CN205411403U - Under -actuated artificial limb hand - Google Patents
Under -actuated artificial limb hand Download PDFInfo
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- CN205411403U CN205411403U CN201620136186.8U CN201620136186U CN205411403U CN 205411403 U CN205411403 U CN 205411403U CN 201620136186 U CN201620136186 U CN 201620136186U CN 205411403 U CN205411403 U CN 205411403U
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- tendon
- phalanx
- stndon sheath
- fixture
- finger
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Abstract
The utility model discloses an under -actuated artificial limb hand, including finger body, gloves, first musculus flexor tendon, first extensor tendon and wrist mounting, the finger body be connected with gloves, the figure of finger body is the same with the figure of the finger that the patient lacks, first musculus flexor tendon and first extensor tendon one end respectively along the gloves back with openly with this body coupling of finger, the 2nd interphalangeal joint's of direct control bucking and extension, the wrist mounting connect in the other end of first musculus flexor tendon and first extensor tendon, this internal second musculus flexor tendon and second extensor tendon of still being provided with of finger for an indirect control interphalangeal joint's bucking and extension. The utility model discloses under -actuated artificial limb hand adopts a plurality of degrees of freedom of musculus flexor tendon and extensor tendon drive finger, and the envelope self -adaptation of accomplishing various objects snatchs, and simple structure is small, light in weight, beauty and practicability.
Description
Technical field
This utility model belongs to medical instruments field, is specifically related to a kind of drive lacking prosthetic hand.
Background technology
Preferably prosthetic hand should not only have decoration functions, and can substitute staff in sensation and motor function, but the prosthetic hand of laboratory research the most both at home and abroad can't arrive this preferable requirement.Prosthetic hand can be divided into conventional prosthesis hands and modern prosthese hands.Conventional prosthesis hands is broadly divided into decoration type prosthetic hand and wire-control type prosthetic hand；What modern prosthese hands was representative has myoelectric-controlled prosthesis hands, multi-finger clever hand.
Decoration type prosthetic hand is doing evil through another person of occurring the earliest, for making up designed by limbs open defect, based on profile beauty treatment, can passive activity, its shortcoming is the motor function without staff.
Wire-control type prosthetic hand is also called health power type prosthetic hand, is mainly passed through the motion of the limbs such as shoulder and upper arm by amputee, and drives by power hauling rope and control prosthetic hand motion.Owing to degree of freedom is restricted, its function is fewer, although this type prosthetic hand is controlled by patient self power source, but is difficult to the idea close to user, therefore controls and operates the most very inconvenient.
Myoelectric-controlled prosthesis hands is the prosthetic hand controlled by electromyographic signal.Electromyographic signal derives from micro-signal of telecommunication of the muscle contraction generation that user motion causes.Control motor drive prosthetic hand to move by being arranged on the signal of telecommunication produced by the electrode of residual arm muscle surface.The shortcoming of myoelectric-controlled prosthesis hands is quickly can not to capture according to the wish of people, has motion hysteresis phenomenon, and expensive, and maintenance cost is higher.
Being typically characterised by of multi-finger clever hand has multiple freedom of motion (generally higher than 10) and multiple perceptive function, and its Typical Representative is the DLR-I of German Aerospace Center, II type Dextrous Hand and the NASA Dextrous Hand of NASA.But, the volume of Dextrous Hand is generally large, and weight is all more than 1 kilogram, needs complicated outer computer processing system, is difficult at present directly apply to doing evil through another person of people with disability.
ShigeoHirose first proposed cable type underactuatuated drive in 1978, has established the basis of drive lacking research, and the ultimate principle of underactuatuated drive is that the driving number of system is less than number of degrees of freedom, brings conveniently to control system.
Either conventional prosthesis discussed above or modern prosthese, be both for hand or the patient of the upper loss of limb of part and design.But, for the most common finger or the patient of palm defect, the most but do not have any artificial limb with movable function to wear.This utility model for current present situation, for finger, the patient of palm defect, have developed the artificial limb that can carry out functional activity after dressing just.
Utility model content
This utility model purpose is to provide a kind of drive lacking prosthetic hand, artificial flexor tendon and extensor tendon is used to control the degree of freedom of artificial limb finger, complete the envelope self-adapting grasping to various objects, solve the problem that finger, the patient of palm defect provide functional prosthesis the most accordingly clinically.
This utility model realizes especially by techniques below scheme:
A kind of drive lacking prosthetic hand, including finger body, glove, the first flexor tendon, the first extensor tendon and wrist fixture, described finger body is connected with glove, the first described flexor tendon and first extensor tendon one end are connected along the glove back side and front with finger body respectively, and described wrist fixture is connected to the first flexor tendon and the other end of the first extensor tendon.
Described finger body is made up of proximal phalanx, middle phalanx and distal phalanx, is connected by connecting pin between described proximal phalanx, middle phalanx and distal phalanx；Described wrist fixture is made up of the first fixture, the second fixture and nylon tower button, first fixture and the second fixture connect formation wrist fixture by nylon tower button, first fixture and the front of the second fixture and side are respectively arranged with through hole, for connecting the first flexor tendon and the first extensor tendon.
Described finger body is connected with glove by the circular hole arranged on proximal phalanx.
The front and back of described glove is respectively provided with wired set, for constraint the first flexor tendon and the movement locus of the first extensor tendon.
The first described flexor tendon sequentially passes through the stndon sheath d of the stndon sheath a of proximal phalanx, stndon sheath b, stndon sheath c and middle phalanx along the line set of glove backside surface, is connected on the beam a that arranges bottom middle phalanx.
Described finger is the most internal is additionally provided with the second flexor tendon, second described flexor tendon one end is connected on the beam b at proximal phalanx top, sequentially pass through the stndon sheath e and the stndon sheath i of the stndon sheath f of middle phalanx, stndon sheath g, stndon sheath h and distal phalanx of proximal phalanx, be connected to bottom distal phalanx arrange beam c on.
The first described extensor tendon sequentially passes through the stndon sheath m of the stndon sheath j of proximal phalanx, stndon sheath k and stndon sheath l and middle phalanx along the line set of glove front face surface, on the beam d being connected on middle phalanx.
Described finger is the most internal is additionally provided with the second extensor tendon, the near-end of the second described extensor tendon is fixed on proximal phalanx beam e, on the beam f that the stndon sheath r of stndon sheath n and the stndon sheath o of middle phalanx, stndon sheath p, stndon sheath q, and distal phalanx that the second extensor tendon sequentially passes through proximal phalanx is connected on distal phalanx.
The beneficial effects of the utility model are: this utility model introduces underactuatuated drive, it is achieved flexor tendon and extensor tendon drive multiple degree of freedom of finger, it is achieved the envelope self-adapting grasping to various objects.This utility model devises overall dimensions and adult's glove of working as of palmistry and finger, finger is still had to the patient of stump, can directly dress, and armrest wrist couples driving with metacarpophalangeal joints, can realize approximating as normal staff and works.For disconnected palm patient, can be connected as one by the near-end of the proximal phalanx of each finger, the bending of armrest wrist realizes simple grasping movement.This hands has envelope and captures, accurate captures and the function such as is pinched in side.Make this more attractive in appearance, apery of doing evil through another person, practicality.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model prosthetic hand；
Fig. 2 is the structural representation of this utility model flexor tendon；
Fig. 3 is the structural representation of this utility model extensor tendon；
Fig. 4 is the structural representation of this utility model wrist fixture；
Fig. 5 is the structural representation of this utility model proximal phalanx；
Fig. 6 is the structural representation of this utility model middle phalanx；
Fig. 7 is the structural representation of this utility model distal phalanx；
Fig. 8 is the structural representation of this utility model connecting pin；
nullAccompanying drawing indicates and illustrates: 1 finger body，2 glove，3 first flexor tendon，4 first extensor tendon，5 wrist fixtures，6 second flexor tendon，7 second extensor tendon，11 proximal phalanxs，12 middle phalanx，13 distal phalanx，14 connecting pins，Line set 21，First fixture 51，Second fixture 52，Nylon tower button 53，Stndon sheath a110，Stndon sheath b111，Stndon sheath c112，Beam b113，Stndon sheath e114，Stndon sheath j115，Stndon sheath k116，Stndon sheath l117，Beam e118，Stndon sheath n119，Stndon sheath d120，Beam a121，Stndon sheath f122，Stndon sheath g123，Stndon sheath h124，Stndon sheath m125，Beam d126，Stndon sheath o127，Stndon sheath p128，Stndon sheath q129，Stndon sheath i130，Beam c131，Stndon sheath r132，Beam f133.
Detailed description of the invention
With specific embodiment, this utility model drive lacking prosthetic hand is further explained explanation below in conjunction with the accompanying drawings.
As shown in Fig. 1～8, a kind of drive lacking prosthetic hand, including finger body 1, glove the 2, first flexor tendon the 3, first extensor tendon 4 and wrist fixture 5, finger body 1 is connected with glove 2, first flexor tendon 3 and first extensor tendon 4 one end are connected along glove 2 back side and front with finger body 1 respectively, and wrist fixture 5 is connected to first flexor tendon 3 and the other end of the first extensor tendon 4.The front and back of glove 2 is respectively provided with wired set 21, for constraint the first flexor tendon 3 and movement locus of the first extensor tendon 4.This prosthetic hand, mainly in disconnected palm severed finger patient, still has the patient of stump, can directly dress for finger, and armrest wrist couples driving with metacarpophalangeal joints, can realize approximating as normal staff and works.For disconnected palm patient, can be connected as one by the near-end of the proximal phalanx of each finger, the bending of armrest wrist realizes simple grasping movement.
Finger body 1 is made up of proximal phalanx 11, middle phalanx 12 and distal phalanx 13, connected by connecting pin 14 between proximal phalanx 11, middle phalanx 12 and distal phalanx 13, described connecting pin 14 upper end open, acting primarily as the effect being easy to perforation, pin lower end is done squarely and is acted primarily as the effect being fixed on by pin on driven finger joint.For reducing frictional resistance during each finger joint relative motion as far as possible, pin coordinates with interphalangeal interporal lacuna.Each is mainly referred to that joint is connected as an artificial limb finger by the effect of pin；Finger body 1 is connected with glove 2 by the circular hole arranged on proximal phalanx 11.
Wrist fixture 5 is made up of first fixture the 51, second fixture 52 and nylon tower button 53, first fixture 51 and the second fixture 52 connect formation wrist fixture 5 by nylon tower button 53, first fixture 51 and the front of the second fixture 52 and side are respectively arranged with through hole, for connecting the first flexor tendon 3 and the first extensor tendon 4.During staff work, the wrist fixture 5 fixing frictional force mainly by wrist skin surface in wrist and the support reaction of hand jnjuries, when in wrist, meat is more, frictional force plays a major role, when in wrist, meat is less, the support reaction of hand jnjuries plays a major role, and the more patient of wrist meat is fixed on the rear end of element, and the less patient of wrist meat is fixed on the front end of wrist.
First flexor tendon 3 overlaps the 21 stndon sheath d120 sequentially passing through the stndon sheath a110 of proximal phalanx 11, stndon sheath b111, stndon sheath c112 and middle phalanx 12 along the line of glove 2 backside surface, is connected on the beam a121 that arranges bottom middle phalanx 12.
The second flexor tendon 6 it is additionally provided with in finger body 1, second flexor tendon 6 one end is connected on the beam b113 at proximal phalanx 11 top, sequentially pass through the stndon sheath e114 and the stndon sheath i130 of the stndon sheath f122 of middle phalanx 12, stndon sheath g123, stndon sheath h124 and distal phalanx 13 of proximal phalanx 11, be connected to bottom distal phalanx arrange beam c131 on.
First extensor tendon 4 overlaps the 21 stndon sheath m125 sequentially passing through the stndon sheath j115 of proximal phalanx 11, stndon sheath k116 and stndon sheath l117 and middle phalanx 12 along the line of glove 2 front face surface, is connected on the beam d126 on middle phalanx 12.
The second extensor tendon 7 it is additionally provided with in finger body 1, the near-end of the second extensor tendon 7 is fixed on proximal phalanx 11 beam e118, the stndon sheath r132 of stndon sheath n119 and the stndon sheath o127 of middle phalanx 12, stndon sheath p128, stndon sheath q129, and distal phalanx 13 that the second extensor tendon 7 sequentially passes through proximal phalanx 11 is connected on the beam f133 on distal phalanx 13.
Dress prosthetic hand, fixed the position of wrist fixture 5, adjusted four tendons, make it be in tensioning state.When finger object to be grasped, the flexing of metacarpophalangeal joints and the flexing of wrist drive nearly articulations digitorum manus flexing by the first flexor tendon 3, and the flexing of nearly articulations digitorum manus drives remote articulations digitorum manus flexing by the second flexor tendon 6.According to the situation of patient, by regulating the second flexor tendon 6 and tensioning degree of the second extensor tendon 7, scalable is suitable for the arching trajectory during motion of patient's FF, after patient puts on, only needs of short duration adaptation, just can grasping object freely.If distal phalanx first touches on object, the bending further of metacarpophalangeal joints and wrist increases the grip of distal phalanx, such that it is able to realize pinching holding motion.When hands object to be discharged, when recovering normal extension state, the stretching, extension of metacarpophalangeal joints and first extensor tendon 4 that extends through of wrist drive nearly articulations digitorum manus to stretch, and second extensor tendon 7 that extends through of nearly articulations digitorum manus drives remote articulations digitorum manus to stretch.
Embodiment described above is only to further illustrate of the present utility model; not this utility model is done the restriction of other forms; this utility model also can have other various embodiments; in the case of without departing substantially from this utility model spirit and essence thereof; those of ordinary skill in the art can make various corresponding change and deformation according to this utility model, but these change accordingly and deformation all should belong to this utility model scope of the claims.
Claims (5)
1. a drive lacking prosthetic hand, it is characterized in that: include finger body (1), glove (2), the first flexor tendon (3), the first extensor tendon (4) and wrist fixture (5), finger body (1) is connected with glove (2), first flexor tendon (3) and the first extensor tendon (4) one end are connected along glove (2) back side and front with finger body (1) respectively, and wrist fixture (5) is connected to the first flexor tendon (3) and the other end of the first extensor tendon (4)；
Described finger body (1) is made up of proximal phalanx (11), middle phalanx (12) and distal phalanx (13), is connected by connecting pin (14) between proximal phalanx (11), middle phalanx (12) and distal phalanx (13)；
Described the first flexor tendon (3) sequentially passes through the stndon sheath d (120) of the stndon sheath a (110) of proximal phalanx (11), stndon sheath b (111), stndon sheath c (112) and middle phalanx (12) along glove (2) backside surface, is connected on the beam a (121) that middle phalanx (12) bottom is arranged；
Described the first extensor tendon (4) sequentially passes through the stndon sheath m (125) of the stndon sheath j (115) of proximal phalanx (11), stndon sheath k (116) and stndon sheath l (117) and middle phalanx (12) along glove (2) front face surface, is connected on the beam d (126) on middle phalanx (12)；
It is additionally provided with the second flexor tendon (6) in described finger body (1), second flexor tendon (6) one end is connected on the beam b (113) at proximal phalanx (11) top, sequentially pass through the stndon sheath e (114) and the stndon sheath i (130) of the stndon sheath f (122) of middle phalanx (12), stndon sheath g (123), stndon sheath h (124) and distal phalanx (13) of proximal phalanx (11), be connected to bottom distal phalanx arrange beam c (131) on；
It is additionally provided with the second extensor tendon (7) in described finger body (1), the near-end of the second extensor tendon (7) is fixed on proximal phalanx (11) beam e (118), the stndon sheath r (132) of stndon sheath n (119) and the stndon sheath o (127) of middle phalanx (12), stndon sheath p (128), stndon sheath q (129), and distal phalanx (13) that the second extensor tendon (7) sequentially passes through proximal phalanx (11) is connected on the beam f (133) on distal phalanx (13).
A kind of drive lacking prosthetic hand the most according to claim 1, it is characterized in that: the front and back of described glove (2) is respectively provided with wired set (21), for constraint the first flexor tendon (3) and the movement locus of the first extensor tendon (4).
A kind of drive lacking prosthetic hand the most according to claim 1, it is characterised in that: described finger body (1) is connected with glove (2) by the upper circular hole arranged of proximal phalanx (11).
A kind of drive lacking prosthetic hand the most according to claim 1, it is characterized in that: described wrist fixture (5) is made up of the first fixture (51), the second fixture (52) and nylon tower button (53), the first fixture (51) and the second fixture (52) connect formation wrist fixture (5) by nylon tower button (53).
A kind of drive lacking prosthetic hand the most according to claim 4, it is characterized in that: the first fixture (51) and the front of the second fixture (52) and side are respectively arranged with through hole, for connecting the first flexor tendon (3) and the first extensor tendon (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620136186.8U CN205411403U (en) | 2016-02-24 | 2016-02-24 | Under -actuated artificial limb hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620136186.8U CN205411403U (en) | 2016-02-24 | 2016-02-24 | Under -actuated artificial limb hand |
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| CN205411403U true CN205411403U (en) | 2016-08-03 |
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| CN201620136186.8U Expired - Fee Related CN205411403U (en) | 2016-02-24 | 2016-02-24 | Under -actuated artificial limb hand |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726027A (en) * | 2016-02-24 | 2017-05-31 | 吉林大学 | A kind of drive lacking prosthetic hand |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726027A (en) * | 2016-02-24 | 2017-05-31 | 吉林大学 | A kind of drive lacking prosthetic hand |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20190224 |