WO2017075884A1 - 假肢手 - Google Patents

假肢手 Download PDF

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Publication number
WO2017075884A1
WO2017075884A1 PCT/CN2015/099176 CN2015099176W WO2017075884A1 WO 2017075884 A1 WO2017075884 A1 WO 2017075884A1 CN 2015099176 W CN2015099176 W CN 2015099176W WO 2017075884 A1 WO2017075884 A1 WO 2017075884A1
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Prior art keywords
knuckle
thumb
fingers
palm
proximal
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PCT/CN2015/099176
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English (en)
French (fr)
Inventor
郑悦
徐睿
匡星
景晓蓓
方鹏
李光林
Original Assignee
中国科学院深圳先进技术研究院
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Publication of WO2017075884A1 publication Critical patent/WO2017075884A1/zh

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  • the invention relates to the technical field of rehabilitation medical instruments, in particular to a prosthetic hand.
  • the humanoid prosthetic hand provides convenience for the daily life of disabled people with upper limbs, and is an important research direction in the field of rehabilitation engineering.
  • Currently commercialized prosthetic hands have The company's safety ratio controls the high-precision myoelectric control prosthesis iLimb produced by the electromygic hand and Touch bionics.
  • the safety proportional control muscle driver has three fingers (thumb, index finger and middle finger), which can complete the opening and closing action of the hand to realize the grasping function; but the finger is integral, and the multi-knuckle coupling motion cannot be realized.
  • the iLimb is a prosthetic hand with five fingers.
  • each finger movement can be controlled individually, and various hand movements can be performed; and the four fingers other than the thumb have two knuckles.
  • the characteristics of the coupled movement to a certain extent, achieve the action of human beings.
  • the controller is quite complicated, the quality of the whole hand is high, and the manufacturing and maintenance costs are high, which limits the practicality and productization of the prosthetic hand.
  • Grasp two-finger/three-finger/three-finger
  • ADL Activity of Daily Living
  • the prosthetic hand contains three fingers, driven by a single drive, and the fingers are flexed/extended by the reins to complete the grip. action.
  • the single-hand drive is used, the weight of the whole hand can be reduced and the cost can be reduced.
  • the reins are elastic and the reins are easy to slip, the shackle prosthetic hand has low finger rigidity, and it is difficult to precisely control the position of the finger during the gripping process.
  • the embodiment of the invention provides a prosthetic hand to solve the technical problem that the finger stiffness of the prosthetic hand in the prior art is low and it is difficult to accurately control the position of the finger during the gripping process.
  • the prosthetic hand includes: a palm; five fingers, the five fingers are disposed on the palm according to the relative positions of the human fingers, the five fingers respectively having at least 2 knuckles; and a driver disposed on the palm
  • the first timing belt is disposed in the palm for transmitting the flexion and extension motion of the five fingers by the driving force output by the driver.
  • five fingers are arranged on the palm according to the relative positions of the human fingers (for example, the five fingers include a thumb, an index finger, a middle finger, a ring finger, and a little finger), and each finger includes at least two knuckles, so that The prosthetic hand is closer to the appearance of the human hand in appearance, and a driver is used in conjunction with the knuckle that drives the five fingers to perform the coupling buckling and stretching movement, which can reduce the weight of the prosthetic hand and avoid the cockroach compared with the prior art.
  • the technical problem of the finger stiffness of the prosthetic hand is low, and it is difficult to accurately control the position of the finger during the grasping process, thereby facilitating the precise and stable operation of the prosthetic hand to grasp, pinch, and pinch.
  • FIG. 1 is a schematic view of a prosthetic hand according to an embodiment of the present invention.
  • FIG. 2 is a cross-sectional view of a palm according to an embodiment of the present invention.
  • FIG. 3 is a front view of a thumb according to an embodiment of the present invention.
  • FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3 according to an embodiment of the present invention
  • Figure 5 is a front elevational view of an index finger according to an embodiment of the present invention.
  • Figure 6 is a cross-sectional view taken along line B-B of Figure 5 according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a method for connecting an index finger and a palm according to an embodiment of the present invention.
  • the prosthetic hand includes:
  • the five fingers are disposed on the palm according to the relative positions of the human fingers, the five fingers respectively having at least 2 knuckles; for example, as shown in FIG. 1, the five fingers include the thumb 102 , index finger 103, middle finger 104, ring finger 105 and little finger 106;
  • a driver 13 (for example, the driver may be a motor, or may be a liquid/pneumatic driver, a shape memory alloy driver or the like), as shown in FIG. 2, disposed in the palm 101 for outputting a driving force;
  • the first timing belt 11 is disposed in the palm for transmitting the flexion and extension motion of the five fingers by the driving force output by the driver.
  • the five fingers are disposed on the palm according to the relative positions of the human fingers (for example, the five fingers include a thumb, an index finger, a middle finger, a ring finger, and a little finger), and each finger includes At least 2 knuckles, which makes the prosthetic hand closer to the appearance of the human hand, using a driver to synchronize the knuckles that drive the five fingers to perform the coupling buckling and stretching exercises, while reducing the weight of the prosthetic hand, Compared with the technology, it can avoid the technical problem that the finger stiffness of the prosthetic hand is low, and it is difficult to accurately control the position of the finger during the grasping process, thereby facilitating the accurate and stable completion of the grasping, pinching, and pinching of the prosthetic hand. action.
  • the prosthetic hand further includes: in the palm 101 A driver mount 12, a trapezoidal screw 17, a nut 15, a thumb slider 14, and a slider 16 are provided, wherein the driver mount 12 is fixed in the palm, and the driver 13 is fixed to the driver mount 12; the lower end of the trapezoidal screw rod 17 is fixed on the driver fixing seat 12, and the upper end of the trapezoidal screw rod 17 is fixed on the palm by the screw upper cover 18; the first timing belt 11
  • the driving wheel is connected to the output shaft of the driver 13, and the driven wheel of the first timing belt 11 is connected to the trapezoidal lead screw 17 for transmitting the driving force outputted by the driver to the trapezoidal lead screw;
  • the nut 15 is screwed to the trapezoidal lead screw 17 and is moved along the axial direction of the trapezoidal screw by threading with the trapezoidal screw; the thumb slider
  • the thumb 102 in order to specifically implement the driving of the thumb knuckle, in the embodiment, as shown in FIGS. 2, 3, and 4, the thumb 102 includes two knuckles, and the proximal knuckle of the thumb includes the left side.
  • the phalanx 22 and the right proximal phalanx 23, the left proximal proximal phalanx 22 and the right proximal proximal phalanx 23 are fixedly connected, the prosthetic hand further comprising: a thumb frame 19 disposed at the screw upper cover plate 18 , hinged to the left proximal phalanx 22 and the right proximal phalanx 23 of the thumb; the thumb link 21, one end of the thumb link 21 is connected to the thumb slider 14, the thumb link 21 and the thumb slider 14 composition a handle slider mechanism, the other end of the thumb link 21 is connected to the proximal knuckle of the thumb, and the thumb link 21 is used to convert the translational motion of the thumb slider into the buckling of the proximal phalanx of the thumb Stretching exercises.
  • the prosthetic hand further includes: a first shaft 26 of the thumb for connecting the proximal knuckle of the thumb And a distal knuckle 24 of the thumb; a first elastic element connecting a right proximal phalanx of the thumb and a distal knuckle of the thumb, the first elastic element may be a spring, a pressure Any elastic element such as a spring, a torsion spring, a gas spring, a rubber band, or the like, taking the first elastic element as the first torsion spring 27 as an example, the arms of the first torsion spring 27 are respectively stuck to the right side of the thumb
  • the card 23 and the distal knuckle 24 of the thumb are respectively provided with a card slot in the right proximal phalanx 23 and the distal knuckle 24, and one arm of the first torsion spring 27
  • the first torsion spring 27 When the distal knuckle 24 is in contact with the grasped object, the first torsion spring 27 is bent due to an external force. The shape is adapted to the shape of the grasping object within a certain range. At this time, the thumb 102 is extended from the distal knuckle 24, and the grasping force applied by the distal knuckle 24 to the outside is provided by the first torsion spring 27, the driver and the first timing belt. .
  • the thumb slider 14 can also be rotated about the nut 15 passively, and the thumb frame 19 can also rotate around the screw upper cover plate 18. Therefore, in addition to the flexion and extension of the thumb, the thumb can realize the inward and outward rotation degrees under the action of external force.
  • a screw 1A capable of adjusting the tension is also designed, and when the tension of the 1A is adjusted during assembly, the thumb frame 19 and the screw upper cover can be adjusted.
  • the friction between the 181A allows the thumb to move inward or outward to stop at any position without sliding, and also to rotate the thumb to a specified position with a certain external force when needed.
  • the prosthetic hand also includes: The second timing belt 3C, the third shaft 39, the first gear 3A, and the second gear 36 are disposed in the four fingers (that is, there are four second timing belts 3C, four third shafts 39, and four stages).
  • a gear 3A and four second gears 36 are respectively disposed in the four fingers, wherein the driving wheel 3D of the second timing belt 3C is disposed in the left half near knuckle, and is fixed to the proximal knuckle and the palm
  • the connection (specifically, as shown in FIG.
  • the capstan belt 3C 3D solid a finger holder 1B disposed on the palm 101; a third shaft 39 disposed in the proximal knuckle and passing through the driven wheel 3B of the second timing belt for rotating under the proximal knuckle
  • the second timing belt 3C drives the driven wheel of the second timing belt to rotate around the third axis;
  • the first gear 3A is disposed in the near knuckle and disposed on the third shaft (wherein the second timing belt
  • the driven wheel 3B and the first gear 3A are both fixed to the third shaft 39 through a keyway for rotating around the third axis under the driving of the driven wheel of the second timing belt; the second gear 36
  • the right half middle phalanx 35 is connected to the left half of the middle phalanx 34
  • the right half of the proximal phalanx 37 is connected with the left half of the proximal knuckle 38. Therefore, the left half of the middle phalanx 34 and left When the semi-neck knuckle 38 is flexed, the right half of the middle phalanx 35 and the right half of the proximal phalanx 37 also complete the flexion action) This, to achieve four flexion and extension of the middle section of the finger.
  • the prosthetic hand further includes: four second elastic members, and the second elastic member may be any elastic member such as a spring, a compression spring, a torsion spring, a gas spring, a rubber band or the like;
  • the second elastic element as the second torsion spring 33 as an example, the second torsion springs 33 are respectively disposed in the four fingers, and among the four fingers, the arms of the second torsion spring 33 are respectively stuck The right half of the middle knuckles and the distal knuckles are in the card slots.
  • the distal knuckle 32 Under the action of the second torsion spring 33, the distal knuckle 32 is flexed at an angle relative to the middle knuckle (34, 35); when the finger is in contact with the grasping object, the distal knuckle 32 is in contact with the object and is restrained, the middle finger
  • the segments (34, 35) continue to flex under the drive of the driver 13, causing the second torsion spring 33 to be twisted, and the distal knuckle 32 is extended relative to the middle knuckles (34, 35) to allow the fingers to adapt to the grasped object within a certain range.
  • the shape, while the second torsion spring 33 provides additional gripping force to the distal knuckle 32, making the gripping action stable and reliable.
  • the distal knuckles of the five fingers (the distal knuckles refer to the knuckles of the fingers which are farthest from the palm)
  • the fingertip is provided with a finger belly (the thumb belly 25 of the thumb, and the finger belly 31 of each of the four fingers).
  • the material of the finger belly is an elastic material, and the finger belly and the fingertip can be an integrally formed structure, and the finger belly and the fingertip are also It can be connected by other means such as bonding, screwing, fastening, etc., and the connection is firm, beautiful and practical, and enhances the user's willingness to use.
  • the material of the palm 101 is a non-metal material.
  • five fingers are arranged on the palm according to the relative positions of the human fingers (for example, the five fingers include a thumb, an index finger, a middle finger, a ring finger, and a little finger), and each finger includes at least two knuckles, so that The prosthetic hand is closer to the appearance of the human hand in appearance, and a driver is used in conjunction with the knuckle that drives the five fingers to perform the coupling buckling and stretching movement, which can reduce the weight of the prosthetic hand and avoid the cockroach compared with the prior art.
  • the technical problem of the finger stiffness of the prosthetic hand is low, and it is difficult to accurately control the position of the finger during the grasping process, thereby facilitating the precise and stable operation of the prosthetic hand to grasp, pinch, and pinch.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

一种假肢手，该假肢手包括：手掌(101)；五根手指(102-106)，五根手指(102-106)按照人类手指的相对位置设置在所述手掌(101)上，所述五根手指(102-106)分别具有至少2个指节；一个驱动器(13)，设置在所述手掌(101)内，用于输出驱动力；第一同步带(11)，设置在手掌(101)内，用于利用驱动器(13)输出的驱动力传动五根手指(102-106)的指节进行耦合屈曲和伸展运动。该方案采用一个驱动器(13)配合同步带(11)来驱动五根手指(102-106)的指节进行耦合屈曲和伸展运动，有助于假肢手精确、稳定地完成抓取、捏取以及侧捏等动作。

Description

假肢手 技术领域
本发明涉及康复医疗器械技术领域，特别涉及一种假肢手。
背景技术
仿人假肢手为上肢缺失的残疾人的日常生活提供了便利，是康复工程领域的重要研究方向。目前已经商品化的假肢手有
Figure PCTCN2015099176-appb-000001
公司的安全比例控制肌电手、英国苏格兰公司(Touch bionics)生产的高精度肌电控制假肢iLimb等。该安全比例控制肌电手有三个手指(拇指、食指和中指)，能完成手的开合动作以实现抓取功能；但其手指是整体的，不能实现多指节耦合运动。该iLimb是有五根手指的假肢手，除无名指与小指进行耦合运动以外，能单独控制每一根手指运动，可以完成多种手部动作；并且其除拇指以外的四指具备两个指节耦合运动的特点，在一定程度上实现了动作仿人。
上述多自由度假肢手由于安排了多个驱动器以及传感器，控制器相当复杂，整手质量较大、制造与维护成本高，限制了假肢手的实用性与产品化，通过调研，抓取(Power Grasp)、两指/三指捏取(Precision Grasp)与侧捏(Lateral Grasp)这三类ADL(Activities of Daily Living，在康复医学中指日常生活能力)中最常用的手部动作，能满足绝大多数残疾患者的日常动作功能需求，因此，现有技术中还有一种腱传动假肢手，该假肢手包含三根手指，采用单个驱动器驱动，通过腱绳传动实现各手指屈/伸，完成抓握动作。虽然采用单个驱动器驱动，可以降低整手重量、降低成本，但是由于腱绳本身具有弹性，并且腱绳容易打滑，使得腱传动假肢手存在手指刚度低，难以精确控制抓握过程中手指的位置。
发明内容
本发明实施例提供了一种假肢手，以解决现有技术中腱传动假肢手存在的手指刚度低、难以精确控制抓握过程中手指的位置的技术问题。该假肢手包括：手掌；五根手指，所述五根手指按照人类手指的相对位置设置在所述手掌上，所述五根手指分别具有至少2个指节；一个驱动器，设置在所述手掌内，用于输出驱动力；第一同步带，设置在所述手掌内，用于利用所述驱动器输出的驱动力传动所述五根手指的指节进行耦合屈曲和伸展运动。
在本发明实施例中，通过在手掌上按照人类手指的相对位置设置五根手指(例如，该五根手指包括拇指、食指、中指、无名指以及小指)，各手指包括至少2个指节，使得该假肢手在外观上更接近人手外观，采用一个驱动器配合同步带来驱动五根手指的指节进行耦合屈曲和伸展运动，在降低假肢手重量的同时，与现有技术相比，可以避免腱传动假肢手存在的手指刚度低、难以精确控制抓握过程中手指的位置的技术问题，从而有助于假肢手精确、稳定地完成抓取、捏取以及捏取等动作。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1是本发明实施例提供的一种假肢手的示意图；
图2是本发明实施例提供的一种手掌的剖视图；
图3是本发明实施例提供的一种拇指的主视图；
图4是本发明实施例提供的一种图3的A-A向剖视图；
图5是本发明实施例提供的一种食指的主视图；
图6是本发明实施例提供的一种图5的B-B向剖视图；
图7是本发明实施例提供的一种食指与手掌连接方式的示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚明白，下面结合附图对本发明实施例做进一步详细说明。在此，本发明的示意性实施例及其说明用于解释本发明，但并不作为对本发明的限定。
在本发明实施例中，提供了一种假肢手，如图1所示，该假肢手包括：
手掌101；
五根手指，所述五根手指按照人类手指的相对位置设置在所述手掌上，所述五根手指分别具有至少2个指节；例如，如图1所示，该五根手指包括拇指102、食指103、中指104、无名指105及小指106；
一个驱动器13(例如，该驱动器可以是电机，也可以是液/气压驱动器、形状记忆合金驱动器等其他驱动器)，如图2所示，设置在所述手掌101内，用于输出驱动力；
第一同步带11，如图2所示，设置在所述手掌内，用于利用所述驱动器输出的驱动力传动所述五根手指的指节进行耦合屈曲和伸展运动。
由图1所示可知，在本发明实施例中，通过在手掌上按照人类手指的相对位置设置五根手指(例如，该五根手指包括拇指、食指、中指、无名指以及小指)，各手指包括至少2个指节，使得该假肢手在外观上更接近人手外观，采用一个驱动器配合同步带来驱动五根手指的指节进行耦合屈曲和伸展运动，在降低假肢手重量的同时，与现有技术相比，可以避免腱传动假肢手存在的手指刚度低、难以精确控制抓握过程中手指的位置的技术问题，从而有助于假肢手精确、稳定地完成抓取、捏取以及捏取等动作。
具体实施时，为了实现通过一个驱动器配合同步带来驱动各手指的指节进行耦合屈曲和伸展运动，在本实施例中，如图2所示，上述假肢手还包括：在所述手掌101内设置有驱动器固定座12、梯形丝杆17、螺母15、拇指滑块14以及滑块16，其中，所述驱动器固定座12固定在所述手掌内，所述驱动器13固定在所述驱动器固定座12上；所述梯形丝杆17的下端固定在所述驱动器固定座12上，所述梯形丝杆17的上端通过丝杆上盖板18固定在所述手掌上；所述第一同步带11的主动轮与所述驱动器13的输出轴连接，所述第一同步带11的从动轮与所述梯形丝杠17连接，用于将所述驱动器输出的驱动力传动给所述梯形丝杠；所述螺母15与所述梯形丝杠17螺纹连接，通过与所述梯形丝杠的螺纹传动，沿所述梯形丝杠的轴线方向运动；所述拇指滑块14，与所述螺母15和所述五根手指中拇指的近指节连接，用于在所述螺母的带动下沿着所述梯形丝杠的轴线方向(即上下方向)平移运动，传动所述拇指的近指节进行屈曲和伸展运动，近指节是指各手指中距离手掌最近的指节，远指节是指各手指中距离手掌最远的指节；所述滑块16，与所述螺母和所述五根手指中除了拇指之外的四根手指的近指节连接，用于在所述螺母的带动下沿着所述梯形丝杠的轴线方向平移运动，传动所述四根手指的近指节进行屈曲和伸展运动。
具体实施时，为了具体实现拇指指节的驱动，在本实施例中，如图2、3、4所示，所述拇指102包括2个指节，所述拇指的近指节包括左侧近指节22和右侧近指节23，左侧近指节22和右侧近指节23固定连接，所述假肢手还包括：拇指机架19，设置在所述丝杆上盖板18处，与所述拇指的左侧近指节22和右侧近指节23铰接；拇指连杆21，所述拇指连杆21的一端连接所述拇指滑块14，拇指连杆21和拇指滑块14构成曲 柄滑块机构，所述拇指连杆21的另一端连接所述拇指的近指节，所述拇指连杆21用于将拇指滑块的平移运动转换成所述拇指的近指节的屈曲和伸展运动。
具体实施时，为了实现驱动拇指远指节的运动，在本实施例中，如图3、4所示，上述假肢手还包括：拇指第一轴26，用于连接所述拇指的近指节和所述拇指的远指节24；第一弹性元件，所述第一弹性元件连接所述拇指的右侧近指节和所述拇指的远指节，该第一弹性元件可以是弹簧、压簧、扭簧、气弹簧、橡皮筋等任何弹性元件，以第一弹性元件为第一扭簧27为例，所述第一扭簧27的两臂分别卡在所述拇指的右侧近指节23和所述拇指的远指节24的卡槽内，即右侧近指节23和远指节24内分别设有卡槽，第一扭簧27的一臂卡在右侧近指节23的卡槽内，第一扭簧27的另一臂卡在远指节24的卡槽内，这样拇指远指节24在第一扭簧27的作用下以一定的角度相对近指节(左侧近指节22、右侧近指节23)弯曲，当远指节24与所抓取物体相接触时，该第一扭簧27会因为外力作用弯曲变形，在一定范围内适应抓取物体的形状，此时拇指102远指节24伸直，远指节24向外界施加的抓取力由第一扭簧27、驱动器和第一同步带共同提供。
具体实施时，拇指滑块14还能被动绕螺母15旋转，拇指机架19也能绕丝杠上盖板18旋转。因此，拇指除了能完成拇指滑块14带动下的屈曲和伸展运动以外，还能在外力的作用下实现向内和向外旋自由度。
具体实施时，在拇指机架19与丝杆上盖板18之间，还设计了能够调节松紧的螺钉1A，在装配时调节1A的松紧，就能够调节拇指机架19与丝杆上盖板181A之间的摩擦力，使拇指向内或向外旋运动能够在任意位置停住不滑动，同时也能在需要时以一定的外力使拇指旋转到指定位置。
具体实施时，为了实现驱动四根手指的指节进行屈曲和伸展运动，在本实施例中，如图5、6所示(由于食指103、中指104、无名指105以及小指106除部分零件的尺寸有所差异以外，其运动原理与机构一致，因此图4、5仅以食指103为例对食指103、中指104、无名指105及小指106的运动原理进行统一说明)，上述假肢手还包括：在所述四根手指中均设置有第二同步带3C、第三轴39、第一齿轮3A以及第二齿轮36(即有4个第二同步带3C、4个第三轴39、4个第一齿轮3A以及4个第二齿轮36，分别设置在上述四个手指内)，其中，第二同步带3C的主动轮3D设置在左半近指节内，固定在近指节与所述手掌的连接处(具体的，如图7所示，食指103、中指104、无名指105以及小指106各手指通过左半近指节38上的腰形孔3E与第二传动连杆1C上台阶1F连接传动(腰形孔3E指向台阶1F的箭头表示二者连接)，第二同步带3C的主动轮3D固 定在手掌101上的手指固定座1B上)；第三轴39，设置在近指节内，穿过所述第二同步带的从动轮3B，用于在近指节旋转下，通过所述第二同步带3C带动所述第二同步带的从动轮绕该第三轴转动；第一齿轮3A，设置在近指节内，设置在所述第三轴上(其中，第二同步带的从动轮3B和第一齿轮3A均通过键槽与第三轴39固定)，用于在所述第二同步带的从动轮的带动下绕所述第三轴转动；第二齿轮36，设置在中指节内，与所述第一齿轮啮合，用于在所述第一齿轮的传动下转动，带动中指节进行屈曲和伸展运动(即第二齿轮36通过第一齿轮3A啮合传动，第二齿轮36带动左半中指节34进行屈曲和伸展运动，由于右半中指节35与左半中指节34连接，右半近指节37与左半近指节38连接，因此，左半中指节34与左半近指节38屈曲时，右半中指节35与右半近指节37也同时完成屈曲动作)，因此，实现四根手指的中指节的屈曲和伸展。
具体实施时，如图5、6所示，上述假肢手还包括：4个第二弹性元件，该第二弹性元件可以是弹簧、压簧、扭簧、气弹簧、橡皮筋等任何弹性元件；以第二弹性元件为第二扭簧33为例，第二扭簧33分别设置在所述四根手指中，在所述四根手指中，所述第二扭簧33的两臂分别卡在右半中指节和远指节的卡槽内。在第二扭簧33的作用下，远指节32相对中指节(34、35)以一定的角度屈曲；当手指与抓取物体接触时，远指节32与物体接触而被限位，中指节(34、35)在驱动器13的驱动下继续屈曲，使第二扭簧33受力扭转，远指节32相对中指节(34、35)伸展，使手指在一定范围内适应被抓取物体的外形，同时第二扭簧33给远指节32提供了额外的抓取力，使抓取动作稳定可靠。
具体实施时，为了上述假肢手更美观，在本实施例中，如图3、6所示，五根手指的远指节(远指节是指各手指中距离手掌最远的指节)的指尖处设置有手指肚(拇指的手指肚25，四根手指各自的手指肚31)，手指肚的材质为弹性材料，该手指肚与指尖可以为一体成型结构，手指肚与指尖也可以通过粘接、螺纹连接、扣合等其他方式连接，连接牢固且美观实用，增强用户的使用意愿。
具体实施时，为了进一步降低假肢手的重量，在本实施例中，所述手掌101的材质为非金属材料。
在本发明实施例中，通过在手掌上按照人类手指的相对位置设置五根手指(例如，该五根手指包括拇指、食指、中指、无名指以及小指)，各手指包括至少2个指节，使得该假肢手在外观上更接近人手外观，采用一个驱动器配合同步带来驱动五根手指的指节进行耦合屈曲和伸展运动，在降低假肢手重量的同时，与现有技术相比，可以避免腱 传动假肢手存在的手指刚度低、难以精确控制抓握过程中手指的位置的技术问题，从而有助于假肢手精确、稳定地完成抓取、捏取以及捏取等动作。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
以上所述的具体实施例，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施例而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种假肢手，其特征在于，包括：
    手掌；
    五根手指，所述五根手指按照人类手指的相对位置设置在所述手掌上，所述五根手指分别具有至少2个指节；
    一个驱动器，设置在所述手掌内，用于输出驱动力；
    第一同步带，设置在所述手掌内，用于利用所述驱动器输出的驱动力传动所述五根手指的指节进行耦合屈曲和伸展运动。
  2. 如权利要求1所述的假肢手，其特征在于，还包括：
    在所述手掌内设置有驱动器固定座、梯形丝杆、螺母、拇指滑块以及滑块，其中，
    所述驱动器固定座固定在所述手掌内，所述驱动器固定在所述驱动器固定座上；
    所述梯形丝杆的下端固定在所述驱动器固定座上，所述梯形丝杆的上端通过丝杆上盖板固定在所述手掌上；
    所述第一同步带的主动轮与所述驱动器的输出轴连接，所述第一同步带的从动轮与所述梯形丝杠连接，用于将所述驱动器输出的驱动力传动给所述梯形丝杠；
    所述螺母与所述梯形丝杠螺纹连接，通过与所述梯形丝杠的螺纹传动，沿所述梯形丝杠的轴线方向运动；
    所述拇指滑块，与所述螺母和所述五根手指中拇指的近指节连接，用于在所述螺母的带动下沿着所述梯形丝杠的轴线方向平移运动，传动所述拇指的近指节进行屈曲和伸展运动，近指节是指各手指中距离手掌最近的指节，远指节是指各手指中距离手掌最远的指节；
    所述滑块，与所述螺母和所述五根手指中除了拇指之外的四根手指的近指节连接，用于在所述螺母的带动下沿着所述梯形丝杠的轴线方向平移运动，传动所述四根手指的近指节进行屈曲和伸展运动。
  3. 如权利要求2所述的假肢手，其特征在于，所述拇指包括2个指节，所述拇指的近指节包括左侧近指节和右侧近指节，左侧近指节和右侧近指节固定连接，所述假肢手还包括：
    拇指机架，设置在所述丝杆上盖板处，与所述拇指的左侧近指节和右侧近指节铰接；
    拇指连杆，所述拇指连杆的一端连接所述拇指滑块，所述拇指连杆的另一端连接所述拇指的近指节，用于将拇指滑块的平移运动转换成所述拇指的近指节的屈曲和伸展运动。
  4. 如权利要求3所述的假肢手，其特征在于，还包括：
    拇指第一轴，用于连接所述拇指的近指节和所述拇指的远指节；
    第一弹性元件，所述第一弹性元件连接所述拇指的右侧近指节和所述拇指的远指节。
  5. 如权利要求3所述的假肢手，其特征在于，还包括：
    螺钉，设置在所述丝杆上盖板和所述拇指机架之间，用于调节所述丝杆上盖板和所述拇指机架之间的摩擦力大小。
  6. 如权利要求2所述的假肢手，其特征在于，所述四根手指分别包括3个指节，按照指节距离所述手掌由近到远的顺序将3个指节分为近指节、中指节和远指节，所述四根手指的近指节包括左半近指节和右半近指节，左半近指节和右半近指节连接，所述四根手指的中指节包括左半中指节和右半中指节，左半中指节和右半中指节连接，所述假肢手还包括：
    第一传动连杆，与所述滑块铰接，用于在所述滑块的带动下做平移运动；
    4个第二传动连杆，均与所述第一传动连杆连接，同时4个所述第二传动连杆与所述四根手指的左半近指节一一对应连接，用于在所述第一传动连杆的传动下，带动所述四根手指的近指节进行旋转。
  7. 如权利要求6所述的假肢手，其特征在于，还包括：
    在所述四根手指中均设置有第二同步带、第三轴、第一齿轮以及第二齿轮，其中，
    所述第二同步带的主动轮设置在左半近指节内，固定在近指节与所述手掌的连接处；
    所述第三轴设置在近指节内，穿过所述第二同步带的从动轮，用于在近指节旋转下，通过所述第二同步带带动所述第二同步带的从动轮绕该第三轴转动；
    所述第一齿轮设置在近指节内，设置在所述第三轴上，用于在所述第二同步带的从动轮的带动下绕所述第三轴转动；
    所述第二齿轮，设置在中指节内，与所述第一齿轮啮合，用于在所述第一齿轮的传动下转动，带动中指节进行屈曲和伸展运动。
  8. 如权利要求6所述的假肢手，其特征在于，还包括：
    4个第二弹性元件，分别设置在所述四根手指中，在所述四根手指中，所述第二弹性元件连接右半中指节和远指节。
  9. 如权利要求1至8中任一项所述的假肢手，其特征在于，所述五根手指的远指节的指尖处设置有手指肚，所述手指肚的材质为弹性材料，远指节是指各手指中距离手掌最远的指节。
  10. 如权利要求1至8中任一项所述的假肢手，其特征在于，所述手掌的材质为非金属材料。
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CN107184370A (zh) * 2017-07-12 2017-09-22 合肥工业大学 一种手部五指康复训练矫正装置
CN107184371A (zh) * 2017-07-12 2017-09-22 合肥工业大学 一种手部指节康复训练机构
CN107953355A (zh) * 2017-12-29 2018-04-24 北京钢铁侠科技有限公司 一种仿生手指
CN109172062A (zh) * 2018-09-10 2019-01-11 安阳市翔宇医疗设备有限责任公司 一种假肢手的双侧驱动手指
CN109172059A (zh) * 2018-09-10 2019-01-11 安阳市翔宇医疗设备有限责任公司 一种仿生上肢的三自由度的电动仿生手指
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CN109674562A (zh) * 2019-01-22 2019-04-26 王宇光 轮系式欠驱动仿生假肢手指
CN109986544A (zh) * 2019-04-25 2019-07-09 河南省祥和康复产业技术研究院有限责任公司 一种机械式仿生手
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CN107184371A (zh) * 2017-07-12 2017-09-22 合肥工业大学 一种手部指节康复训练机构
CN107184370A (zh) * 2017-07-12 2017-09-22 合肥工业大学 一种手部五指康复训练矫正装置
CN107184370B (zh) * 2017-07-12 2023-03-24 合肥工业大学 一种手部五指康复训练矫正装置
CN107953355A (zh) * 2017-12-29 2018-04-24 北京钢铁侠科技有限公司 一种仿生手指
CN107953355B (zh) * 2017-12-29 2023-12-08 北京钢铁侠科技有限公司 一种仿生手指
CN109172059A (zh) * 2018-09-10 2019-01-11 安阳市翔宇医疗设备有限责任公司 一种仿生上肢的三自由度的电动仿生手指
CN109172060A (zh) * 2018-09-10 2019-01-11 安阳市翔宇医疗设备有限责任公司 一种上肢假肢的假肢手
CN109172062A (zh) * 2018-09-10 2019-01-11 安阳市翔宇医疗设备有限责任公司 一种假肢手的双侧驱动手指
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CN109172060B (zh) * 2018-09-10 2024-01-02 河南翔宇医疗设备股份有限公司 一种上肢假肢的假肢手
CN109172059B (zh) * 2018-09-10 2024-04-16 河南翔宇医疗设备股份有限公司 一种仿生上肢的三自由度的电动仿生手指
CN109674562A (zh) * 2019-01-22 2019-04-26 王宇光 轮系式欠驱动仿生假肢手指
CN109674562B (zh) * 2019-01-22 2024-03-12 王宇光 轮系式欠驱动仿生假肢手指
CN109986544A (zh) * 2019-04-25 2019-07-09 河南省祥和康复产业技术研究院有限责任公司 一种机械式仿生手
CN109986544B (zh) * 2019-04-25 2024-01-30 河南省祥和康复产业技术研究院有限责任公司 一种机械式仿生手
CN114029990A (zh) * 2021-12-13 2022-02-11 华宏伟 带多传感器的仿生机器人智能动力手臂的结构和控制方法
CN114029990B (zh) * 2021-12-13 2023-09-01 华宏伟 带多传感器的仿生机器人智能动力手臂的结构和控制方法

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