CN111110408B - Finger knuckle, finger and palm structure of human imitation - Google Patents

Finger knuckle, finger and palm structure of human imitation Download PDF

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Publication number
CN111110408B
CN111110408B CN201911292407.5A CN201911292407A CN111110408B CN 111110408 B CN111110408 B CN 111110408B CN 201911292407 A CN201911292407 A CN 201911292407A CN 111110408 B CN111110408 B CN 111110408B
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finger
knuckle
motor
human
turbine
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CN111110408A (en
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郑悦
李向新
田岚
景晓蓓
方鹏
李光林
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Shenzhen Institute of Advanced Technology of CAS
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Priority to PCT/CN2020/129514 priority patent/WO2021120963A1/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • 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
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors

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  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Transplantation (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (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 embodiment of the invention provides a human finger-simulated knuckle, a human finger-simulated and palm structure, which comprises one or more human finger-simulated knuckles and finger tips connected to the head ends of the human finger-simulated knuckles through connecting shafts, wherein the human finger-simulated knuckles are connected through knuckle connecting pieces in sequence; the finger knuckle of the humanoid finger comprises: a knuckle housing; the motor and the reducer are connected; the motor base is connected with the knuckle shell, and the motor and the speed reducer are fixed on the motor base; the worm is connected with an output shaft of the speed reducer and arranged in the motor base; the worm wheel is meshed and connected with the worm; the turbine seat is rotatably connected with the motor seat, and the turbine is fixed in the turbine seat through a turbine shaft. According to the technical scheme, the degree of freedom of the artificial hand can be changed by changing the number of the finger joints of the independently moving fingers and the number of the fingers, so that the number of degrees of freedom and the movement mode of the whole artificial hand are set according to the number of the finger joints of the selected single finger and the number of the fingers.

Description

Finger knuckle, finger and palm structure of human imitation
Technical Field
The invention relates to the technical field of robots, in particular to a finger knuckle, a finger and palm imitating structure.
Background
The artificial hand provides convenience for the daily life of the disabled with the missing upper limbs, and is an important research direction in the field of rehabilitation engineering. The artificial hand which is commercialized at present has
Figure BDA0002319480170000011
The safety proportional control myoelectric hand of the company, the high precision myoelectric control prosthesis iLimb manufactured by scotch bies (Touch bionics) of the uk, and the like, and there are also patents on the design of prosthetic hands.
In the existing artificial hand product, an under-actuated structure design is adopted, each finger has only one degree of freedom, and the motion path can be limited by the designed structure, cannot be changed, and cannot completely imitate the motion of each knuckle of a hand.
The iLimb is an artificial hand with five fingers, each finger is in an underactuated design containing a driving motor, a single finger adopts a bevel gear set and tendon rope transmission, and the knuckles of the single finger are coupled through characteristic coefficients, so that the action imitation is realized to a certain extent.
The Chinese invention patent CN 104161608A designs a tendon transmission artificial hand, which comprises three fingers, adopts a single motor to drive, realizes the flexion/extension of each finger through the transmission of a tendon rope, and finishes the gripping action.
At present, the artificial hand often has the problems of low flexibility, poor kinetic energy, difficulty in practicability and the like, and one of important reasons is that the flexibility of fingers is not enough, so that the artificial hand cannot finish various commonly used gripping actions in daily life, and the practicability is lost.
Disclosure of Invention
The embodiment of the invention provides a human finger and palm simulation device, which changes the degree of freedom of a prosthetic hand by changing the number of finger joints and the number of fingers which move independently, so that the number of degrees of freedom and the movement mode of the whole prosthetic hand are set according to the number of the selected finger joints and the number of the selected fingers.
In order to achieve the above object, in one aspect, an embodiment of the present invention provides a human-simulated finger, including one or more human-simulated finger knuckles connected in sequence and a finger tip connected to a head end of the human-simulated finger knuckle, where the finger tip is hinged to the head end of the human-simulated finger knuckle through a connecting shaft, and the human-simulated finger knuckles are connected in sequence through a knuckle connecting member;
the finger knuckle of the humanoid finger comprises:
a knuckle housing;
the motor and the speed reducer are connected and arranged, and are both arranged inside the knuckle shell;
the motor base is connected with the knuckle shell, and the motor and the speed reducer are fixed on the motor base;
one end of the worm is fixedly connected with an output shaft of the speed reducer, and the worm is arranged in the motor base;
the worm wheel is connected with the worm in a meshed mode;
the turbine seat is rotatably connected with the motor seat, and the turbine is fixed in the turbine seat through a turbine shaft.
In another aspect, an embodiment of the present invention provides a human-simulated palm, where the palm includes: comprising a palm body and one or more anthropomorphic fingers as claimed above, fixed to said palm body by fixing holes in the end face of said turbine seat.
In another aspect, an embodiment of the present invention provides a human finger-simulated knuckle, including:
a knuckle housing;
the motor and the speed reducer are connected and arranged, and are both arranged inside the knuckle shell;
the motor base is connected with the knuckle shell, and the motor and the speed reducer are fixed on the motor base;
one end of the worm is fixedly connected with an output shaft of the speed reducer, and the worm is arranged in the motor base;
the worm wheel is connected with the worm in a meshed mode;
the turbine seat is rotatably connected with the motor seat, and the turbine is fixed in the turbine seat through a turbine shaft.
The technical scheme has the following beneficial effects: aiming at the defects and shortcomings of the prior art and the prior method, the invention aims to invent a bionic finger structure which comprises independently moving finger joints, the number of the knuckles can be selected according to the actual application requirements, and the fingers consisting of the three knuckles can completely imitate the flexion and extension movement capability of natural fingers. The finger structure of the prosthetic hand can also be formed by one or two independently moving knuckle and fingertip structures according to the requirement. The modular finger knuckles form modular fingers, and the modular finger structures can be arranged on a palm structure to realize a prosthetic hand comprising a plurality of finger structures, so that the multi-finger prosthetic hand can be conveniently generated according to application targets.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a simulated human finger according to an embodiment of the invention;
FIG. 2 is a block diagram of a human finger knuckle according to an embodiment of the present invention;
FIG. 3 is a block diagram of a simulated human finger according to yet another embodiment of the present invention;
FIG. 4 is a block diagram of a simulated human finger according to yet another embodiment of the present invention;
fig. 5 is a block diagram of a simulated human finger according to yet another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a structural diagram of a human finger simulation according to an embodiment of the present invention, and the present invention provides a human finger simulation structure, which includes a finger knuckle 10 and a finger tip 30 that can move independently. One finger knuckle 10 and one finger tip 30 can form a single-degree-of-freedom prosthetic finger through a connecting shaft 20, as shown in fig. 1; the length of the finger is adjusted through the length of the finger tip 30, so that the bending and stretching movement around the turbine shaft 1015 can be realized, and the knuckle 10 and the finger tip 30 can rotate relative to the connecting shaft 20.
The finger knuckle 10 is schematically illustrated in fig. 2, and the finger knuckle 10 is composed of a motor 1011, a reducer 1012, a turbine 1013, a turbine base 1014, a turbine shaft 1015, a fixing hole 1016, an end cover 1017, a worm 1018, a motor base 1019 and a knuckle housing 1020. The motor 1011 is fixed on the motor seat 1019 after being decelerated by the speed reducer 1012, and the worm 1018 is fixed at the output shaft end of the speed reducer 1012 and rotates together with the shaft end of the speed reducer 1012. One end of the worm 1018 is formed in a shaft shape, and the up-and-down displacement is restricted by an end cap 1017, thereby preventing the worm 1018 from falling off during the rotation. The worm 1018 meshes with the turbine wheel 1013, and the turbine wheel 1013 is constrained to the turbine wheel seat 1014 by the turbine shaft 1015. The turbine seat 1014 is rotatably connected to the motor seat 1019, and may be configured to overlap with the side surface of the turbine seat 1014 through two side surfaces of the motor seat 1019, and be connected to the motor seat 1019 through a turbine shaft 1015, for example. When the motor 1011 is powered on and operated in the forward direction, the shaft end of the motor 1011 moves clockwise, the worm 1018 is driven by the speed reducer 1012 to move clockwise, the worm 1018 is meshed with the turbine 1013, and the turbine 1013 is fixed on the turbine seat 1014, so that the worm 1013 moves clockwise relative to the turbine 1014, and the knuckle 10 realizes the bending movement of the structure. When the motor 1011 is electrified in the reverse direction, the shaft end of the motor 1011 moves anticlockwise, the worm 1018 is driven to move anticlockwise through the speed reducer 1012, the worm 1018 is meshed with the turbine 1013, and the turbine 1013 is fixed on the turbine seat 1014, so that the worm 1013 moves anticlockwise relative to the turbine 1014, and the knuckle 10 realizes the stretching movement of the structure. The knuckles 10 may be secured to the palm body or other desired structure by securing holes 1016.
Fig. 3 is a diagram showing a structure of a simulated human finger according to another embodiment of the present invention, which includes two finger knuckles 10 and finger tips 30 that can move independently; the two finger knuckles 10 are connected by a knuckle connecting piece 40, and the finger tip 30 and the finger tip are combined into a two-degree-of-freedom prosthetic finger by a connecting shaft 20. The knuckle 10 and the fingertip 30 are rotatable relative to the connecting shaft 20. The two finger knuckles 10 can rotate around the turbine shaft in a flexion-extension manner, so that flexion-extension movement with two active degrees of freedom can be realized.
Fig. 4 is a structural diagram of a simulated human finger according to another embodiment of the present invention, which includes three finger knuckles 10 and finger tips 30 that can move independently; the three finger knuckles 10 are connected by a knuckle connecting piece 40, and the finger tip 30 and the finger tip are combined into a two-degree-of-freedom prosthetic finger by a connecting shaft 20. The knuckle 10 and the fingertip 30 are rotatable relative to the connecting shaft 20. The finger knuckles 10 can rotate around the turbine shaft in flexion and extension, so that flexion and extension movements with two active degrees of freedom can be realized.
As shown in fig. 5, the embodiment of the invention is a three-active-degree-of-freedom finger structure without fingertips. Other single-active degree-of-freedom finger structures and two-active degree-of-freedom finger structures can be used with or without fingertips.
The invention further discloses a palm structure comprising human-simulated fingers, the number of degrees of freedom and the movement mode of the whole artificial hand are limited by the number of fingers, and after the structural configuration of a single finger is selected (the above 1-3 finger configuration methods), the number of fingers is selected according to the requirement, so that a two-finger artificial hand, a three-finger artificial hand, a four-finger artificial hand and a five-finger artificial hand can be realized. Currently, a three-finger prosthetic hand and a five-finger prosthetic hand are commonly used commercially, the three-finger prosthetic hand is relatively stable in gripping, and the five-finger prosthetic hand is more bionic in appearance and easy to accept by a user.
For the three finger prosthetic hand embodiment:
similar to the bird's claw structure, three oppositely arranged finger structures are included. According to the configuration of the selected artificial finger, the artificial hand structure with 3 degrees of freedom (a single finger selects a single-active-degree-of-freedom finger structure) to 9 degrees of freedom (a single finger selects a three-active-degree-of-freedom finger structure) can be realized.
For the five finger prosthetic hand embodiment:
a hand-imitating artificial hand comprises five finger structures arranged according to the positions of fingers of a hand. According to the configuration of the selected artificial finger, the artificial hand structure with 5 degrees of freedom (a single finger selects a single-active-degree-of-freedom finger structure) to 15 degrees of freedom (a single finger selects a three-active-degree-of-freedom finger structure) can be realized.
The other artificial hands with different finger numbers are similar to the three-finger artificial hand and the five-finger artificial hand, and the description is not repeated here.
Further, the driving motor of the present invention includes, but is not limited to, an electric motor, and may be other drivers such as a hydraulic/pneumatic driver, a shape memory alloy driver, and the like; the worm gear may be replaced by a bevel gear set, a linkage mechanism, or the like.
Compared with the prior art, the human-simulated finger structure disclosed by the invention is composed of (1) a plurality of independently movable knuckles or a plurality of independently movable knuckles matched with fingertips.
(2) The knuckles of the independent movement adopt a modular design mode, and the flexion and extension movement can be realized.
(3) The number of degrees of freedom and the motion mode of a single finger are set by setting the number of knuckles of the prosthetic finger. The human-simulated finger structure uses one independently moving knuckle to form a single-degree-of-freedom artificial finger, uses two independently moving knuckles to form a two-degree-of-freedom artificial finger, and uses three independently moving knuckles to form a three-degree-of-freedom artificial finger, so that the motion of a human hand can be completely fitted.
(4) The independent movement knuckle is internally provided with a motor, and has the advantage of small size.
(5) The independent movement knuckle adopts a worm and gear structure and has a self-locking function.
(6) The configuration of the multi-freedom-degree prosthetic hand can be realized by setting the number of the prosthetic fingers.
(7) The artificial hand imitating 5 fingers can realize an artificial hand structure with 5 degrees of freedom (a single finger selects a single active degree of freedom finger structure) to 15 degrees of freedom (a single finger selects a three-active degree of freedom finger structure) by matching the number of finger joints contained in each finger.
(8) The size of the artificial hand can be changed by matching with the fingertip configuration, so that the size of the artificial hand is similar to that of a human hand.
The invention provides a bionic finger structure, which can comprise a plurality of independently moving finger joints, wherein the finger structure is formed by selecting the number of finger joints, and a multi-finger artificial hand is formed by selecting the number of fingers, so that the multi-finger multi-degree-of-freedom artificial hand can be formed by various configuration methods according to use requirements and practical application.
Currently, most prosthetic hands adopt electromyographic signals as input signals for intuitive control, but signals which can be provided by the residual muscle end of an amputee are limited, so the number of degrees of freedom of the controllable prosthetic hand is limited, and the appropriate number of degrees of freedom of the prosthetic hand is selected according to control information which can be provided by the amputee, so that not only can the control information be utilized to the maximum degree, but also the number of driving structures can be reduced by reducing the number of redundant degrees of freedom, and therefore, the unnecessary quality of the prosthetic hand is reduced. The whole artificial hand has compact structure, more actions of the artificial hand and lower cost, and provides a practical and easily commercialized artificial hand for amputees.
Further, the driving motor of the present invention includes, but is not limited to, an electric motor, and may be other drivers such as a hydraulic/pneumatic driver, a shape memory alloy driver, and the like; the worm gear may be replaced by a bevel gear set, a linkage mechanism, or the like.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (6)

1. The human-simulated finger is characterized by comprising one or more human-simulated finger knuckles (10) which are sequentially connected and a finger fingertip (30) connected to the head end of the human-simulated finger knuckle (10), wherein the finger fingertip (30) is hinged with the head end of the human-simulated finger knuckle (10) through a connecting shaft (20), and the human-simulated finger knuckles (10) are sequentially connected through a knuckle connecting piece (40);
the humanoid finger knuckle (10) comprises:
a knuckle housing (1020);
the motor (1011) and the speed reducer (1012) are connected, and the motor (1011) and the speed reducer (1012) are both arranged inside the knuckle shell (1020);
the motor base (1019) is connected with the knuckle shell (1020), and the motor (1011) and the speed reducer (1012) are fixed on the motor base (1019);
one end of the worm (1018) is fixedly connected with an output shaft of the speed reducer (1012), and the worm (1018) is arranged in the motor base (1019);
a worm wheel (1013) in meshing connection with the worm (1018);
a turbine seat (1014) rotatably connected with the motor seat (1019), wherein the turbine (1013) is fixed in the turbine seat (1014) through a turbine shaft (1015);
the end part of a knuckle shell (1020) of one humanoid finger knuckle (10) is fixedly connected with a turbine seat (1014) of the other humanoid finger knuckle (10) through the knuckle connecting piece (40).
2. The humanoid finger as claimed in claim 1, characterized in that said motor seat (1019) has an end cap (1017), the other end of said worm screw (1018) abutting against said end cap (1017).
3. The humanoid finger as claimed in claim 2, characterized in that a fixing hole (1016) is provided on the end face of the turbine seat (1014) flush with the end cap (1017).
4. Humanoid finger as claimed in one of claims 1 to 3, characterized in that the number of said humanoid finger knuckles (10) is two or three.
5. A humanoid palm structure, characterized in that it comprises a palm body and one or more humanoid fingers as claimed in any one of claims 1 to 4, fixed to said palm body through fixing holes (1016) in the end face of said turbine seat (1014).
6. The human-palm-like structure of claim 5, wherein the human-like fingers are arranged in two, three or five.
CN201911292407.5A 2019-12-16 2019-12-16 Finger knuckle, finger and palm structure of human imitation Active CN111110408B (en)

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PCT/CN2020/129514 WO2021120963A1 (en) 2019-12-16 2020-11-17 Humanoid finger segment and humanoid finger and palm structure

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Publication number Priority date Publication date Assignee Title
CN111110408B (en) * 2019-12-16 2022-03-18 中国科学院深圳先进技术研究院 Finger knuckle, finger and palm structure of human imitation
CN212825433U (en) * 2020-06-01 2021-03-30 北京海益同展信息科技有限公司 Bionic thumb transmission structure, bionic hand and robot
CN113069252B (en) * 2021-03-30 2024-02-06 合肥工业大学 Umbrella tooth connecting rod configuration bionic artificial limb

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CN201182660Y (en) * 2008-04-10 2009-01-21 侯文浩 Multiple-joint servo controlled bionic hand for rehabilitation and help deformity
CN201631428U (en) * 2010-04-12 2010-11-17 段峰 Mechanical artificial hand with five fingers for independent driving
US20140288664A1 (en) * 2013-03-25 2014-09-25 Seiko Epson Corporation Finger assist device
CN103705323A (en) * 2014-01-14 2014-04-09 哈尔滨工业大学 Motor built-in type modularized prosthetic finger with self-locking function
CN107891438A (en) * 2017-12-26 2018-04-10 上海哲谦应用科技有限公司 One kind drives built-in multi-finger clever hand
CN109172061A (en) * 2018-09-10 2019-01-11 安阳市翔宇医疗设备有限责任公司 A kind of multivariant upper extremity prosthesis
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

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