CN201861802U - Five-degree-of-freedom artificial hand - Google Patents

Five-degree-of-freedom artificial hand Download PDF

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Publication number
CN201861802U
CN201861802U CN2010206387674U CN201020638767U CN201861802U CN 201861802 U CN201861802 U CN 201861802U CN 2010206387674 U CN2010206387674 U CN 2010206387674U CN 201020638767 U CN201020638767 U CN 201020638767U CN 201861802 U CN201861802 U CN 201861802U
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CN
China
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basic
dactylus
finger
degree
mini
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CN2010206387674U
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Chinese (zh)
Inventor
王博成
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王博成
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Priority to CN2010206387674U priority Critical patent/CN201861802U/en
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Publication of CN201861802U publication Critical patent/CN201861802U/en

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Abstract

The utility model discloses a five-degree-of-freedom artificial hand and aims to provide a five-degree-of-freedom artificial hand which has simple structure, multiple degrees of freedom, small size, light weight and reasonable price. The five-degree-of-freedom artificial hand comprises a wrist part, a palm part and a finger part, wherein the finger part comprises five fingers; each finger comprises a base joint, a hollow base phalanx, a proximal phalanx and a distal phalanx; a mini worm is arranged inside a base joint support of each base joint; a driven bevel gear is coaxially arranged at one end of each mini worm; the mini worms are meshed with mini worm wheels; transmission shafts of the mini worm wheels are arranged on the base joint supports; a mini DC motor is arranged in the cavity of each base phalanx; each mini DC motor is connected with a mini speed reducer; a driving bevel gear is arranged on the output shaft of each mini speed reducer; the hollow base phalanxes are fixedly connected with the base joint supports; one end of a reset spring is fixedly connected with each hollow base phalanx and the other end thereof is fixedly connected with the proximal phalanx; each mini worm wheel is fixedly connected with a base joint housing and connected with one end of a traction cable; and the other ends of the traction cables are fixedly connected with the proximal phalanxes.

Description

The five degree of freedom prosthetic hand
Technical field
This utility model relates to a kind of five degree of freedom prosthetic hand.
Background technology
The apery prosthetic hand is installed on the people with disability's deformed limb of cutting off the hands, and realizes some function of staff.At present, running is the most successful in the world, and most widely used power type prosthetic hand is the OttoBock SUVA hands that German OttoBock company produces.This kind of prosthetic hand pickup surface flesh point signal (EMG) by forming instruction after the microprocessor processes, drives micromotor.Slow down through miniature straight spur gear,, realize the open and close movement of prosthetic hand by connecting rod.This kind prosthetic hand has only 1 degree of freedom, can not realize good envelope of crawled object and more action.
Though relative research field multi-finger dexterous hand of robot can not directly use as prosthetic hand, and huge technology impetus has been played in the research of prosthetic hand.Going up a lot of research institutions in the world all is devoted to the research of EMG control prosthetic hand and tries hard to be applied to the people with disability.Britain University of Southampton has developed the Remedi hands, and this hands has 1 thumb and 4 fingers, and each finger has 3 joints.The motion in terminal two joints is coupled.Each finger is driven by 1 micro machine, has only thumb to be driven by two micro machines.Adopt piezoresistance sensor and dynamic piezoelectric pick off to detect grasp force.Italy has developed the MARCUS prosthetic hand.This hands has thumb, forefinger and middle finger.Two micro machines are arranged, and one is used to drive thumb, and another is used to drive forefinger and middle finger.Position, power, slide sensor are housed to guarantee stable extracting in the hands.University of Toronto has developed driven self-adaptive controlled standard prosthetic hand TBM.Five fingers of TBM hands pass through the difference mechanism distributed power of a cover elastic rod, thereby the power distribution to five of a drive source finger.The domestic development HIT of Harbin Institute of Technology hands.This hands has 17 degree of freedom, is driven by 13 micro machines, and grasps pressure with the pressure transducer feedback control.Shanghai Communications University has developed elastic rod and has owed to drive prosthetic hand, and five fingers are driven by three micro machines.
Though the prosthetic hand technology based on EMG is developed, has remained in a lot of problems affect it and be extensive use of.
Topmost problem comprises:
1, size is big, Heavy Weight: it is of a size of 1.5 times of staff the general prosthetic hand of developing, weight behave 2 times of heavy-handed amount or more than.Overwhelming majority prosthetic hand adopts the alloy in lightweight material manufacture, and its density is much larger than staff density.Mechanism's complexity has used numerous micro machine to cause size to increase.
2, cost an arm and a leg: owing to adopted numerous micro machines, microsensor, micro mechanism.Have for weight reduction, adopted special material, as carbon fiber in epoxy.Material and manufacturing cost are increased.Modern prosthetic hand price generally all 300,000 yuan of RMB or more than.The prosthetic hand manufacturing cost that has just reaches 600,000 yuan of RMB.General people with disability is difficult to payment.
3, reliability is low: the research of most prosthetic hands still is principle.Because complex structure, components and parts are numerous, and lead is mixed and disorderly, apart from practical application big gap arranged still.
The utility model content
This utility model is in order to overcome weak point of the prior art, to provide a kind of simple in structure, multiple degrees of freedom, and size is little, and is in light weight, moderate five degree of freedom prosthetic hand.
This utility model is achieved through the following technical solutions:
A kind of five degree of freedom prosthetic hand is characterized in that, is made up of wrist, palmar hand and finger section, and described finger section is made up of thumb, forefinger, middle finger, the third finger and five fingers of little finger of toe; Each finger is made up of basic joint, hollow basic dactylus, nearly dactylus, dactylus far away; Described dactylus far away is fixedlyed connected with nearly dactylus; Described nearly dactylus is connected with described basic dactylus by bearing pin, described basic joint comprises basic knuckle support, cover on the outer basic joint outer housing of basic knuckle support, on the described basic knuckle support miniature worm screw is installed, the end of described miniature worm screw is equipped with co-axial driven wheel of differential, described miniature worm screw and the engagement of miniature worm gear, the power transmission shaft of described miniature worm gear is installed on the basic knuckle support, in the cavity of described basic dactylus DC micromotor is installed, described DC micromotor is connected with micro-reducer, and the drive bevel gear with described driven wheel of differential engagement is installed on the output shaft of described micro-reducer; Described basic dactylus is fixedlyed connected with described basic knuckle support, and back-moving spring one end is fixedlyed connected with described basic dactylus, and the other end of described back-moving spring is fixedlyed connected with nearly dactylus; Described miniature worm gear is fixedlyed connected with described basic joint outer housing, and described miniature worm gear is connected with hauling rope one end, and the described hauling rope other end is connected with nearly dactylus internal fixation; Thumb in five fingers is installed on the thumb support, the two ends of described thumb support are separately installed with turning cylinder, the turning cylinder of described thumb support one end is installed in wrist by floating bearing, the turning cylinder of the described thumb support other end is installed in the axis hole of slide block, and described slide block is slidingly connected with the slideway that is installed in palmar hand; Each finger-base joint outer housing is connected by screw with palm.
Two surface electromyogram signal pick offs are placed on the muscle epidermis of people with disability's deformed limb, each surface electromyogram signal pick off is connected with the input of the A/D conversion sorting unit of microcontroller by differential amplifier circuit, filter circuit respectively successively, the level-conversion circuit that the input of five micro DC drive circuits passes through separately respectively is connected with the GPIOA port of microcontroller, and five micro DC drive circuits are shunted the back by resistance-capacitance network circuit separately respectively and are connected with the input of the A/D order change device of microcontroller.
Described basic knuckle support is an aviation aluminum alloy material, and it is 1.2-1.4g/cm that the dactylus far away of palmar hand, wrist and each finger, nearly dactylus, basic dactylus are density of material 3The high-strength polymer material.
The diameter of axle of described drive bevel gear is connected with basic knuckle support by first deep groove ball bearing.
The two ends of described worm screw are connected with basic knuckle support with the 3rd deep groove ball bearing by second deep groove ball bearing respectively.
The power transmission shaft of described miniature worm gear is a hollow axle.
The utlity model has following technique effect:
1, in the prosthetic hand of the present utility model, each finger is made up of basic joint, basic dactylus, nearly dactylus, dactylus far away, each finger is driven by a DC micromotor, worm screw can just contrary direction turn round around the worm gear center together with basic dactylus, nearly dactylus, dactylus far away, formed the rotation in basic joint, the hands movement that closes of nearly dactylus transmission adopts the hauling rope pulling, realize by the back-moving spring reseting movement and open hands movement, reduced the quantity of micro machine, pick off, micro mechanism etc., thereby simplified the structure of prosthetic hand, the reliability height, cost is low.
2, the thumb in the prosthetic hand of the present utility model adopts and manually realizes going up pendulum, the bottom, inward turning and outward turning action, has a plurality of degree of freedom, has expanded the function of thumb, has strengthened the motility of thumb, and has simplified the thumb structure, and cost is low.
3, the dactylus far away of the palmar hand of prosthetic hand of the present utility model, wrist and each finger, nearly dactylus, basic dactylus is the high-strength polymer material, is half of alloy in lightweight density of material, weight is lighter.
4, prosthetic hand bevel gear pair of the present utility model, worm couple all adopt zanjon bearing in the rolling bearing type as supporting, can bearing radial force, axial force, frictional force is little, can adopt the little motor of output torque, can reduce the overall dimensions of prosthetic hand.
5, prosthetic hand of the present utility model adopts Worm and worm-wheel gearing, has the mechanical self-latching function, even the motor dead electricity can not make the object of holding drop the reliability height yet.
6, in the circuit of prosthetic hand of the present utility model, the shunting of power taking drive circuit drive current measures motor torque indirectly, and essential surface pressing pick off has been saved in realizable force control, has simplified system.
Description of drawings
Fig. 1 is the sketch map of this utility model five degree of freedom prosthetic hand;
Fig. 2 is the finger structure sketch map of this utility model five degree of freedom prosthetic hand;
Fig. 3 is the circuit theory diagrams of this utility model five degree of freedom prosthetic hand.
The specific embodiment
Below in conjunction with the drawings and specific embodiments this utility model is elaborated.
The sketch map of this utility model five degree of freedom prosthetic hand is made up of wrist 23, palmar hand 29 and finger section as depicted in figs. 1 and 2.Described finger section is by thumb, forefinger, middle finger, nameless and five fingers of little finger of toe are formed, each finger is by basic joint, hollow basic dactylus 7, nearly dactylus 2, dactylus 1 far away is formed, described dactylus far away 1 is fixedlyed connected with nearly dactylus 2, described nearly dactylus 2 is connected with described basic dactylus 7 by bearing pin 22, described basic joint comprises basic knuckle support 10, cover on the outer basic joint outer housing 17 of basic knuckle support, miniature worm screw 15 is installed on the described basic knuckle support 10, the end of described miniature worm screw 15 is equipped with co-axial driven wheel of differential 13, described miniature worm screw 15 and miniature worm gear 20 engagements, the power transmission shaft 19 of described miniature worm gear is installed on the basic knuckle support 10, wherein, the power transmission shaft 19 of described miniature worm gear is preferably hollow axle.DC micromotor 8 is installed in the cavity of described basic dactylus 7, and described DC micromotor 8 is connected with micro-reducer 9, and the drive bevel gear 12 with described driven wheel of differential 13 engagements is installed on the output shaft of described micro-reducer 9.Described basic dactylus 7 is fixedlyed connected with described basic knuckle support 10, and back-moving spring 5 one ends are fixedlyed connected with described basic dactylus 7 by pin 6, and the other end of described back-moving spring 5 is fixedlyed connected with nearly dactylus 2 by pin 4.Described miniature worm gear 20 is fixedlyed connected with basic joint outer housing 17 by pin 18, and described miniature worm gear 20 is connected with hauling rope 21 1 ends, and described hauling rope 21 other ends are fixedlyed connected by holding screw 3 with nearly dactylus 2 inside.Thumb 26 in five fingers is installed on the thumb support 25, the two ends of described thumb support 25 are separately installed with turning cylinder, the turning cylinder of described thumb support one end is installed in wrist 23 by floating bearing 24, the turning cylinder of described thumb support 25 other ends is installed in the axis hole of slide block 27, and described slide block 27 is slidingly connected with the slideway 28 that is installed in palmar hand.The basic joint outer housing of each finger is connected by screw with palm.
Circuit theory diagrams in the present embodiment as shown in Figure 3, prosthetic hand uses two surface electromyogram signal pick offs, is placed on the muscle epidermis of people with disability's deformed limb.A surface electromyogram signal pick off (EMG pick off 1) is connected with the passage 0 of microcontroller A/D conversion sorting unit by differential amplifier circuit 1, filter circuit 1, and a surface electromyogram signal pick off (EMG pick off 2) is connected with the passage 1 of microcontroller A/D conversion sorting unit by differential amplifier circuit 2, filter circuit 2.The level-conversion circuit that the input of five micro DC drive circuits passes through separately respectively is connected with the GPI0A port of microcontroller, and five micro DC drive circuits are shunted the back by resistance-capacitance network circuit separately respectively and are connected with the input of the A/D conversion sorting unit of microcontroller.
Circuit board can be made into palm shape, to embed in the palm cavity.Microcontroller can be selected signal processor series DSP F2810 for use.
For weight reduction, described basic knuckle support is an aviation aluminum alloy material, can select aviation aluminum LC4 for use, and it is 1.2-1.4g/cm that the dactylus far away of palmar hand, wrist and each finger, nearly dactylus, basic dactylus are density of material 3The high-strength polymer material, can select PA6060 for use, the weight that makes whole hands is 600 grams, and is suitable with staff.
In order to reduce friction, the diameter of axle of described drive bevel gear is connected with basic knuckle support by first deep groove ball bearing 11.The two ends of described worm screw are connected with basic knuckle support with the 3rd deep groove ball bearing 16 by second deep groove ball bearing 14 respectively.
Signal that the surface electromyogram signal pick off sends through amplification and Filtering Processing after deliver to microprocessor, surface electromyogram signal is resolved, if for closing the finger order then call and close the hands movement subprogram, if make then call out the hands movement subprogram for opening to point.And close hands or open the finger order and drive DC micromotor for the micro DC drive circuit by GPIOA port output.DC micromotor drives miniature worm screw by micro-reducer, drive bevel gear, driven wheel of differential and rotates, and miniature worm screw drives miniature worm gear and rotates with respect to basic knuckle support.When miniature worm gear rotates counterclockwise with respect to basic knuckle support, miniature worm gear pulling hauling rope, thus drive nearly dactylus, its bearing pin around basic dactylus is turned round relatively clockwise, back-moving spring then is stretched simultaneously.When worm gear turned round clockwise with respect to basic knuckle support, guy rope drew and is loosened.Nearly dactylus under the elastic force effect of back-moving spring, the bearing pin turning anticlockwise on basic dactylus.Thereby nearly dactylus is passive with respect to the gyration of basic dactylus.The base joint motions are coupled with nearly articulations digitorum manus motion, are driven by a DC micromotor, are the lack of driven structure.

Claims (6)

1. a five degree of freedom prosthetic hand is characterized in that, is made up of wrist, palmar hand and finger section, and described finger section is made up of thumb, forefinger, middle finger, the third finger and five fingers of little finger of toe; Each finger is made up of basic joint, hollow basic dactylus, nearly dactylus, dactylus far away; Described dactylus far away is fixedlyed connected with nearly dactylus; Described nearly dactylus is connected with described basic dactylus by bearing pin, described basic joint comprises basic knuckle support, cover on the outer basic joint outer housing of basic knuckle support, on the described basic knuckle support miniature worm screw is installed, the end of described miniature worm screw is equipped with co-axial driven wheel of differential, described miniature worm screw and the engagement of miniature worm gear, the power transmission shaft of described miniature worm gear is installed on the basic knuckle support, in the cavity of described basic dactylus DC micromotor is installed, described DC micromotor is connected with micro-reducer, and the drive bevel gear with described driven wheel of differential engagement is installed on the output shaft of described micro-reducer; Described basic dactylus is fixedlyed connected with described basic knuckle support, and back-moving spring one end is fixedlyed connected with described basic dactylus, and the other end of described back-moving spring is fixedlyed connected with nearly dactylus; Described miniature worm gear is fixedlyed connected with described basic joint outer housing, and described miniature worm gear is connected with hauling rope one end, and the described hauling rope other end is connected with nearly dactylus internal fixation; Thumb in five fingers is installed on the thumb support, the two ends of described thumb support are separately installed with turning cylinder, the turning cylinder of described thumb support one end is installed in wrist by floating bearing, the turning cylinder of the described thumb support other end is installed in the axis hole of slide block, and described slide block is slidingly connected with the slideway that is installed in palmar hand; Each finger-base joint outer housing is connected by screw with palm.
2. five degree of freedom prosthetic hand according to claim 1, it is characterized in that, two surface electromyogram signal pick offs are placed on the muscle epidermis of people with disability's deformed limb, each surface electromyogram signal pick off passes through differential amplifier circuit respectively successively, filter circuit is connected with the input of the A/D conversion sorting unit of microcontroller, the level-conversion circuit that the input of five micro DC drive circuits passes through separately respectively is connected with the GPIOA port of microcontroller, and five micro DC drive circuits are shunted the back by resistance-capacitance network circuit separately respectively and are connected with the input of the A/D conversion sorting unit of microcontroller.
3. five degree of freedom prosthetic hand according to claim 1 is characterized in that, described basic knuckle support is an aviation aluminum alloy material, and it is 1.2-1.4g/cm that the dactylus far away of palmar hand, wrist and each finger, nearly dactylus, basic dactylus are density of material 3The high-strength polymer material.
4. five degree of freedom prosthetic hand according to claim 1 is characterized in that, the diameter of axle of described drive bevel gear is connected with basic knuckle support by first deep groove ball bearing.
5. five degree of freedom prosthetic hand according to claim 1 is characterized in that, listens the two ends of stating worm screw to be connected with basic knuckle support with the 3rd deep groove ball bearing by second deep groove ball bearing respectively.
6. five degree of freedom prosthetic hand according to claim 1 is characterized in that, the power transmission shaft of described miniature worm gear is a hollow axle.
CN2010206387674U 2010-12-02 2010-12-02 Five-degree-of-freedom artificial hand CN201861802U (en)

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Application Number Priority Date Filing Date Title
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN103720528A (en) * 2014-01-27 2014-04-16 上海科生假肢有限公司 Practical sensible artificial hand
CN105358100A (en) * 2013-05-03 2016-02-24 奥托·博克保健产品有限公司 Artificial finger
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
CN106038002A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Connecting structure of worm wheel and transmission rope of prosthetic finger
CN106038001A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Proximal interphalangeal joint structure of prosthetic finger
CN106038008A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Connecting structure of proximal phalanx and proximal interphalangeal joint of prosthetic finger
CN106038004A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Connecting structure of middle phalanx and proximal phalanx of prosthetic finger
CN106037999A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Prosthetic finger
CN106974749A (en) * 2017-04-25 2017-07-25 北京展翼计划科技发展有限公司 Bionical prosthetic hand and device based on 3D printing
CN109620487A (en) * 2019-02-19 2019-04-16 上海理工大学 A kind of artificial limb thumb mechanism

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105358100A (en) * 2013-05-03 2016-02-24 奥托·博克保健产品有限公司 Artificial finger
US10426636B2 (en) 2013-05-03 2019-10-01 Otto Bock Healthcare Products Gmbh Artificial finger
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
CN103705323B (en) * 2014-01-14 2016-03-23 哈尔滨工业大学 There is the electric motor built-in modularity prosthetic finger of auto-lock function
CN103720528A (en) * 2014-01-27 2014-04-16 上海科生假肢有限公司 Practical sensible artificial hand
CN103720528B (en) * 2014-01-27 2016-01-13 上海科生假肢有限公司 Practicality is feeling does evil through another person
CN106037999A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Prosthetic finger
CN106038001A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Proximal interphalangeal joint structure of prosthetic finger
CN106038008A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Connecting structure of proximal phalanx and proximal interphalangeal joint of prosthetic finger
CN106038004A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Connecting structure of middle phalanx and proximal phalanx of prosthetic finger
CN106038002A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Connecting structure of worm wheel and transmission rope of prosthetic finger
WO2017084638A1 (en) * 2015-11-18 2017-05-26 杭州若比邻机器人科技有限公司 Prosthetic finger
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
CN106038005B (en) * 2015-11-18 2018-01-30 杭州若比邻机器人科技有限公司 The mounting structure of the general artificial limb finger of prosthetic hand
CN106038008B (en) * 2015-11-18 2018-03-02 杭州若比邻机器人科技有限公司 The base finger joint of artificial limb finger and the attachment structure in base joint
CN106038001B (en) * 2015-11-18 2018-03-02 杭州若比邻机器人科技有限公司 The base articulations digitorum manus structure of artificial limb finger
CN106037999B (en) * 2015-11-18 2018-03-02 杭州若比邻机器人科技有限公司 Artificial limb finger
CN106038004B (en) * 2015-11-18 2018-03-02 杭州若比邻机器人科技有限公司 The nearly finger joint of artificial limb finger and the attachment structure of base finger joint
CN106974749A (en) * 2017-04-25 2017-07-25 北京展翼计划科技发展有限公司 Bionical prosthetic hand and device based on 3D printing
CN109620487A (en) * 2019-02-19 2019-04-16 上海理工大学 A kind of artificial limb thumb mechanism
CN109620487B (en) * 2019-02-19 2020-07-28 上海理工大学 Artificial limb thumb mechanism

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