two motors drivings altogether
One（20）, control line two（21）, strength line one（22）With strength line two（23）, control line one（20）With control line two（21）Mutually
One motor driving of Opposite direction connection, strength line one（22）With strength line two（23）Mutually opposing one motor driving of connection, control
Line one（20）With control line two（21）Put in finger, control line one（20）It is positioned close to extension side outside digital flexion, control
Line two processed（21）It is positioned close to digital flexion inner face contraction side, line one processed（20）With control line two（21）Intersect control at finger tip
The bending of finger processed and stretch；Strength line one（22）With strength line two（23）It is arranged at finger root, strength line one（22）If
Put close to the outside of finger root rotation, strength line two（23）It is positioned close to the inner side of finger root rotation, strength line one
（22）With strength line two（23）Control the rotation of root joint.
7. the intelligent myoelectric limb hand according to claim 5 with high precision small bracing wire control system, its feature
It is：In manipulator（1）Mechanical wrist at be provided with two chutes of band（28）Pitching rotating shaft, pitching rotating shaft is by two
Motor driving is driven respectively, and two bracing wires are drawn in a motor driving, and two bracing wires are embedded in chute, Jin Ertong from both sides
Cross two receipts of bracing wires one one to put, realize the pitching of palm to the frictional force of chute by bracing wire；
It is provided with the root of mechanical wrist with chute（29）Lateral rotation axle, motor driving draw two bracing wires, two
Bracing wire is embedded in chute from both sides, and then two bracing wires one are received one and put when motor drives, by bracing wire to chute（29）'s
Frictional force, the horizontal rotation of existing mechanical wrist；
It is provided with thumb root with chute（30）Lateral rotation axle, motor driving draw two bracing wires, two bracing wires from
Both sides, it is embedded in chute, and then two receipts of bracing wires one one are put when motor drives, by bracing wire to chute（30）Friction
Power, realize the horizontal rotation of thumb.
8. the intelligent myoelectric limb hand according to claim 1 with high precision small bracing wire control system, its feature
It is：Waist-mounted type battery and control system box, including control module（24）, battery pack（25）, communication interface（26）And chain of command
Plate（27）, control module（24）Connect battery pack（25）Be arranged on battery pack（25）On communication interface（26）, communication interface
（26）Connect connecting line（3）With electromyographic signal sensor（5）.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510457571.2A CN104997579B (en) | 2015-07-30 | 2015-07-30 | Intelligent myoelectric limb hand with high precision small bracing wire control system |
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| CN201510457571.2A CN104997579B (en) | 2015-07-30 | 2015-07-30 | Intelligent myoelectric limb hand with high precision small bracing wire control system |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107789101A (en) * | 2016-09-01 | 2018-03-13 | 湖南能手科技有限公司 | A kind of intelligent myoelectric limb arm device |
| CN106667628B (en) * | 2016-12-05 | 2019-08-09 | 上海交通大学 | A kind of half palm prosthetic hand |
| CN106974749A (en) * | 2017-04-25 | 2017-07-25 | 北京展翼计划科技发展有限公司 | Bionical prosthetic hand and device based on 3D printing |
| CN111300413B (en) * | 2020-03-03 | 2022-10-14 | 东南大学 | Multi-degree-of-freedom myoelectric artificial hand control system and using method thereof |
| CN113262088B (en) * | 2021-05-27 | 2022-08-02 | 山东大学 | Multi-degree-of-freedom hybrid control artificial hand with force feedback and control method |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4685928A (en) * | 1985-10-04 | 1987-08-11 | Ivan Yaeger | Artificial arm and hand assembly |
| CN2040771U (en) * | 1988-12-03 | 1989-07-12 | 陈洪灿 | Artificial hand with human body function |
| IT1316110B1 (en) * | 2000-12-04 | 2003-03-28 | Inail Ct Per La Sperimentazion | UPPER LIMB PROSTHESIS OPERATED VIA A SENSOR THAT USES SPECTROSCOPY IN THE NEAR INFRARED. |
| CN101146496B (en) * | 2005-03-23 | 2012-08-08 | 奥苏尔公司 | System for conscious sensory feedback |
| JP5224227B2 (en) * | 2006-07-16 | 2013-07-03 | 浩史 横井 | All-finger movable prosthesis |
| CN201324304Y (en) * | 2006-11-28 | 2009-10-14 | 李玉江 | Muscle electrical-control arm artificial limb capable of stretching fingers |
| CN101811302B (en) * | 2010-04-12 | 2012-09-05 | 段峰 | Five-finger independently-driven mechanical artificial hand |
| CN204181749U (en) * | 2014-09-30 | 2015-03-04 | 东北大学 | A kind of novel without externally energized prosthesis hands |
| CN204909745U (en) * | 2015-07-30 | 2015-12-30 | 沈阳工业大学 | Intelligence flesh electricity artificial limb hand with high accuracy miniaturization control system that acts as go -between |
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