CN106821560B - A kind of two-way gear drive artificial hand - Google Patents
A kind of two-way gear drive artificial hand Download PDFInfo
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- CN106821560B CN106821560B CN201710016160.9A CN201710016160A CN106821560B CN 106821560 B CN106821560 B CN 106821560B CN 201710016160 A CN201710016160 A CN 201710016160A CN 106821560 B CN106821560 B CN 106821560B
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- finger
- gear
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- prosthesis
- finger prosthesis
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Classifications
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- 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
- A61F2002/6836—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Cardiology (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
The invention discloses a kind of two-way gear drives to do evil through another person, including fixed part and movable part, and fixed part includes connecting pin and palm end, and movable part includes two groups of symmetrically arranged finger prosthesis, is equipped with arc gear wheel below finger；Driving part includes driving motor and master gear, and horizontally extending molding sprocket drive spindle at the core wheel of master gear, gear shaft is engaged with the first arc gear wheel, equipped with tumbler gear between gear shaft and the second arc gear wheel.The present invention uses gear drive, due to gear-driven stability, artificial hand is made to have the transmission ratio stablized, fixed, the grasping speed of prosthetic hand easier to control, to complete natural grasp motion；Furthermore the Bidirectional driving characteristic that artificial hand is engaged using multiple gears, pass through the movement of two groups of finger prosthesis of a motor control, so that the structure entirely done evil through another person is more compact and simplifies, mitigate the weight of prosthetic hand, the comfort that physical disabilities wear is improved while controlling production cost.
Description
Technical field
The present invention relates to a kind of medical rehabilitation apparatus for serving upper limb disability personage, and in particular to a kind of two-way gear biography
Dynamic artificial hand.
Background technique
Upper extremity prosthesis is the means and method of utilizing works technology, for the limbs for making up upper limb amputee or Partial defect
Defect and specially design and make the artificial prosthesis of assembly, main function is to make to cut instead of losing the partial functions of limbs
Limb person restores certain and takes care of oneself and ability to work.Upper extremity prosthesis is broadly divided into cosmetic arm at present, tool hand, leads
Draw formula mechanical prosthetic hand, electrical artificial limb, myoelectric limb.With the development of science and technology, artificial limb is towards intelligence, lightweight, active
The trend development of control.In order to make artificial hand that can be generalized to commercial market, stable, reliable mechanical structure is essential.
There are the progress advanced by leaps and bounds, the I- of TouchBionics company, Britain to the development of bionic hand both at home and abroad at present
Each finger-joint of Michelangelo's bionic hand of Limb product and Otto Burger can self-movement, but the body of bionic hand
Product is big, weight is big and expensive, and marketing is extremely difficult.Chinese patent CN201510280027.5 proposes a kind of passive
Artificial hand, the grasp motion of artificial hand can be completed by operating stick, but needs itself power source, caused centainly to the use of operator
Difficulty.Chinese patent CN201310082024.1 proposes a kind of artificial hand of apery type, is carried out using six-bar linkage coupling mechanism
The simulation of digital flexion movement, but the stability of the mechanism is not high.
Summary of the invention
It is not strong in order to solve the above-mentioned existing function of passively doing evil through another person, it is difficult to meet the daily demand of disabled patient, and imitate
The problems such as mechanism weight of green hand is big, volume is big, stability is not high, the present invention provides a kind of two-way gear drives to do evil through another person, tool
Body scheme is as follows:
A kind of two-way gear drive artificial hand, including ontology, ontology include fixed part and movable part, and the fixed part includes using
In wearing connecting pin and the palm end of driving part is installed, the movable part includes symmetrically arranged first group of artificial hand
Refer to and second group of finger prosthesis；The palm end is vertically arranged at the top of the connecting pin by several attaching nuts, described
The bottom of first group of finger prosthesis and second group of finger prosthesis passes through rotary shaft respectively and is connected on the palm end, and described first
Group finger prosthesis and second group of finger prosthesis can rotate using corresponding rotary shaft as the center of circle, divide in the rotary shaft
It is not fixedly connected with the first arc gear wheel and the second arc gear wheel；The driving part includes driving motor and defeated with driving motor
The master gear of shaft engagement, at the core wheel of the master gear it is horizontally extending form it is parallel with driving motor output shaft
Gear shaft, the gear shaft are engaged with first arc gear wheel；The palm end is equipped with tumbler gear, the tumbler gear
It is engaged respectively with the gear shaft and second arc gear wheel (5)；The connecting pin is equipped with for controlling the driving electricity
Machine rotates forward the switch of reversion.
Further, first group of finger prosthesis include integrally formed first knuckle, second knuckle, third knuckle and
4th finger joint, the angle between the first knuckle and the second knuckle are 150 °, and the second knuckle refers to the third
Angle between section is 150 °, and the angle between the third knuckle and the 4th finger joint is 180 °；Described second group artificial
Finger includes integrally formed wuzhijie point, the 6th finger joint, the 7th finger joint and the 8th finger joint, the wuzhijie point and the described 6th
Angle between finger joint is 160 °, and the angle between the 6th finger joint and the 7th finger joint is 150 °, the 7th finger joint
Angle between the 8th finger joint is 160 °.
Further, the driving motor is connected with planetary reduction gear, the output shaft of the planetary reduction gear and the master
Gear engagement.
Further, the palm end is the plate structure of rectangle, and there are two mutually right for the upper end molding at the palm end
Title sheet protrusion, two sheets project through the rotary shaft respectively with first group of finger prosthesis and second group of people
The bottom of work finger connects.
Further, first group of finger prosthesis includes two finger prosthesis of parallel arrangement, two artificial hands
Finger is fixedly connected by connecting shaft, and two finger prosthesis are able to carry out synchronous rotary movement.
Further, the rotary flat of two finger prosthesis of first group of finger prosthesis and second group of finger prosthesis
Face is mutually staggered.
Further, the arc gear wheel is corresponded on the palm end and the gear shaft keeps the movement pole of meshing state
Extreme position is equipped with several limiting devices.
Further, cavity structure, and two are shaped to inside first group of finger prosthesis and second group of finger prosthesis
Side offers several anti-slip holes being connected to cavity.
Further, anti-slip rubber is filled in the cavity, the anti-slip rubber is pierced by be formed by the anti-slip hole
Several anti-skid bulges.
The beneficial effects of the present invention are: a kind of two-way gear drive artificial hand proposed by the present invention, using gear drive, biography
Motivation structure has very high transmission efficiency, can more steadily grasp object；And due to gear-driven stability, make to do evil through another person
Transmission ratio with stabilization, fixation, the grasping speed of prosthetic hand easier to control, to complete natural grasp motion；Furthermore false
Hand utilizes the Bidirectional driving characteristic of multiple gears engagement, by the movement of two groups of finger prosthesis of a motor control, so that entirely
The structure of artificial hand is more compact and simplifies, and mitigates the weight of prosthetic hand, improves physical disabilities while controlling production cost and wears
The comfort worn, it is easier to promote.
Detailed description of the invention
The structural schematic diagram of Fig. 1 embodiment of the present invention 1,
The structure right view of Fig. 2 embodiment of the present invention 1,
First group of finger prosthesis structural schematic diagram of Fig. 3 embodiment of the present invention 1,
Second group of finger prosthesis structural schematic diagram of Fig. 4 embodiment of the present invention 1,
The master gear structural schematic diagram of Fig. 5 embodiment of the present invention 1,
The structural schematic diagram of Fig. 6 embodiment of the present invention 2,
The structure right view of Fig. 7 embodiment of the present invention 2.
Figure number and title: 1, connecting pin, 2, palm end, 3, second groups of finger prosthesis, 301, wuzhijie point, 302,
Six finger joints, the 303, the 7th finger joint, the 304, the 8th finger joint, 4, first groups of finger prosthesis, 401, first knuckle, 402, second knuckle,
403, third knuckle, the 404, the 4th finger joint, the 5, second arc gear wheel, 6, tumbler gear, 7, gear shaft, the 8, first arc gear wheel,
9, rotary shaft II, 10, rotary shaft I, 11, master gear, 12, driving motor, 13, planetary reduction gear, 14, output shaft, 15, connection
Axis.
Specific embodiment
By the technology contents that the present invention will be described in detail, construction feature, reached purpose and efficacy, embodiment exemplified below is simultaneously
Cooperation attached drawing is explained in detail.
Embodiment 1
It please refers to shown in Fig. 1 and Fig. 2, the present invention provides a kind of two-way gear drive artificial hand, including ontology, ontology include solid
Determine portion and movable part, fixed part includes the palm end 2 for the connecting pin 1 of wearing and for installing driving part, movable part
Including two groups of symmetrically arranged first group of finger prosthesis 4 and second group of finger prosthesis 3；Palm end 2 passes through several attaching nuts
Be vertically arranged at the top of connecting pin 1, can be selected according to the wearing position of user different connecting pins (such as cooperation wrist
Or the connecting pin of ancon), it is more humanized.The bottom of finger prosthesis is fixed on palm end 2 by rotary shaft 9,10, manually
Finger can rotate by the center of circle of rotary shaft, 9,10 in rotary shaft on be respectively fixedly connected with 8 and of the first arc gear wheel
Second arc gear wheel 5；Driving part includes driving motor 12, the planetary reduction gear connecting with driving motor 12 13 and and planet
The master gear 11 of the output shaft engagement of retarder.As shown in figure 5, along level towards the side of driving motor 12 at the core wheel of master gear 11
To elongation moulding sprocket drive spindle 7, gear shaft 7 is engaged with the first arc gear wheel 8 of first group of 4 lower end of finger prosthesis, gear shaft 7 with
Tumbler gear 6, tumbler gear 6 and gear shaft 7 and second are equipped between second arc gear wheel 5 of second group of 3 lower end of finger prosthesis
Second arc gear wheel 5 of group 3 lower end of finger prosthesis engages respectively；It is additionally provided on connecting pin 1 and is rotated forward instead for controlling driving motor
The switch turned.
As shown in Figure 3 and Figure 4, first group of finger prosthesis 4 include integrally formed first knuckle 401, second knuckle 402,
Third knuckle 403 and the 4th finger joint 404, the angle between first knuckle 401 and second knuckle 402 are 150 °, second knuckle 402
Angle between third knuckle 403 is 150 °, and the angle between third knuckle 403 and the 4th finger joint 404 is 180 °；Second group
Finger prosthesis 3 include integrally formed wuzhijie point 301, the 6th finger joint 302, the 7th finger joint 303 and the 8th finger joint 304, the 5th
Angle between finger joint 301 and the 6th finger joint 302 is 160 °, and the angle between the 6th finger joint 302 and the 7th finger joint 303 is
150 °, the angle between the 7th finger joint 303 and the 8th finger joint 304 is 160 °；Angle between above-mentioned each finger joint makes first group
Finger prosthesis 4 and second group of finger prosthesis 3 more meet the grasping habit of people, convenient for crawl.
Embodiment 2
As shown in Figure 6 and Figure 7, embodiment 2 the difference from embodiment 1 is that: first group of finger prosthesis 4 includes parallel arrangement
Two finger prosthesis, two finger prosthesis are fixedly connected that two finger prosthesis is made to be able to carry out synchronization by connecting shaft 15
The Plane of rotation of rotary motion, two finger prosthesis and second group of finger prosthesis 3 of first group of finger prosthesis 4 is mutually staggered.
Embodiment 3
Embodiment 3 the difference from embodiment 1 is that: correspond to arc gear wheel and gear shaft on palm end 2 and keep meshing state
Limit of sports record position be equipped with altogether four limiting devices.
Embodiment 4
Embodiment 4 the difference from embodiment 1 is that: be shaped to cavity structure inside two groups of finger prosthesis 3 and 4, two groups
The opposite two sides of finger prosthesis offer several anti-slip holes being connected to cavity, are filled with anti-slip rubber, anti-skidding rubber in cavity
Glue is pierced by form several anti-skid bulges by anti-slip hole.On the one hand these anti-skid bulges play increasing when artificial hand grasps thing
Big frictional force prevents thing from falling off, and on the other hand playing dispersion grip prevents damage thing.
The course of work of the invention is as follows: when the output shaft of planetary reduction gear rotates clockwise, drive is nibbled with output shaft
The master gear of conjunction rotates counterclockwise, i.e., gear shaft also rotates counterclockwise, and gear shaft rotates clockwise band by the first arc gear wheel
Dynamic first group of finger prosthesis rotates clockwise, while gear shaft drives the second arc gear wheel to rotate counterclockwise by tumbler gear,
And then second group of finger prosthesis is driven to rotate counterclockwise, that is, complete the movement of artificial hand " grasping "；Conversely, working as the defeated of planetary reduction gear
When shaft rotates counterclockwise, first group of finger prosthesis and second group of finger prosthesis can complete the movement " unclamped ".
In conclusion only the preferred embodiments of the invention, is not limited the scope of protection of the present invention with this, it is all according to the present invention
Equivalent changes and modifications made by the scope of the patents and description are all within the scope of the invention patent covers.
Claims (7)
1. a kind of two-way gear drive artificial hand, including ontology, it is characterised in that: the ontology includes fixed part and movable part, institute
Stating fixed part includes the connecting pin (1) for wearing and the palm end (2) for being equipped with driving part, and the movable part includes pair
Claim the first group of finger prosthesis (4) and second group of finger prosthesis (3) of setting；The palm end (2) is perpendicular by several attaching nuts
Directly it is set to the top of the connecting pin (1), the bottom point of first group of finger prosthesis (4) and second group of finger prosthesis (3)
Not Tong Guo rotary shaft (9,10) be connected on the palm end (2), first group of finger prosthesis (4) and second group of finger prosthesis
(3) it can rotate using corresponding rotary shaft as the center of circle, be respectively fixedly connected with first on the rotary shaft (9,10)
Arc gear wheel (8) and the second arc gear wheel (5)；The driving part includes driving motor (12) and exports with driving motor (12)
The master gear (11) of axis engagement, at the core wheel of the master gear (11) it is horizontally extending form it is defeated with driving motor (12)
The parallel gear shaft of shaft (7), the gear shaft (7) are engaged with first arc gear wheel (8)；It is set on the palm end (2)
Have tumbler gear (6), the tumbler gear (6) is engaged respectively with the gear shaft (7) and second arc gear wheel (5)；Institute
It states connecting pin (1) and is equipped with the switch for rotating forward reversion for controlling the driving motor (12)；
It is shaped to cavity structure inside first group of finger prosthesis (4) and second group of finger prosthesis (3), and two sides are opened
Equipped with several anti-slip holes being connected to cavity；Anti-slip rubber is filled in the cavity, the anti-slip rubber passes through described anti-skidding
Hole is pierced by form several anti-skid bulges.
2. a kind of two-way gear drive artificial hand according to claim 1, it is characterised in that: first group of finger prosthesis
It (4) include integrally formed first knuckle (401), second knuckle (402), third knuckle (403) and the 4th finger joint (404), institute
Stating the angle between first knuckle (401) and the second knuckle (402) is 150 °, the second knuckle (402) and described the
Angle between three finger joints (403) is 150 °, and the angle between the third knuckle (403) and the 4th finger joint (404) is
180°；Second group of finger prosthesis (3) includes integrally formed wuzhijie point (301), the 6th finger joint (302), the 7th finger joint
(303) and the 8th finger joint (304), the angle between the wuzhijie point (301) and the 6th finger joint (302) is 160 °, institute
The angle stated between the 6th finger joint (302) and the 7th finger joint (303) is 150 °, the 7th finger joint (303) and described the
Angle between eight finger joints (304) is 160 °.
3. a kind of two-way gear drive artificial hand according to claim 1, it is characterised in that: driving motor (12) connection
Have planetary reduction gear (13), the output shaft (14) of the planetary reduction gear (13) is engaged with the master gear (11).
4. a kind of two-way gear drive artificial hand according to claim 1, it is characterised in that: the palm end (2) is rectangle
Plate structure, there are two symmetrical sheet protrusion, two sheet protrusions are logical for the upper end molding of the palm end (2)
The rotary shaft (9,10) is crossed to connect with the bottom of first group of finger prosthesis (4) and second group of finger prosthesis (3) respectively.
5. a kind of two-way gear drive artificial hand according to claim 1, it is characterised in that: first group of finger prosthesis
It (4) include two finger prosthesis being arranged in parallel, two finger prosthesis are mutually permanently connected by connecting shaft (15), and two
The finger prosthesis is able to carry out synchronous rotary movement.
6. a kind of two-way gear drive artificial hand according to claim 5, it is characterised in that: second group of finger prosthesis
(3) Plane of rotation is located between the Plane of rotation of two finger prosthesis of first group of finger prosthesis (4).
7. a kind of two-way gear drive artificial hand according to claim 1, it is characterised in that: corresponding on the palm end (2)
The arc gear wheel and the gear shaft keep the limit of sports record position of meshing state to be equipped with several limiting devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710016160.9A CN106821560B (en) | 2017-01-10 | 2017-01-10 | A kind of two-way gear drive artificial hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710016160.9A CN106821560B (en) | 2017-01-10 | 2017-01-10 | A kind of two-way gear drive artificial hand |
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| Publication Number | Publication Date |
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| CN106821560A CN106821560A (en) | 2017-06-13 |
| CN106821560B true CN106821560B (en) | 2019-03-01 |
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| CN201710016160.9A Active CN106821560B (en) | 2017-01-10 | 2017-01-10 | A kind of two-way gear drive artificial hand |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309520B (en) * | 2018-02-26 | 2019-10-11 | 南京工程学院 | Novel prosthetic device with movable knee joint |
| CN109528367A (en) * | 2018-09-19 | 2019-03-29 | 东北大学 | A kind of two finger artificial limbs that assembled can adjust brachium based on 3D printing |
| CN109330751A (en) * | 2018-11-15 | 2019-02-15 | 中国科学院自动化研究所 | A kind of coordinated type prosthetic hand |
| CN109893307A (en) * | 2019-03-29 | 2019-06-18 | 东北大学 | The ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb and application method |
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|---|---|---|---|---|
| CN101766510A (en) * | 2009-12-18 | 2010-07-07 | 东南大学 | Force touch sensation feedback and force intensity control method of mechanical artificial hand based on myoelectric control |
| CN203458499U (en) * | 2013-09-04 | 2014-03-05 | 上海理工大学 | Artificial hand transmission mechanism with quickly grasping function |
| CN104257443A (en) * | 2014-08-04 | 2015-01-07 | 中国科学院深圳先进技术研究院 | Artificial hand |
| CN204909744U (en) * | 2015-07-24 | 2015-12-30 | 天津大奥合纵科技有限公司 | Integrated wrist formula single degree of freedom artificial limb hand that revolves |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BRPI0720345A2 (en) * | 2007-01-17 | 2013-12-31 | Castillo Luis Armando Bravo | "HAND FUNCTIONAL PROSTHESIS MECHANISM" |
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2017
- 2017-01-10 CN CN201710016160.9A patent/CN106821560B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101766510A (en) * | 2009-12-18 | 2010-07-07 | 东南大学 | Force touch sensation feedback and force intensity control method of mechanical artificial hand based on myoelectric control |
| CN203458499U (en) * | 2013-09-04 | 2014-03-05 | 上海理工大学 | Artificial hand transmission mechanism with quickly grasping function |
| CN104257443A (en) * | 2014-08-04 | 2015-01-07 | 中国科学院深圳先进技术研究院 | Artificial hand |
| CN204909744U (en) * | 2015-07-24 | 2015-12-30 | 天津大奥合纵科技有限公司 | Integrated wrist formula single degree of freedom artificial limb hand that revolves |
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