CN213156737U - Bionic thumb device - Google Patents

Abstract

The utility model discloses a bionic thumb device, relating to the field of bionic artificial limbs, comprising a thumb unit, a reversing unit, a transmission unit, an inner palm sub-block, an outer palm sub-block and a transmission rope; the thumb unit is connected with a first end of the reversing unit, a second end of the reversing unit is fixedly connected with the inner palm block, the transmission unit is fixedly connected with the inner palm block and the outer palm block, the inner palm block is fixedly connected with the outer palm block, and the transmission rope penetrates through the thumb unit, the reversing unit, the transmission unit, the inner palm block and the outer palm block; the transmission rope material selection comprises a nylon rope. The utility model discloses can realize that the bucking extends and to palm the function, coordinate the four fingers of bionic hand to realize the gripping, hold between the fingers daily action commonly used such as get, and with low costs, the quality is light and the practicality is strong to improve the imitative anthropomorphic nature and the dexterity of artificial hand, satisfy actual conditions's needs.

Description

Bionic thumb device

Technical Field

The utility model relates to a bionical artificial limb field especially relates to a bionical thumb device.

Background

The number of the patients with limb disabilities in China is huge. According to the second disabled population sampling survey in 2006, the proportion of the disabled population to the total population is 6.34%; the main disability category is limb disability, and about 2412 thousands of people exist. The human hand has evolved over millions of years with a high degree of dexterity and excellent handling properties. The hand is one of the most important limb parts of the human body, and various daily activities of people can not be separated from the hand. The limb deformity caused by accidental injury and diseases not only affects the appearance beauty, but also can seriously affect the life quality of patients. Researches show that in daily behaviors of wearing the artificial hand, the strength grip of daily life accounts for 35%, the fine grip accounts for 30%, the side grip accounts for 20%, and other actions such as stretching of an index finger, hook-shaped grip and the like are also applied frequently. Therefore, the artificial limb which is similar to the function of the hand is developed, so that the artificial limb has urgent market demand and has great practical significance.

The thumb occupies an extremely important position in the functions of the hand, the motion function occupies 18 percent of the whole hand function, and the palmar motion function occupies 60 percent; the palmar movement refers to the movement of the palm of the tip of the thumb contacting the palm of each of the other fingers. The palm movement function is the specific ability of human beings in the long-term production process, so that the human hands can execute complex pinching and taking actions and the palms can adapt to the operated objects with complex curved surfaces. The palmar movement of the thumb is a complex coordinated movement of multiple joints and muscles, and mainly consists of abduction, pronation and flexion of the thumb, i.e. radial deviation. Adequate palmar function of the thumb requires adequate abduction of the thumb while producing pronation.

Most of the existing artificial hands do not fully realize palm functions and are difficult to execute complex pinching actions. For the patient with limb disability, if the humanoid and flexible artificial hand can not be expected in the heart of the patient, the comfortable feeling of wearing the patient can be seriously influenced, and the use efficiency of the artificial hand is reduced.

Therefore, those skilled in the art are dedicated to develop a bionic hand thumb device which can achieve flexion-extension and palm function, and has low cost, light weight and strong practicability, thereby improving the human-like and dexterity of the artificial hand and meeting the needs of practical situations.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned defect of prior art, the utility model discloses the technical problem that will solve is how fully to realize the bucking and extend and to the palm function, and with low costs, the quality is light and the practicality is strong to improve the imitative people nature and the dexterity of artificial hand, satisfy the imitative hand thumb device of actual conditions's needs.

In order to realize the purpose, the utility model provides a bionic thumb device, which comprises a thumb unit, a reversing unit, a transmission unit, an inner palm block, an outer palm block and a transmission rope; the thumb unit is hinged with the first end of the reversing unit, the second end of the reversing unit is fixedly connected with the inner palm block, the transmission unit is fixedly connected with the inner palm block and the outer palm block, the inner palm block is fixedly connected with the outer palm block, and the transmission rope penetrates through the thumb unit, the reversing unit, the transmission unit, the inner palm block and the outer palm block; the transmission rope comprises a thumb rope, a buckling rope and a pose rope; the first end of the buckling rope and the first end of the pose rope are both connected with the transmission unit, and the second end of the buckling rope is also connected with the thumb rope; the thumb rope is connected with the thumb unit; the transmission rope material selection comprises a nylon rope.

Further, the thumb unit comprises a metacarpal joint, a middle finger joint and a far finger joint; the first end of the metacarpal joint is hinged with the first end of the reversing unit, and the second end of the metacarpal joint is hinged with the first end of the middle finger joint; the second end of the middle finger joint is hinged with the first end of the far finger joint; the thumb unit further comprises a winding pulley and a flat angle spring; the winding pulley is hinged with the middle finger joint, the flat angle spring is coaxial with the winding pulley, and the flat angle spring is mounted on the winding pulley; the winding pulley is configured to change a heading of the thumb cord at the thumb unit.

Furthermore, the metacarpal joint comprises a first positive line groove, a first line pressing bearing and a first line returning groove; the first line pressing bearing is arranged in the first line straightening groove; the thumb rope passes through the first straight line groove and the first return line groove.

Furthermore, the middle finger joint comprises a second positive wire groove, a second wire pressing bearing and a second return wire groove, and the second wire pressing bearing is installed in the second positive wire groove; the thumb rope passes through the second main line groove and the second return line groove.

Further, the far finger joint comprises a third straight line groove, a third return line groove and a line post; the thumb rope penetrates through the third straight line groove and the third return line groove; the wire post is configured to wrap around the thumb cord.

Further, the reversing unit comprises a conversion body, a reversing wheel and a rotating column; the conversion body is hinged with the inner palm block, the reversing wheel is hinged with the conversion body, the rotating column is hinged with the thumb unit, and the rotating column and the reversing wheel are coaxial; the reversing unit further comprises a return spring and a first pulley; the return spring is coaxially arranged with the rotating column and the reversing wheel; the first pulley is hinged with the inner palm block; the first sheave is configured to change a heading of the buckling cord at the reversing unit.

Furthermore, the conversion body comprises a wire hook, an arc-shaped groove, a half-moon ring, a transition groove, a top hole, a through wire hole and a tail hole; one end of the pose rope is wound on the arc-shaped groove and then fixed on the wire hook, the half-moon ring is configured to control the deformation of the return spring, the top hole is hinged with the inner palm block, and the tail hole is configured to connect the conversion body and the inner palm block; and the buckling rope enters the conversion body from the transition groove, winds around the reversing wheel, passes through the through hole, penetrates out of the first pulley and is connected with the transmission unit.

Further, the transmission unit comprises a buckling assembly, a pose assembly and a connecting piece; the flexion assembly is configured to flex or flex reset the thumb cell via the flexion cord and the thumb cord; the position and posture assembly is configured to reposition the thumb unit to the palm or the palm through the position and posture rope; the connecting piece is connected with the buckling assembly and the pose assembly; the buckling assembly and the pose assembly are fixedly connected with the inner palm block.

Furthermore, the buckling assembly comprises a buckling steering engine, a buckling steering wheel and a buckling steering wheel disc; the buckling steering wheel is fixedly connected with the buckling steering wheel, the buckling steering wheel is fixedly connected with the buckling steering engine, and the buckling steering engine is fixedly connected with the inner palm block.

Furthermore, the pose component comprises a pose steering engine, a pose steering wheel and a pose steering wheel; the position and orientation steering wheel is fixedly connected with the position and orientation steering wheel, and the position and orientation steering wheel is fixedly connected with the inner palm block.

Compared with the prior art, the utility model is provided with two steering engines as power sources, a transmission rope and a phase-changing unit are matched, the position and orientation control and the buckling control are decoupled, and the buckling extension and the palmar movement of the thumb of the artificial hand are realized through a thumb unit; the four fingers of the bionic hand are matched to realize daily common actions such as grabbing and pinching, the flexibility and the humanoid property of the artificial hand are improved, the comfort degree of the artificial hand worn by a disabled patient is improved, and the utilization rate of the artificial hand is improved.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings, so as to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1 is a general block diagram of a bionic thumb device according to a preferred embodiment of the present invention;

FIG. 2 is a general schematic view of a thumb unit of a preferred embodiment of the present invention;

FIG. 3 is a schematic cross-sectional view of the thumb element A-A of FIG. 2;

fig. 4 is a general schematic diagram of a reversing unit according to a preferred embodiment of the present invention;

FIG. 5 is a schematic cross-sectional view of the commutation cell B-B of FIG. 4;

FIG. 6 is a general schematic view of a transmission unit according to a preferred embodiment of the present invention;

fig. 7 is a schematic diagram of the position and pose cable routing of the bionic thumb device according to a preferred embodiment of the invention;

fig. 8 is a schematic view of the overall structure of the inner palm block according to a preferred embodiment of the present invention.

Description of reference numerals:

1000-thumb unit, 1001-winding pulley, 1002-second wire pressing bearing, 1003-third line aligning groove, 1004-second spring groove, 1005-second line aligning groove, 1006-first spring groove, 1007-first line returning groove, 1008-first wire pressing bearing, 1009-first line aligning groove, 1010-metacarpal joint, 1011-thumb rope, 1012-middle finger joint, 1013-string, 1014-far finger joint, 1015-third line returning groove, 1016-second line returning groove, 1017-returning groove and 1018-line end;

2000-commutation unit, 2001-converter, 2002-commutation wheel, 2003-rotation column, 2004-transition groove, 2005-wire hook, 2006-arc groove, 2007-semilunar ring, 2008-reset spring, 2009-top hole, 2010-through hole, 2011-wire tail, 2012-tail hole, 2013-buckling rope, 2014-first pulley, 2015-wire head;

3000-a transmission unit, 3001-a right-angle spring, 3002-a buckling steering engine, 3003-a buckling steering wheel, 3004-a buckling steering wheel, 3005-a pose steering engine, 3006-a pose steering wheel, 3007-a pose steering wheel, 3008-a connecting piece, 3009-a balance wheel and 3010-a pose rope;

4000-an inner palm block, 4001-a tail column, 4002-a top seat, 4003-a first support column, 4005-a second support column, 4004 a third support column and 4006-a stop block;

5000-Waitang tablet.

Detailed Description

The technical contents of the preferred embodiments of the present invention will be more clearly understood and appreciated 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 described 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.

Fig. 1 shows a bionic thumb device of a hand of the present invention, which comprises a thumb unit 1000, a reversing unit 2000, a transmission unit 3000, an inner palm block 4000, an outer palm block 5000, and a transmission rope; the end part of the thumb unit 1000 is hinged with one end of the reversing unit 2000, the reversing unit 2000 is fixedly connected with the inner palm block 4000, the transmission unit 3000 is fixedly connected with the inner palm block 4000 and the outer palm block 5000, and the transmission rope penetrates through the thumb unit 1000, the reversing unit 2000, the transmission unit 3000, and the positions between the inner palm block 4000 and the outer palm block 5000 so as to realize linkage control among all the modules; the inner palm block 4000 is fixedly connected with the outer palm block 5000 and is used for fixedly mounting the whole bionic hand thumb device.

Optionally, the end of the thumb unit 1000 and the end of the reversing unit 2000 may also include a pivot pin.

Considering that when the transmission rope is linked with the thumb unit 1000, the reversing unit 2000, the transmission unit 3000, the inner palm block 4000 and the outer palm block 5000, the local stress magnitude and the stress direction of each module are different, optionally, the transmission rope is arranged in sections and comprises a thumb rope, a buckling rope and a pose rope; the flexion cord is connected with the thumb cord. At this time, according to the actual requirements of each module, the thumb rope, the buckling rope and the pose rope can be selected from different materials and performance requirements.

The transmission unit 3000 is linked with the thumb rope through the buckling rope and reversing unit 2000, so as to drive the thumb unit 1000 to do buckling movement; the position rope and reversing unit 2000 drives the thumb unit 1000 to do palm movement by the transmission unit 3000.

In some embodiments, thumb unit 1000 is provided with at least two joints to achieve multiple degrees of freedom. For example, as shown in fig. 2 and 3 (fig. 3 is a schematic view of a stepped cross section in the a-a direction shown in fig. 2), the thumb unit 1000 includes a metacarpal joint 1010, a middle finger joint 1012, a distal finger joint 1014, a wire winding pulley 1001, and a flat angle spring; the first end of the metacarpal joint 1010 is hinged with the reversing unit 2000, the first end of the middle finger joint 1012 is hinged with the second end of the metacarpal joint 1010, the first end of the far finger joint 1014 is hinged with the second end of the middle finger joint 1012, the winding pulley 1001 is hinged with the middle finger joint 1012, and a flat angle spring is coaxially installed; the winding pulley 1001 is used for changing the direction of the thumb rope 1011 in the thumb unit 1000; the flat angle spring is used to restore flexion of the thumb unit 1000.

In some embodiments, as shown in figures 2 and 3, the metacarpal joint 1010 has a first positive wire slot 1009, a first wire bearing 1008, a first return wire slot 1007, the first wire bearing 1008 being mounted within the first positive wire slot 1009.

The middle finger joint 1012 comprises a second positive wire groove 1005, a second wire pressing bearing 1002 and a second return wire groove 1016, wherein the second wire pressing bearing 1002 is installed in the second positive wire groove 1005.

A first spring groove 1006 is also arranged between the metacarpal joint 1010 and the middle finger joint 1012; the first spring groove 1006 is used to limit the axial displacement of one end of the flat angle spring, the other end of which is mounted in the middle finger joint 1012.

The distal knuckle 1014 comprises a third straight wire groove 1003, a third return wire groove 1015, a second spring groove 1004 and a wire column 1013; the second spring groove 1004 functions the same as the first spring groove 1006; the wire column 1013 is used to wind the thumb rope 1011 to receive the tension of the thumb rope 1011.

As shown in fig. 2, the thumb rope 1011 enters the metacarpal joint 1010 through one end of the first line-correcting groove 1009, passes through the other end of the first line-correcting groove 1009, enters the second line-correcting groove 1005, passes through the second line-correcting groove 1005 through one circle of the winding pulley 1001, passes through the other end of the second line-correcting groove 1005, enters the distal finger joint 1014 through one end of the third line-correcting groove 1003, passes through the line column 1013, and passes through the third line-returning groove 1015, the second line-returning groove 1016 and the first line-returning groove 1007 in sequence. The wire end 1018 of the thumb cord 1011 is attached to the flex cord.

In some embodiments, as shown in fig. 4 and 5 (fig. 5 is a cross-sectional view taken along direction B-B of fig. 4), the reversing unit 2000 includes a switching body 2001, a reversing wheel 2002, a rotating column 2003, a return spring 2008, a first pulley 2014; the conversion body 2001 is hinged with the inner palm block 4000, and the reversing wheel 2002 is hinged with the conversion body 2001; the return spring 2008 is coaxially hinged with the rotating column 2003 and the reversing wheel 2002; two ends of the rotating column 2003 are hinged with the first end of the metacarpal joint 1010; first pulley 2014 is hingedly connected to inner palm block 4000 for changing the orientation of flex cable 2013.

In some embodiments, as shown in fig. 4 and 5, the transition body 2001 includes a wire hook 2005, an arcuate slot 2006, a half-moon ring 2007, a transition groove 2004, a top hole 2009, a through-wire hole 2010, a tail hole 2012; one end of the pose rope is wound around the arc-shaped groove 2006 and then fixed on the wire hook 2005; the semilunar ring 2007 is used for blocking deformation of the right-angle spring 3001 so as to achieve the posture resetting function of the thumb unit 1000, the top hole 2009 is hinged with the inner palm block 4000, and the tail hole 2012 is used for installing the conversion body 2001 on the inner palm block 4000 so as to achieve the posture adjusting function of the conversion body 2001.

The buckling ropes 2013 enter the switching body 2001 from the transition groove 2004, and pass out of the first pulley 2014 through the string holes 2010 after winding around the reversing wheel 2002 for one circle.

Both ends 1018 of the wire end 1018 of the thumb cable 1011 are fixedly connected with the wire tail 2011 of the buckling cable 2013, and the wire head 2015 of the buckling cable 2013 is fixedly connected with the transmission unit 3000.

In some embodiments, the metacarpal joint 1010 has a reduction groove 1017 (see fig. 2); the reset grooves 1017 are distributed in pairs at the bottom of the first end of the metacarpal joint 1010 to limit the axial displacement of the reset spring 2008 away from one end of the conversion body 2001; the other end of the return spring 2008 is mounted in the transition body 2001.

In some embodiments, as shown in fig. 6, transmission unit 3000 includes a right angle spring 3001, a flexion steering engine 3002, a flexion steering wheel 3003, a flexion steering wheel 3004, a pose steering engine 3005, a pose steering wheel 3006, a pose steering wheel 3007, a connector 3008, and a balance 3009. Wherein, the right-angle spring 3001 is hinged with the inner palm block 4000; the buckling steering wheel 3003 is fixedly connected with a buckling steering wheel 3004, the buckling steering wheel 3004 is fixedly connected with a buckling steering engine 3002, and the buckling steering engine 3002 is also fixedly connected with an inner palm block 4000; the pose steering wheel 3007 is fixedly connected with a pose steering wheel 3006, the pose steering wheel 3006 is fixedly connected with a pose steering engine 3005, and the pose steering engine 3005 is also fixedly connected with an inner palm block 4000; balance wheel 3009 is coaxial with right angle spring 3001 and is hingedly connected to inner palm block 4000. The upper end and the lower end of the connecting piece 3008 are fixedly connected with the buckling steering engine 3002 and the pose steering engine 3005 respectively, so that the buckling steering engine 3002 and the pose steering engine 3005 are indirectly connected into a whole, and the stability in working is improved.

Optionally, a toe 2015 of the buckling tether 2013 is fixedly connected with the buckling rudder wheel 3003.

As shown in fig. 7, the position steering engine 3005 adjusts the reversing unit 2000 by the position rope 3010 and the balance wheel 3009.

In some embodiments, as shown in fig. 8, inner palm block 4000 comprises a tail post 4001, a top seat 4002, a first post 4003, a second post 4005, a third post 4004, a stop 4006; the tail column 4001 is matched with the tail hole 2012, the top seat 4002 is matched with the first pulley 2014 through screws, the first support column 4003 is fixedly connected with one end of a bending steering engine 3002, the second support column 4005 and the third support column 4004 are both fixedly connected with a pose steering engine 3005, and the stop block 4006 is coaxial with the right-angle spring 3001 and the balance wheel 3009 so as to limit axial displacement of the right-angle spring 3001 and the balance wheel 3009.

In the bionic thumb device shown in fig. 1 to 8, the specific working process is as follows:

fine tuning of the pose steering engine 3005 and the flexion steering engine 3002 allows the thumb device to be in an extended state.

Opening a control terminal, and controlling a buckling steering engine 3002 through a forward program; after the buckling steering engine 3002 is electrified, the buckling steering engine 3002 drives the buckling steering wheel 3004 and the buckling steering wheel 3003 to rotate in the forward direction, and the buckling steering wheel 3003 pulls the buckling rope 2013 fixed on the buckling steering wheel 3003; the flexion cable 2013 will carry the thumb cable 1011, and the thumb cable 1011 will wrap around the post 1013, which will pull the post 1013 to move the distal finger joint 1014, which in turn will carry the thumb unit 1000 to flexion. The control terminal sends a reverse instruction to enable the buckling steering engine 3002 to rotate reversely, and under the action of the straight angle spring, the thumb unit 1000 completes the reset action to realize the buckling and stretching functions of the thumb device.

The control terminal is opened, the pose steering engine 3005 is controlled to rotate forwards through a forward program, the pose steering wheel 3006 and the pose steering wheel 3007 are driven, and the pose steering wheel 3007 pulls the pose rope 3010 fixed on the pose steering wheel 3007; the position and posture rope 3010 makes the conversion body 2001 generate corresponding action, and further drives the thumb unit 1000 to perform palmar movement. A control terminal sends a reverse instruction to enable the pose steering engine 3005 to rotate reversely; under the action of the return spring 2008, the converting body 2001 moves in the opposite direction, so that the position of the thumb unit 1000 is reset, and the palm return function of the thumb device is realized.

The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the teachings of this invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic 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 defined by the claims.

Claims (10)

1. A bionic hand thumb device is characterized by comprising a thumb unit, a reversing unit, a transmission unit, an inner palm sub-block, an outer palm sub-block and a transmission rope; the thumb unit is hinged with the first end of the reversing unit, the second end of the reversing unit is fixedly connected with the inner palm block, the transmission unit is fixedly connected with the inner palm block and the outer palm block, the inner palm block is fixedly connected with the outer palm block, and the transmission rope penetrates through the thumb unit, the reversing unit, the transmission unit, the inner palm block and the outer palm block;

the transmission rope comprises a thumb rope, a buckling rope and a pose rope; the first end of the buckling rope and the first end of the pose rope are both connected with the transmission unit, and the second end of the buckling rope is also connected with the thumb rope; the thumb rope is connected with the thumb unit;

the transmission rope material selection comprises a nylon rope.

2. The bionic hand thumb device of claim 1, wherein the thumb unit comprises a metacarpal joint, a middle finger joint and a distal finger joint; the first end of the metacarpal joint is hinged with the first end of the reversing unit, and the second end of the metacarpal joint is hinged with the first end of the middle finger joint; the second end of the middle finger joint is hinged with the first end of the far finger joint;

the thumb unit further comprises a winding pulley and a flat angle spring; the winding pulley is hinged with the middle finger joint, the flat angle spring is coaxial with the winding pulley, and the flat angle spring is mounted on the winding pulley;

the winding pulley is configured to change a heading of the thumb cord at the thumb unit.

3. The prosthetic thumb device of claim 2, wherein the metacarpal joint comprises a first positive groove, a first lead bearing, a first return groove; the first line pressing bearing is arranged in the first line straightening groove; the thumb rope passes through the first straight line groove and the first return line groove.

4. The prosthetic thumb device of claim 3, wherein the middle finger joint includes a second positive groove, a second push wire bearing, a second return groove, the second push wire bearing being mounted within the second positive groove; the thumb rope passes through the second main line groove and the second return line groove.

5. The bionic hand thumb device of claim 4, wherein the distal finger joint comprises a third positive wire groove, a third return wire groove, a wire post; the thumb rope penetrates through the third straight line groove and the third return line groove; the wire post is configured to wrap around the thumb cord.

6. The prosthetic thumb device of claim 1, wherein the reversing unit comprises a transition body, a reversing wheel, and a rotating post; the conversion body is hinged with the inner palm block, the reversing wheel is hinged with the conversion body, the rotating column is hinged with the thumb unit, and the rotating column and the reversing wheel are coaxial;

the reversing unit further comprises a return spring and a first pulley; the return spring is coaxially arranged with the rotating column and the reversing wheel; the first pulley is hinged with the inner palm block; the first sheave is configured to change a heading of the buckling cord at the reversing unit.

7. The prosthetic thumb device of claim 6, wherein the transition body comprises a wire hook, an arcuate slot, a half-moon ring, a transition channel, a top hole, a through-wire hole, a tail hole; one end of the pose rope is wound on the arc-shaped groove and then fixed on the wire hook, the half-moon ring is configured to control the deformation of the return spring, the top hole is hinged with the inner palm block, and the tail hole is configured to connect the conversion body and the inner palm block;

and the buckling rope enters the conversion body from the transition groove, winds around the reversing wheel, passes through the through hole, penetrates out of the first pulley and is connected with the transmission unit.

8. The bionic hand thumb device of claim 1, wherein the transmission unit comprises a flexion assembly, a pose assembly and a connection; the flexion assembly is configured to flex or flex reset the thumb cell via the flexion cord and the thumb cord; the position and posture assembly is configured to reposition the thumb unit to the palm or the palm through the position and posture rope; the connecting piece is connected with the buckling assembly and the pose assembly; the buckling assembly and the pose assembly are fixedly connected with the inner palm block.

9. The bionic hand thumb device according to claim 8, wherein the buckling assembly comprises a buckling steering engine, a buckling steering wheel and a buckling steering wheel disc; the buckling steering wheel is fixedly connected with the buckling steering wheel, the buckling steering wheel is fixedly connected with the buckling steering engine, and the buckling steering engine is fixedly connected with the inner palm block.

10. The bionic hand thumb device according to claim 9, wherein the pose assembly comprises a pose steering engine, a pose rudder disc and a pose rudder wheel; the position and orientation steering wheel is fixedly connected with the position and orientation steering wheel, and the position and orientation steering wheel is fixedly connected with the inner palm block.

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