JP2012192496A - Humanoid hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a humanoid hand enhanced in practicality and simple in structure.SOLUTION: There is provided the humanoid hand 100 with a bony framework of a hand. A plurality of palms 2, 3, and 4 are fixed to the bony framework of a palm of the humanoid hand 100. Respective palms 2, 3, and 4 are formed by adhering elastic members 22, 23, 24, 32, and 42 to sheet members 21, 31, and 41. When gripping an object by the humanoid hand 100, the plurality of the sheet members 21, 31, and 41 overlap one another and are deflected, so that the elastic members 22, 23, 24, 32, and 42 support the object.

Description

  The present invention relates to a humanoid hand that is lightweight and easy to operate, and has a simple structure suitable for robots and prosthetic hands such as persons with physical disabilities.

  The humanoid hand is used for robots and prosthetic hands, and since the structure and operation of human hands are extremely complex, the conventionally known humanoid hand has a large number of actuators. In addition, it is necessary to obtain information from sensors and the control system is extremely complicated.

  In particular, humanoid robots and humanoid hands for prosthetic hands, for example, have to operate multiple actuators with a complicated mechanism just by grabbing a single object, and the weight must be heavy, The wearer who installs it is cumbersome and burdensome.

  On the other hand, Patent Document 1 discloses a humanoid hand that is lightweight and easy to operate, and has a simple structure suitable for robots and prosthetic hands such as persons with physical disabilities.

Japanese Patent No. 4462742

  By the way, the humanoid hand described in Patent Document 1 is disclosed in the construction of its skeleton and the transmission of driving force to each finger. However, it is necessary to examine a structure that further increases the practicality.

  The present invention has been made in view of the above points, and an object thereof is to provide a humanoid hand having a simple structure with improved practicality.

  In order to solve the above problems, in a humanoid hand having a hand skeleton, a plurality of palm portions are fixed to the palm skeleton of the humanoid hand, and each of the plurality of palm portions has an elastic member attached to a sheet member. When the object is gripped by the humanoid hand, the plurality of sheet members are overlapped with each other in conjunction with the movement of the palm portion, and the sheet members are bent and raised or bent, whereby the elastic member is The object is supported together with other parts such as a finger.

  According to the present invention, it is possible to provide a humanoid hand having a simple structure with improved practicality.

  For example, the present invention has an effect that when the humanoid hand grasps an object, the elastic member on the sheet member can also appropriately support the object to be grasped in conjunction with the finger.

It is the top view which shows one Embodiment of the humanoid hand by this invention, Comprising: It is the figure which looked at the palm side. It is a top view which shows the state which removed the palm parts 2, 3, and 4 in the humanoid hand 100 shown in FIG. 3 is a perspective view of a palm part 3. FIG. FIG. 3 is a plan view showing a state in which the palm part 2 is attached to the state of FIG. 2 in the humanoid hand 100 shown in FIG. 1. FIG. 5 is a plan view showing a state in which the palm portion 3 is attached to the state of FIG. 4 in the humanoid hand 100 shown in FIG. 1. In the humanoid hand 100 shown in FIG. 1, it is the schematic perspective view which looked at the state which bent the little finger mechanism 20 and the ring finger mechanism 30 from the back side of the hand.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a plan view showing an embodiment of a humanoid hand according to the present invention, as seen from the palm side.

  The humanoid hand 100 according to the present embodiment is formed by connecting each bone of a finger with a rod (bar-shaped member) made of, for example, metal or resin, and connecting the finger joints with, for example, a universal joint. The humanoid hand 100 includes a palm mechanism 60, a middle finger mechanism 10, a little finger mechanism 20, a ring finger mechanism 30, an index finger mechanism 40, and a thumb mechanism 50.

  The palm mechanism 60 is formed by fixing palm portions 2, 3 and 4 made of a sheet member with an elastic member attached to a predetermined position of the palm skeleton.

  The palm mechanism 60, middle finger mechanism 10, little finger mechanism 20, ring finger mechanism 30, index finger mechanism 40, and thumb mechanism 50 are connected by, for example, a universal joint, thereby realizing the same movement as the skeleton of a human hand.

  Each of the palm parts 2, 3, 4 is fixed at a predetermined location 1 a, 1 b, 1 c, 1 d, 1 e on the palm side of the palm skeleton.

  FIG. 2 is a plan view showing a state in which the palm parts 2, 3, and 4 are removed from the humanoid hand 100 shown in FIG.

  In the humanoid hand 100, the base of the middle finger mechanism 10, the little finger mechanism 20, the ring finger mechanism 30, the index finger mechanism 40, and the thumb mechanism 50 has a palm substrate 1f to which the base of each finger is connected through, for example, a universal joint.

  Each of the sheet member 21 constituting the palm part 2, the sheet member 31 constituting the palm part 3, and the sheet member 41 constituting the palm part 4 is formed of a flexible resin or the like into a sheet shape (thin plate shape). It is a member, and is formed and cut so that the sheet surface has a predetermined shape corresponding to the palm.

  Elastic members 22, 23, 24, 32, 42 having shapes corresponding to the shape of the human palm's knuckles are attached and fixed to each of the sheet members 21, 31, 41 with an adhesive or the like, for example. . The elastic members 22, 23, 24, 32, and 42 may be any members having elasticity such as rubber and gel-like members.

  That is, the elastic members 22, 23, and 24 are affixed to the sheet member 21, the elastic member 32 is affixed to the sheet member 31, and the elastic member 42 is affixed to the sheet member 41. The height of each elastic member 22, 23, 24, 32, 42 may be adjusted according to the height of the human palm's knuckles, and the base sheet members 21, 31, 41 bend. The height of each elastic member 22, 23, 24, 32, 42 may change. As a representative example of the palm, a perspective view of the palm 3 is shown in FIG. In this example, the elastic member 32 has a substantially constant height.

  The sheet member 21 is provided with through holes 25, 26, 27, and 28. Accordingly, the width is narrow and easily bent around the through holes 25, 26, 27, and 28. For example, a palm skeleton that moves in conjunction with bending of a finger acts on the sheet member 21 that is a base. Due to this action, the sheet member 21 bends and curves into a bulge or groove, so that the elastic member 32 on the through holes 25 and 26 and the elastic member 42 on the through holes 27 and 28 are formed on the human palm. It has a function of appropriately touching the object at a position where it cannot be touched by the finger of the hand while being deformed while being curved in the shape of a bulge or groove according to the shape, and firmly grips it. That is, it fits the object.

  FIG. 4 is a plan view showing a state in which the palm portion 2 is attached to the state of FIG. 2 in the humanoid hand 100 shown in FIG.

  As shown in FIG. 4, the back surface of the sheet member 21 of the palm portion 2 is placed on a predetermined portion 1b (for example, the base of the finger) of the index finger mechanism 40, a predetermined portion 1c (for example, the base of the finger) of the middle finger mechanism 10, and the palm substrate 1f. Fixed.

  FIG. 5 is a plan view showing a state in which the palm 3 is attached to the state of FIG. 4 in the humanoid hand 100 shown in FIG.

  As shown in FIG. 5, the sheet member 31 of the palm part 3 is placed on the sheet member 21 of the palm part 2 and is configured to move slidably. Further, the back surface of the sheet member 31 of the palm portion 3 is arranged at a predetermined position 1d (for example, the base of the finger) of the ring finger mechanism 30 through the through hole 26 of the sheet member 21 and the little finger mechanism 20 through the through hole 25 of the sheet member 21. It is fixed to a predetermined location 1e (for example, the base of the finger).

  Further, as shown in FIG. 1, the sheet member 41 of the palm portion 4 is placed on the sheet member 21 of the palm portion 2 and is fixed to a predetermined location 1 a (for example, the base of the finger) of the thumb mechanism 50. At this time, the left side of the sheet member 41 of the palm portion 4 in the drawing is placed on the sheet member 21, and rises so as to be appropriately bent while sliding on the sheet member 21 according to the movement of the thumb mechanism 50.

  FIG. 6 is a schematic perspective view of the humanoid hand 100 shown in FIG. 1 as seen from the back of the hand, with the little finger mechanism 20 and the ring finger mechanism 30 bent.

  When the little finger mechanism 20 and the ring finger mechanism 30 are bent (when the metacarpal bone is bent), the palm-side sheet member 21 is also bent. At this time, since the sheet member 31 is joined to the base of the little finger and ring finger, the sheet member 21 is bent together with the metacarpal bone to bend the sheet member 21. As a result, the sheet member 21 is bent, and a raised portion and a recessed portion are generated in the palm.

  As described above, according to the present invention described above, it is possible to realize appropriate gripping in a humanoid hand having a finger skeleton and a bent palm skeleton.

  The humanoid hand according to the present invention has been described above. However, the present invention is not limited to this description, and various modifications and combinations can be made without departing from the spirit of the present invention. Various combinations of the configurations of the embodiments are also included in the present invention.

DESCRIPTION OF SYMBOLS 100 Humanoid hand 10 Middle finger mechanism 20 Middle finger mechanism 30 Ring finger mechanism 40 Index finger mechanism 50 Thumb mechanism 60 Palm mechanism 2, 3, 4 Palm part 21, 31, 41 Sheet member 22, 23, 24, 32, 42 Elastic member

Claims (1)

In a humanoid hand with a hand skeleton,
A plurality of palms are fixed to the palm skeleton of the humanoid hand,
Each of the plurality of palm parts is formed by attaching an elastic member to a sheet member,
When the object is gripped by the humanoid hand, the plurality of sheet members overlap with each other in conjunction with the movement of the palm, and the sheet members bend and bend or bend, so that the elastic member becomes a finger or the like. A humanoid hand that supports the object together with a part.

Images