CN111419489B - Linkage mechanism for realizing adduction and abduction of four fingers of artificial palm - Google Patents
Linkage mechanism for realizing adduction and abduction of four fingers of artificial palm Download PDFInfo
- Publication number
- CN111419489B CN111419489B CN202010286550.XA CN202010286550A CN111419489B CN 111419489 B CN111419489 B CN 111419489B CN 202010286550 A CN202010286550 A CN 202010286550A CN 111419489 B CN111419489 B CN 111419489B
- Authority
- CN
- China
- Prior art keywords
- palm
- connecting rod
- bone
- hinged
- finger
- 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.)
- Active
Links
Images
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
- A61F2/68—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
Abstract
The invention discloses a linkage mechanism for realizing adduction and abduction of four fingers of a palm part of a prosthetic hand, which relates to the field of medical rehabilitation instruments and life auxiliary appliances and comprises a four-finger rotating part, a connecting rod transmission part and a palm part; the four-finger rotating component is hinged with the palm component, and the connecting rod transmission component is hinged with the four-finger rotating component. By implementing the invention, the four fingers of the palm part of the artificial hand realize adduction-abduction movement, realize the function of clamping fingers, improve the flexibility and the humanoid property of the artificial hand and improve the comfort level of the disabled for wearing the artificial hand.
Description
Technical Field
The invention relates to the field of medical rehabilitation instruments and life auxiliary appliances, in particular to a linkage mechanism for realizing adduction and abduction of four fingers of a palm part of a prosthetic hand.
Background
According to the second disabled population sampling survey in 2006, the proportion of disabled population in the general population is 6.34%, wherein the main disabled category is the physical disabilities, and about 2412 thousands of people exist. The huge cardinality of the patients with limb disabilities makes the clinical requirements of rehabilitation therapy and the appliance supply have huge gaps, but the existing rehabilitation medical resources in China are far from meeting the requirements of the huge group. The department of health issued in 2011 "guidance for construction and management of medical science of comprehensive hospitals" requires that all the comprehensive hospitals above two levels must build the medical science of recovery, but the number of the comprehensive hospitals actually possessing the medical science is quite different from the requirement, and according to the statistics of the health planning committee, 3.3 thousands of hospitals across the country are obtained by 2 months in 2019, wherein 11304 hospitals above two levels (2498 hospitals across the three levels and 8806 hospitals across the two levels) obviously have serious shortage of medical departments of recovery in China. The human hand has evolved over millions of years with a high degree of dexterity and excellent handling properties. The hand is one of the most important limb parts of the human body, and various daily activities of people can not be separated from the hand. The limb disability caused by accidental injury and disease not only affects the appearance beauty but also seriously affects the life quality of patients. For the patients with limb disabilities, if the humanoid and flexible artificial hands cannot be expected in the heart of the patients, the comfortable feeling of wearing the patients can be seriously influenced, and the use efficiency of the artificial hands is reduced. At present, no matter the design of commercial artificial hand or research type artificial hand based on academic circles, the arrangement of the degree of freedom can simply realize the flexion and extension movement of fingers, the movement form is single, and the adduction and abduction functions of four fingers of the artificial hand are not fully realized. The hand of a person undertakes the most important work task in daily life, and the simple realization of the flexion-extension movement obviously cannot meet the requirements of disabled patients.
Therefore, those skilled in the art have made an effort to develop a linkage mechanism for achieving the inward contraction and outward expansion of the four fingers of the palm portion of the artificial hand, so as to improve the degree of freedom of the inward contraction and outward expansion of the four fingers, thereby increasing the grasping function of the artificial hand and achieving the inter-finger grasping action, thereby improving the human-like performance and the dexterity of the artificial hand.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the technical problems to be solved by the present invention are: how to realize the adduction-abduction function of four fingers of the palm of the artificial hand so as to improve the flexibility and the humanoid property of the artificial hand used by the disabled patient.
In order to achieve the aim, the invention provides a linkage mechanism for realizing the inward contraction and outward expansion of four fingers of a palm part of a prosthetic hand, which comprises a four-finger rotating component, a connecting rod transmission component and a palm component; the four-finger rotating component is hinged with the palm component, and the connecting rod transmission component is hinged with the four-finger rotating component.
Further, the four-finger rotating component comprises a small finger rotating bone, a ring finger rotating bone, a middle finger fixing bone and an index finger rotating bone.
Furthermore, the lower ends of the little finger rotating bone, the ring finger rotating bone and the index finger rotating bone are respectively provided with a short cylinder, and the little finger rotating bone, the ring finger rotating bone and the index finger rotating bone are respectively connected with the palm component through the short cylinders.
Further, the middle finger-fixing bone is fixedly connected with the palm component.
Further, the palm part comprises a palm inner cover and a palm outer cover, the palm inner cover and the palm outer cover are provided with positioning holes, and the short cylinder is connected with the positioning holes through hinges.
Furthermore, the connecting rod transmission part comprises a four-connecting-rod transmission mechanism, a linkage connecting rod, a steering wheel and a steering engine.
Further, the four-bar linkage transmission mechanism comprises a moon-shaped connecting bar, a spoon-shaped connecting bar, an arch-shaped connecting bar and a straight connecting bar.
Furthermore, one end of the moon-shaped connecting rod is hinged with one end of the little finger rotating bone, the other end of the moon-shaped connecting rod is hinged with the steering wheel and one end of the spoon-shaped connecting rod, the other end of the spoon-shaped connecting rod is hinged with one end of the arch-shaped connecting rod, the other end of the arch-shaped connecting rod is hinged with the straight connecting rod, the other end of the straight connecting rod is hinged with one end of the index finger rotating bone, the arch-shaped connecting rod is hinged with the palm inner cover, and two ends of the linkage connecting rod are respectively hinged with the little finger rotating bone and the ring finger rotating bone.
Furthermore, the steering engine is fixedly connected with the palm component, and the steering wheel is fixed on a gear of the steering engine; the rudder disc is hinged with the moon-shaped connecting rod and the spoon-shaped connecting rod.
Furthermore, the palm inner cover is provided with a fixed cylinder, and the fixed cylinder is connected with the arch connecting rod through a hinge.
Compared with the prior art, the invention at least has the following beneficial technical effects:
the linkage mechanism for realizing adduction and abduction of the four fingers of the palm part of the artificial hand provided by the invention realizes adduction and abduction of the rotary bones of the little finger, the rotary bones of the ring finger and the rotary bones of the forefinger by using the steering engine as a power source and through the transmission of the four-link transmission mechanism and the linkage connecting rod, has the advantages of ingenious structure, high integration level, simple operation, small size, flexibility and the like, improves the flexibility and the humanoid property of the artificial hand, improves the comfort level of wearing the artificial hand by a disabled patient, and improves the utilization rate of the artificial hand.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic view of the overall structure of a linkage mechanism for achieving the inward contraction and outward expansion of four fingers of a palm part of a prosthetic hand;
FIG. 2 is a schematic view of a four-finger rotating component of a linkage mechanism for realizing the inward contraction and outward expansion of four fingers of a palm part of a prosthetic hand;
FIG. 3 is a schematic view of a linkage mechanism link transmission part for realizing the inward contraction and outward expansion of four fingers of a prosthetic palm part of the invention;
FIG. 4 is a schematic diagram of a palm component of a linkage mechanism for achieving four-finger adduction and abduction of a prosthetic palm according to the present invention;
wherein: 1-a stationary cylinder; 2-rotating the bone with the index finger; 3-strengthening the bone by middle finger; 4-bone conversion by ring finger; 5-rotation of the little finger into the bone; 6-linkage connecting rod; 7-a steering engine; 8-straight connecting rod; 9-an arch link; 10-spoon shaped connecting rod; 11-a moon shaped linkage; 12-a rudder wheel; 13-short cylinder; 14-positioning holes; 15-inner palm cover; 16-palm outer cover.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in fig. 1 to 4, a linkage mechanism for realizing the four-finger adduction and abduction of a palm part of a prosthetic hand comprises a four-finger rotating component, a connecting rod transmission component and a palm component; the four-finger rotating component is hinged with the palm component, and the connecting rod transmission component is hinged with the four-finger rotating component.
The four-finger rotating component comprises a little finger rotating bone 5, a ring finger rotating bone 4, a middle finger fixing bone 3 and an index finger rotating bone 2; the upper end and the lower end of the parts of the little finger rotating bone 5, the ring finger rotating bone 4 and the index finger rotating bone 2 are respectively provided with a short cylinder 13 which is hinged with a positioning hole 14 in the palm component so as to realize the rotating function of each rotating bone.
The connecting rod transmission part comprises a four-connecting-rod transmission mechanism, a linkage connecting rod 6, a steering wheel 12 and a steering engine 7; the four-connecting-rod transmission mechanism consists of a moon-shaped connecting rod 11, a spoon-shaped connecting rod 10, an arch-shaped connecting rod 9 and a straight connecting rod 8; one end of a moon-shaped connecting rod 11 is hinged with one end of a little finger rotating bone 5 in a four-finger rotating component, the other end of the moon-shaped connecting rod 11 is hinged with a rudder plate 12 and one end of a spoon-shaped connecting rod 10, the other end of the spoon-shaped connecting rod 10 is hinged with one end of an arch-shaped connecting rod 9, the other end of the arch-shaped connecting rod 9 is hinged with a straight connecting rod 8, the other end of the straight connecting rod 8 is hinged with one end of a forefinger rotating bone 2 in the four-finger rotating component, the arch-shaped connecting rod 9 is hinged with an inner palm cover 15, and two ends of a linkage connecting rod 6 are respectively hinged with the little finger rotating bone 5 and a ring finger rotating bone 4. Steering wheel 7 and palm part fixed connection, steering wheel 12 are fixed on steering wheel 7 gear, and the other end of steering wheel 12 and moon-shaped connecting rod 11 and spoon-shaped connecting rod 10 one end hinged joint can transmit the drive power that steering wheel 7 produced to four link drive mechanisms in.
The palm section comprises an inner palm cover 15 and an outer palm cover 16, and the four finger rotating members are hinged to positioning holes 14 in the palm section. The palm inner cover 15 is provided with a fixed cylinder 1 which is hinged with an arched connecting rod 9, and a steering engine 7 in a connecting rod transmission component is fixedly connected with the palm inner cover 15.
The middle finger fixing bone 3 is fixedly connected with the inner palm cover 15; the middle finger can be fixed relative to the palm, and the little finger, the ring finger and the index finger can rotate relative to the palm at a certain angle, so that the adduction and abduction functions of the four fingers are realized.
Through the rotatory steering wheel 12 that drives of steering wheel 7, can make four-bar linkage drive mechanism drive little finger respectively and change bone 5 and forefinger and change bone 2 and be relative rotation state, little finger changes bone 5 and will make the third finger change bone 4 through linkage connecting rod 6 and take place to rotate, can realize that the solid bone of well finger 3 is fixed, and little finger changes bone 5, and forefinger changes bone 2 and third finger and changes bone 4 and produce relative rotation for the solid bone of well finger 3, realizes the adduction abduction function of the four fingers of artificial palm portion.
The rotating angle and speed of the steering engine 7 can be adjusted to influence the force generated in the four-link transmission mechanism, so that the rotating angles and speeds of the small finger rotating bone 5, the ring finger rotating bone 4 and the index finger rotating bone 2 can be adjusted to realize the function of clamping different fingertips.
The steps of this example are as follows:
1. after the mechanism provided by the invention is installed: the four fingers are in an initial state of being closed by finely adjusting the steering engine 7.
2. The control terminal is opened, the steering engine 7 is controlled through a forward program, the steering engine 7 drives the steering wheel 12 to rotate in a forward direction after being electrified, the steering wheel 12 drives the moon-shaped connecting rod 11 and the spoon-shaped connecting rod 10 to rotate in a forward direction, the moon-shaped connecting rod 11 drives the little finger turning bone 5 to rotate in a forward direction, the little finger turning bone 5 drives the linkage connecting rod 6 to rotate in a forward direction, the linkage connecting rod 6 drives the ring finger turning bone 4 to rotate in a forward direction, the spoon-shaped connecting rod 10 drives the arch connecting rod 9 to rotate in a forward direction, the arch connecting rod 9 drives the straight connecting rod 8 to rotate in a forward direction, and the straight connecting rod 8 drives the index finger turning bone 2 to rotate in a forward direction, so that the four-finger abduction action is realized.
3. The control terminal is opened, the steering engine 7 is controlled through a reverse program, the steering engine 7 drives the steering wheel 12 to rotate reversely after being electrified, the steering wheel 12 drives the moon-shaped connecting rod 11 and the spoon-shaped connecting rod 10 to rotate reversely, the moon-shaped connecting rod 11 drives the little finger rotating bone 5 to rotate reversely, the little finger rotating bone 5 drives the linkage connecting rod 6 to rotate reversely, the linkage connecting rod 6 drives the ring finger rotating bone 4 to rotate reversely, the spoon-shaped connecting rod 10 drives the arch connecting rod 9 to rotate reversely, the arch connecting rod 9 drives the straight connecting rod 8 to rotate reversely, and the straight connecting rod 8 drives the index finger rotating bone 2 to rotate reversely, so that the inward contraction action of four fingers is realized.
Compared with the prior art, the linkage mechanism for realizing adduction and abduction of the four fingers of the palm part of the artificial hand can realize adduction and abduction of the four fingers of the artificial hand through the adduction and abduction linkage mechanism of the four fingers of the palm part of the artificial hand by taking the steering engine 7 as a power source, realize different finger tip clamping functions, improve the flexibility and the humanoid performance of the artificial hand and improve the comfort level of a disabled patient for wearing the artificial hand.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (8)
1. A linkage mechanism for realizing adduction and abduction of four fingers of a palm part of a prosthetic hand is characterized by comprising a four-finger rotating component, a connecting rod transmission component and a palm component; the four-finger rotating component is hinged with the palm component, and the connecting rod transmission component is hinged with the four-finger rotating component;
the connecting rod transmission part comprises a four-connecting-rod transmission mechanism, a linkage connecting rod, a steering wheel and a steering engine, and the four-connecting-rod transmission mechanism comprises a moon-shaped connecting rod, a spoon-shaped connecting rod, an arch-shaped connecting rod and a straight connecting rod.
2. The linkage mechanism for realizing adduction-abduction of the four fingers of the palm of a prosthetic hand according to claim 1, wherein the four-finger rotating components comprise a little finger rotating bone, a ring finger rotating bone, a middle finger fixing bone and an index finger rotating bone.
3. The linkage mechanism for realizing adduction-abduction of four fingers of a palm part of a prosthetic hand according to claim 2, wherein the lower ends of the little finger rotary bone, the ring finger rotary bone and the index finger rotary bone are respectively provided with a short cylinder, and the little finger rotary bone, the ring finger rotary bone and the index finger rotary bone are respectively hinged with the palm part through the short cylinders.
4. The linkage mechanism for realizing adduction-abduction of four fingers of a prosthetic palm according to claim 3, wherein the middle finger-fixing bone is fixedly connected with the palm member.
5. The linkage mechanism for realizing adduction-abduction of four fingers of a palm part of a prosthetic hand as claimed in claim 3, wherein said palm part comprises an inner palm cover and an outer palm cover, said inner palm cover and said outer palm cover are provided with positioning holes, and said short cylinders are hinged with said positioning holes.
6. The linkage mechanism for realizing adduction-abduction of the four fingers of the palm of a prosthetic hand according to claim 5, wherein one end of the moon-shaped link is hinged to one end of the little finger turning bone, the other end of the moon-shaped link is hinged to the steering wheel and one end of the spoon-shaped link, the other end of the spoon-shaped link is hinged to one end of the arch-shaped link, the other end of the arch-shaped link is hinged to the straight link, the other end of the straight link is hinged to one end of the index finger turning bone, the arch-shaped link is hinged to the inner palm cover, and two ends of the linkage link are respectively hinged to the little finger turning bone and the ring finger turning bone.
7. The linkage mechanism for realizing adduction and abduction of four fingers of a palm part of a prosthetic hand as claimed in claim 6, wherein the steering engine is fixedly connected with the palm part, and the steering wheel is fixed on a gear of the steering engine; the rudder disc is hinged with the moon-shaped connecting rod and the spoon-shaped connecting rod.
8. The linkage mechanism for realizing adduction-abduction of four fingers of a palm of a prosthetic hand as claimed in claim 6, wherein said palm inner lid is provided with a fixed cylinder, and said fixed cylinder is hinged with said arched link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010286550.XA CN111419489B (en) | 2020-04-13 | 2020-04-13 | Linkage mechanism for realizing adduction and abduction of four fingers of artificial palm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010286550.XA CN111419489B (en) | 2020-04-13 | 2020-04-13 | Linkage mechanism for realizing adduction and abduction of four fingers of artificial palm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111419489A CN111419489A (en) | 2020-07-17 |
| CN111419489B true CN111419489B (en) | 2021-09-24 |
Family
ID=71557879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010286550.XA Active CN111419489B (en) | 2020-04-13 | 2020-04-13 | Linkage mechanism for realizing adduction and abduction of four fingers of artificial palm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111419489B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2608848A (en) * | 2021-07-14 | 2023-01-18 | James Attard Kingswell Alan | Artificial hand |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486188A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Hand four fingers side extending apparatus of bionic robot |
| CN101491900A (en) * | 2009-03-02 | 2009-07-29 | 清华大学 | Man-like robot finger side-swaying device |
| CN101549496A (en) * | 2009-05-08 | 2009-10-07 | 清华大学 | Tendon-type four finger abducting device of a robot hand |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102127372B1 (en) * | 2018-09-04 | 2020-06-30 | 한국생산기술연구원 | Robot hand |
-
2020
- 2020-04-13 CN CN202010286550.XA patent/CN111419489B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486188A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Hand four fingers side extending apparatus of bionic robot |
| CN101491900A (en) * | 2009-03-02 | 2009-07-29 | 清华大学 | Man-like robot finger side-swaying device |
| CN101549496A (en) * | 2009-05-08 | 2009-10-07 | 清华大学 | Tendon-type four finger abducting device of a robot hand |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111419489A (en) | 2020-07-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6712332B2 (en) | Prosthetic hand | |
| Dellon et al. | Prosthetics, exoskeletons, and rehabilitation [grand challenges of robotics] | |
| JP2018525207A (en) | Biomechanical thumb | |
| JP2018518339A (en) | Biomechanical bi-directional full prosthesis constructed to perform abduction and adduction by MCP pivot | |
| Semasinghe et al. | Transradial prostheses: Trends in development of hardware and control systems | |
| Leeb et al. | On the road to a neuroprosthetic hand: a novel hand grasp orthosis based on functional electrical stimulation | |
| CN103356312B (en) | A kind of 6DOF artificial limb arm driven by electromyographic signal | |
| CN111419489B (en) | Linkage mechanism for realizing adduction and abduction of four fingers of artificial palm | |
| Graham et al. | Restoring form and function to the partial hand amputee: prosthetic options from the fingertip to the palm | |
| Serbest et al. | Design, development and evaluation of a new hand exoskeleton for stroke rehabilitation at home | |
| Nemoto et al. | F3Hand II: A flexible five-fingered prosthetic hand using curved pneumatic artificial muscles | |
| Gopura et al. | An exoskeleton robot for human forearm and wrist motion assist-hardware design and EMG-based controller | |
| CN212592587U (en) | Linkage mechanism for realizing adduction and abduction of four fingers of artificial palm | |
| Gopura et al. | Development of an exoskeleton robot for human wrist and forearm motion assist | |
| CN203425068U (en) | Six-degree-of-freedom artificial arm driven by electromyographic signals | |
| CN209933083U (en) | Wearable elastic rigid composite rod artificial limb finger | |
| US11000398B2 (en) | Flexor hinge orthosis and wrist-driven flexor hinge orthosis | |
| Beasley | Surgical treatment of hands for C5-C6 tetraplegia | |
| Hentz et al. | Changing perspectives in surgical hand rehabilitation in quadriplegic patients | |
| Tubiana et al. | Functional Anatomy of the Hand (First of a Series of Three Articles) | |
| US3521303A (en) | Artificial hand for prostheses with bioelectrical control | |
| Engen | Development of externally powered upper extremity orthotic systems | |
| Li et al. | The prosthetic arm: A dramatic improvement for the limb amputation from the humerus | |
| Rose et al. | Design of an assistive, glove-based exoskeleton | |
| Plettenburg et al. | Voluntary closing: A promising opening in hand prosthetics |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |