CN109758275B - Combined under-actuated bionic artificial finger with driving rope and four-bar mechanism - Google Patents
Combined under-actuated bionic artificial finger with driving rope and four-bar mechanism Download PDFInfo
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- CN109758275B CN109758275B CN201910057035.1A CN201910057035A CN109758275B CN 109758275 B CN109758275 B CN 109758275B CN 201910057035 A CN201910057035 A CN 201910057035A CN 109758275 B CN109758275 B CN 109758275B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 20
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 8
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 29
- 230000009347 mechanical transmission Effects 0.000 claims abstract description 9
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 11
- 229910052802 copper Inorganic materials 0.000 claims description 11
- 239000010949 copper Substances 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000005057 finger movement Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 36
- 238000005452 bending Methods 0.000 abstract description 12
- 210000003811 finger Anatomy 0.000 description 94
- 210000003813 thumb Anatomy 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 4
- 210000004932 little finger Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- 241000203475 Neopanax arboreus Species 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Abstract
The invention discloses a combined under-actuated bionic artificial finger with a driving rope and a four-bar mechanism. The finger body part comprises a finger rack, a first knuckle, a tension spring, a second knuckle, a knuckle connector and a third knuckle; the finger mechanical transmission chain comprises a miniature motor miniature speed reducer assembly, a miniature worm-and-worm gear pair, a driving rope assembly and a connecting rod; the first knuckle, the second knuckle, the connecting rod and the finger rack form a four-bar mechanism, and the bending and stretching movement of the first knuckle enables the second knuckle to realize bending and stretching movement in a driven manner, so that an underactuated movement mode is formed. The finger is of a modular structure design, the whole finger is convenient to assemble and disassemble, the finger is simple in structure and light in weight, and the palm thickness size is reduced due to the design of the finger.
Description
Technical Field
The invention belongs to the field of medical rehabilitation instruments, and particularly relates to a driving rope and four-bar mechanism combined under-actuated bionic artificial finger.
Background
The prosthetic hand is mounted on the end of the disabled person's stump for performing certain functions of the human hand. Before 2008, more prosthetic hands are sold on the market as Suva single-degree-of-freedom prosthetic hands of OttoBock company in Germany, and the prosthetic hand has limited action modes and only has simple opening and closing functions, and fingers only have one movement joint. After 2008, a multi-degree-of-freedom prosthetic hand was developed, and representative examples thereof are ilimb prosthetic hand manufactured by Blatchford & son company in uk and Bebionic prosthetic hand manufactured by Steeper company in iceland. The two prosthetic hands are provided with five fingers, wherein the index finger, the middle finger, the ring finger and the little finger have the same mechanical structure, and are collectively called as fingers, each finger is provided with two joints, the first joint is a driving joint, the second joint is a driven joint, the motions of the two joints are coupled, each finger is driven by a miniature motor, and the driving mode is called underactuation in the industry. The first joint of the finger of the ilimb artificial hand is driven by a worm and a worm wheel, the miniature motor miniature speed reducer assembly is arranged in a cavity of the first knuckle of the finger, an output shaft of the miniature speed reducer drives the worm to rotate through a bevel gear pair, the worm wheel is connected to the palm part and is fixed relative to the palm, when the motor rotates, the worm, the miniature motor miniature speed reducer and the first knuckle rotate around the worm wheel to realize the bending and stretching of the finger, and the second joint is driven by a rope connected to the worm wheel. The main defect of this prosthetic finger is, miniature motor miniature reduction gear subassembly is arranged in the first knuckle cavity of finger, though can save the space of palm, but receive miniature motor miniature reduction gear length's restriction, the first knuckle length of finger is longer than people's knuckle length, and miniature motor miniature reduction gear has also wasted the effective power of motor as miniature motor's load, the center of gyration of first knuckle is the center of worm wheel promptly, be located first knuckle palm center, when wearing imitative people's hand skin, the hand skin joint department warp very greatly, the effective power of motor has greatly been wasted. The effective power available to the finger for grasping is small. The first joint of the finger of the Bebionic prosthetic hand is driven by a sliding block connecting rod mechanism, the second joint is driven by a four-bar mechanism, the active movement rod piece of the four-bar mechanism is the first knuckle, and the miniature motor miniature speed reducer assembly is arranged in the palm. The main defect of the prosthetic hand is that the first joint transmission chain of the fingers is arranged in two layers, so that the length of the transmission chain is reduced, but the palm is thicker, and the appearance of the prosthetic hand is influenced.
In addition, by searching the prior literature data, the following steps are found:
chinese patent publication No.: CN 103565562A, name: an under-actuated prosthetic hand. Three motors are used for controlling the movement of five fingers, wherein the index finger and the middle finger are controlled by one motor, the ring finger and the little finger are controlled by one motor, and the thumb is controlled by one motor, so that the independent movement of each finger can not be realized. The mechanical transmission chain is that a motor drives a screw rod nut mechanism, and then the rotary motion of the motor is converted into the linear motion of a sliding block through a sliding block guide rail mechanism, and the sliding block pulls a rope to drive each knuckle of a finger, so that the transmission chain is longer, and the palm size is longer; each finger uses three ropes and multiple guide wheels, which is relatively complex. The outward rotation of the thumb and the flexion-extension movement of the thumb are not independent.
Chinese patent publication No.: CN 1418765, name: robot dexterous hand mechanism. The two joints of each finger are controlled by two motors respectively, although flexibility is increased, and the two joints are not suitable for prosthetic hands due to weight and the like.
Chinese patent publication No.: CN 1365877, name: a robot anthropomorphic multi-finger hand device. The four fingers of the index finger, the middle finger, the ring finger and the little finger are controlled by a motor; the thumb is controlled by a motor. Only five-finger grabbing operation modes can be realized, and other motion modes such as two-finger pinching and double-click operation modes of a mouse and the like cannot be realized.
Chinese patent publication No.: CN 103538077A, name: a multi-degree-of-freedom robot bionic hand. Six motors are used for controlling the prosthetic hand, wherein one motor is used for each of the index finger, the middle finger, the ring finger and the little finger; the thumb uses two motors, one for thumb supination and one for thumb flexion and extension. The motors are fixed on the palm, and the mechanical transmission chain is a worm and worm wheel mechanism. The fingers and the thumb motors are sequentially arranged, so that the palm is long, and the second knuckle of the thumb cannot bend and stretch.
Disclosure of Invention
The invention aims to overcome the defects in the prior prosthetic hand products and the patent technology and provides a modular under-actuated artificial finger structure with simple structure, flexible control and strong function.
The invention is realized by the following technical scheme:
the under-actuated bionic artificial finger with combined driving rope and four-bar mechanism consists of finger body and finger mechanical transmission chain; the finger body comprises a finger rack, a first knuckle, a tension spring, a second knuckle, a knuckle connector and a third knuckle from the near to the far; the first knuckle is connected to the far end of the finger rack through a first knuckle pin shaft and can perform rotary motion around the first knuckle pin shaft to form a first knuckle of the finger; the second knuckle is connected to the far end of the first knuckle through a second knuckle pin shaft and can perform rotary motion around the second knuckle pin shaft to form a second knuckle of the finger; the two ends of the knuckle connecting piece are respectively provided with a flange structure, the flange at the far end of the knuckle connecting piece is inserted into the cavity at the far end of the second knuckle, the flange at the far end of the knuckle connecting piece is inserted into the cavity at the near end of the third knuckle, and as the connection of the two parts is interference connection, the third knuckle can not move relative to the second knuckle, and the second knuckle, the knuckle connecting piece and the third knuckle are designed into three parts for the consideration of injection molding technology, so that the drawing and the shrinkage pit reduction are convenient; the proximal end collar of an extension spring is sleeved on the first spring pin, the first spring pin is fixed at the distal end of the first knuckle, the distal end collar of the extension spring is sleeved on the second spring pin, and the second spring pin is fixed at the proximal end of the second knuckle;
the finger movement transmission chain comprises a miniature motor miniature speed reducer assembly, a worm and worm gear pair, a tension rope assembly and a connecting rod; the miniature motor miniature reducer assembly is connected to the finger rack in an interference connection mode and is positioned at the palm center position; the miniature worm is arranged in the cavity of the finger rack, one part of the D-shaped section central hole of the miniature worm is sleeved on the D-shaped section output shaft diameter of the miniature speed reducer, the other part of the D-shaped section central hole of the miniature worm is sleeved on the D-shaped section extension shaft, the extension shaft is inserted into the extension shaft copper sleeve, and the extension shaft copper sleeve is fixedly connected with the inner surface of the copper sleeve hole of the finger rack through interference fit of the outer surface of the extension shaft copper sleeve; the miniature worm wheel is sleeved on the worm wheel hollow shaft, the worm wheel hollow shaft is fixedly connected with the finger rack, and the miniature worm wheel is meshed with the miniature worm; the two sides of the miniature worm wheel are provided with flange structures, the spokes are provided with through holes, the driving rope penetrates through the through holes of the spokes of the miniature worm wheel and can be wound or unwound on the outer surfaces of the flanges at the two sides of the worm wheel, the driving rope pin shaft is fixedly connected with the near end of the first knuckle of the finger, and the two end parts of the driving rope are connected to the driving rope pin shaft in a locking manner; the connecting rod is arranged in the cavity of the first knuckle of the finger, the pin shaft hole at the near end of the connecting rod is sleeved on the pin shaft of the first connecting rod, the pin shaft of the first connecting rod is fixedly connected to the far end of the finger rack, the pin shaft hole at the far end of the connecting rod is sleeved on the pin shaft of the second connecting rod, and the pin shaft of the second connecting rod is fixedly connected to the near end of the second knuckle of the finger;
the mechanical transmission process when the fingers do bending motion is as follows: the miniature motor rotates clockwise, the output shaft diameter of the miniature speed reducer drives the miniature worm to rotate clockwise around the axis of the miniature speed reducer, the miniature worm drives the miniature worm wheel to rotate clockwise around the worm wheel hollow shaft, the driving rope is pulled by holes on spokes of the miniature worm wheel to wind on flanges on two sides of the miniature worm wheel, the end part of the driving rope pulls a first knuckle of a finger to perform bending motion, the first knuckle, the finger rack, the connecting rod and the second knuckle form a four-bar mechanism, the bending motion of the first knuckle enables the second knuckle to also perform bending motion, and the stretching spring is in a stretching state;
when the fingers do the spreading movement, the mechanical transmission process is that the micro motor rotates in the counterclockwise direction and is decelerated by the micro speed reducer,
the output shaft neck of the miniature speed reducer drives the miniature worm to rotate anticlockwise around the axis of the miniature worm, the miniature worm drives the miniature worm wheel to rotate anticlockwise around the worm wheel hollow shaft, the driving rope is unwound by flanges at two sides of the miniature worm wheel, the extension spring contracts, the first knuckle performs finger unfolding motion under the action of the restoring force of the extension spring, the first knuckle, the finger rack, the connecting rod and the second knuckle form a four-bar mechanism, and the finger unfolding motion of the first knuckle enables the second knuckle to also perform finger unfolding motion.
The invention has the technical advantages and effects that:
the artificial finger is of a modularized structure, and is mounted on or dismounted from the artificial palm part through the finger rack, so that great convenience is brought to manufacturing and maintenance of the artificial hand.
The first knuckle is driven to bend and spread by winding and unwinding the driving rope on the flange of the miniature worm wheel, so that the mechanism is simplified, and the length of a transmission chain is reduced. The design makes the length and thickness of the artificial limb palm approach to the human hand.
The first knuckle, the second knuckle, the connecting rod and the finger rack form a four-bar mechanism, the movement of the second knuckle relative to the first knuckle is determined, an underactuated mode is realized, and each finger only needs one micro motor for driving.
When the finger is in a finger spreading state, such as the back of the finger is subjected to external force, as the first knuckle is flexibly connected with the finger rack through the driving rope, the second knuckle is elastically connected with the first knuckle through the stretching spring, and the finger can perform finger flexing movement so as to prevent the finger from being damaged, and the safety protection effect is achieved.
As no micro motor and micro speed reducer are arranged in the first knuckle, the length of the finger knuckle is not practically limited, and the first knuckle of the finger can be designed into the length of the knuckle of men, women or children according to requirements.
Drawings
FIG. 1 is a schematic diagram of a finger spread state;
FIG. 2 is a schematic diagram showing the finger bending state.
Wherein:
1. third knuckle 2, knuckle coupling 3, second knuckle 4, second extension spring pin
5. Tension spring 6, first tension spring pin 7, connecting rod 8, first connecting rod pin shaft
9. First joint pin shaft 10, extension shaft copper sleeve 11, extension shaft
12. Miniature worm 13, miniature speed reducer 14, miniature motor 15, finger rack
16. A worm gear hollow shaft 17, a micro worm gear 18, a driving rope 19 and a driving rope pin shaft
20. First knuckle 21, second knuckle pin 22, second link pin.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention provides a driving rope and four-bar linkage combined under-actuated bionic artificial finger, which is characterized in that a finger rack 15 is used as a reference, one end of each component, which is close to the finger rack, is a near end, and one end, which is far away from the finger rack, is a far end, as shown in figure 1, a near end of a first knuckle 20 is connected to the far end of the finger rack 15 through a first joint pin 9, and the first knuckle 20 can perform rotary motion relative to the first joint pin 9; the proximal end of the second knuckle 3 is connected to the distal end of the first knuckle 20 through a second knuckle pin 21, and the second knuckle 3 can perform rotary motion relative to the second knuckle pin 21; the proximal flange of the knuckle connector 2 is inserted into the cavity at the distal end of the second knuckle 3, the connection of the knuckle connector 2 and the cavity is interference connection, the distal flange of the knuckle connector 2 is inserted into the cavity at the proximal end of the third knuckle 1, and the connection of the knuckle connector 2 and the cavity is interference connection, so that the third knuckle 1 cannot move relative to the second knuckle 3; the proximal collar of the extension spring 5 is coupled to the outer circle of the first extension spring pin 6, while the first extension spring pin 6 is fixedly coupled to the distal end of the first knuckle 20, the distal collar of the extension spring 5 is coupled to the outer circle of the second extension spring pin 4, while the second extension spring pin 4 is fixedly coupled to the proximal end of the second knuckle 3; the connecting rod 7 is arranged in the cavity of the first knuckle 20, a pin shaft hole at the proximal end of the connecting rod 7 is sleeved on the first connecting rod pin shaft 8, the first connecting rod pin shaft 8 is fixedly connected with the distal end of the finger rack 15, a pin shaft hole at the distal end of the connecting rod 7 is sleeved on the second connecting rod pin shaft 22, and the second connecting rod pin shaft 22 is fixedly connected with the proximal end of the second knuckle 3.
The miniature motor 14 and the miniature speed reducer 13 form a component, the component is arranged on the finger rack 15 through a mounting hole of the finger rack 15, the shaft hole is in interference fit, the component formed by the miniature motor 14 and the miniature speed reducer 13 is fixedly connected relative to the finger rack 15, and no relative movement exists between the miniature motor 14 and the miniature speed reducer 13; the miniature worm 12 is arranged in the cavity of the finger rack 15, one part of the D-shaped section central hole of the miniature worm 12 is sleeved on the D-shaped section output journal of the miniature speed reducer 13, as the axial length of the miniature worm 12 is longer than that of the output journal of the miniature speed reducer 13, one part of the D-shaped section extension shaft 11 of the miniature speed reducer 13 is connected with the D-shaped section central hole of the miniature worm 12, the other part of the D-shaped section extension shaft 11 of the miniature speed reducer 13 is arranged in the central hole of the extension shaft copper sleeve 10, and the outer cylindrical surface of the extension shaft copper sleeve 10 is connected in one hole of the finger rack 15 in an interference manner; the miniature worm wheel 17 is sleeved on the outer surface of the worm wheel hollow shaft 16, the miniature worm wheel 17 can perform rotary motion relative to the worm wheel hollow shaft 16, and the worm wheel hollow shaft 16 is fixedly connected with the finger rack 15; the two sides of the micro worm wheel 17 are respectively provided with a flange, the spoke of the micro worm wheel 17 is provided with a through hole, the driving rope 18 passes through the through hole on the spoke of the micro worm wheel 17 and can be wound and unwound on the flanges at the two sides of the micro worm wheel 17, the two ends of the driving rope 18 are fixedly connected to the driving rope pin 19 in a locking manner, and the driving rope pin 19 is fixedly connected below the proximal end of the first knuckle 20.
The mechanical transmission process when the fingers do bending motion is as follows: the output shaft of the micro motor 14 rotates clockwise, the output shaft diameter of the micro speed reducer 13 drives the micro worm 12 to rotate clockwise around the axis of the micro worm, the micro worm 12 drives the micro worm wheel 17 to rotate clockwise around the worm wheel hollow shaft 16, the driving rope 19 is pulled by holes on spokes of the micro worm wheel 17 to wind on flanges on two sides of the micro worm wheel 17, the end part of the driving rope 19 pulls the first knuckle 20 to perform bending movement, the first knuckle 20, the finger rack 15, the connecting rod 7 and the second knuckle 3 form a four-bar mechanism, the movement of the first knuckle 20 enables the second knuckle 3 to perform bending movement, the stretching spring 5 is in a stretching state, and fig. 2 is a schematic diagram of the fingers in the bending state.
When fingers do stretching movement, the mechanical transmission process is that the output shaft of the micro motor 14 rotates in the anticlockwise direction, the output shaft is decelerated through the micro speed reducer 13, the output shaft journal of the micro speed reducer 13 drives the micro worm 12 to rotate anticlockwise around the axis of the miniature worm, the micro worm 12 drives the micro worm wheel 17 to rotate anticlockwise around the worm wheel hollow shaft 16, the driving rope 19 is unwound by flanges on two sides of the micro worm wheel 17, the stretching spring 5 is contracted, the first knuckle 20 does stretching movement under the restoring force of the stretching spring 5, the first knuckle 20, the finger rack 15, the connecting rod 7 and the second knuckle 3 form a four-bar mechanism, and the stretching movement of the first knuckle 20 enables the second knuckle 3 to do stretching movement, and fig. 1 is a schematic diagram of the fingers in the stretching state.
Claims (2)
1. The utility model provides a drive rope and four link mechanism combination formula under-actuated bionic artificial finger, artificial finger comprises finger body and finger mechanical transmission chain, its characterized in that: the finger body comprises a finger rack, a first knuckle, a tension spring, a second knuckle, a knuckle connector and a third knuckle from the near to the far; the first knuckle is connected to the far end of the finger rack through a first knuckle pin shaft; the second knuckle is connected to the distal end of the first knuckle through a second knuckle pin shaft; the knuckle connector is used for connecting the second knuckle and the third knuckle; the proximal end sleeve ring end of the extension spring is sleeved on a first spring pin, the first spring pin is fixed at the distal end of the first knuckle, the distal end sleeve ring of the extension spring is sleeved on a second spring pin, and the second spring pin is fixed at the proximal end of the second knuckle; the finger movement transmission chain comprises an assembly formed by a micro motor and a micro speed reducer, a worm and worm gear pair, a driving rope and a connecting rod; the assembly formed by the micro motor and the micro speed reducer is connected to the finger rack in an interference connection mode and is positioned at the palm center position; the miniature worm is arranged in the cavity of the finger rack, one part of the D-shaped section central hole of the miniature worm is sleeved on the D-shaped section output shaft of the miniature speed reducer, the other part of the D-shaped section central hole of the miniature worm is sleeved on the D-shaped section extension shaft of the miniature speed reducer, the D-shaped section extension shaft of the miniature speed reducer is inserted in the extension shaft copper sleeve, and the extension shaft copper sleeve is fixedly connected with the inner surface of the copper sleeve hole of the finger rack through interference fit of the outer surface of the extension shaft copper sleeve; the miniature worm wheel is sleeved on the worm wheel hollow shaft, the worm wheel hollow shaft is fixedly connected with the finger rack, and the miniature worm wheel is meshed with the miniature worm; the two sides of the miniature worm wheel are provided with flange structures, a through hole is formed in each spoke, a driving rope penetrates through the through hole of each spoke of the miniature worm wheel, the outer surface of each flange of the miniature worm wheel is wound or unwound, a driving rope pin shaft is fixedly connected to the proximal end of the first knuckle, and two end parts of the driving rope are fixedly connected to the driving rope pin shaft in a locking mode; the connecting rod is arranged in the cavity of the first knuckle, the pin shaft hole at the proximal end of the connecting rod is sleeved on the pin shaft of the first connecting rod, the pin shaft of the first connecting rod is fixedly connected to the distal end of the finger rack, the pin shaft hole at the distal end of the connecting rod is sleeved on the pin shaft of the second connecting rod, and the pin shaft of the second connecting rod is fixedly connected to the proximal end of the second knuckle.
2. The modular underactuated artificial finger with drive cable and four-bar linkage as claimed in claim 1, wherein the two ends of the knuckle coupling member each have a flange structure, the flange at the proximal end of the knuckle coupling member is inserted into the cavity at the distal end of the second knuckle, and the flange at the distal end of the knuckle coupling member is inserted into the cavity at the proximal end of the third knuckle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910057035.1A CN109758275B (en) | 2019-01-22 | 2019-01-22 | Combined under-actuated bionic artificial finger with driving rope and four-bar mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910057035.1A CN109758275B (en) | 2019-01-22 | 2019-01-22 | Combined under-actuated bionic artificial finger with driving rope and four-bar mechanism |
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| CN109758275A CN109758275A (en) | 2019-05-17 |
| CN109758275B true CN109758275B (en) | 2023-11-10 |
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| CN201910057035.1A Active CN109758275B (en) | 2019-01-22 | 2019-01-22 | Combined under-actuated bionic artificial finger with driving rope and four-bar mechanism |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110269728A (en) * | 2019-07-22 | 2019-09-24 | 长安大学 | A kind of no driving source double leval jib combined machine finger artifucial limb |
| CN110731842B (en) * | 2019-09-20 | 2021-11-19 | 上海健康医学院 | Pneumatic muscle driven thumb device for smart hand |
| CN114474112A (en) * | 2020-11-13 | 2022-05-13 | 株式会社理光 | Mechanical finger and mechanical arm |
| CN114681169B (en) * | 2022-03-02 | 2023-04-18 | 中国科学院深圳先进技术研究院 | Myoelectricity control tactile feedback artificial hand |
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| CN209827112U (en) * | 2019-01-22 | 2019-12-24 | 内蒙古恩德莱康复器具有限公司 | Driving rope and four-bar linkage combined under-actuated bionic prosthetic finger |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008056520B4 (en) * | 2008-11-08 | 2017-10-19 | Stefan Schulz | finger member |
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| CN101321508A (en) * | 2005-11-29 | 2008-12-10 | 泰茨艾玛斯有限公司 | Prostheses with mechanically operable digit members |
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| CN109758275A (en) | 2019-05-17 |
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