CN114176853B - Pluggable artificial limb finger - Google Patents
Pluggable artificial limb finger Download PDFInfo
- Publication number
- CN114176853B CN114176853B CN202111624151.0A CN202111624151A CN114176853B CN 114176853 B CN114176853 B CN 114176853B CN 202111624151 A CN202111624151 A CN 202111624151A CN 114176853 B CN114176853 B CN 114176853B
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- Prior art keywords
- knuckle
- module
- finger
- electrical interface
- sealing cover
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Classifications
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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
-
- 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)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (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 invention discloses a pluggable prosthetic finger, which relates to the field of prosthetic limbs and comprises a first knuckle module, a second knuckle module, a third knuckle and a driving mechanism; the first knuckle module comprises a first knuckle body, a first electrical interface and a first sealing cover, the second knuckle module comprises a second knuckle body, a second electrical interface and a second sealing cover, and the driving mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a supporting seat; the second knuckle module is connected with the first knuckle module and the third knuckle, the third knuckle is connected with the second knuckle module and the supporting seat, the second knuckle module and the third knuckle are movably connected through a pin shaft, the third knuckle and the supporting seat are movably connected through a pin shaft, the supporting seat is connected with the palm portion of the artificial limb, and the driving mechanism drives the fingers to move. The invention improves the structure of the artificial limb fingertip, enables the artificial limb fingertip to be repeatedly inserted and pulled out, provides a debugging interface of the internal circuit of the artificial limb hand, and has wide adaptability and convenience.
Description
Technical Field
The invention relates to the field of artificial limbs, in particular to a pluggable artificial limb finger.
Background
The prosthetic hand provides convenience for disabled people with upper limb loss. With the development of the times and the continuous deepening of the technology of the prosthetic hand, the research of the prosthetic hand obtains the high importance of all social circles, and people also put forward new requirements on the prosthetic hand, including the capability of the prosthetic hand for sensing the outside.
The perception function mainly relies on the fingertip sensor, but present artificial limb fingertip sensor is various, in case break down need change or adjust, ordinary people hardly changes the fingertip alone, need wholly disassemble the artificial hand, adjusts the circuit, leads to current artificial hand to lack extensive suitability, and the cost is higher.
Accordingly, those skilled in the art have endeavored to develop a prosthetic finger that can be repeatedly inserted and removed, the root of which can be fitted to the palm of the prosthetic hand, and the five fingers being similar in structure but different in size.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides a prosthetic finger with repeated pluggable function.
In order to achieve the above object, the present invention provides a pluggable artificial finger, the finger includes a first knuckle module, a second knuckle module, a third knuckle and a driving mechanism; the first knuckle module comprises a first knuckle body, a first electrical interface and a first sealing cover, the second knuckle module comprises a second knuckle body, a second electrical interface and a second sealing cover, and the driving mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a supporting seat; the second knuckle module is connected with the first knuckle module and the third knuckle, the third knuckle is connected with the second knuckle module and the supporting seat, the second knuckle module is movably connected with the third knuckle through a pin shaft, the third knuckle is movably connected with the supporting seat through a pin shaft, the supporting seat is connected with the palm part of the artificial limb, and the driving mechanism drives the fingers to move.
Further, a sensor is arranged inside or on the surface of the first knuckle module and used for collecting sensing information.
Furthermore, the first knuckle body is connected with the first sealing cover through a screw, a first through hole is formed in the first sealing cover, the first electrical interface is installed in the first through hole, and the first electrical interface is a pluggable electrical interface.
Furthermore, the second knuckle body is connected with the second sealing cover through a screw, a second through hole is formed in the second sealing cover, the second electrical interface is installed in the second through hole, and the second electrical interface is a pluggable electrical interface.
Furthermore, the second knuckle body is provided with a groove, and the first knuckle body is connected with the groove through a buckle.
Further, the first knuckle module and the second knuckle module are configured to enable a mechanical connection and an electrical connection simultaneously.
Furthermore, the internal circuit of the prosthetic finger is led out from the tail end of the second knuckle module after passing through the first knuckle module and the second knuckle module, passes through the third knuckle and is connected with the internal circuit of the prosthetic finger.
Further, the second electrical interface may serve as a debug interface for the internal circuit of the prosthesis.
Further, the first connecting rod and the second connecting rod are installed inside the third knuckle, the third connecting rod is installed inside the supporting seat, and the third connecting rod is connected with a driving motor inside the prosthetic hand.
Further, the second knuckle module can rotate around a connecting shaft mounted on the third knuckle module, and the third knuckle module can rotate around the connecting shaft mounted on the supporting seat to achieve bending of the fingers.
In the preferred embodiment of the present invention, compared with the prior art, the present invention has the following beneficial effects:
1. the fingertip part can be repeatedly plugged and replaced, a modular concept is embodied, and wide adaptability of the valuable finger is ensured.
2. The second electrical interface of the second knuckle module can be used as a debugging interface of an internal circuit of the prosthetic hand, the prosthetic hand does not need to be disassembled integrally, and debugging is more convenient and faster.
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 diagram of a pluggable prosthetic finger in accordance with a preferred embodiment of the present invention;
figure 2 is a front and left side view of a pluggable prosthetic finger in accordance with a preferred embodiment of the present invention;
figure 3 is an exploded view of a first two knuckle module of a pluggable prosthetic finger in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of a first knuckle module of a pluggable prosthetic finger in accordance with a preferred embodiment of the present invention;
FIG. 5 is a diagram illustrating a second segment module of a pluggable prosthetic finger in accordance with a preferred embodiment of the present invention;
FIG. 6 is a cross-sectional view of a pluggable prosthetic finger in a preferred embodiment of the present invention;
FIG. 7 is a schematic view of the prosthetic finger with the first and second segments removed in accordance with a preferred embodiment of the present invention;
figure 8 is a schematic view of a bendable state of a pluggable prosthetic finger in accordance with a preferred embodiment of the present invention.
Wherein: 1-a first knuckle module, 2-a second knuckle module, 3-a third knuckle, 4-a support base, 5-a first pin shaft hole, 6-a second pin shaft hole, 7-a third pin shaft hole, 8-a fourth pin shaft hole, 9-a fifth pin shaft hole, 10-a sixth pin shaft hole, 11-a first knuckle body, 12-a first seal cover, 13-a first electrical interface, 14-a second electrical interface, 15-a second seal cover, 16-a second knuckle body, 17-a first screw hole, 18-a second screw hole, 19-a first connecting rod, 20-a second connecting rod and 21-a third connecting rod.
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 and fig. 2, fig. 1 is a schematic diagram of a prosthetic finger with a pluggable fingertip module, and fig. 2 is a front view and a left view of a prosthetic hand with a pluggable fingertip module. In an embodiment of the invention, the insertable prosthetic finger comprises a first knuckle module 1, a second knuckle module 2, a third knuckle 3 and a support base 4, the second knuckle module 2 connecting the first knuckle module 1 and said third knuckle 3, the third knuckle 3 connecting the second knuckle module 2 and the support base 4, the support base 4 being connected to the palm portion of the prosthetic hand (the palm of the prosthetic hand is not shown in the figures). Wherein, the first knuckle module 1 is provided with a sensor (the sensor is not shown in the figure) inside or on the surface thereof for collecting sensing information. The second knuckle module 2 is movably connected with the third knuckle 3 through a first pin shaft hole 5, and the third knuckle 3 is connected with the supporting seat 4 through a third pin shaft hole 7 and a fifth pin shaft hole 9.
As shown in fig. 3, 4 and 5, fig. 3 is an exploded view of the first and second knuckle modules of the pluggable prosthetic finger, fig. 4 is a schematic view of the first knuckle of the pluggable prosthetic finger, and fig. 5 is a schematic view of the second knuckle of the pluggable prosthetic finger. In an embodiment of the invention, the first knuckle module 1 of the pluggable prosthetic finger comprises a first knuckle body 11, a first cover 12 and a first electrical interface 13; the second knuckle module 2 comprises a second knuckle body 16, a second cover 15 and a second electrical interface 14. The first sealing cover 12 is fixedly connected with the first knuckle body 11 through a first screw hole 17 in the first sealing cover 12 by a mounting screw, a first through hole is formed in the first sealing cover 12, the first electrical interface 13 is fixed on the first sealing cover 12 through the first through hole, and the tail end of the first electrical interface 13 is connected with the sensor. The second cover 15 is connected with the second knuckle body 16 through a second screw hole 18 on the second cover 15 by a mounting screw, a second through hole is formed in the second cover 15, the second electrical interface 14 passes through the second through hole and is fixed on the second cover 15, and a tail end lead of the second electrical interface 14 is connected with an internal circuit of the artificial palm. The surface of the second knuckle body 16 is provided with two clamping grooves, the number of the clamping grooves can be two, the clamping grooves can be connected with the first knuckle body 11 through a buckle, the first knuckle body 11 is mechanically connected with the second knuckle body 16 through a buckle structure, and meanwhile, the first electrical interface 13 and the second electrical interface 14 can be electrically communicated through holes in the first sealing cover 12 and the second sealing cover 15 respectively.
As shown in fig. 6 and 8, fig. 6 is a cross-sectional view of a pluggable prosthetic finger, and fig. 8 is a flexed state of the pluggable prosthetic finger. In the embodiment of the present invention, the first link 19, the second link 20, the third link 21 and the support base 4 constitute a driving mechanism of the prosthetic finger, the first link 19 and the second link 20 are installed inside the third knuckle 3, the third link 21 is installed inside the support base 4, and the third link 21 is connected with a driving motor inside the prosthetic hand. The pin hole six 10 connects the second link 20 and the third link 21. The second knuckle module 2 is connected with the first connecting rod 19 through a second pin shaft hole 6, and the supporting seat 4 is connected with the first connecting rod 19 through a fourth pin shaft hole 8. Wherein, the supporting seat 4 is connected with the artificial limb palm, and the third connecting rod 21 is connected with the driving motor. When the motor in the prosthetic hand gives a vertical force to the third link 21, the third link 21 will drive the second link 20 to move, and at the same time, the third knuckle 3 starts to rotate, and the first link 19 drives the first knuckle module 1 and the second knuckle module 2 to start bending. In a preferred embodiment of the invention, the second knuckle module 2 is rotatable about a connecting axis on the third knuckle 3, and the third knuckle 3 is rotatable about an axis on said support base 4 to effect bending of the prosthetic finger. In some embodiments, the second knuckle module 2 may rotate about a pin shaft mounted in a pin shaft hole one 5 on the third knuckle 3, and the third knuckle 3 may rotate about a pin shaft mounted in a pin shaft hole three 7 on the support base 4.
As shown in fig. 7, fig. 7 is a schematic diagram of the pluggable prosthetic finger with the first and second knuckle modules 1 and 2 removed. In the embodiment of the invention, when the first knuckle module 1 and the second knuckle module 2 are removed, the second cover 15 and the second electrical interface 13 are exposed, and the second electrical interface 13 can be used as a debugging interface and a data acquisition interface of an internal circuit of the prosthetic hand, so that the whole prosthetic hand does not need to be disassembled when the prosthetic finger is repaired and detected, and the repair and detection are more convenient.
In the preferred embodiment of the present invention, the sizes, positions, numbers, etc. of the first screw holes 17 and the second screw holes 18 in the present invention are not limited, and may be designed according to the requirements of the specific embodiment.
In a preferred embodiment of the present invention, the first electrical interface 13 and the second electrical interface 14 in the present invention are pluggable interfaces, and specific interface forms may be, but are not limited to, pogo pin, micro usb, and other interface forms.
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 that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection determined by the claims.
Claims (10)
1. A pluggable prosthetic finger, wherein the finger includes the first knuckle module, the second knuckle module, the third knuckle and actuating mechanism; the first knuckle module comprises a first knuckle body, a first electrical interface and a first sealing cover, the second knuckle module comprises a second knuckle body, a second electrical interface and a second sealing cover, and the driving mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a supporting seat; the second knuckle module is connected with the first knuckle module and the third knuckle, the third knuckle is connected with the second knuckle module and the supporting seat, the second knuckle module and the third knuckle are movably connected through a pin shaft, the third knuckle and the supporting seat are movably connected through a pin shaft, the supporting seat is connected with the palm part of the artificial limb, and the driving mechanism drives the fingers to move;
the first electrical interface is fixed on the first sealing cover, and the tail end of the first electrical interface is connected with the sensor; the second electrical interface is fixed on the second sealing cover, and a lead at the tail end of the second electrical interface is connected with an internal circuit of the artificial palm; the first knuckle body is mechanically connected with the second knuckle body through a buckle structure, the first electrical interface and the second electrical interface are electrically communicated through the first sealing cover and the second sealing cover respectively, the first electrical interface adopts a pluggable electrical interface, and the second electrical interface adopts a pluggable electrical interface.
2. The finger of claim 1, wherein the first knuckle module is provided with a sensor inside or on its surface for collecting sensing information.
3. The finger of claim 1, wherein said first knuckle body is connected to said first cover by a screw, said first cover having a first through hole provided therein, said first electrical interface being mounted in said first through hole.
4. The finger of claim 1, wherein said second finger joint body is connected to said second cover by a screw, said second cover having a second through hole provided therein, said second electrical interface being mounted in said second through hole.
5. The finger of claim 1 wherein said second knuckle body is provided with a groove, said first knuckle body and said groove being connected by a snap fit.
6. The finger of claim 1, wherein said first knuckle module and said second knuckle module are configured to simultaneously make a mechanical connection and an electrical connection.
7. The finger of claim 1 wherein said internal prosthetic finger circuit passes through said first knuckle module and said second knuckle module, exits said second knuckle module end, passes through said third knuckle, and is connected to said internal prosthetic finger circuit.
8. The finger of claim 7 wherein said second electrical interface serves as a debug interface for said internal prosthesis circuitry.
9. The finger of claim 1 wherein said first link and said second link are mounted within said third knuckle, said third link being mounted within said support base, said third link being connected to a drive motor within said prosthetic hand.
10. The finger of claim 1, wherein said second knuckle module rotates about a connection axis mounted on said third knuckle, said third knuckle rotating about a connection axis mounted on said support base to effect bending of said finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111624151.0A CN114176853B (en) | 2021-12-28 | 2021-12-28 | Pluggable artificial limb finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111624151.0A CN114176853B (en) | 2021-12-28 | 2021-12-28 | Pluggable artificial limb finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114176853A CN114176853A (en) | 2022-03-15 |
| CN114176853B true CN114176853B (en) | 2023-03-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111624151.0A Active CN114176853B (en) | 2021-12-28 | 2021-12-28 | Pluggable artificial limb finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114176853B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203369995U (en) * | 2013-06-25 | 2014-01-01 | 华玥 | Multifunctional artificial limb |
| FR3010895A1 (en) * | 2013-09-24 | 2015-03-27 | Oscar Feltrin | CINEMATIC PROSTHESIS OF PARTIAL HAND |
| CN106038005A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Mounting structure of general prosthetic fingers of prosthetic hand |
| CN106426238A (en) * | 2015-08-10 | 2017-02-22 | 北京空间飞行器总体设计部 | Tendon-connecting rod hybrid transmission two-degree-of-freedom mechanism capable of self extending |
| CN106726027A (en) * | 2016-02-24 | 2017-05-31 | 吉林大学 | A kind of drive lacking prosthetic hand |
| MX2015016647A (en) * | 2015-12-03 | 2017-06-02 | Armando Bravo Castillo Luis | Functional finger prosthesis. |
| CN108214520A (en) * | 2016-12-13 | 2018-06-29 | 中国科学院沈阳自动化研究所 | A kind of drive lacking lightweight apery five-needle pines blister rust |
| CN113180893A (en) * | 2021-04-09 | 2021-07-30 | 杭州胖力科技有限公司 | Bionic hand device and control method thereof |
| WO2021244708A2 (en) * | 2020-06-05 | 2021-12-09 | Stefan Schulz | Metacarpus element with volume for a hand prosthesis |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11399967B2 (en) * | 2019-03-29 | 2022-08-02 | Psyonic, Inc. | System and method for a prosthetic hand having sensored brushless motors |
-
2021
- 2021-12-28 CN CN202111624151.0A patent/CN114176853B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203369995U (en) * | 2013-06-25 | 2014-01-01 | 华玥 | Multifunctional artificial limb |
| FR3010895A1 (en) * | 2013-09-24 | 2015-03-27 | Oscar Feltrin | CINEMATIC PROSTHESIS OF PARTIAL HAND |
| CN106426238A (en) * | 2015-08-10 | 2017-02-22 | 北京空间飞行器总体设计部 | Tendon-connecting rod hybrid transmission two-degree-of-freedom mechanism capable of self extending |
| CN106038005A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Mounting structure of general prosthetic fingers of prosthetic hand |
| MX2015016647A (en) * | 2015-12-03 | 2017-06-02 | Armando Bravo Castillo Luis | Functional finger prosthesis. |
| CN106726027A (en) * | 2016-02-24 | 2017-05-31 | 吉林大学 | A kind of drive lacking prosthetic hand |
| CN108214520A (en) * | 2016-12-13 | 2018-06-29 | 中国科学院沈阳自动化研究所 | A kind of drive lacking lightweight apery five-needle pines blister rust |
| WO2021244708A2 (en) * | 2020-06-05 | 2021-12-09 | Stefan Schulz | Metacarpus element with volume for a hand prosthesis |
| CN113180893A (en) * | 2021-04-09 | 2021-07-30 | 杭州胖力科技有限公司 | Bionic hand device and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114176853A (en) | 2022-03-15 |
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