CN108553205A - A kind of wrist driving cord transmission prosthetic hand - Google Patents
A kind of wrist driving cord transmission prosthetic hand Download PDFInfo
- Publication number
- CN108553205A CN108553205A CN201810484734.XA CN201810484734A CN108553205A CN 108553205 A CN108553205 A CN 108553205A CN 201810484734 A CN201810484734 A CN 201810484734A CN 108553205 A CN108553205 A CN 108553205A
- Authority
- CN
- China
- Prior art keywords
- finger
- cord
- knuckle
- component
- fixing piece
- 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.)
- Pending
Links
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
- 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
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2002/543—Lower arms or forearms
-
- 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
- A61F2002/6872—Operating or control means attached and mechanically operated by remaining muscle
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 present invention relates to a kind of wrist driving cords to be driven prosthetic hand, it is characterised in that：Arm fixation mechanism（1）Inside sets that there are five the stay blocks that can axially slide（2）；Each stay block（2）On be separately connected fixed conveyor cord（4）, it is driven cord（4）Pass through cord fixing piece（3）It is fixed, palm fixing piece（5）On successively be equipped with thumb component（6）, index finger component（7）, middle finger（8）, unknown finger（9）With small finger（10）；Thumb component（6）There are two finger joints to form：First knuckle and second knuckle；There are three finger joints to form for remaining four finger：First knuckle, second knuckle and third knuckle；It is driven cord（4）The other end pass through palm fixing piece（5）It is separately fixed at thumb component（6）, index finger component（7）, middle finger（8）, unknown finger（9）With small finger（10）First knuckle.The rotation of wrist is driven the action of driving finger closed up with extension via cord, and can independently select the action of any one or multiple fingers closed up and uphold, and then assists disabled person to realize and the actions such as capture, extract, click.Additional motor driving is not needed, artificial limb cost is reduced.
Description
Technical field
The invention belongs to equipment technology fields of helping the disabled, and are particularly suitable for one kind of fingertip tracking and the disabled person of palm remaining
Wrist drives cord to be driven prosthetic hand.
Background technology
Hand plays a part of can not be substituted in the production and living of the mankind.The mankind carry out production activity, create productive value
It is main that lean on is exactly both hands.If leaving both hands, the life style of mankind's overwhelming majority can not all carry out, and people can even use
The action of hand carries out mutual exchange.The deformity of human hands often brings many injuries to it, and this injury is not only
It is infliction of body, strike even more in spirit.With the rapid raising of the industrialized level in China, human hands it is residual
Disease is more and more.The skilled worker of production line can undoubtedly lose it and create the chance of value once the deformity of hand occurs.
After World War II, countries in the world just start the research and probe to prosthetic hand and artificial limb finger already.Miscellaneous structure is different
In the production and life of the prosthetic hand of control principle has been widely applied to hand disability at present person.Wherein, adaptive knot
Structure, link transmission and myoelectricity control are the common features that most bionic hands are possessed.The mankind constantly probe into during,
It is emphasised that realizing the light-weight design of bionic hand and bionic finger, to the adaptability of the different size of object of different shape, drive
The real-time of dynamic process, the flexibility of bionic hand structure, appearance are easy to acceptance.
Toward contact, there are certain remaining palms for the deformity of human hands, it is contemplated that if utilizing these remaining palms
Rotation between arm selects suitable transmission mechanism, and then may drive the movement of bionic finger as power source.
Invention content
It is an object of the invention to avoid the deficiencies in the prior art from providing a kind of wrist driving cord transmission prosthetic hand.
To achieve the above object, the technical solution that the present invention takes is：A kind of wrist driving cord transmission prosthetic hand, including
Arm fixation mechanism and palm fixing piece, it is characterised in that：The bracing wire that can be axially slid there are five being set on the inside of arm fixation mechanism
Column, stay block are fixed on by lock-screw in arm fixation mechanism；Stay rod can lock spiral shell along its axial direction into line slip
Nail is fixed, lock-screw only need individuals with disabilities assist can tightening manually with the hand of another health or via other people or
Person unclamps, and is not required to additional tool；Fixed conveyor cord is separately connected on each stay block, transmission cord passes through cord fixing piece
It is fixed, thumb component, index finger component, middle finger, unknown finger and small finger are equipped on palm fixing piece successively；Thumb
There are two finger joints to form for component：First knuckle and second knuckle；There are three finger joints to form for remaining four finger：First knuckle,
Second knuckle and third knuckle；Be driven cord the other end by palm fixing piece be separately fixed at thumb component, index finger component,
The first knuckle of middle finger, unknown finger and small finger.
The thumb component, index finger component, middle finger, unknown finger and each finger joint of small finger are internally provided with logical
Hole, transmission cord pass therethrough.
Soft material pad is padded in the arm fixation mechanism, palm fixing piece and human body coupling part.
The length of the transmission cord is adjusted separately according to the needs of each finger component.
The first knuckle, second knuckle and third knuckle, top is equipped with connector between adjacent finger joint, and lower part is formed
V-shaped groove；Top also is provided with connector between end finger joint and palm fixing piece, and lower part forms V-shaped groove, makes prosthetic hand closed configuration
When each finger joint between or finger joint and palm fixing piece between it is non-interference.
The connector is elastic material.
The beneficial effects of the invention are as follows：The rotation of wrist is driven the action of driving finger closed up with upheld via cord,
And the action of any one or multiple fingers closed up with upheld can be independently selected, and then assists disabled person to realize and grabs
The actions such as take, extract, clicking.Additional motor driving is not needed, the relative rotation of individuals with disabilities itself palm and arm is only leaned on
The action of artificial limb finger is driven, reduces artificial limb cost to a certain extent.In the case of prosthetic hand partial destruction, lead to
The parts that 3D printing quickly manufactures damage are crossed, and then extend the service life of prosthetic hand, reduce prosthetic hand use cost.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is activity chart of the present invention by taking middle finger as an example；
Fig. 3 is schematic three dimensional views of the present invention；
Fig. 4 is that arm fixation mechanism of the present invention stay block locks schematic diagram；
In figure：1- arm fixations mechanism, 2- stay blocks, 3- cord fixing pieces, 4- are driven cord, 5- palm fixing pieces, 6- thumbs
Component, 7- index finger components, finger in 8-, the unknown finger of 9-, the small finger of 10-, 11- lock-screws, 81- connectors, 82-
V-shaped groove.
Specific implementation mode
The present invention is described in further details with reference to the accompanying drawings and embodiments：
Embodiment 1：See Fig. 1-4, a kind of wrist driving cord transmission prosthetic hand, including arm fixation mechanism 1 and palm fixing piece
5, it is characterised in that：1 inside of arm fixation mechanism is set there are five the stay block 2 that can axially slide, and stay block 2 is by lock-screw 11
It is fixed in arm fixation mechanism 1；Stay rod 2 can be fixed along its axial direction to locking screw 11 into line slip, lock
Screw 11 only needs individuals with disabilities either to assist to tighten or unclamping manually via other people with the hand of another health, is not required to volume
Outer tool；Fixed conveyor cord 4 is separately connected on each stay block 2, transmission cord 4 is fixed by cord fixing piece 3, palm
Thumb component 6, index finger component 7, middle finger 8, unknown finger 9 and small finger 10 are equipped on fixing piece 5 successively；Thumb section
There are two finger joints to form for part 6：First knuckle and second knuckle；There are three finger joints to form for remaining four finger：First knuckle,
Two finger joints and third knuckle；The other end of transmission cord 4 is separately fixed at thumb component 6, index finger component by palm fixing piece 5
7, the first knuckle of middle finger 8, unknown finger 9 and small finger 10.
The thumb component 6, index finger component 7 are set inside 10 each finger joint of middle finger 8, unknown finger 9 and small finger
There are through-hole, transmission cord 4 to pass therethrough.
Soft material pad is padded in the arm fixation mechanism 1, palm fixing piece 5 and human body coupling part.
The length of the transmission cord 4 is adjusted separately according to the needs of each finger component.
The first knuckle, second knuckle and third knuckle, top is equipped with connector 81, lower part shape between adjacent finger joint
Forming V-shape slot 82；Top also is provided with connector 81 between end finger joint and palm fixing piece 6, and lower part forms V-shaped groove 82, makes artificial limb
It is non-interference between each finger joint or between finger joint and palm fixing piece when hand closed configuration.The connector 81 is elastic material
Matter.
In use, by arm fixation mechanism 1 mounted on disabled person arm position, installation site can be carried out according to circumstances
Debugging, palm fixing piece 5 are fixed on the palm of disabled person's remaining.
Under conditions of 4 length of each transmission cord are certain, when incomplete palm raises up, each cord 4 that is driven is in tension-like
State, due to being connected by the connector of elastic material 81 between each finger joint, each finger is in stretched condition, and when incomplete palm is from upper
Raise return to it is straight during, due to transmission cord 4 length fix, with the sliding of cord, each finger gradually closes up；Instead
It, incomplete palm is from straightened condition to during raising up, and due to the rebound effect of connector 81, each finger is from closed configuration
Gradually uphold.
Due to the adjustable in length of each transmission cord 4, the length of one or a few transmission cord 4 can be individually adjusted,
And with the stay block 2 that connect of transmission cord 4 lock screw 11 can when installing use according to specific needs into
The effective length of one step section cord to realize the action of any one or multiple fingers closed up with upheld, and then assists
Disabled person realizes the actions such as crawl, extraction, click.
Prosthetic hand overwhelming majority parts can be realized by 3D printing.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, all in the spirit and principles in the present invention
Within any modification, equivalent replacement, improvement and so on, should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of wrist driving cord is driven prosthetic hand, including arm fixation mechanism（1）With palm fixing piece（5）, feature exists
In：Arm fixation mechanism（1）Inside sets that there are five the stay blocks that can axially slide（2）, stay block（2）By lock-screw（11）Gu
Due to arm fixation mechanism（1）On；Each stay block（2）On be separately connected fixed conveyor cord（4）, it is driven cord（4）Pass through
Cord fixing piece（3）It is fixed, palm fixing piece（5）On successively be equipped with thumb component（6）, index finger component（7）, middle finger（8）、
Unknown finger（9）With small finger（10）；Thumb component（6）There are two finger joints to form：First knuckle and second knuckle；Remaining
There are three finger joints to form for four finger：First knuckle, second knuckle and third knuckle；It is driven cord（4）The other end pass through
Palm fixing piece（5）It is separately fixed at thumb component（6）, index finger component（7）, middle finger（8）, unknown finger（9）With it is small
Finger（10）First knuckle.
2. a kind of wrist driving cord as described in claim 1 is driven prosthetic hand, it is characterised in that：The thumb component（6）、
Index finger component（7）, middle finger（8）, unknown finger（9）With small finger（10）Each finger joint is internally provided with through-hole, driving wire
Rope（4）It passes therethrough.
3. a kind of wrist driving cord as described in claim 1 is driven prosthetic hand, it is characterised in that：The arm fixation mechanism
（1）, palm fixing piece（5）Soft material pad is padded with human body coupling part.
4. a kind of wrist driving cord as described in claim 1 is driven prosthetic hand, it is characterised in that：The transmission cord（4）
Length adjusted separately according to the needs of each finger component.
5. a kind of wrist driving cord as described in claim 1 is driven prosthetic hand, it is characterised in that：The first knuckle,
Two finger joints and third knuckle, top is equipped with connector between adjacent finger joint（81）, V-shaped groove is formed at lower part（82）；Finger joint and hand
Slap fixing piece（5）Between top also be provided with connector（81）, V-shaped groove is formed at lower part（82）.
6. a kind of wrist driving cord as claimed in claim 5 is driven prosthetic hand, it is characterised in that：The connector（81）For
Elastic material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810484734.XA CN108553205A (en) | 2018-05-20 | 2018-05-20 | A kind of wrist driving cord transmission prosthetic hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810484734.XA CN108553205A (en) | 2018-05-20 | 2018-05-20 | A kind of wrist driving cord transmission prosthetic hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108553205A true CN108553205A (en) | 2018-09-21 |
Family
ID=63539391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810484734.XA Pending CN108553205A (en) | 2018-05-20 | 2018-05-20 | A kind of wrist driving cord transmission prosthetic hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108553205A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109259906A (en) * | 2018-10-30 | 2019-01-25 | 上海理工大学 | A kind of multi-modal artificial hand of modularization |
| CN109498364A (en) * | 2018-11-22 | 2019-03-22 | 北京计算机技术及应用研究所 | It is a kind of for human body articulations digitorum manus power-assisted and the motion flexibility transmission mechanism of rehabilitation equipment |
| CN109758276A (en) * | 2019-02-28 | 2019-05-17 | 中国科学院深圳先进技术研究院 | A kind of prosthetic hand |
| RU196466U1 (en) * | 2020-01-15 | 2020-03-02 | Общество с ограниченной ответственностью "Бионические технологии" | Functional prosthesis grasp switching module |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200304835Y1 (en) * | 2002-10-24 | 2003-02-19 | 박상석 | An artificial limb of non-power |
| KR200349089Y1 (en) * | 2003-09-22 | 2004-04-30 | 박상석 | An artificial limb of function |
| KR200351275Y1 (en) * | 2004-02-16 | 2004-05-20 | 박상석 | An elbow of artificial limb |
| KR200372122Y1 (en) * | 2004-08-30 | 2005-01-10 | 박상석 | An artificial hand |
| CN104306086A (en) * | 2014-09-30 | 2015-01-28 | 东北大学 | Novel prosthetic hand without external power |
| CN205054513U (en) * | 2015-09-06 | 2016-03-02 | 许锋 | False arm of upper limbs |
| WO2017082635A1 (en) * | 2015-11-13 | 2017-05-18 | 대한민국(국립재활원장) | Wearable hand robot |
-
2018
- 2018-05-20 CN CN201810484734.XA patent/CN108553205A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200304835Y1 (en) * | 2002-10-24 | 2003-02-19 | 박상석 | An artificial limb of non-power |
| KR200349089Y1 (en) * | 2003-09-22 | 2004-04-30 | 박상석 | An artificial limb of function |
| KR200351275Y1 (en) * | 2004-02-16 | 2004-05-20 | 박상석 | An elbow of artificial limb |
| KR200372122Y1 (en) * | 2004-08-30 | 2005-01-10 | 박상석 | An artificial hand |
| CN104306086A (en) * | 2014-09-30 | 2015-01-28 | 东北大学 | Novel prosthetic hand without external power |
| CN205054513U (en) * | 2015-09-06 | 2016-03-02 | 许锋 | False arm of upper limbs |
| WO2017082635A1 (en) * | 2015-11-13 | 2017-05-18 | 대한민국(국립재활원장) | Wearable hand robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109259906A (en) * | 2018-10-30 | 2019-01-25 | 上海理工大学 | A kind of multi-modal artificial hand of modularization |
| CN109498364A (en) * | 2018-11-22 | 2019-03-22 | 北京计算机技术及应用研究所 | It is a kind of for human body articulations digitorum manus power-assisted and the motion flexibility transmission mechanism of rehabilitation equipment |
| CN109758276A (en) * | 2019-02-28 | 2019-05-17 | 中国科学院深圳先进技术研究院 | A kind of prosthetic hand |
| RU196466U1 (en) * | 2020-01-15 | 2020-03-02 | Общество с ограниченной ответственностью "Бионические технологии" | Functional prosthesis grasp switching module |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108553205A (en) | A kind of wrist driving cord transmission prosthetic hand | |
| CN105919772B (en) | A kind of wearable hand device for healing and training | |
| CN103315880B (en) | Hand external skeleton rehabilitation system based on memory alloy driving | |
| CN106214418A (en) | A kind of flexible wearable ectoskeleton drive lacking is all referring to training rehabilitation mechanical hand | |
| CN106726027B (en) | A kind of drive lacking prosthetic hand | |
| CN209269994U (en) | A kind of wrist driving cord transmission prosthetic hand | |
| CN104367405B (en) | A kind of apery myoelectricity artificial hand | |
| CN204121369U (en) | The maintenance of hand metacarpophalangeal joints function and rehabilitation device | |
| CN101036601A (en) | Real time control device and control method by two-degrees-of freedom myoelectricity artificial hand | |
| CN109907939B (en) | Finger movement rehabilitation training robot based on lasso driving and myoelectricity control | |
| CN110695971A (en) | Exoskeleton mechanical auxiliary hand | |
| CN109454627A (en) | A kind of multiple degrees of freedom software finger gymnastic robot | |
| CN109646156A (en) | A kind of exoskeleton rehabilitation gloves | |
| CN103356312A (en) | Six degrees of freedom artificial limb arm driven by electromyographic signal | |
| CN106667628A (en) | Half-palm artificial limb hand | |
| CN206063381U (en) | A kind of ectoskeleton drive lacking is all referring to training rehabilitation device | |
| CN210998696U (en) | Exoskeleton mechanical auxiliary hand | |
| CN206508205U (en) | A kind of flexible rehabilitation training gloves of stroke patient | |
| CN209933083U (en) | Wearable elastic rigid composite rod artificial limb finger | |
| Jiang et al. | Application of robot to hand function rehabilitation | |
| CN106236504A (en) | A kind of finger rehabilitation device being equipped on rehabilitation wheelchair | |
| CN108568062B (en) | Dynamic hand aid | |
| CN111631901A (en) | Novel passive traction knuckle rehabilitation device | |
| CN210114637U (en) | Finger movement rehabilitation training robot based on lasso drive and myoelectricity control | |
| CN209966947U (en) | Novel passive traction knuckle rehabilitation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |