CN106974749A - Bionical prosthetic hand and device based on 3D printing - Google Patents
Bionical prosthetic hand and device based on 3D printing Download PDFInfo
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- CN106974749A CN106974749A CN201710279906.5A CN201710279906A CN106974749A CN 106974749 A CN106974749 A CN 106974749A CN 201710279906 A CN201710279906 A CN 201710279906A CN 106974749 A CN106974749 A CN 106974749A
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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
-
- 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
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y80/00—Products made by additive manufacturing
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Cardiology (AREA)
- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention provides the bionical prosthetic hand based on 3D printing and device, including：Muscle electric signal sensor, single-chip microcomputer, servomotor, drive mechanism and executing agency；Muscle electric signal sensor is connected with single-chip microcomputer, and pulse signal is sent for gathering original muscle electric signal, and to single-chip microcomputer；Single-chip microcomputer is connected with servomotor, for accordingly sending drive signal to servomotor according to original muscle electric signal or pulse signal；Servomotor is connected with drive mechanism, for affecting the transmission mechanism being connected with executing agency according to drive signal, to pass through the activity posture of flexible or elastic hand in transmission mechanism control executing agency.The present invention is realized realizes that the bending motion and posture of finger are kept with simple structure, can complete various gestures action, with simple for production, cost is low, the characteristics of free degree is high.
Description
Technical field
The present invention relates to prosthesis technique field, more particularly, to bionical prosthetic hand and device based on 3D printing.
Background technology
For the extremity disabled personses of hand impairment, it is a kind of common solution to wear hand artificial limb.According to
There are about 24,000,000 extremity disabled personses in national disabled population's generaI investigation in 2006, China, and the market demand of artificial limb is huge.But, by
Need, according to the one-to-one customization of situation of different people, to cause under traditional die sinking process in prosthetic product, artificial limb produce into
This high, electronics artificial limb for that can realize some gesture controls, customizes cost and often reaches more than hundreds thousand of RMB, this
General family is difficult to bear.3D printing technique, is that a kind of need not mold just can quickly manufacture the system of part with complex appearance
Make technology.Artificial limb is manufactured using the ripe 3D printing technique such as fusion sediment (Fused Deposition Modeling, FDM),
The production cost of artificial limb can be substantially reduced.
Existing feature hand artificial limb, it is mostly limited with feature, the characteristics of expensive.Because feature
Artificial limb often complicated in mechanical structure, especially for electronics artificial limb, because the space-consumings such as electronic component and battery are big.Even if
It is the manufacture that artificial limb part is carried out by the mode of 3D printing, if hard material is only used only, it is still desirable to print some parts
Assembly is carried out again, reduces the efficiency of artificial limb customization.Artificial limb for controlling motion by external switch, its feature very office
Limit, can only often realize basic grip function.
In summary, the technical disadvantages of existing bionical prosthetic hand are：Complicated, manufacturing process is cumbersome, so that function
It is limited, it is with high costs, it is impossible to meet the actual demand of people with disabilities.
The content of the invention
In view of this, can be efficiently it is an object of the invention to provide the bionical prosthetic hand based on 3D printing and device
Realize that the bending motion and posture of finger are kept, independently realize that various gestures are acted, it is simple in construction, it is easy to operate, effectively meet
The artificial limb demand of disabled person.
In a first aspect, the embodiments of the invention provide the bionical prosthetic hand based on 3D printing, including：Muscle electric signal is sensed
Device, single-chip microcomputer, servomotor, drive mechanism and executing agency；
The muscle electric signal sensor, is connected with the single-chip microcomputer, for gathering original muscle electric signal, and to institute
State single-chip microcomputer and send pulse signal；
The single-chip microcomputer, is connected with the servomotor, for according to the pulse signal accordingly to the servo
Motor sends drive signal；
The servomotor, is connected with the drive mechanism, is performed for being affected according to the drive signal with described
The transmission mechanism that mechanism is connected, to pass through the work of flexible or elastic hand in executing agency described in the transmission mechanism control
Dynamic posture.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, institute
Stating muscle electric signal sensor includes electrode patch, signal acquisition module and amplification/rectification module；
The electrode patch, is connected with the signal acquisition module, for by the original muscle electric signal send to
The signal acquisition module；
The signal acquisition module, is connected with the amplification/rectification module, for the original muscle electric signal to be sent out
Deliver to the amplification/rectification module；
Amplification/the rectification module, is connected with the single-chip microcomputer, for the original muscle electric signal to be carried out into electric current
Waveform is adjusted, with the original muscle electric signal being amplified.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide second of first aspect
Possible embodiment, wherein, the muscle electric signal sensor is wire transmission or by way of being wirelessly transferred by the original
Beginning muscle electric signal is sent to the single-chip microcomputer, wherein, the wireless transmission method includes Bluetooth transmission.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide the third of first aspect
Possible embodiment, wherein, the single-chip microcomputer is additionally operable to receive the combination of muscle electric signal sensor and expansion equipment formation
Waveform signal so that the executing agency complete multiple combinations action, wherein, the expansion equipment include pressure sensor, end
End, extraneous button, acoustic control input and vibrating device.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide the 4th of first aspect kind
Possible embodiment, wherein, the transmission mechanism include pull rope, the servomotor, be additionally operable to by linear motion or
Rotational motion is drawn to the pull rope, to control the digital flexion posture of described flexible or elastic hand.
With reference to the 4th kind of possible embodiment of first aspect, the embodiments of the invention provide the 5th of first aspect kind
Possible embodiment, wherein, the flexible or elastic hand is made by 3D printing method, and can recover finger after a loss of power
Nature, wherein, described flexible deformable after printing shaping for material, the elasticity has for material after printing shaping
Elasticity.
Second aspect, the embodiments of the invention provide the bionical prosthetic device based on 3D printing, including base as described above
In the bionical prosthetic hand of 3D printing, in addition to arm sleeve, the back of the hand cover plate, supporting plate and battery；
The battery is arranged at the outside of the arm sleeve, and the arm sleeve is connected with flexible or elastic hand, institute
State flexible or elastic hand and be internally provided with multiple servomotors, the branch for providing support force for the servomotor and single-chip microcomputer
Fagging is arranged inside the flexible or elastic hand, for protecting the back of the hand cover plate of internals to be connected with executing agency
Connect.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, wherein, institute
State flexible or elastic hand and be provided with multiple phalanges, multiple phalanges are connected by curved bel.
With reference to the first possible embodiment of second aspect, the embodiments of the invention provide second of second aspect
Possible embodiment, wherein, the thickness of the curved bel is 1-3mm.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the third of second aspect, wherein, institute
It is linear servo-actuator, the mechanism for rotating servomotor or rotating servomotor and rigid structure composition to state servomotor.
Include the invention provides the bionical prosthetic hand based on 3D printing and device：Muscle electric signal sensor, single-chip microcomputer,
Servomotor, drive mechanism and executing agency；Muscle electric signal sensor is connected with single-chip microcomputer, for gathering original muscle telecommunications
Number, and send pulse signal to single-chip microcomputer；Single-chip microcomputer is connected with servomotor 30, for according to original muscle electric signal or arteries and veins
Rush signal and accordingly send drive signal to servomotor 30；Servomotor 30 is connected with drive mechanism, for according to driving
Signal affects the transmission mechanism being connected with executing agency, to pass through flexible or elastic hand in transmission mechanism control executing agency
Activity posture.The present invention is realized realizes that the bending motion and posture of finger are kept with simple structure, can complete various gestures
Action, with simple for production, cost is low, the characteristics of free degree is high.
Other features and advantages of the present invention will be illustrated in the following description, also, partly be become from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and obtained in accompanying drawing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the bionical prosthetic device structural representation provided in an embodiment of the present invention based on 3D printing；
Fig. 2 is the bionical prosthetic hand structural representation provided in an embodiment of the present invention based on 3D printing；
Fig. 3 is the structural representation of muscle electric signal sensor provided in an embodiment of the present invention；
Fig. 4 is the finger motion schematic diagram of the bionical prosthetic device provided in an embodiment of the present invention based on 3D printing；
Fig. 5 is another structural representation of the bionical prosthetic device provided in an embodiment of the present invention based on 3D printing；
Fig. 6 is another structural representation of the bionical prosthetic hand provided in an embodiment of the present invention based on 3D printing.
Icon：
1- arm sleeves；2- the back of the hand cover plates；3- supporting plates；4- batteries；5- flexibilities or elastic hand；6- phalanges；On 7- palms
A finger；8- pull ropes；10- muscle electric signal sensors；20- single-chip microcomputers；30- servomotors；40- drive mechanisms；50-
Executing agency；11- electrode patch；12- signal acquisition modules；13- amplifications/rectification module.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is a part of embodiment of the invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
At present, existing feature hand artificial limb, it is mostly limited with feature, the characteristics of expensive.Because
Feature artificial limb often complicated in mechanical structure, especially for electronics artificial limb, due to space-consumings such as electronic component and batteries
Greatly.Mode even with 3D printing carries out the manufacture of artificial limb part, if hard material is only used only, it is still desirable to if printing
Dry part carries out assembly again, reduces the efficiency of artificial limb customization.Artificial limb for controlling motion by external switch, its feature
Limit to very much, can only often realize basic grip function.Therefore, the shortcoming of prior art is that lacking one kind is suitable for disabled person
The bionical prosthetic hand used.Based on this, bionical prosthetic hand and device provided in an embodiment of the present invention based on 3D printing are realized
The bending motion and posture for realizing finger with simple structure are kept, and various gestures action can be completed, with simple for production, cost
It is low, the characteristics of free degree is high.
Embodiment one：
For ease of understanding the present embodiment, first to the bionical vacation based on 3D printing disclosed in the embodiment of the present invention
Limb hand describes in detail.
Fig. 2 is the bionical prosthetic hand structural representation provided in an embodiment of the present invention based on 3D printing.
Reference picture 2, the bionical prosthetic hand based on 3D printing includes：Muscle electric signal sensor 10, single-chip microcomputer 20, servo electricity
Machine 30, drive mechanism 40 and executing agency 50；
Muscle electric signal sensor 10, is connected with single-chip microcomputer 20, for gathering original muscle electric signal, and to single-chip microcomputer
20 send pulse signal；
Single-chip microcomputer 20, is connected with servomotor 30, is driven for accordingly being sent according to pulse signal to servomotor 30
Dynamic signal；
Servomotor 30, is connected with drive mechanism 40, is connected for being affected according to drive signal with executing agency 50
Transmission mechanism 40, to pass through the activity posture that transmission mechanism 40 controls flexible in executing agency 50 or elastic hand.
According to the present invention exemplary embodiment, as shown in figure 3, muscle electric signal sensor 10 include electrode patch 11,
Signal acquisition module 12 and amplification/rectification module 13；
Electrode patch 11, is connected with signal acquisition module 12, for original muscle electric signal to be sent to signal acquisition
Module 12；
Signal acquisition module 12, is connected with amplification/rectification module 13, for original muscle electric signal to be sent to putting
Greatly/rectification module 13；
Amplification/rectification module 13, is connected with single-chip microcomputer 20, for original muscle electric signal to be carried out into current waveform tune
It is whole, with the original muscle electric signal being amplified.
Specifically, signal acquisition module 12 is integrated on one piece of pcb board with amplification/rectification module 13, and electrode patch 11 will
The original muscle electric signal transmission received is into signal acquisition module 12, and signal acquisition module 12 receives the original muscle telecommunications
Number, and it is transmitted to amplification and rectification that amplification/rectification module 13 carries out signal.Here, the amplification of signal, i.e., to collecting
Faint original muscle current signal be amplified, carry out signal transacting and signal output to facilitate；Amplification/rectification module
13, i.e., the original muscle electric signal come is transmitted to signal acquisition module 12 and carries out current waveform adjustment, is allowed it to defeated
The other equipment for going out end is recognized.
According to the exemplary embodiment of the present invention, muscle electric signal sensor 10 passes through wire transmission or the side being wirelessly transferred
Formula sends original muscle electric signal to single-chip microcomputer 20, wherein, wireless transmission method includes Bluetooth transmission.
According to the exemplary embodiment of the present invention, single-chip microcomputer 20 is additionally operable to receive muscle electric signal sensor 10 and extension is set
For the combined waveform signal formed so that executing agency 50 completes multiple combinations action, wherein, expansion equipment includes pressure sensing
Device, terminal, extraneous button, acoustic control input and vibrating device.
Specifically, when muscle electric signal is combined to the control of hand gestures with the control mode of other expansion equipments formation
When, its principle for combining control mode is to realize multiple combinations waveform signal and exported to single-chip microcomputer 20.For single-chip microcomputer 20
Programming, more kinds of combination input signals can be such that it exports in more kinds of composite signal to execution equipment of prosthetic hand,
Realize the control of more gestures.
Here, when with ambient pressure sensor combinations：By setting single or multiple pressure sensors, in collection muscle
Current signal simultaneously, gathers the different pressures signal that muscle is produced in motion to artificial limb by chamber surface.Because two kinds of signals are each
From waveform it is different, therefore, under various combination, the output signal of various combination waveform can be formed.In addition, and ambient pressure
During sensor combinations, pressure can be gathered from disabled person's residual limb simultaneously with muscle electric signal.
Here, when being combined with terminal app：Because app can be produced different from muscle current signal defeated by programming
Go out signal, therefore, under the various combination of two kinds of signals, the output signal of various combination waveform can be formed.
Here, when with extraneous button combination：Because the signal waveform that extraneous button is produced is different from muscle current signal,
Therefore, under the various combination of two kinds of signals, the output signal of various combination waveform can be formed.
Here, when being combined with acoustic control input：By the voice signal received is different from muscle current signal, therefore,
Under the various combination of two kinds of signals, the output signal of various combination waveform can be formed.
It can thus be seen that executing agency 50 can be made to complete multiple combinations action by the combination with expansion equipment, this
The protection domain of inventive embodiments is not limited to this several expansion equipment, and the scheme for completing combinative movement by expansion equipment is equal
Should be within the scope of the present invention.
According to the exemplary embodiment of the present invention, transmission mechanism 40 includes pull rope, and servomotor 30 is additionally operable to by straight
Line is moved or rotational motion is drawn to pull rope, with the flexibility or the digital flexion posture of elastic hand of control.
According to the exemplary embodiment of the present invention, flexible or elastic hand is made by 3D printing method, and after a loss of power
Finger nature can be recovered, wherein, flexibility is deformable after printing shaping for material, and elasticity has for material after printing shaping
It is flexible.
Specifically, it is used while flexible and plasticity material can include, but not limited to such as TPU
(Thermoplastic polyurethanes, TPUE rubber) or TPE (Thermoplastic
Elastomer, thermoplastic elastomer (TPE)), in addition to other industrial rubber class materials.
Fig. 1 is the bionical prosthetic device structural representation provided in an embodiment of the present invention based on 3D printing.
Reference picture 1, the bionical prosthetic device based on 3D printing, including the bionical artificial limb based on 3D printing as described above
Hand, in addition to arm sleeve 1, the back of the hand cover plate 2, supporting plate 3 and battery 4；
Battery 4 is arranged at the outside of arm sleeve 1, and arm sleeve 1 is connected with flexible or elastic hand 5, flexible or elasticity
Hand 5 is internally provided with multiple servomotors 30, is set for the supporting plate 3 for servomotor 30 and the offer support force of single-chip microcomputer 20
Inside flexible or elastic hand 5, for protecting the back of the hand cover plate 2 of internals to be connected with executing agency 50.
According to the exemplary embodiment of the present invention, flexible or elastic hand 5 is provided with multiple phalanges 6, and multiple phalanges 6 are by curved
Bent band is connected.
Specifically, the phalanges number on a finger is 2-3.
According to the exemplary embodiment of the present invention, the thickness of curved bel is 1-3mm.
Specifically, bending band structure is relatively thin, and pliability is strong, it is ensured that finger, which is realized bend, clench fist etc., tightens action, need
Beaten it is noted that used TPU/TPE etc. is simultaneously flexible with the 3D that plasticity material can be used in whole finger
During printing is made, it can also be used only in the 3D printing manufacture of the curved bel of joint.
According to the exemplary embodiment of the present invention, servomotor 30 is linear servo-actuator, rotates servomotor or rotation
The mechanism that servomotor is constituted with rigid structure.
Specifically, pull rope 8 drive mode can be it is various, such as：Traction is directly pullled using linear servo-actuator
Rope 8, a reel is connected using the common servomotor that rotates, and the rigidity such as feed screw nut is passed through using the common servomotor that rotates
Pull rope is pullled by mechanism.It should be noted that directly pullling pull rope 8 using linear servo-actuator, servo is rotated using common
One reel of motor connection, pull rope 8 etc. is pullled using the common servomotor that rotates by rigid mechanisms such as feed screw nuts, this
The motion mode output result that a little mechanical structures pull pull rope 8 is identical, as shown in figure 4, being all by the straight of pull rope 8
Line pulls motion, realizes the bending gesture stability of finger inwardly.Its difference is that the type of drive of pull rope 8 itself is different.
Here, linear servo-actuator directly pulls pull rope 8, and its feature is, the motion of linear servo-actuator is also straight
Line is moved, i.e., the powered motion that draught line is subject to is linear motion；
Here, a reel is connected using the common servomotor that rotates, its feature is, common rotation servomotor
Motion is rotational motion, it is necessary to which a mechanism converts it into the linear motion pullled needed for pull rope 8, and the mechanism is a coiling
Wheel；
Here, the common servomotor that rotates pulls pull rope 8 by rigid mechanisms such as feed screw nuts, and its feature is, general
The logical motion for rotating servomotor is rotational motion, it is necessary to a mechanism converts it into the linear motion pullled needed for pull rope,
The mechanism is the rigid mechanism such as feed screw nut, and rigid mechanism, i.e. a kind of convert rotational motion such as described feed screw nut are in line
The rigid mechanism of motion.
The invention provides the bionical prosthetic hand based on 3D printing and device, including：Muscle electric signal sensor, monolithic
Machine, servomotor, drive mechanism and executing agency；Muscle electric signal sensor is connected with single-chip microcomputer, for gathering original muscle
Electric signal, and send pulse signal to single-chip microcomputer；Single-chip microcomputer is connected with servomotor, for according to original muscle electric signal or
Pulse signal accordingly sends drive signal to servomotor；Servomotor is connected with drive mechanism, for being believed according to driving
Number the transmission mechanism being connected with executing agency is affected, to pass through the work of flexible or elastic hand in transmission mechanism control executing agency
Dynamic posture.The present invention is realized realizes that the bending motion and posture of finger are kept with simple structure, can complete various gestures and move
Make, with simple for production, cost is low, the characteristics of free degree is high.
Embodiment two：
Fig. 6 is another structural representation of the bionical prosthetic hand provided in an embodiment of the present invention based on 3D printing.
Reference picture 6, the structure composition relation of the bionical prosthetic hand based on 3D printing is：Muscle electric signal sensor 10 will be adopted
The muscle electric signal transmission collected converts it into required motor movement signal to single-chip microcomputer 20, single-chip microcomputer 20 according to program,
Further, servomotor 30 realizes the motion of artificial limb by the drive Motor execution of drive mechanism 40 structure 50.Here, drive mechanism
40 include pull rope.Power supply directly can power for each electronic components such as single-chip microcomputers 20, also can be only single-chip microcomputer 20 and power, by monolithic
Machine 20 is powered to each electronic component again；
The flexibility of flexible structure refers to that material can be deformed after printing-forming；
The elasticity of elastic construction refers to that material is flexible after printing-forming；
Flexible or elastic hand 5 has flexible and elasticity material, the system by way of 3D printing simultaneously using TPU/TPE etc.
Make；
Muscle electric signal sensor 10 and battery 4 are placed in inside arm sleeve 1；
Single-chip microcomputer 20, supporting plate 3, servomotor 30 and pull rope 8 are placed in the inside of flexible or elastic hand 5；
Muscle electric signal sensor 10 includes electrode patch 11, signal acquisition module 12, amplification/rectification module 13, muscle
Electric signal sensor 10 can gather the pulse signal after the primary signal of muscle electricity, exportable primary signal or amplification/rectification；
The electrode patch 11 of muscle electric signal sensor 10 is attached on the muscle of disabled human hand cut through position, for gathering
The electric signal that muscular movement is produced at this；
The output pulse signal of muscle electric signal sensor 10, can export different letters under different muscular movements
Number；
The output pulse signal of muscle electric signal sensor 10 can have a variety of transmission forms, such as wired transmission or wireless biography
Pass, when using wired transmission, can be powered by single-chip microcomputer 20 or battery 4 is powered, can be by muscle when using wireless transmission
Powered inside electric signal sensor 10 from charged pool；
Control of the muscle electric signal sensor 10 to hand gestures can be combined with other control devices, such as：It is external
Pressure sensor, mobile phone A pp, external button, acoustic control etc.；
The parameter of battery 4 is selected or customized according to the real needs of single-chip microcomputer 20, is powered to the grade electronic component of single-chip microcomputer 20,
Shown in riding position Fig. 5 of battery 4；
Single-chip microcomputer 20 has some input/output end ports (input/output, I/O) port, can connect some muscle
The I/O equipment such as electric signal sensor, signal receiver or servomotor, is powered by external power supply, and can be connected to I/O ports
Equipment power；
The I/O ports of single-chip microcomputer 20 can connect more expansion equipments, such as：Pressure sensor, Bluetooth Receiver is external
Button, acoustic control input, buzzer, vibrating device etc., expansion equipment can be placed in the different position of prosthetic hand according to demand, composition
More expanded functions, such as：By setting pressure sensor, feedback real-time pressure to monolithic on the inside of prosthetic hand palm or finger
Machine, when pressure is excessive, the vibrating device that single-chip microcomputer control is placed on the inside of arm sleeve vibrates, and reminds wearer's grip
Spend greatly, realize a kind of feedback regulation function；
Single-chip microcomputer 20 can accordingly export electricity by programming to the unlike signal that muscle electric signal sensor 10 is inputted
Unlike signal needed for machine motion；
Servomotor 30 can be servo rotary electric machine, Servo-controller or servo linear motor, be powered by single-chip microcomputer, and
According to the instruction campaign received from single-chip microcomputer, its quantity can be customized according to disabled Man's Demands, generally five；
The finger tips of pull rope 8, connection motor movement and artificial limb, in the dynamic digital flexion of drive drop-down of motor；
Bionical prosthetic device based on 3D printing singly refers to motion principle, as shown in figure 4, for a finger on palm
For 7, due to being shaped using simultaneously flexible and plasticity the material such as TPU/TPE by the method for 3D printing, therefore have
The function of finger initial attitude is kept, i.e., when servomotor 30 is powered, due to its flexible characteristic, pull rope 8 can pull band
Its bending is moved, when servomotor is powered off, due to its elastic characteristic, finger gesture can be directly drawn and reply original appearance, complete hand
Refer to from bending to the process opened again；
A finger 7 on palm, its movable joint can be set to 2 or 3 according to demand；
Curved bel on a finger 7 on palm between phalanges 6 is movable joint, and its structure is relatively thin, generally 1-3mm
Thickness, therefore, it is possible to ensure that finger is bent in required joint；
In summary, by single-chip microcomputer 20 can receive the unlike signal that myoelectric sensor 10 is inputted, and by compiling
Journey exports corresponding unlike signal to servomotor 30, some servomotors 30 is realized predetermined aggregate motion, in pull rope
Drive under, i.e., can realize the gesture motions that some many assignments of prosthetic hand are closed.
The bionical prosthetic hand and device based on 3D printing that the embodiment of the present invention two is provided, are provided with above-described embodiment one
Bionical prosthetic hand and device based on 3D printing have identical technical characteristic, so can also solve identical technical problem, reach
To identical technique effect.Use TPU/TPE rubber in the embodiment of the present invention etc. has the material of flexible elasticity, one simultaneously
Bodyization makes palm part part, and made palm can highly imitate human hand outward appearance and sense of touch, and the flexibility that palm has can
To make pull rope drive it to bend, the elasticity that palm has can directly keep hand gestures, so with a kind of simple structure
Efficiently realize that the bending motion and posture of finger are kept, while turn avoid cumbersome assembling process；Also, the present invention is implemented
Example is using the method integration manufacture hand part of 3D printing, and simply, efficiently, cost is low for customization procedure；Moreover, it is of the invention
Embodiment is driven by using muscle electric signal sensor, is believed by gathering the different muscular movement of the incomplete limb part of disabled person
Number, different signal outputs are realized, further coordinate motor control, different artificial limb motions are realized, reliable in action is safe, its
In, the gesture motion that the number of motors in the embodiment of the present invention can need according to disabled person is controlled the size and specifically customized, spirit
Activity is high.
Bionical prosthetic hand based on 3D printing and the computer program product of device that the embodiment of the present invention is provided, including
The computer-readable recording medium of program code is stored, the instruction that described program code includes can be used for performing previous methods reality
The method described in example is applied, implements and can be found in embodiment of the method, will not be repeated here.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description
With the specific work process of device, the corresponding process in previous embodiment is may be referred to, be will not be repeated here.
In addition, in the description of the embodiment of the present invention, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
If the function is realized using in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are to cause a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each of the invention embodiment methods described.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.
Finally it should be noted that：Embodiment described above, is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of bionical prosthetic hand based on 3D printing, it is characterised in that including：Muscle electric signal sensor, single-chip microcomputer, servo
Motor, drive mechanism and executing agency；
The muscle electric signal sensor, is connected with the single-chip microcomputer, for gathering original muscle electric signal, and to the list
Piece machine sends pulse signal；
The single-chip microcomputer, is connected with the servomotor, for according to the pulse signal accordingly to the servomotor
Send drive signal；
The servomotor, is connected with the drive mechanism, for being affected and the executing agency according to the drive signal
The transmission mechanism being connected, to pass through the activity appearance of flexible or elastic hand in executing agency described in the transmission mechanism control
State.
2. the bionical prosthetic hand according to claim 1 based on 3D printing, it is characterised in that the muscle electric signal sensing
Device includes electrode patch, signal acquisition module and amplification/rectification module；
The electrode patch, is connected with the signal acquisition module, for the original muscle electric signal to be sent to described
Signal acquisition module；
The signal acquisition module, is connected with the amplification/rectification module, for by the original muscle electric signal send to
Amplification/the rectification module；
Amplification/the rectification module, is connected with the single-chip microcomputer, for the original muscle electric signal to be carried out into current waveform
Adjustment, with the original muscle electric signal being amplified.
3. the bionical prosthetic hand according to claim 2 based on 3D printing, it is characterised in that the muscle electric signal sensing
Device sends the original muscle electric signal to the single-chip microcomputer wire transmission or by way of being wirelessly transferred, wherein, it is described
Wireless transmission method includes Bluetooth transmission.
4. the bionical prosthetic hand according to claim 1 based on 3D printing, it is characterised in that the single-chip microcomputer is additionally operable to connect
Adductor muscle meat electric signal sensor and the combined waveform signal of expansion equipment formation are so that the executing agency completes multiple combinations and moved
Make, wherein, the expansion equipment includes pressure sensor, terminal, extraneous button, acoustic control input and vibrating device.
5. the bionical prosthetic hand according to claim 1 based on 3D printing, it is characterised in that the transmission mechanism includes leading
Messenger, the servomotor is additionally operable to draw the pull rope by linear motion or rotational motion, described to control
Flexibility or elastic hand digital flexion posture.
6. the bionical prosthetic hand according to claim 5 based on 3D printing, it is characterised in that the flexible or elastic hand is logical
3D printing method making is crossed, and finger nature can be recovered after a loss of power, wherein, the flexibility is material in printing shaping
Deformable afterwards, the elasticity is flexible after printing shaping for material.
7. a kind of bionical prosthetic device based on 3D printing, it is characterised in that including any one of such as claim 1- claims 6
The described bionical prosthetic hand based on 3D printing, in addition to arm sleeve (1), the back of the hand cover plate (2), supporting plate (3) and battery
(4)；
The battery (4) is arranged at the outside of the arm sleeve (1), the arm sleeve (1) and flexible or elastic hand (5) phase
Connection, the flexible or elastic hand (5) is internally provided with multiple servomotors (30), for for the servomotor (30) and singly
The supporting plate (3) that piece machine (20) provides support force is arranged at flexible or elastic hand (5) inside, for protecting internals
The back of the hand cover plate (2) is connected with executing agency.
8. the bionical prosthetic device according to claim 7 based on 3D printing, it is characterised in that the flexible or elastic hand
(5) multiple phalanges (6) are provided with, multiple phalanges (6) are connected by curved bel.
9. the bionical prosthetic device according to claim 8 based on 3D printing, it is characterised in that the thickness of the curved bel
For 1-3mm.
10. the bionical prosthetic device according to claim 7 based on 3D printing, it is characterised in that the servomotor
(30) it is linear servo-actuator, rotates servomotor or rotate the mechanism that servomotor and rigid structure are constituted.
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| CN201710279906.5A CN106974749A (en) | 2017-04-25 | 2017-04-25 | Bionical prosthetic hand and device based on 3D printing |
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| CN201710279906.5A CN106974749A (en) | 2017-04-25 | 2017-04-25 | Bionical prosthetic hand and device based on 3D printing |
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| CN201710279906.5A Pending CN106974749A (en) | 2017-04-25 | 2017-04-25 | Bionical prosthetic hand and device based on 3D printing |
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| CN111913571A (en) * | 2020-06-22 | 2020-11-10 | 西安交通大学 | Flexible material 3D prints fingertip tactile feedback executor |
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