CN1292719C - Self-adapting artificial hand lack of actuating - Google Patents
Self-adapting artificial hand lack of actuating Download PDFInfo
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- CN1292719C CN1292719C CNB2004100135503A CN200410013550A CN1292719C CN 1292719 C CN1292719 C CN 1292719C CN B2004100135503 A CNB2004100135503 A CN B2004100135503A CN 200410013550 A CN200410013550 A CN 200410013550A CN 1292719 C CN1292719 C CN 1292719C
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Abstract
The present invention discloses a self-adaptive artificial hand device lacking of driving, which relates to a structure of an anthropomorphic mechanical hand and an artificial hand of a disabled person. Driving mechanisms of a forefinger (103), a middle finger (104), a third finger (105) and a little finger (106) of the self-adaptive artificial hand device are the same. An end joint shaft (2) is arranged at an upper end between a left side plate (20) of a middle finger joint and a right side plate (21) of the middle finger joint, and a middle joint connecting rod shaft (5) is arranged at an upper end between a left side plate (17) of a near finger joint and a right side plate (18) of the near finger joint. The lower end of a fingertip (22) is arranged on the end joint shaft (2). The driving mechanisms of the forefinger (103) and the middle finger (104) are the same. A large bevel gear shaft (9) is arranged on a finger base (10), and a small bevel gear (14) is fixed on an output shaft of a motor (12). A large bevel gear (15) is fixed at one end of a large bevel gear shaft sleeve (31), and a small straight gear (33) is fixed at the other end of the large bevel gear shaft sleeve (31). The self-adaptive artificial hand device has the advantages of simple structure, light weight, small volume, large grasping force, stable grasp and wide grasping range. The self-adaptive artificial hand device can completely coat an object, and can grasp objects with different shapes.
Description
Technical field: the present invention relates to the structure that anthropomorphic manipulator and people with disability do evil through another person.
Background technology: anthropomorphic robot's important device is exactly a mechanical hand.The big or small direct relation of mechanical hand robot manipulation's levels of precision, and this is the problem that anthropomorphic robot's technical field is all being studied always.Publication number is that CN1410233A, name are called the application for a patent for invention of " activation lacking mechanical finger device with form adaptive ", though improve to some extent than U.S. patent of invention US5762390 and Chinese invention patent application CN1365875A, but the volume of its finger apparatus is still bigger, can't satisfy the needs that anthropomorphic manipulator is small and exquisite accurately, activity is sensitive, adaptivity is strong.
Summary of the invention: the objective of the invention is to develop a kind of under-driven adaptive prosthetic hand device, it have simple in structure, volume is little, in light weight, reliable in action, characteristics that adaptivity is strong.The present invention comprises thumb 101, palm 102, forefinger 103, middle finger 104, the third finger 105, little finger of toe 106, and thumb 101, forefinger 103, middle finger 104, the third finger 105, little finger of toe 106 are fixed on the palm 102 successively;
A, forefinger 103, middle finger 104, nameless 105, the driving mechanism of little finger of toe 106 is identical, by fingertip 1, end joint shaft 2, joint, end torsion spring 3, middle finger joint connecting rod 4, middle joint pitman shaft 5, middle joint torsion spring 6, nearly dactylus connecting rod 7, base joint moment sensor 8, nearly dactylus lower cover 16, nearly dactylus left plate 17, nearly dactylus right plate 18, middle finger joint lower cover 19, middle finger joint left plate 20, middle finger joint right plate 21, finger tip 22, No. four pitman pins 23, No. three spring backing pins 24, No. three pitman pins 25, No. two spring backing pins 26, No. two pitman pins 27, a spring backing pin 28, No. one pitman pin 29 is formed, end joint shaft 2 is arranged on the upper end between middle finger joint left plate 20 and the middle finger joint right plate 21, middle joint pitman shaft 5 is arranged on the upper end between nearly dactylus left plate 17 and the nearly dactylus right plate 18, the lower end of finger tip 22 is located on the last joint shaft 2, fingertip 1 is fixed on the finger tip 22, No. three spring backing pins 24 are fixed on the inner top side of middle finger joint right plate 21, joint, end torsion spring 3 is arranged on the last joint shaft 2, a spring backing pin 28 is fixed on the inner top side of nearly dactylus right plate 18, middle joint torsion spring 6 is arranged on the middle joint pitman shaft 5, the lower side of finger tip 22 is fixed with pitman pin 23 No. four, be fixed with No. three pitman pins 25 and No. two pitman pins 27 on the connecting rod 5-1 of middle joint pitman shaft 5, one end of middle finger joint connecting rod 4 is located on No. four pitman pins 23, the other end of middle finger joint connecting rod 4 is located on No. three pitman pins 25, one end of nearly dactylus connecting rod 7 is located on No. two pitman pins 27, the other end of nearly dactylus connecting rod 7 and an end of basic joint moment sensor 8 are with being arranged on pitman pin 29, No. two spring backing pin 26 is fixed on the connecting rod 5-1, middle finger joint lower cover 19 is fixed on the palm of the hand one side between middle finger joint left plate 20 and the middle finger joint right plate 21, and nearly dactylus lower cover 16 is fixed on the palm of the hand one side between nearly dactylus left plate 17 and the nearly dactylus right plate 18.
B, forefinger 103 are identical with the drive mechanism of middle finger 104, by large bevel gear axle 9, refer to pedestal 10, motor cabinet 11, motor 12, refer to that basic joint shaft 13, cone pinion 14, large bevel gear 15, large straight gear 30, large bevel gear axle sleeve 31, pivot pin 32, small Spur gear 33 form; Refer to that pedestal 10 is fixed on the upper end of motor cabinet 11, motor 12 is fixed on the lower end of motor cabinet 11, large bevel gear axle 9 is arranged on and refers on the pedestal 10, cone pinion 14 is fixed on the output shaft of motor 12, one end of large bevel gear axle sleeve 31 is fixed with large bevel gear 15, the other end of large bevel gear axle sleeve 31 is fixed with small Spur gear 33, large bevel gear axle sleeve 31 is fixed on the large bevel gear axle 9 by pivot pin 32, large bevel gear 15 and cone pinion 14 engagements, refer to that basic joint shaft 13 is located at the top that refers to pedestal 10, the other end of base joint moment sensor 8 and large straight gear 30 refer on the basic joint shaft 13 with being fixed on, large straight gear 30 and small Spur gear 33 engagements.
C, middle finger 104 are provided with middle finger driving pulley 36 and middle finger driving pulley alignment pin 35, and middle finger driving pulley 36 is fixed on the termination that refers to basic joint shaft 13 by middle finger driving pulley alignment pin 35.
D, nameless 105 identical with drive mechanism on the little finger of toe 106 is by referring to driven pulley 38, refer to driven pulley alignment pin 39, basic joint spring support 40, referring to that alignment pin 45, the basic joint spring 46 of pedestal 41, No. two basic joint spring supports 42, No. two basic joint spring supports form for No. two; The both wings that refer to pedestal 41 for No. two are located on the finger base joint shaft 13 of nearly dactylus left plate 17 and nearly dactylus right plate 18 both sides, refer to that driven pulley 38 is by referring to that driven pulley alignment pin 39 is fixed on the termination that refers to basic joint shaft 13 1 sides, No. one basic joint spring support 40 is replaced basic joint moment sensor 8, pitman pin 29 is located in pin shaft hole 57 on the basic joint spring support 40, base joint spring 46 is located on the finger base joint shaft 13 on spring support 40 right sides, a basic joint, No. two basic joint spring support 42 is located on the finger base joint shaft 13 on spring 46 right sides, basic joint, right-hand member head on the base joint spring 46 is located in No. two holes 34 on the basic joint spring support 42, the left end head of base joint spring 46 is located in hole 37 on the basic joint spring support 40, and No. two basic joint spring supports 42 alignment pin 45 by No. two basic joint spring supports is fixed on and refers on the basic joint shaft 13.
E, nameless 105 is provided with nameless driving pulley 44 and nameless driving pulley alignment pin 43, and nameless driving pulley 44 is fixed on the termination that refers to basic joint shaft 13 opposite sides by nameless driving pulley alignment pin 43.
Be provided with No. one between the finger driven pulley 38 on f, the middle finger driving pulley 36 and nameless 105 and be with 51 synchronously, be provided with No. two between the finger driven pulley 38 on nameless driving pulley 44 and the little finger of toe 106 and be with 52 synchronously.
The present invention has simple in structure, and is in light weight, and volume is little, and grasp force is big, can adapt to the shape of object, reaches complete envelope object, and grasping is stable, can grasp difform object, the advantage that the scope of extracting is wide.
Description of drawings: Fig. 1 is an overall structure sketch map of the present invention, Fig. 2 is the structural representation of forefinger 103, Fig. 3 is that the A of Fig. 2 is to view, Fig. 4 is the structural representation of middle finger 104, Fig. 5 is nameless 105 structural representation, and Fig. 6 is the decomposition texture sketch map of Fig. 5, and Fig. 7 is the structural representation of little finger of toe 106, Fig. 8 is middle finger, nameless and little finger of toe drive connection structural representation, and Fig. 9 is the structural representation of thumb 101.
The specific embodiment one: (see that Fig. 1～Fig. 8) present embodiment is made up of thumb 101, palm 102, forefinger 103, middle finger 104, the third finger 105, little finger of toe 106, thumb 101, forefinger 103, middle finger 104, the third finger 105, little finger of toe 106 are fixed on the palm 102 successively;
A, forefinger 103, middle finger 104, nameless 105, the driving mechanism of little finger of toe 106 is identical, by fingertip 1, end joint shaft 2, joint, end torsion spring 3, middle finger joint connecting rod 4, middle joint pitman shaft 5, middle joint torsion spring 6, nearly dactylus connecting rod 7, base joint moment sensor 8, nearly dactylus lower cover 16, nearly dactylus left plate 17, nearly dactylus right plate 18, middle finger joint lower cover 19, middle finger joint left plate 20, middle finger joint right plate 21, finger tip 22, No. four pitman pins 23, No. three spring backing pins 24, No. three pitman pins 25, No. two spring backing pins 26, No. two pitman pins 27, a spring backing pin 28, No. one pitman pin 29 is formed, end joint shaft 2 is arranged on the upper end between middle finger joint left plate 20 and the middle finger joint right plate 21, middle joint pitman shaft 5 is arranged on the upper end between nearly dactylus left plate 17 and the nearly dactylus right plate 18, the lower end of finger tip 22 is located on the last joint shaft 2, fingertip 1 is fixed on the finger tip 22, No. three spring backing pins 24 are fixed on the inner top side of middle finger joint right plate 21, joint, end torsion spring 3 is arranged on the last joint shaft 2, a spring backing pin 28 is fixed on the inner top side of nearly dactylus right plate 18, middle joint torsion spring 6 is arranged on the middle joint pitman shaft 5, the lower side of finger tip 22 is fixed with pitman pin 23 No. four, be fixed with No. three pitman pins 25 and No. two pitman pins 27 on the connecting rod 5-1 of middle joint pitman shaft 5, one end of middle finger joint connecting rod 4 is located on No. four pitman pins 23, the other end of middle finger joint connecting rod 4 is located on No. three pitman pins 25, one end of nearly dactylus connecting rod 7 is located on No. two pitman pins 27, the other end of nearly dactylus connecting rod 7 and an end of basic joint moment sensor 8 are with being arranged on pitman pin 29, No. two spring backing pin 26 is fixed on the connecting rod 5-1, middle finger joint lower cover 19 is fixed on the palm of the hand one side between middle finger joint left plate 20 and the middle finger joint right plate 21, and nearly dactylus lower cover 16 is fixed on the palm of the hand one side between nearly dactylus left plate 17 and the nearly dactylus right plate 18.
B, forefinger 103 are identical with the drive mechanism of middle finger 104, by large bevel gear axle 9, refer to pedestal 10, motor cabinet 11, motor 12, refer to that basic joint shaft 13, cone pinion 14, large bevel gear 15, large straight gear 30, large bevel gear axle sleeve 31, pivot pin 32, small Spur gear 33 form; Refer to that pedestal 10 is fixed on the upper end of motor cabinet 11, motor 12 is fixed on the lower end of motor cabinet 11, large bevel gear axle 9 is arranged on and refers on the pedestal 10, cone pinion 14 is fixed on the output shaft of motor 12, one end of large bevel gear axle sleeve 31 is fixed with large bevel gear 15, the other end of large bevel gear axle sleeve 31 is fixed with small Spur gear 33, large bevel gear axle sleeve 31 is fixed on the large bevel gear axle 9 by pivot pin 32, large bevel gear 15 and cone pinion 14 engagements, refer to that basic joint shaft 13 is located at the top that refers to pedestal 10, the other end of base joint moment sensor 8 and large straight gear 30 refer on the basic joint shaft 13 with being fixed on, large straight gear 30 and small Spur gear 33 engagements.
C, middle finger 104 are provided with middle finger driving pulley 36 and middle finger driving pulley alignment pin 35, and middle finger driving pulley 36 is fixed on the termination that refers to basic joint shaft 13 by middle finger driving pulley alignment pin 35.
D, nameless 105 identical with drive mechanism on the little finger of toe 106 is by referring to driven pulley 38, refer to driven pulley alignment pin 39, basic joint spring support 40, referring to that alignment pin 45, the basic joint spring 46 of pedestal 41, No. two basic joint spring supports 42, No. two basic joint spring supports form for No. two; The both wings that refer to pedestal 41 for No. two are located on the finger base joint shaft 13 of nearly dactylus left plate 17 and nearly dactylus right plate 18 both sides, refer to that driven pulley 38 is by referring to that driven pulley alignment pin 39 is fixed on the termination that refers to basic joint shaft 13 1 sides, No. one basic joint spring support 40 is replaced basic joint moment sensor 8, pitman pin 29 is located in pin shaft hole 57 on the basic joint spring support 40, base joint spring 46 is located on the finger base joint shaft 13 on spring support 40 right sides, a basic joint, No. two basic joint spring support 42 is located on the finger base joint shaft 13 on spring 46 right sides, basic joint, right-hand member head on the base joint spring 46 is located in No. two holes 34 on the basic joint spring support 42, the left end head of base joint spring 46 is located in hole 37 on the basic joint spring support 40, and No. two basic joint spring supports 42 alignment pin 45 by No. two basic joint spring supports is fixed on and refers on the basic joint shaft 13.
E, nameless 105 is provided with nameless driving pulley 44 and nameless driving pulley alignment pin 43, and nameless driving pulley 44 is fixed on the termination that refers to basic joint shaft 13 opposite sides by nameless driving pulley alignment pin 43.
Be provided with No. one between the finger driven pulley 38 on f, the middle finger driving pulley 36 and nameless 105 and be with 51 synchronously, be provided with No. two between the finger driven pulley 38 on nameless driving pulley 44 and the little finger of toe 106 and be with 52 synchronously.
(see figure 9) thumb 101 lacks a middle finger joint than forefinger 103, and the upper end of promptly near dactylus connecting rod 7 is directly arranged on No. four pitman pins 23, and other composition is identical with forefinger 103 with annexation.
The specific embodiment two: the difference of the (see figure 8) present embodiment and the specific embodiment one is, on the palm 102 of nameless 105 lower ends, be fixed with nameless pre-locking bracket 53, the medicated cap end of nameless pretension screw 54 is located in the through hole 59 on the nameless pre-locking bracket 53, and nameless pretension screw 54 is threaded with nameless 105 No. two finger pedestals 41.Other composition is identical with the specific embodiment one with annexation.
The specific embodiment three: the difference of the (see figure 8) present embodiment and the specific embodiment one is, on the palm 102 of little finger of toe 106 lower ends, be fixed with the pre-locking bracket 55 of little finger of toe, the medicated cap end of little finger of toe pretension screw 56 is located in the through hole 60 on the pre-locking bracket 55 of little finger of toe, refers to that pedestals 41 are threaded No. two of little finger of toe pretension screw 56 and little finger of toe 106.Other composition is identical with the specific embodiment one with annexation.
Operation principle: motor output shaft drives cone pinion 14 and rotates, and cone pinion 14 drives large bevel gear 15 motions; The motion of large bevel gear 15 drives small Spur gear 33 and rotates, thereby drives large straight gear 30 motions; The motion of large straight gear 30 drives 8 motions of basic joint moment sensor, the bending that drives whole finger by basic joint moment sensor 8 with stretch.The driving of finger realizes by two quadric chains, wherein one group of four connecting rod is made up of basic joint moment sensor 8, nearly dactylus connecting rod 7, middle joint pitman shaft 5, nearly dactylus left plate 17 and nearly dactylus right plate 18, and another is organized four connecting rods and is made of middle joint pitman shaft 5, middle finger joint connecting rod 4, finger tip 22, middle finger joint left plate 20 and middle finger joint right plate 21.When travelling forward, basic joint moment sensor 8 drives whole finger motion, if finger is not run into object, so whole finger keeps directing at around single fulcrum (forefinger base joint shaft 13) rotating under the effect of middle joint torsion spring 6, last joint torsion spring 3, middle joint and last joint mechanical position limitation; When nearly dactylus lower cover 16 touched object earlier, joint torsion spring 6 torque drive middle finger joints and last dactylus rotated around middle joint pitman shaft 5 during basic joint moment sensor 8 overcame, and middle finger joint and last dactylus keep straight configuration; When middle finger joint lower cover 19 touched object earlier, nearly dactylus and middle finger joint kept straight configuration, and the torque drive finger tip of joint torsion spring 6 and last joint torsion spring 3 rotated around last joint shaft 2 during basic joint moment sensor 8 overcame; When the fingertip 1 on being contained in finger tip 22 contacted object earlier, whole finger kept directing at accurately grasping.Middle finger base joint shaft 13 ends of middle finger are equipped with a middle finger driving pulley 36, and driving pulley 36 is fixing with the basic joint shaft 13 of middle finger by middle finger driving pulley alignment pin 35.Driving pulley is used for driving nameless and the little finger of toe motion.Nameless BENDING PROCESS: the nameless basic joint shaft 13 that moves through of nameless driven pulley 38 drives 42 rotations of basic joint spring support, the rotation of base joint spring support 42 makes basic joint spring 46 produce certain moment of torsion, rotates thereby drive basic joint spring support 40.Base joint spring support 40 drives the motion of whole finger.The third finger stretches process: nameless driven pulley 38 moves round about, and the moment of torsion that relies on basic joint spring 46 to produce drives whole finger and stretches and restPose.After whole finger touched object, nameless driven pulley 38 still can rotate forward during stop motion, and its rotation will make basic joint spring produce moment of torsion.The motion transmission scheme of nameless and little finger of toe: middle finger by middle finger driving pulley 36, be with 51 for No. one synchronously, nameless driven pulley 38 transmits motion to nameless basic joint, again by nameless driving pulley 44, be with synchronously for No. two 52 and little finger of toe driven pulley 48 transmit motion to nameless basic joint.When middle finger moves, can drive nameless and little finger of toe moves simultaneously by the synchronous band of two-stage, even the third finger or little finger of toe have one to contact and stop motion with object, perhaps both while stop motions, middle finger can continue to move, up to the complete envelope object of middle finger.Realize by nameless pretension screw 54 with 51 pretension synchronously for No. one, realize by little finger of toe pretension screw 56 with 52 pretension synchronously for No. two.
Claims (3)
1, under-driven adaptive prosthetic hand device, it comprises thumb (101), palm (102), forefinger (103), middle finger (104), nameless (105), little finger of toe (106), and thumb (101), forefinger (103), middle finger (104), nameless (105), little finger of toe (106) are fixed on the palm (102) successively; It is characterized in that
A, forefinger (103), middle finger (104), nameless (105), the driving mechanism of little finger of toe (106) is identical, by fingertip (1), end joint shaft (2), end joint torsion spring (3), middle finger joint connecting rod (4), middle joint pitman shaft (5), middle joint torsion spring (6), nearly dactylus connecting rod (7), base joint moment sensor (8), nearly dactylus lower cover (16), nearly dactylus left plate (17), nearly dactylus right plate (18), middle finger joint lower cover (19), middle finger joint left plate (20), middle finger joint right plate (21), finger tip (22), No. four pitman pins (23), No. three spring backing pins (24), No. three pitman pins (25), No. two spring backing pins (26), No. two pitman pins (27), a spring backing pin (28), a pitman pin (29) is formed, end joint shaft (2) is arranged on the upper end between middle finger joint left plate (20) and the middle finger joint right plate (21), middle joint pitman shaft (5) is arranged on the upper end between nearly dactylus left plate (17) and the nearly dactylus right plate (18), the lower end of finger tip (22) is located on the last joint shaft (2), fingertip (1) is fixed on the finger tip (22), No. three spring backing pins (24) are fixed on the inner top side of middle finger joint right plate (21), end joint torsion spring (3) is arranged on the last joint shaft (2), a spring backing pin (28) is fixed on the inner top side of nearly dactylus right plate (18), middle joint torsion spring (6) is arranged on the middle joint pitman shaft (5), the lower side of finger tip (22) is fixed with No. four pitman pins (23), be fixed with No. three pitman pins (25) and No. two pitman pins (27) on the connecting rod (5-1) of middle joint pitman shaft (5), one end of middle finger joint connecting rod (4) is located on No. four pitman pins (23), the other end of middle finger joint connecting rod (4) is located on No. three pitman pins (25), one end of nearly dactylus connecting rod (7) is located on No. two pitman pins (27), the other end of nearly dactylus connecting rod (7) and an end of basic joint moment sensor (8) are with being arranged on the pitman pin (29), No. two spring backing pins (26) are fixed on the connecting rod (5-1), middle finger joint lower cover (19) is fixed on the palm of the hand one side between middle finger joint left plate (20) and the middle finger joint right plate (21), and nearly dactylus lower cover (16) is fixed on nearly dactylus left plate (17) and closely on the palm of the hand one side between the dactylus right plate (18);
B, forefinger (103) are identical with the drive mechanism of middle finger (104), by large bevel gear axle (9), refer to pedestal (10), motor cabinet (11), motor (12), refer to that basic joint shaft (13), cone pinion (14), large bevel gear (15), large straight gear (30), large bevel gear axle sleeve (31), pivot pin (32), small Spur gear (33) form; Refer to that pedestal (10) is fixed on the upper end of motor cabinet (11), motor (12) is fixed on the lower end of motor cabinet (11), large bevel gear axle (9) is arranged on and refers on the pedestal (10), cone pinion (14) is fixed on the output shaft of motor (12), one end of large bevel gear axle sleeve (31) is fixed with large bevel gear (15), the other end of large bevel gear axle sleeve (31) is fixed with small Spur gear (33), large bevel gear axle sleeve (31) is fixed on the large bevel gear axle (9) by pivot pin (32), large bevel gear (15) and cone pinion (14) engagement, refer to that basic joint shaft (13) is located at the top that refers to pedestal (10), the other end of base joint moment sensor (8) and large straight gear (30) refer on the basic joint shaft (13) with being fixed on, large straight gear (30) and small Spur gear (33) engagement;
C, middle finger (104) are provided with middle finger driving pulley (36) and middle finger driving pulley alignment pin (35), and middle finger driving pulley (36) is fixed on the termination that refers to basic joint shaft (13) by middle finger driving pulley alignment pin (35);
Drive mechanism on d, the third finger (105) and the little finger of toe (106) is identical, by referring to driven pulley (38), refer to driven pulley alignment pin (39), a basic joint spring support (40), referring to that pedestal (41), No. two basic joint spring supports (42), the alignment pin (45) of No. two basic joint spring supports, basic joint springs (46) form for No. two; The both wings that refer to pedestal (41) for No. two are located on the finger base joint shaft (13) of nearly dactylus left plate (17) and nearly dactylus right plate (18) both sides, refer to that driven pulley (38) is by referring to that driven pulley alignment pin (39) is fixed on the termination that refers to basic joint shaft (13) one sides, a basic joint spring support (40) is replaced basic joint moment sensor (8), a pitman pin (29) is located in the pin shaft hole (57) on the basic joint spring support (40), base joint spring (46) is located on the finger base joint shaft (13) on a basic joint spring support (40) right side, No. two basic joint spring supports (42) are located on the finger base joint shaft (13) on basic joint spring (46) right side, right-hand member head on base joint spring (46) is located in the hole (34) on No. two basic joint spring supports (42), the left end head of base joint spring (46) is located in the hole (37) on the basic joint spring support (40), and No. two basic joint spring supports (42) are fixed on the basic joint shaft of finger (13) by the alignment pin (45) of No. two basic joint spring supports;
E, the third finger (105) are provided with nameless driving pulley (44) and nameless driving pulley alignment pin (43), and nameless driving pulley (44) is fixed on the termination that refers to basic joint shaft (13) opposite side by nameless driving pulley alignment pin (43);
Be provided with band (51) synchronously between the finger driven pulley (38) on f, middle finger driving pulley (36) and the third finger (105) No. one, be provided with band (52) synchronously between the finger driven pulley (38) on nameless driving pulley (44) and the little finger of toe (106) No. two.
2, under-driven adaptive prosthetic hand device according to claim 1, it is characterized in that on the palm (102) of nameless (105) lower end, being fixed with nameless pre-locking bracket (53), the medicated cap end of nameless pretension screw (54) is located in the through hole (59) on the nameless pre-locking bracket (53), and nameless pretension screw (54) is threaded with No. two finger pedestals (41) of nameless (105).
3, under-driven adaptive prosthetic hand device according to claim 1, it is characterized in that on the palm (102) of little finger of toe (106) lower end, being fixed with the pre-locking bracket of little finger of toe (55), the medicated cap end of little finger of toe pretension screw (56) is located in the through hole (60) on the pre-locking bracket of little finger of toe (55), refers to that pedestals (41) are threaded No. two of little finger of toe pretension screw (56) and little finger of toe (106).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100135503A CN1292719C (en) | 2004-02-11 | 2004-02-11 | Self-adapting artificial hand lack of actuating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100135503A CN1292719C (en) | 2004-02-11 | 2004-02-11 | Self-adapting artificial hand lack of actuating |
Publications (2)
| Publication Number | Publication Date |
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| CN1557268A CN1557268A (en) | 2004-12-29 |
| CN1292719C true CN1292719C (en) | 2007-01-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2004100135503A Expired - Fee Related CN1292719C (en) | 2004-02-11 | 2004-02-11 | Self-adapting artificial hand lack of actuating |
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| CN109834719A (en) * | 2018-12-20 | 2019-06-04 | 天津大学 | A method of measurement humanoid dexterous finger finger tip stress |
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| WO2003017879A1 (en) * | 2001-08-27 | 2003-03-06 | Bergomed Ab | Modular system for mechanical hand |
| CN1406560A (en) * | 2001-09-06 | 2003-04-02 | 上海天竹康复科技发展有限公司 | Simulated electronic artificial hand |
| CN1410233A (en) * | 2002-11-29 | 2003-04-16 | 清华大学 | Under driving mechanical finger device capable of shape self adaptation |
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