CN106344223B - The thumb passive joint done evil through another person for disabled person - Google Patents
The thumb passive joint done evil through another person for disabled person Download PDFInfo
- Publication number
- CN106344223B CN106344223B CN201610981695.5A CN201610981695A CN106344223B CN 106344223 B CN106344223 B CN 106344223B CN 201610981695 A CN201610981695 A CN 201610981695A CN 106344223 B CN106344223 B CN 106344223B
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- China
- Prior art keywords
- mounting base
- thumb
- pattern conversion
- reset button
- connecting shaft
- Prior art date
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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
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
For the thumb passive joint that disabled person does evil through another person, it is related to a kind of thumb passive joint.It the outreach adduction facet joint complex of the thumb of existing prosthetic finger and is difficult to be controlled with electromyography signal.The present invention includes retaining mechanism and reset switch mechanism；The retaining mechanism includes mounting base, connecting shaft, pattern converts ratchet, pattern converts pawl and (the first back-moving spring, the reset switch mechanism includes reset button and second back-moving spring, the mounting base is fixedly mounted on hand back plate, the connecting shaft is hinged in mounting base, thumb base socket joint and pattern conversion ratchet are fixedly set in connecting shaft successively, (the first back-moving spring is arranged between pattern conversion ratchet and mounting base, the reset button is slidably matched across hand back plate with mounting base, second back-moving spring is sleeved in reset button, the pattern conversion pawl is hinged respectively with reset button and mounting base, the pattern conversion pawl is meshed with pattern conversion ratchet.The present invention is in intelligent robot.
Description
Technical field
Present invention relates particularly to a kind of thumb passive joints done evil through another person for disabled person.
Background technology
Hand is most complicated, the most fine tool that the mankind depend on for existence and work, the mankind can by the both hands of oneself with
External environment contacts and information, better operating environment is obtained from environment.The important content done evil through another person as rehabilitation engineering
And component part, it is the important means for making disability rehabilitation, returning society.Therefore how design outline and function height imitate people
Hand, the adaptivity ability to being had height by operation object are always the emphasis of research field of doing evil through another person.
It is more complicated and complete that the particular configuration of human hand thumb and the position in palm ensure that human hand has the function of
Into complicated with fine action, therefore how to design the thumb done evil through another person and become key content in research of doing evil through another person in recent years, thumb
The movement of finger is divided into opposition and moves two parts with abduction-interior receive, and disabled person is needed to pass through electromyography signal to control, but by
It is limited to signal extraction technology at this stage, abduction-interior electromyography signal for receiving movement of thumb is controlled to be difficult to extract, therefore above institute
The factor stated limits the application done evil through another person.
Invention content
The object of the present invention is to provide a kind of thumb passive joint done evil through another person for disabled person, to solve existing do evil through another person
The problem of conversion of the thumb of finger between a variety of grasp modes is inconvenient, and thumb movements flexibility is poor.
The present invention adopts the technical scheme that solve above-mentioned technical problem：
A kind of thumb passive joint done evil through another person for disabled person, it includes retaining mechanism and reset switch mechanism；
The retaining mechanism includes mounting base, connecting shaft, pattern conversion ratchet, pattern conversion pawl and first and resets bullet
Spring, the reset switch mechanism include reset button and second back-moving spring, and the mounting base is fixedly mounted on hand back plate, institute
Connecting shaft to be stated to be hinged in mounting base, thumb base socket joint and pattern conversion ratchet are fixedly set in connecting shaft successively, and first
Resetting spring is arranged between pattern conversion ratchet and mounting base, and the reset button passes through hand back plate to match with mounting base slip
It closes, second back-moving spring is sleeved in reset button, and the pattern conversion pawl is hinged respectively with reset button and mounting base,
The pattern conversion pawl is meshed with pattern conversion ratchet, and pattern conversion ratchet includes wheel ontology, canine tooth and five small teeth, greatly
Tooth and five small teeth are fixedly connected sequentially on the outer circumferential end face of wheel ontology, and canine tooth is set close to reset button.
The mounting base passes sequentially through screw and pin is fixedly mounted on hand back plate.
Connecting shaft is D type connecting shafts.
Connecting shaft is hinged by installing bearing with mounting base.
Pattern conversion pawl is hinged by pawl rotary shaft with mounting base.
Reset button includes pressing gland and sliding bar, is located at the surface of sliding bar by gland and the two is fixedly connected and is made as
One is arc covers by gland, by anti-skid chequer is machined on the upper surface of gland, by the shape of gland and the shape phase of hand back plate
Cooperation, be machined on the hand back plate with the matched stepped hole of reset button, be machined in the mounting base and sliding bar slided
The through-hole of dynamic cooperation, the sliding bar sequentially pass through stepped hole and through-hole, the second back-moving spring be sleeved on sliding bar and
Its both ends is held out against respectively by between gland and mounting base.
The lower end of the sliding bar is hinged by resetting connecting shaft and pattern conversion pawl.
The sliding bar is slidably matched by linear bearing and mounting base.
The (the first back-moving spring is sleeved in connecting shaft, and the upper end of the (the first back-moving spring is fixedly mounted on pattern and turns
It changes on the lower wheel face of ratchet, the lower end of the (the first back-moving spring is fixedly mounted in mounting base.
The advantageous effect of the present invention compared with prior art：
First, the present invention is based on the principles for myoelectricity control of doing evil through another person, and are passive joint by the abduction of thumb-interior receipts joint designs,
According to the operating habit and operational capacity of disabled person, devising can realize and can be manually rotated thumb, reset switch mechanism controls lock
The reset work of tight mechanism, so as to be effectively simplified the complex degree of structure done evil through another person, reduces the manufacture cost done evil through another person, reduces residual
Disease people is to the control difficulty done evil through another person.
2nd, the size of passive joint is designed according to the actual size of human hand, according to thumb difference grasp mode and place
Position be equipped in retaining mechanism pattern conversion ratchet tooth-shape structure.The present invention's is reasonable in design, according to
The practical operation situation of disabled person is designed with resetting spring, not only simplifies the operating process for thumb of doing evil through another person, while increases thumb
The impact resistance of finger.
3rd, the shape of reset button of the invention and reasonable in design reliable, by gland and the curve shape of hand back plate
It combines together so that appearance of doing evil through another person is smooth and simulation quality is high, while pressing covers the anti-skid chequer of processing can be effectively increased reset
The frictional force of button and finger is easily operated conducive to disabled person to doing evil through another person.
4th, flexibility of the present invention is strong, and the structure setting of pattern conversion ratchet can realize that the plane of thumb is lifted, side is pinched
Take, two refer to pinch take, three refer to pinch and take and envelope crawl totally five kinds of crawl positions.
Description of the drawings
Fig. 1 is the structure diagram that the present invention is mounted on palm 13；
Fig. 2 is the plan structure diagrammatic cross-section of the present invention；
Fig. 3 is the backsight structural representation of Fig. 1；
Fig. 4 is plan structure diagrammatic cross-section when reset switch is pressed in the present invention；
Fig. 5 is the profile angle amplification effect figure of pattern conversion ratchet 3；
Specific embodiment
Specific embodiment one：Illustrate present embodiment with reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, present embodiment includes
Retaining mechanism and reset switch mechanism；
The retaining mechanism includes mounting base 1, connecting shaft 2, pattern conversion ratchet 3, pattern conversion pawl 4 and first and resets
Spring 7, the reset switch mechanism include reset button 15 and second back-moving spring 16, and the mounting base 1 is fixedly mounted on hand
On backboard 14, the connecting shaft 2 is hinged in mounting base 1, and thumb base socket joint 8 and pattern conversion ratchet 3 fix suit successively
In connecting shaft 2, (the first back-moving spring 7 is arranged between pattern conversion ratchet 3 and mounting base 1, and the reset button 15 passes through
Hand back plate 14 is slidably matched with mounting base 1, and second back-moving spring 16 is sleeved in reset button 15, and the pattern converts pawl 4
It is hinged respectively with reset button 15 and mounting base 1, the pattern conversion pawl 4 is meshed with pattern conversion ratchet 3.
The structure of the present invention can realize the height imitation to human hand thumb, and the present invention is mounted on the palm 13 of robot
In, by the reset work of reset switch mechanism controls retaining mechanism, so as to save utilize the abduction of electromyography signal control thumb-
Interior receipts action, retaining mechanism mounting base are equivalent to the large multangular bone in human hand, effectively avoid because can not or be difficult to obtain myoelectricity letter
Number when thumb abduction-interior receipts action the problem of being difficult to realize, thumb 19 can be driven to carry out abduction-interior and receive movement.
Middle finger base socket joint 8 of the present invention is connected with thumb 19, passes through connecting shaft 2 so as to convert ratchet 3 by pattern
And the cooperation of thumb base socket joint 8 is so as to make thumb 19 make relevant action.
The top of connecting shaft 2 is provided with fixed end cap 9 in the present invention.
Specific embodiment two：Illustrate present embodiment with reference to Fig. 2 and Fig. 4, mounting base 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 connection relation and one phase of specific embodiment
Together.
Specific embodiment three：Illustrate present embodiment with reference to Fig. 1, Fig. 2, Fig. 4 and Fig. 5, connecting shaft 2 in present embodiment
For D type connecting shafts.D type connecting shafts are more conducive to matching model conversion ratchet 3 and realize its rotational action.Other structures are with connecting
Relationship is the same as one or two specific embodiments.
Specific embodiment four：Illustrate present embodiment with reference to Fig. 2 and Fig. 4, connecting shaft 2 passes through installation in present embodiment
Bearing 6 is hinged with mounting base 1.Other structures are identical with specific embodiment three with connection relation.
Specific embodiment five：Illustrate present embodiment with reference to Fig. 2 and Fig. 4, pattern conversion pawl 4 is logical in present embodiment
Pawl rotary shaft 5 is crossed to be hinged with mounting base 1.Other structures are identical with connection relation with specific embodiment one or four.
Specific embodiment six：Illustrate present embodiment with reference to Fig. 2 and Fig. 4, present embodiment reset button 15 includes pressing
Gland 15-1 and sliding bar 15-2 is located at the surface of sliding bar 15-2 by gland 15-1 and the two is fixedly connected and is made as one,
Gland 15-1 is pressed as arc covers, anti-skid chequer 20 is machined on the upper surface by gland 15-1, by the shape and the back of the hand of gland 15-1
The shape of plate 14 matches, be machined on the hand back plate 14 with 15 matched stepped hole of reset button, in the mounting base 1
It is machined with the through-hole being slidably matched with sliding bar 15-2, the sliding bar 15-2 sequentially passes through stepped hole and through-hole, and described second
Resetting spring 16 is sleeved on sliding bar 15-2 and its both ends is held out against respectively by between gland 15-1 and mounting base 1.
Reset button 15 has arcuate profile in present embodiment, and anti-skid chequer 20 is is carved with chrysanthemum type deep trouth.It is such multiple
The shape reasonable design of position button is reliable, combines together by the shape of gland 15-1 and the curve shape of hand back plate so that do evil through another person
It is specious, while the processing for pressing the anti-skid chequer 20 of gland 15-1 increases reset button 15 and the frictional force of finger, conducive to deformity
People is easily operated to doing evil through another person.Other structures are identical with specific embodiment five with connection relation.
Specific embodiment seven：Illustrate present embodiment with reference to Fig. 2 and Fig. 4, sliding bar 15-2 described in present embodiment
Lower end convert pawl 4 by resetting connecting shaft 17 and pattern and be hinged.Other structures and connection relation and specific embodiment
Six is identical.
Specific embodiment eight：Illustrate present embodiment with reference to Fig. 2 and Fig. 4, sliding bar 15-2 described in present embodiment
It is slidably matched by linear bearing 18 and mounting base 1.Other structures are identical with connection relation with specific embodiment six or seven.
Specific embodiment nine：Illustrate present embodiment with reference to Fig. 2 and Fig. 4, first resets bullet described in present embodiment
Spring 7 is sleeved in connecting shaft 2, and the upper end of the (the first back-moving spring 7 is fixedly mounted on the lower wheel face of pattern conversion ratchet 3,
The lower end of the (the first back-moving spring 7 is fixedly mounted in mounting base 1.Other structures and connection relation and specific embodiment one
It is identical.
Specific embodiment ten：Illustrate present embodiment with reference to Fig. 5, pattern conversion ratchet 3 includes wheel in present embodiment
Ontology, canine tooth and five small teeth, canine tooth and five small teeth are fixedly connected sequentially on the outer circumferential end face of wheel ontology, and canine tooth is close
Reset button is set.
The profile angle of canine tooth is more than the profile angle of small tooth in present embodiment, and the purpose of canine tooth setting is pattern conversion ratchet
3 convert pawl 4 because of the structure of canine tooth when being turned round under the action of the screen resilience of (the first back-moving spring 7 convenient for pattern it
Effect positioning makes pattern conversion ratchet 3 smoothly be engaged between converting pawl 4 with pattern.
Canine tooth and five small teeth are named as C1, C2, C3, C4, C5 and C6 successively in present embodiment, canine tooth 3-2 and five
5 rotation angles between small 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 institutes are right
The rotation angle answered is 0 degree, hook tooths of the C6 for final position, e=120 ° of the rotation angle corresponding to hook tooth C6, mould in the present invention
The structure of formula conversion ratchet 3 makes thumb 19 be in 6 kinds of different abductions-interior receipts position, so that difference can be completed by doing evil through another person
Grasp mode：The plane that rotation angle a~e corresponds to thumb respectively is lifted, side pinch take, two refer to pinch take, three refer to pinch take and
Envelope captures totally five kinds of crawl positions.
Operation principle
Mounting base 1 in retaining mechanism is fixedly mounted on by screw 10 and pin 11 on hand back plate 14, and connecting shaft 2 passes through
Installation bearing 6 is hinged with mounting base 1, and pattern conversion ratchet 3 and 2 secure fit of connecting shaft, pattern conversion pawl 4 pass through pawl
Rotary shaft 5 is hinged with mounting base 1, and pattern is converted pawl 4 and engaged with pattern conversion ratchet 3, the lower end of (the first back-moving spring 7 and peace
It fills seat 1 to be connected, the upper end of (the first back-moving spring 7 is connected with pattern conversion ratchet 3, and (the first back-moving spring 7 converts ratchet 3 for pattern
Restoring force is provided.Reset button 15 is hinged by resetting connecting shaft 17 and pattern conversion pawl 4, and reset button 15 passes through linear axis
It holds 18 to be slidably matched with retaining mechanism mounting base 1, resetting spring 16 is mounted at the sliding bar 15-2 of reset button 15, to reset
Button provides restoring force.Under action state, thumb 19 is stirred so that pattern conversion ratchet 3 rotates clockwise, pattern converts pawl 4
Lockout mode converts the return motion of ratchet 3, and ratchet resetting spring 7 keeps the stabilization of thumb 19, so as to complete the interior receipts of thumb
Movement；After being pressed by gland 15-1, pattern conversion ratchet 3 and pattern conversion pawl 4 is disengaged from, so that thumb 19 is the
Original state is returned under the action of one resetting spring 7, so as to complete the abduction exercise of thumb, gland 15-1 is pressed in release, is pressed
Lid 15-1 and sliding bar 15-2 restores initial position under the screen resilience of second back-moving spring 16 and treats once-through operation.
Claims (9)
1. a kind of thumb passive joint done evil through another person for disabled person, it is characterised in that：It includes retaining mechanism and reset switch machine
Structure；
The retaining mechanism includes mounting base (1), connecting shaft (2), pattern conversion ratchet (3), pattern conversion pawl (4) and first
Resetting spring (7), the reset switch mechanism include reset button (15) and second back-moving spring (16), the mounting base (1)
It is fixedly mounted on hand back plate (14), the connecting shaft (2) is hinged in mounting base (1), and thumb base socket joint (8) and pattern turn
It changes ratchet (3) to be fixedly set in successively in connecting shaft (2), (the first back-moving spring (7) is arranged on pattern conversion ratchet (3) and installation
Between seat (1), the reset button (15) is slidably matched across hand back plate (14) and mounting base (1), second back-moving spring (16)
It being sleeved in reset button (15), the pattern conversion pawl (4) is hinged respectively with reset button (15) and mounting base (1),
The pattern conversion pawl (4) is meshed with pattern conversion ratchet (3), and pattern conversion ratchet (3) includes wheel ontology, canine tooth and five
A small tooth, canine tooth and five small teeth are fixedly connected sequentially on the outer circumferential end face of wheel ontology, and canine tooth is set close to reset button.
2. the thumb passive joint according to claim 1 done evil through another person for disabled person, it is characterised in that：The mounting base
(1) it passes sequentially through screw (10) and pin (11) is fixedly mounted on hand back plate (14).
3. the thumb passive joint according to claim 1 or 2 done evil through another person for disabled person, it is characterised in that：Connecting shaft (2)
For D type connecting shafts.
4. the thumb passive joint according to claim 3 done evil through another person for disabled person, it is characterised in that：Connecting shaft (2) is logical
Installation bearing (6) is crossed to be hinged with mounting base (1).
5. the thumb passive joint done evil through another person for disabled person according to claim 1 or 4, it is characterised in that：Pattern is converted
Pawl (4) is hinged by pawl rotary shaft (5) and mounting base (1).
6. the thumb passive joint according to claim 5 done evil through another person for disabled person, it is characterised in that：Reset button (15)
Including pressing gland (15-1) and sliding bar (15-2), fixed by gland (15-1) positioned at the surface of sliding bar (15-2) and the two
Connection is made as one, is arc covers by gland (15-1), anti-skid chequer (20) is machined on the upper surface by gland (15-1), press
The shape of lid (15-1) is matched with the shape of hand back plate (14), is machined on the hand back plate (14) and reset button (15) phase
The stepped hole of cooperation is machined with the through-hole being slidably matched with sliding bar (15-2), the sliding bar (15- on the mounting base (1)
2) stepped hole and through-hole are sequentially passed through, the second back-moving spring (16) is sleeved on sliding bar (15-2) and its both ends is pushed up respectively
Tightly pressing between gland (15-1) and mounting base (1).
7. the thumb passive joint according to claim 6 done evil through another person for disabled person, it is characterised in that：The sliding bar
The lower end of (15-2) is hinged by resetting connecting shaft (17) and pattern conversion pawl (4).
8. the thumb passive joint done evil through another person for disabled person described according to claim 6 or 7, it is characterised in that：The slip
Bar (15-2) is slidably matched by linear bearing (18) and mounting base (1).
9. the thumb passive joint according to claim 1 done evil through another person for disabled person, it is characterised in that：Described first resets
Spring (7) is sleeved in connecting shaft (2), and the upper end of the (the first back-moving spring (7) is fixedly mounted on pattern conversion ratchet (3)
On lower wheel face, the lower end of the (the first back-moving spring (7) is fixedly mounted in mounting base (1).
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 |
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| CN106344223A CN106344223A (en) | 2017-01-25 |
| CN106344223B true CN106344223B (en) | 2018-07-03 |
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| 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 |
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| Country | Link |
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| CN (1) | CN106344223B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107280825B (en) * | 2017-06-27 | 2019-01-15 | 上海理工大学 | 3D printing multiple freedom degrees hand-prosthesis thumb movable device |
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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 |
| 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 |
| CN103846922A (en) * | 2013-11-27 | 2014-06-11 | 清华大学 | Rack check self-adaptive under-actuated robot finger device |
| 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 |
-
2016
- 2016-11-08 CN CN201610981695.5A patent/CN106344223B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN106037999A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Prosthetic finger |
| CN105364937A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Connecting rod type variable grasping force cooperative self-adaptive finger device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106344223A (en) | 2017-01-25 |
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