CN106344223A - Thumb passive joint for artificial hand of disabled people - Google Patents
Thumb passive joint for artificial hand of disabled people Download PDFInfo
- Publication number
- CN106344223A CN106344223A CN201610981695.5A CN201610981695A CN106344223A CN 106344223 A CN106344223 A CN 106344223A CN 201610981695 A CN201610981695 A CN 201610981695A CN 106344223 A CN106344223 A CN 106344223A
- Authority
- CN
- China
- Prior art keywords
- ratchet
- thumb
- mounting seat
- connecting shaft
- patten transformation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
- A61F2002/587—Thumbs
Abstract
The invention provides a thumb passive joint for an artificial hand of disabled people, and relates to the thumb passive joint. An outward extension and inward contraction joint of the thumb of the existing artificial finger is complicated, and is difficult to control by myoelectric signals. The thumb passive joint comprises a locking mechanism and a reset switch mechanism, wherein the locking mechanism comprises an installing seat, a connecting shaft, a mode conversion ratchet wheel, a mode conversion ratchet and a first rest spring; the reset switch mechanism comprises a reset press button and a second reset spring; the installing seat is fixedly arranged on a hand back plate; the connecting shaft is hinged onto the installing seat; the thumb base joint seat and the mode conversion ratchet wheel are sequentially and fixedly arranged on the connecting shaft; the first reset spring is arranged between the mode conversion ratchet wheel and the installing seat; the rest press button passes through the hand back plate to be glidingly matched with the installing seat; the second reset spring is arranged on the reset press button in a sleeving way; the mode conversion ratchet is respectively hinged to the reset press button and the installing seat; the mode conversion ratchet is engaged with the mode conversion ratchet wheel. The thumb passive joint is used in an intelligent robot.
Description
Technical field
Present invention relates particularly to a kind of thumb passive joint done evil through another person for people with disability.
Background technology
Handss are the most complicated, the finest instruments that the mankind depend on for existence and work, the mankind can by the both hands of oneself with
External environment contact simultaneously obtains information, more preferable operating environment from environment.The important content done evil through another person as rehabilitation engineering
And ingredient, it is to make disability rehabilitation, return social important means.Therefore how design outline and function highly imitate people
Handss, to by operation object, there is the adaptivity ability of height, the emphasis of research field of always doing evil through another person.
The particular configuration of staff thumb and the position in palm ensure that staff has more complicated function and complete
Become complicated Yu fine action, therefore how to design the thumb done evil through another person becomes the key content done evil through another person in recent years in research, thumb
The motion referring to is divided into opposition and abduction-interior receipts two parts of motion, needs people with disability to control by electromyographic signal, but is subject to
It is limited to signal extraction technology at this stage, control the electromyographic signal of the abduction-interior receipts motion of thumb to be difficult to extract, therefore above institute
The factor stated limits the application done evil through another person.
Content of the invention
It is an object of the invention to provide a kind of thumb passive joint done evil through another person for people with disability, to solve existing prosthetic finger
The abduction of thumb-interior receipts facet joint complex and the problem being difficult to be controlled with electromyographic signal.
The present invention is to solve above-mentioned technical problem to adopt the technical scheme that:
A kind of thumb passive joint done evil through another person for people with disability, it includes retaining mechanism and reset switch mechanism；
Described retaining mechanism includes mounting seat, connecting shaft, patten transformation ratchet, patten transformation ratchet and the first reset bullet
Spring, described reset switch mechanism includes SR and second back-moving spring, and described mounting seat is fixedly mounted on hand back plate, institute
State connecting shaft to be hinged in mounting seat, thumb base socket joint and patten transformation ratchet are fixedly set in connecting shaft successively, first
Back-moving spring is arranged between patten transformation ratchet and mounting seat, and described SR passes through hand back plate to join with mounting seat slip
Close, second back-moving spring is sleeved on SR, and described patten transformation ratchet is hinged with SR and mounting seat respectively,
Described patten transformation ratchet is meshed with patten transformation ratchet.
Described mounting seat passes sequentially through screw and pin is fixedly mounted on hand back plate.
Connecting shaft is d type connecting shaft.
Connecting shaft is hinged with mounting seat by installing bearing.
Patten transformation ratchet is hinged by ratchet rotary shaft and mounting seat.
SR is included by gland and sliding bar, and by gland, positioned at the surface of sliding bar and the two is fixedly connected and is made as
Integrally, it is arc covers by gland, be machined with anti-slip veins by the upper surface of gland, by the profile phase of profile and the hand back plate of gland
Cooperation, described hand back plate is machined with the shoulder hole being matched with SR, described mounting seat is machined with and slides with sliding bar
The through hole of dynamic cooperation, described sliding bar sequentially passes through shoulder hole and through hole, described second back-moving spring be sleeved on sliding bar and
Its two ends holds out against respectively by between gland and mounting seat.
The lower end of described sliding bar is hinged with patten transformation ratchet by reset connecting shaft.
Described sliding bar is slidably matched with mounting seat by linear bearing.
Described (the first back-moving spring is sleeved in connecting shaft, and the upper end of described (the first back-moving spring is fixedly mounted on pattern and turns
Change on the lower wheel face of ratchet, the lower end of described (the first back-moving spring is fixedly mounted in mounting seat.
Patten transformation ratchet includes taking turns body, canine tooth and five little teeth, and canine tooth and five little teeth are fixedly connected sequentially in wheel
On the outer circumferential end face of body, canine tooth is arranged near SR.
Present invention beneficial effect compared with prior art:
First, the principle based on myoelectricity control of doing evil through another person for the present invention, the abduction of thumb-interior receipts joint designs are passive joint,
Operating habit according to people with disability and operational capacity, devise and are capable of can be manually rotated thumb, and reset switch mechanism controls are locked
The reset work of tight mechanism, thus being effectively simplified the complex degree of structure done evil through another person, reducing the manufacturing cost done evil through another person, decreasing residual
Disease people is to the control difficulty done evil through another person.
2nd, the actual size according to staff designs the size of passive joint, according to thumb difference grasp mode and place
Position be equipped with the tooth-shape structure of the patten transformation ratchet in retaining mechanism.The reasonable in design of the present invention, according to
The practical operation situation of people with disability is designed with back-moving spring, not only simplify the operating process of thumb of doing evil through another person, and increased thumb simultaneously
The impact resistance referring to.
3rd, the shape of the SR of the present invention and reasonable in design are reliable, by the curve shape of gland and hand back plate
Combine together so that appearance of doing evil through another person is smooth and simulation quality is high, the anti-slip veins that pressing simultaneously covers processing can be effectively increased reset
Button and the frictional force of finger, are easily operated to doing evil through another person beneficial to people with disability.
4th, motility of the present invention is strong, and the plane that the structure setting of patten transformation ratchet is capable of thumb is lifted, side is pinched
Take, two fingers pinch take, three fingers are pinched and are taken and envelope crawl totally five kinds of crawl positions
Brief description
Fig. 1 is the structural representation that the present invention is arranged on palm 13；
Fig. 2 is the plan structure generalized section of the present invention；
Fig. 3 is the backsight structural representation of Fig. 1；
Fig. 4 is plan structure generalized section when pressing reset switch in the present invention；
Fig. 5 is the profile angle amplification effect figure of patten transformation ratchet 3；
Specific embodiment
Specific embodiment one: with reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, present embodiment is described, present embodiment includes
Retaining mechanism and reset switch mechanism；
Described retaining mechanism includes mounting seat 1, connecting shaft 2, patten transformation ratchet 3, patten transformation ratchet 4 and the first reset
Spring 7, described reset switch mechanism includes SR 15 and second back-moving spring 16, and described mounting seat 1 is fixedly mounted on handss
On backboard 14, described connecting shaft 2 is hinged in mounting seat 1, and suit fixed successively by thumb base socket joint 8 and patten transformation ratchet 3
In connecting shaft 2, (the first back-moving spring 7 is arranged between patten transformation ratchet 3 and mounting seat 1, and described SR 15 passes through
Hand back plate 14 is slidably matched with mounting seat 1, and second back-moving spring 16 is sleeved on SR 15, described patten transformation ratchet 4
It is hinged with SR 15 and mounting seat 1 respectively, described patten transformation ratchet 4 is meshed with patten transformation ratchet 3.
The structure of the present invention is capable of the height to staff thumb and imitates, and the present invention is arranged on the palm 13 of robot
In, by the reset work of reset switch mechanism controls retaining mechanism, thus save using electromyographic signal control the abduction of thumb-
Interior receipts action, retaining mechanism mounting seat is equivalent to the os multangulum majuss in staff, is prevented effectively from because cannot or being difficult to obtain myoelectricity letter
Number when thumb the problem that is difficult to of abduction-interior receipts action, thumb 19 can be driven to carry out abduction-interior receipts motion.
Middle finger base socket joint 8 of the present invention is connected with thumb 19, thus passing through connecting shaft 2 by patten transformation ratchet 3
And the cooperation of thumb base socket joint 8 is so that thumb 19 makes the action of correlation.
In the present invention, the top of connecting shaft 2 is provided with fixing end cap 9.
Specific embodiment two: with reference to Fig. 2 and Fig. 4, present embodiment is described, mounting seat 1 described in present embodiment is successively
It is fixedly mounted on hand back plate 14 by screw 10 and pin 11.Other structures and annexation and specific embodiment one phase
With.
Specific embodiment three: present embodiment, connecting shaft 2 in present embodiment are described with reference to Fig. 1, Fig. 2, Fig. 4 and Fig. 5
For d type connecting shaft.D type connecting shaft is advantageously changed ratchet 3 in matching model and is realized its rotational action.Other structures be connected
Relation is identical with specific embodiment one or two.
Specific embodiment four: with reference to Fig. 2 and Fig. 4, present embodiment is described, in present embodiment, connecting shaft 2 is passed through to install
Bearing 6 is hinged with mounting seat 1.Other structures are identical with specific embodiment three with annexation.
Specific embodiment five: with reference to Fig. 2 and Fig. 4, present embodiment is described, in present embodiment, patten transformation ratchet 4 leads to
Cross ratchet rotary shaft 5 to be hinged with mounting seat 1.Other structures are identical with specific embodiment one or four with annexation.
Specific embodiment six: with reference to Fig. 2 and Fig. 4 illustrate present embodiment, present embodiment SR 15 include by
Gland 15-1 and sliding bar 15-2, by gland 15-1, positioned at the surface of sliding bar 15-2 and the two is fixedly connected and is made as one,
Pressing gland 15-1 is arc covers, the upper surface by gland 15-1 is machined with anti-slip veins 20, by profile and the back of the hand of gland 15-1
The profile of plate 14 matches, and described hand back plate 14 is machined with the shoulder hole being matched with SR 15, in described mounting seat 1
It is machined with the through hole being slidably matched with sliding bar 15-2, described sliding bar 15-2 sequentially passes through shoulder hole and through hole, described second
Back-moving spring 16 is sleeved on sliding bar 15-2 and its two ends holds out against respectively by between gland 15-1 and mounting seat 1.
In present embodiment, SR 15 has arcuate profile, and anti-slip veins 20 are to be carved with chrysanthemum type deep trouth.This kind of multiple
The shape reliability reasonable in design of position button, is combined together so that doing evil through another person with the curve shape of hand back plate by the profile of gland 15-1
Specious, the processing simultaneously pressing the anti-slip veins 20 of gland 15-1 increases the frictional force of SR 15 and finger, beneficial to deformity
People is easily operated to doing evil through another person.Other structures are identical with specific embodiment five with annexation.
Specific embodiment seven: present embodiment, sliding bar 15-2 described in present embodiment are described with reference to Fig. 2 and Fig. 4
Lower end be hinged with patten transformation ratchet 4 by reset connecting shaft 17.Other structures and annexation and specific embodiment
Six is identical.
Specific embodiment eight: present embodiment, sliding bar 15-2 described in present embodiment are described with reference to Fig. 2 and Fig. 4
It is slidably matched with mounting seat 1 by linear bearing 18.Other structures are identical with specific embodiment six or seven with annexation.
Specific embodiment nine: present embodiment, the first reset bullet described in present embodiment are described with reference to Fig. 2 and Fig. 4
Spring 7 is sleeved in connecting shaft 2, and the upper end of described (the first back-moving spring 7 is fixedly mounted on the lower wheel face of patten transformation ratchet 3,
The lower end of described (the first back-moving spring 7 is fixedly mounted in mounting seat 1.Other structures and annexation and specific embodiment one
Identical.
Specific embodiment ten: with reference to Fig. 5, present embodiment is described, in present embodiment, patten transformation ratchet 3 includes taking turns
Body, canine tooth and five little teeth, canine tooth and five little teeth are fixedly connected sequentially on the outer circumferential end face of wheel body, and canine tooth is close
SR is arranged.
In present embodiment, the profile angle of canine tooth is more than the profile angle of little tooth, and the purpose of canine tooth setting is patten transformation ratchet
3 are easy to patten transformation ratchet 4 because of the structure of canine tooth when turning round in the presence of the resilience force of (the first back-moving spring 7 has to it
Effect positioning, makes smoothly to engage between patten transformation ratchet 3 and patten transformation ratchet 4.
In present embodiment, canine tooth and five little teeth are named as c1, c2, c3, c4, c5 and c6 successively, canine tooth 3-2 and five
5 anglecs of rotation between little tooth 3-3 are followed successively by a, b, c, d and e, and canine tooth c1 is the hook tooth of initial position, and canine tooth c1 institute is right
The anglec of rotation answered is 0 degree, and c6 is the hook tooth of final position, anglec of rotation e=120 ° corresponding to hook tooth c6, middle mold of the present invention
The structure that formula changes ratchet 3 makes thumb 19 be in 6 kinds of different abductions-interior receipts position, so that do evil through another person to complete difference
Grasp mode: the plane that anglec of rotation a～e correspond to thumb respectively is lifted, side pinch take, two fingers pinch take, three fingers pinch take and
Envelope crawl totally five kinds of crawl positions.
Operation principle
Mounting seat 1 in retaining mechanism passes through screw 10 and pin 11 is fixedly mounted on hand back plate 14, and connecting shaft 2 is passed through
Bearing 6 is installed be hinged with mounting seat 1, patten transformation ratchet 3 and connecting shaft 2 secure fit, patten transformation ratchet 4 is by ratchet
Rotary shaft 5 is hinged with mounting seat 1, and patten transformation ratchet 4 is engaged with patten transformation ratchet 3, the lower end of (the first back-moving spring 7 and peace
Dress seat 1 is connected, and the upper end of (the first back-moving spring 7 is connected with patten transformation ratchet 3, and (the first back-moving spring 7 is patten transformation ratchet 3
Restoring force is provided.SR 15 is hinged with patten transformation ratchet 4 by reset connecting shaft 17, and SR 15 passes through linear axis
Hold 18 to be slidably matched with retaining mechanism mounting seat 1, back-moving spring 16 is arranged at the sliding bar 15-2 of SR 15, for resetting
Button provides restoring force.Under operating state, stir thumb 19 so that patten transformation ratchet 3 turns clockwise, patten transformation ratchet 4
Lockout mode changes the return motion of ratchet 3, and ratchet back-moving spring 7 keeps the stablizing, thus completing the interior receipts of thumb of thumb 19
Motion；After being pressed by gland 15-1, patten transformation ratchet 3 is disengaged from patten transformation ratchet 4, thus thumb 19 is
It is returned to original state in the presence of one back-moving spring 7, thus completing the abduction exercise of thumb, unclamping by gland 15-1, pressing
Lid 15-1 and sliding bar 15-2 recovers initial position under the resilience force of second back-moving spring 16 and treats once-through operation.
Claims (10)
1. a kind of thumb passive joint done evil through another person for people with disability it is characterised in that: it includes retaining mechanism and reset switch machine
Structure；
Described retaining mechanism includes mounting seat (1), connecting shaft (2), patten transformation ratchet (3), patten transformation ratchet (4) and first
Back-moving spring (7), described reset switch mechanism includes SR (15) and second back-moving spring (16), described mounting seat (1)
It is fixedly mounted on hand back plate (14), described connecting shaft (2) is hinged in mounting seat (1), and thumb base socket joint (8) and pattern turn
Change ratchet (3) to be fixedly set in successively in connecting shaft (2), (the first back-moving spring (7) is arranged on patten transformation ratchet (3) and installs
Between seat (1), described SR (15) is slidably matched through hand back plate (14) with mounting seat (1), second back-moving spring (16)
It is sleeved on SR (15), described patten transformation ratchet (4) is hinged with SR (15) and mounting seat (1) respectively,
Described patten transformation ratchet (4) is meshed with patten transformation ratchet (3).
2. the thumb passive joint done evil through another person for people with disability according to claim 1 it is characterised in that: described mounting seat
(1) pass sequentially through screw (10) and pin (11) is fixedly mounted on hand back plate (14).
3. the thumb passive joint done evil through another person for people with disability according to claim 1 and 2 it is characterised in that: connecting shaft (2)
For d type connecting shaft.
4. the thumb passive joint done evil through another person for people with disability according to claim 3 it is characterised in that: connecting shaft (2) is led to
Cross installation bearing (6) to be hinged with mounting seat (1).
5. the thumb passive joint done evil through another person for people with disability according to claim 1 or 4 it is characterised in that: patten transformation
Ratchet (4) is hinged with mounting seat (1) by ratchet rotary shaft (5).
6. the thumb passive joint done evil through another person for people with disability according to claim 5 it is characterised in that: SR (15)
Including pressing gland (15-1) and sliding bar (15-2), by gland (15-1), positioned at the surface of sliding bar (15-2) and the two is fixed
Connect and be made as one, be arc covers by gland (15-1), the upper surface by gland (15-1) is machined with anti-slip veins (20), pressing
The profile of lid (15-1) is matched with the profile of hand back plate (14), and described hand back plate (14) is machined with and SR (15) phase
The shoulder hole of cooperation, described mounting seat (1) is machined with the through hole being slidably matched with sliding bar (15-2), described sliding bar (15-
2) shoulder hole and through hole are sequentially passed through, described second back-moving spring (16) is sleeved on sliding bar (15-2) above and its two ends is pushed up respectively
Tightly pressing between gland (15-1) and mounting seat (1).
7. the thumb passive joint done evil through another person for people with disability according to claim 6 it is characterised in that: described sliding bar
(15-2) lower end is hinged with patten transformation ratchet (4) by reset connecting shaft (17).
8. the thumb passive joint done evil through another person for people with disability according to claim 6 or 7 it is characterised in that: described slip
Bar (15-2) is slidably matched with mounting seat (1) by linear bearing (18).
9. the thumb passive joint done evil through another person for people with disability according to claim 1 it is characterised in that: described first reset
Spring (7) is sleeved in connecting shaft (2), and the upper end of described (the first back-moving spring (7) is fixedly mounted on patten transformation ratchet (3)
On lower wheel face, the lower end of described (the first back-moving spring (7) is fixedly mounted in mounting seat (1).
10. the thumb passive joint done evil through another person for people with disability according to claim 1 it is characterised in that: patten transformation spine
Wheel (3) includes wheel body, canine tooth and five little teeth, and canine tooth and five little teeth are fixedly connected sequentially in the outer circumferential end face of wheel body
On, canine tooth is arranged near SR.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610981695.5A CN106344223B (en) | 2016-11-08 | 2016-11-08 | The thumb passive joint done evil through another person for disabled person |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610981695.5A CN106344223B (en) | 2016-11-08 | 2016-11-08 | The thumb passive joint done evil through another person for disabled person |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106344223A true CN106344223A (en) | 2017-01-25 |
| CN106344223B CN106344223B (en) | 2018-07-03 |
Family
ID=57861468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610981695.5A Active CN106344223B (en) | 2016-11-08 | 2016-11-08 | The thumb passive joint done evil through another person for disabled person |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106344223B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903682A (en) * | 2017-04-05 | 2017-06-30 | 哈尔滨工业大学 | A kind of controllable modularization under-actuated finger of end orbit |
| CN106945069A (en) * | 2017-04-05 | 2017-07-14 | 哈尔滨工业大学 | Three controllable three finger joint underactuated manipulators of finger of a kind of finger tips track |
| CN107280825A (en) * | 2017-06-27 | 2017-10-24 | 上海理工大学 | 3D printing multiple freedom degrees hand-prosthesis thumb movable device |
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| CN103830025A (en) * | 2014-03-18 | 2014-06-04 | 哈尔滨工业大学 | Two-degree-of-freedom modularized artificial hand thumb with moment of force, position and touch perception function |
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| CN105364937A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Connecting rod type variable grasping force cooperative self-adaptive finger device |
| CN106037999A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Prosthetic finger |
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| GB111073A (en) * | 1917-02-22 | 1917-11-15 | Enos Robinson | Improvements in or relating to Artificial Hands. |
| GB633546A (en) * | 1946-12-13 | 1949-12-19 | John Harold Simpson | Improvements in or relating to mechanical artificial hands |
| US4685929A (en) * | 1983-10-05 | 1987-08-11 | Compagnie Generale de Participations, S.A. | Total hand prostheses |
| CN103846922A (en) * | 2013-11-27 | 2014-06-11 | 清华大学 | Rack check self-adaptive under-actuated robot finger device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903682A (en) * | 2017-04-05 | 2017-06-30 | 哈尔滨工业大学 | A kind of controllable modularization under-actuated finger of end orbit |
| CN106945069A (en) * | 2017-04-05 | 2017-07-14 | 哈尔滨工业大学 | Three controllable three finger joint underactuated manipulators of finger of a kind of finger tips track |
| CN106903682B (en) * | 2017-04-05 | 2019-05-14 | 哈尔滨工业大学 | A kind of modularization under-actuated finger that end orbit is controllable |
| CN106945069B (en) * | 2017-04-05 | 2019-05-14 | 哈尔滨工业大学 | Three controllable-three finger joint underactuated manipulators of finger of a kind of finger tips track |
| CN107280825A (en) * | 2017-06-27 | 2017-10-24 | 上海理工大学 | 3D printing multiple freedom degrees hand-prosthesis thumb movable device |
| CN107280825B (en) * | 2017-06-27 | 2019-01-15 | 上海理工大学 | 3D printing multiple freedom degrees hand-prosthesis thumb movable device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106344223B (en) | 2018-07-03 |
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