CN106510909A - Rapid-forming modular interest artificial hand - Google Patents
Rapid-forming modular interest artificial hand Download PDFInfo
- Publication number
- CN106510909A CN106510909A CN201611021147.4A CN201611021147A CN106510909A CN 106510909 A CN106510909 A CN 106510909A CN 201611021147 A CN201611021147 A CN 201611021147A CN 106510909 A CN106510909 A CN 106510909A
- Authority
- CN
- China
- Prior art keywords
- finger
- module
- palm
- phalanx
- pedestal
- 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
-
- 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
-
- 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
- A61F2002/6863—Operating or control means magnetic
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial 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)
- Cardiology (AREA)
- Prostheses (AREA)
Abstract
The invention relates to a rapid-forming modular interest artificial hand. A base module includes a wrist base and a lower palm; a finger module includes an upper palm, a four-finger portion, a thumb portion, and driving assemblies. The upper palm and the lower palm are connected. Each finger includes a finger proximal phalanx connected to the upper palm through a finger metacarpal joint rubber connection member, a finger middle phalanx connected to the finger proximal phalanx through a second finger interphalangeal joint rubber connection member, and a finger distal phalanx connected to the finger middle phalanx through a first finger interphalangeal joint rubber connection member; The four-finger portion and the thumb portion are connected to respective driving assemblies thereof to achieve a grasping function; and a feeding assist module includes a functional module base connected to the lower palm and chopstick sleeves connected to the functional module base through clamping nails, wherein the chopstick sleeves and chopsticks are connected to achieve a feeding assist function. A game module includes a game module base connected to the left chopstick sleeve and the right chopstick sleeve, and a pen cap connected to the game module base through threads, and then the writing and game function can be achieved.
Description
Technical field
The present invention relates to a kind of mechanical prosthetic hand, especially a kind of people for losing the five fingers but retain wrist joint and its function
Group's is done evil through another person based on the passive mechanical of rapid shaping.
Background technology
From rapid shaping application agitation after U.S.'s rise, rapid shaping is with low cost, quick Fabrication, personalization
The advantages such as customization at home and abroad exhibit one's skill to the full by every field, and the especially printing of mechanical prosthesis loses the disabled of the five fingers to the whole world and suffers from
Person brings glad tidings.However, the domestic and international 3D printing mechanical prosthesis increased income at present, actually can be described as " slip rope " again because it
Printed after each parts with professional 3D printer, assembled with also wanting one riveting of a nail, then power transmission device is installed, to each
The constantly modification debugging repeatedly of the tension force of bar stretch cord and inelastic rope, allows acceptor utilize wrist strength, by rope
It is sent to and wearer can be helped to complete simple gripping action with the mechanical finger of activity.
The rapid shaping of this slip rope is done evil through another person, and power is transmitted by bionical staff physiological characteristic with reference to machine driving in shape
End functional part, i.e. elastic threads and nonelastic rope are the pulling device that end fixture is constituted, and user is closed by wrist
Section makes rope in the presence of the guiding of the five fingers palmar hole in curvature movement, simultaneously flexing action of realizing the five fingers, or by wrist joint
Stretching routine realizes the five fingers stretching.
On this basis, have devised it is new do evil through another person, this is done evil through another person to realize ADL common actions, such as write,
Have a meal, play, using modularized design, the compound multiple module such as write, have a meal, playing.Each module is connected with palm module
Place is connected by rubber buffer part, not only can be reduced and be caused the impulsive force of intermodule due to each action, can also utilize
Elastic principle realizes intermodule mechanical connected mode, facilitates patient to change functional unit, so as to extend simple and mechanical work(of doing evil through another person
Can, increase its practicality.
The content of the invention
Do evil through another person the shortcoming of the single function that can only realize grip function to make up existing rapid shaping, the present invention is carried
Do evil through another person for a kind of rapid shaping modular entertaining, this is done evil through another person and can not only realize grip function, and can conveniently realize by chopsticks,
The replacement of disparate modules such as play games.
The technical solution adopted for the present invention to solve the technical problems is：A kind of rapid shaping modular entertaining is done evil through another person, bag
Base module, finger module, auxiliary feed module and game module are included, the base module is included with the wrist base for being provided with hole
Seat, the lower palm being connected by wrist joint rubber connector with wrist pedestal；The finger module includes palm, four finger portions
Point, thumb portion, drive component, upper palm is connected with lower palm by pluggable mode, each in four finger parts refer to including with
Upper palm is referred to by finger second by the phalanx proximalis digitorum manus and phalanx proximalis digitorum manus of the connection of finger metacarpal joint rubber connector
Between the connection of joint rubber connector phalanx media digitorum manus and with phalanx media digitorum manus by the first interphalangeal joint of finger rubber company
The phalanx distalis digitorum manus of fitting connection, thumb portion include being connected by thumb finger and palm joint rubber connector with upper palm
Thumb proximal phalanx, is referred to by the thumb far section that the first interphalangeal joint of thumb rubber connects with forefinger proximal phalanx
Bone, four refer to that part and thumb portion connect respective drive component, realize grip function；The auxiliary feed module includes and assistant
The functional module pedestal that is connected of the palm, with functional module pedestal by the left chopsticks jacket that is connected in bail, right chopsticks jacket, left chopsticks
Set, right chopsticks jacket are connected with chopsticks, realize auxiliary feed function；The game module includes connecting with left chopsticks jacket and right chopsticks jacket
The game module pedestal for connecing and the pen cap being threaded connection with game module pedestal, realize writing, game function.
One end of each drive component of four finger parts is inserted on wrist pedestal, and the other end passes through lower palm, upper palm, hand
It is to be connected on finger distal phalanx after referring to proximal phalanx, phalanx media digitorum manus.
One end of the drive component of thumb portion is inserted on wrist pedestal, and the other end passes through lower palm, upper palm, thumb
It is to be connected on thumb distal phalanx after proximal phalanx.
When finger module, auxiliary feed module and game module are changed, finger module is connected with lower palm by upper palm
Connect, auxiliary feed module is connected with lower palm by functional module pedestal, and game module passes through functional module pedestal, left chopsticks
Set, right chopsticks jacket are connected with game module pedestal, realize that module is freely changed.
The pen cap clamping pen or soupspoon.
Each drive component of four finger parts is by cutting-and drives rope to constitute, and drives rope by magnet, and rope is constituted,
Rope one end is tied up in cutting, and the other end ties up to finger distal phalanx or left chopsticks jacket, on the hole of right chopsticks jacket, magnet attraction position
Put identical with lower palm and upper palm or functional module pedestal bonding station.
The invention has the beneficial effects as follows：During the quick modular entertaining combination of the present invention is done evil through another person, major design knows clearly three
Module, be respectively：Finger module, auxiliary feed module, game module.Finger module is mainly by five fingers and upper palm group
Into；Auxiliary feed module includes chopsticks jacket and functional module pedestal, realizes using chopsticks feed function；Game module is mainly
The pen cap and game function modular substrate composition, are capable of achieving to write and game function.Three modules are connected with palm lower rubber
Part interference fit, makes each module become One function and does evil through another person, make rapid shaping do evil through another person and realize different functions.Therefore, originally
Invention can efficiently and easily change auxiliary feed function, the module of game function while most basic grip function is realized,
Simple structure.
Description of the drawings
Fig. 1 is the grasping mode configuration schematic diagram of doing evil through another person of the present invention；
Fig. 2 is that doing evil through another person for the present invention is write and game mode structural representation；
Fig. 3 is of the invention doing evil through another person using chopsticks mode configuration schematic diagram；
Fig. 4 is the structural representation of forefinger；
Fig. 5 is the structural representation of thumb；
Fig. 6 is game module base construction schematic diagram；
Fig. 7 is chopsticks jacket structural representation；
Fig. 8 is chopsticks jacket and functional module pedestal connection diagram；
Fig. 9 is forefinger drive component structural representation.
Specific embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in Figures 1 to 9, a kind of rapid shaping modular entertaining is done evil through another person, including base module, finger module, auxiliary
Feed module and game module.Base module is included with the wrist pedestal 7 for being provided with hole, with wrist pedestal 7 by wrist joint rubber
The lower palm 5 of the connection of gemel connection part 6.The finger module includes palm 9, four finger parts, thumb portion 10, drive component.
Upper palm 9 is connected with lower palm 5 by pluggable mode, is formed thumb portion 10 and four and is referred to part base, and four refer to part（Forefinger
11st, middle finger 12, the third finger 13, little finger of toe 14）Structure is identical, by taking forefinger 11 as an example：Pass through forefinger finger and palm joint including with upper palm 9
The forefinger proximal phalanx 11-5 and forefinger proximal phalanx 11-5 of rubber connector 11-6 connections passes through forefinger the second interphalangeal joint rubber
Middle phalanx of index finger 11-3 and pass through forefinger the first interphalangeal joint rubber with middle phalanx of index finger 11-3 that gemel connection part 11-4 connects
The forefinger distal phalanx 11-1 of gemel connection part 11-2 connections.Thumb portion 10 includes passing through thumb finger and palm joint with upper palm 9
The thumb proximal phalanx 10-3 of rubber connector 10-4 connections, with forefinger proximal phalanx 10-3 by closing between the finger of thumb first
The thumb distal phalanx 10-1 of section rubber connector 10-2 connections, four refer to that part and thumb portion 10 connect respective driving group
Part, realizes grip function；The auxiliary feed module includes the functional module pedestal 4 being connected with lower palm 5, with functional module
Left chopsticks jacket 2-1, right chopsticks jacket 2-2 of the pedestal 4 by connection in bail 3, left chopsticks jacket 2-1, right chopsticks jacket 2-2 pass through rubber
Block 20 is connected with chopsticks, realizes auxiliary feed function；The game module includes being connected 2- with left chopsticks jacket 2-1 and right chopsticks jacket
2 game module pedestal 1 and the pen cap 8 being threadedly coupled with game module pedestal logical 1 excessively, realize writing, the function such as game.
When auxiliary feed module and game module are changed, finger module is connected with 5 times palms by palm on 9, aid in into
Food module is connected with lower palm 5 by functional module pedestal 4, and game module is by functional module pedestal 4, left chopsticks jacket 2-1, right
Chopsticks jacket 2-2 is attached with game module pedestal 1, realizes that module is freely changed.As shown in fig. 6, setting on game module pedestal 1
There is 1-1 in the recess of object such as 8 installing hole 1-2 of the pen cap and clamping soupspoon, game module pedestal 1 can clamp pen, soup by the pen cap 8
The objects such as spoon.
Each drive component structure is identical with principle, and by taking forefinger drive component as an example, one end is inserted on wrist pedestal 7, is worn
Palm 5, upper palm 9, forefinger proximal phalanx 11-5, middle phalanx of index finger 11-3 are crossed down, one end ties up to forefinger distal phalanx 11-1.
One end of the thumb drives component 15 of thumb portion 10 is inserted on wrist pedestal 7, and the other end is through lower palm 5, upper palm 9, big
It is to be connected on thumb distal phalanx 10-1 after thumb proximal phalanx 10-3.
Such as Fig. 1, shown in 9, in finger module, four drive components include forefinger drive component 16, middle finger drive component
17th, nameless drive component 18, little finger of toe drive component 19.Four drive component structures are identical, by taking forefinger drive component 16 as an example,
Forefinger drive component 16 is by 16-1 cuttings and drives rope to constitute, and drives rope to be divided into two sections, by magnet 16-3, rope 16-2 groups
Into rope 16-2 one end is tied up on cutting 16-1, and the other end ties up to forefinger distal phalanx 11-1 or left chopsticks jacket 2-1, right chopsticks
On the hole of sub-set 2-2, magnet 16-3 attracted positions and 4 bonding station phase of lower palm 5 and upper palm 9 or functional module pedestal
Together, the driving rope wire for tying up to cutting 16-1 need not be pulled down in replacing difference in functionality module and be changed again by user every time, only need
Upper palm 9 or functional module pedestal 4 are pulled up, magnet 16-3 can be automatically separated, then by 4 pedestal of functional module or upper palm
9 plug magnet 16-3 meeting automatic picks according to corresponding aperture, that is, complete to change module；
Such as Fig. 7, shown in 8, in auxiliary feed module, in left chopsticks jacket 2-1 and right chopsticks jacket 2-2, inner side slot 2-1- is had
2, front end is provided with chopsticks or game module pedestal 1 insertion connecting hole 2-1-1, left chopsticks jacket 2-1 and right chopsticks jacket 2-2 pass through bail
3 linkage function modular substrates 4, coordinating inner side slot 2-1-2 to place block rubber 20 prevents chopsticks from producing side-to-side movement, realizes chopstick clamp
Take food function.
Claims (6)
1. a kind of rapid shaping modular entertaining is done evil through another person, including base module, finger module, auxiliary feed module and game mould
Block, it is characterised in that：The base module is included with the wrist pedestal (7) for being provided with hole, with wrist pedestal (7) by wrist joint
The lower palm (5) that rubber connector (6) connects；The finger module include palm (9), four refer to parts, thumb portion (10),
Drive component, upper palm (9) are connected with lower palm (5) by pluggable mode, and each finger in four finger parts includes and left-hand seat
The phalanx proximalis digitorum manus and phalanx proximalis digitorum manus that the palm (9) is connected by finger metacarpal joint rubber connector passes through finger second-hand
Phalanx media digitorum manus and connected by the first interphalangeal joint of finger rubber with middle phalanx is referred to that interphalangeal joint rubber connector connects
The phalanx distalis digitorum manus of fitting connection；The thumb portion (10) is included with upper palm (9) by thumb finger and palm joint rubber
The thumb proximal phalanx (10-3) that connector (10-4) connects, with forefinger proximal phalanx (10-3) by between the finger of thumb first
The thumb distal phalanx (10) -1 that joint rubber connector (10-2) connects), four refer to that part and thumb portion (10) connection are each
Self-driven component, realizes grip function；The auxiliary feed module includes the functional module pedestal being connected with lower palm (5)
(4) the left chopsticks jacket (2-1) that, is connected by bail (3) with functional module pedestal (4), right chopsticks jacket (2-2), left chopsticks jacket (2-
1), right chopsticks jacket (2-2) connects chopsticks, realizes auxiliary feed function；The game module includes and left chopsticks jacket (2-1) and the right side
Game module pedestal (1) and the pen cap (8) being threaded connection with game module pedestal (1) that chopsticks jacket (2-2) connects, are realized
Write, game function.
2. rapid shaping modular entertaining according to claim 1 is done evil through another person, it is characterised in that：Four each driving for referring to part
One end of component is inserted on wrist pedestal (7), and the other end is through in lower palm (5), upper palm (9), phalanx proximalis digitorum manus, finger
It is to be connected on finger distal phalanx after section phalanges.
3. rapid shaping modular entertaining according to claim 1 is done evil through another person, it is characterised in that：Thumb portion (10 driving
One end of component is inserted on wrist pedestal 7, and the other end through lower palm 5, upper palm 9, thumb proximal phalanx (10-3) is afterwards
It is connected on thumb distal phalanx (10-1).
4. rapid shaping modular entertaining according to claim 1 is done evil through another person, it is characterised in that：Finger module, aid in into
When food module and game module are changed, finger module is connected with lower palm (5) by upper palm (9), and auxiliary feed module passes through
Functional module pedestal (4) is connected with lower palm (5), and game module is by functional module pedestal (4), left chopsticks jacket (2-1), right chopsticks
Sub-set (2-2) is connected with game module pedestal (1), realizes that module is freely changed.
5. rapid shaping modular entertaining according to claim 1 is done evil through another person, it is characterised in that：The pen cap (8) clamps pen
Or soupspoon.
6. rapid shaping modular entertaining according to claim 2 is done evil through another person, it is characterised in that：Four each driving for referring to part
Component is by cutting (16-1) and drives rope to constitute, and drives rope by magnet (16-3), rope (16-2) composition, rope (16-2)
One end is tied up in cutting (16-1), and the other end ties up to finger distal phalanx or left chopsticks jacket (2-1), the hole of right chopsticks jacket (2-2)
On, magnet (16-3) attracted position and lower palm (5) and upper palm (9) or functional module pedestal (4) bonding station it is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611021147.4A CN106510909A (en) | 2016-11-21 | 2016-11-21 | Rapid-forming modular interest artificial hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611021147.4A CN106510909A (en) | 2016-11-21 | 2016-11-21 | Rapid-forming modular interest artificial hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106510909A true CN106510909A (en) | 2017-03-22 |
Family
ID=58352935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611021147.4A Pending CN106510909A (en) | 2016-11-21 | 2016-11-21 | Rapid-forming modular interest artificial hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106510909A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106821561A (en) * | 2017-04-03 | 2017-06-13 | 许建芹 | A kind of artificial limb manipulator |
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| WO2003017878A1 (en) * | 2001-08-27 | 2003-03-06 | Bergomed Ab | Mechanical hand with the gripping ability of the human hand |
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| US8999003B2 (en) * | 2012-08-31 | 2015-04-07 | The Johns Hopkins University | Control system for prosthetic limb |
| WO2014111843A2 (en) * | 2013-01-16 | 2014-07-24 | Fabrica Machinale S.R.L. | Prosthetic hand system |
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| CN104382674A (en) * | 2014-10-20 | 2015-03-04 | 华中科技大学 | Under-actuated prosthetic hand capable of reproducing hand grasping function |
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| CN105193525A (en) * | 2015-10-29 | 2015-12-30 | 国家康复辅具研究中心 | Bionic hand with five fingers based on nickel-titanium memory alloy |
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| CN106038007A (en) * | 2016-07-04 | 2016-10-26 | 中国科学院深圳先进技术研究院 | Bionic artificial hand |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106821561A (en) * | 2017-04-03 | 2017-06-13 | 许建芹 | A kind of artificial limb manipulator |
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