WO2020173219A1 - 一种假肢手 - Google Patents
一种假肢手 Download PDFInfo
- Publication number
- WO2020173219A1 WO2020173219A1 PCT/CN2019/130823 CN2019130823W WO2020173219A1 WO 2020173219 A1 WO2020173219 A1 WO 2020173219A1 CN 2019130823 W CN2019130823 W CN 2019130823W WO 2020173219 A1 WO2020173219 A1 WO 2020173219A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- finger
- thumb
- knuckle
- screw
- shaft
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
Definitions
- the present invention relates to the technical field of rehabilitation medical equipment, and in particular to a prosthetic hand.
- the human-like prosthetic hand provides convenience for the daily life of disabled persons with missing upper limbs, and is an important research direction in the field of rehabilitation engineering.
- commercially available prosthetic hands include the safe proportional control myoelectric hand of ottobock ® and the high-precision myoelectric control prosthesis iLimb produced by the Scottish company (Touch bionics).
- the safe proportional control myoelectric hand has three fingers (thumb, index finger and middle finger), which can complete the opening and closing movements of the hand to realize the grasping function, but its fingers are integral and cannot realize multi-knuckle coupling movement;
- iLimb has five A prosthetic hand with one finger, in addition to the coupled movement of the ring finger and the little finger, can individually control the movement of each finger, and can complete a variety of hand movements, and its four fingers except the thumb have the characteristics of two knuckles coupled movement. To a certain extent, the actions are imitated.
- Existing prosthetic hands have a single degree of freedom and multiple degrees of freedom.
- the single-freedom holiday limbs are not flexible enough to complete the common movements in daily life; while the multi-freedom holiday limbs are mostly of higher quality and manufactured
- the high maintenance cost limits the practicability and commercialization of prosthetic hands, which is not conducive to the use of disabled patients.
- current prosthetic hands mostly use electromyographic signals as input signals for intuitive control, and the residual muscle end of amputation patients can provide limited signals. Therefore, the number of degrees of freedom of the prosthetic hands that can be controlled is limited, resulting in poor practicality of the prosthetic hands.
- the purpose of the present invention is to provide a prosthetic hand, which aims to solve the current technical problems of high cost, heavy weight, poor flexibility and poor practicability of the current prosthetic hand.
- a prosthetic hand including:
- the finger structure includes index finger, middle finger, ring finger and little finger, the index finger, middle finger, ring finger, little finger and thumb are respectively arranged on the supporting structure according to the relative positions of the human fingers;
- At least one first driving structure At least one first driving structure
- the thumb includes the proximal phalanx of the thumb and the distal phalanx of the thumb, and the tendon cord of the thumb that are arranged in order from near to far;
- the index finger, middle finger, ring finger, and little finger all include the near finger of the fingers arranged in order from near to far Knuckles, middle finger knuckle and far finger knuckle, and finger tendons;
- Each of the first driving structures includes a first driving element, a first transmission component, a screw rod, a screw slider, a guide rod, and a first wire routing seat that are arranged on the support structure;
- the head end of a transmission assembly is connected with the output end of the first driving element, and the end is connected with the screw rod, and is used to transmit the power of the first driving element to the screw rod;
- the blocks are respectively sleeved on the screw rod and the guide rod to convert the rotation of the screw rod into linear movement of the screw slider along the axis of the screw rod;
- the screw slider is provided There are a one-to-one correspondence with the first wiring seat and coaxially arranged wiring holes, one end of the thumb tendon cord and the finger tendon cord are fixedly connected to the corresponding distal knuckle, and the other end passes through the first
- the wire routing seat and the corresponding wire routing hole are fixed on the screw slider, and the linear movement of the screw slider drives the thumb tendon cord and the finger tendon cord to
- the number of the first driving structure is 1 to 5
- the screw slider is provided with five wire routing holes.
- the prosthetic hand further includes a second drive structure provided on the support structure, and the second drive structure is used to drive the thumb to perform adduction and abduction movements.
- the second drive structure includes a second drive element, a second drive assembly, a rotating shaft, and a fixing cap, and a head end of the second drive assembly is connected to the second drive element.
- the output end is connected, and the end is connected to the rotating shaft, and is used to transmit the power of the second driving element to the rotating shaft;
- the thumb also includes a thumb base, the thumb near phalanx and the thumb finger One end of the base is rotatably connected, the other end of the thumb base is fixedly connected with the rotating shaft, and the fixing cap is fixed to one end of the rotating shaft to limit the axial movement of the thumb base.
- the support structure includes a support frame, and is disposed on the support frame
- the fixing seat and the screw seat on the upper part, the first driving element and the second driving element are fixed on the fixing seat, one end of the screw rod is connected with the fixing seat, and the other end is connected with the screw seat ,
- the first wiring seat is installed on the screw seat.
- the index finger, middle finger, ring finger and little finger all further include a finger base, a first torsion spring, a second torsion spring, a third torsion spring, a first knuckle shaft, and a The second knuckle shaft and the third knuckle shaft, the first torsion spring is sleeved on the first knuckle shaft, the second torsion spring is sleeved on the second knuckle shaft, and the first torsion spring is sleeved on the second knuckle shaft.
- a three torsion spring is sleeved on the third knuckle shaft, the finger base is fixed on the support frame, and the finger near knuckle is connected to the first knuckle shaft through the first torsion spring and the first knuckle shaft.
- the finger base is rotationally connected
- the middle finger knuckle of the finger is rotationally connected to the proximal finger knuckle through the second torsion spring and the second knuckle shaft
- the distal finger knuckle is rotationally connected through the third torsion spring and the third finger joint.
- the knuckle shaft is rotatably connected with the middle knuckle of the finger
- the thumb further includes a fourth torsion spring, a fifth torsion spring, a fourth knuckle shaft, and a fifth knuckle shaft, the fourth torsion spring is sleeved on the fourth knuckle shaft, and The fifth torsion spring is sleeved on the fifth knuckle shaft, and the proximal phalanx of the thumb is rotatably connected with the proximal phalanx of the thumb through the fourth torsion spring and the fourth knuckle shaft; the far finger of the thumb The knuckle is rotatably connected with the proximal knuckle of the thumb through the fifth torsion spring and the fifth knuckle shaft.
- a first through hole is opened in the proximal phalanx of the finger
- a second through hole is opened in the middle phalanx of the finger
- a second through hole is opened in the proximal phalanx of the thumb.
- the third through hole, the first through hole and the second through hole are used for the finger tendon cord to pass through, and the third through hole is for the thumb tendon cord to pass through
- the index finger, middle finger, ring finger, and little finger all further include a first solenoid
- the thumb further includes a second solenoid
- the finger tendon cord passes through the The first solenoid
- the second solenoid is passed through the thumb cord.
- a second cable routing seat is further installed on the screw seat
- the thumb structure further includes a first pulley and a second pulley provided on the support structure, so The second pulley is the same height as the first pulley, one end of the thumb tendon is tangent to one side of the first pulley after passing through the second cable seat, and the thumb tendon faces the The tangent line of the first pulley coincides with the axis of the second wire routing seat, and the thumb tendon is coincident with the axis of the wire routing hole on the screw slider after passing around the first pulley and the second pulley.
- the first transmission assembly includes a first reducer, a first gear, and a second gear, and the first reducer is connected to the output shaft of the first driving element,
- the first gear is fixedly sleeved on the output shaft of the first reducer, and the second gear is fixedly sleeved on the screw rod and meshes with the first gear
- the second drive assembly includes A second reducer, a third gear, and a fourth gear, the second reducer is connected with the output shaft of the second drive element, and the third gear is fixedly sleeved on the output shaft of the second reducer ,
- the fourth gear is fixedly sleeved on the rotating shaft and meshes with the third gear.
- a prosthetic hand implementing the present invention has the following beneficial effects:
- the prosthetic hand of the present invention is designed to imitate the appearance of a natural human hand with 5 fingers including index finger, middle finger, ring finger, little finger and thumb, and 14 knuckles, which can meet the user's basic daily movement needs;
- the second and fifth fingers and the first driving structure that drives the five fingers for coupled flexion and extension exercises adopt a modular design, which can realize single finger flexion and extension and combined actions of different fingers, such as power grip, fine pinch, and side Pinch and hook-shaped grip, etc., where a first driving structure realizes one active degree of freedom, and the number of first driving structures can be selected according to the design requirements of the degree of freedom of the prosthetic hand, so single degree of freedom and two degrees of freedom can be realized , Three degrees of freedom, four degrees of freedom and five degrees of freedom prosthetic hand fingers active flexion and extension of the number of degrees of freedom, and different free holiday limb hands when assembling the fingers driven by the first drive structure, there are multiple assembly solutions, different assembly The scheme can realize different prosthetic hand movements;
- the finger adopts a design structure of tendon transmission. According to the number of selected first drive structures and the assembly scheme, a single finger flexion and extension or multiple fingers can be flexed and extended simultaneously, and the finger joints can be coupled with flexion and extension motions, thereby Realize an under-driven artificial hand drive mode;
- the first driving structure is arranged in the supporting structure, which will not interfere with the movement of the wrist, and the entire prosthesis
- the hand structure is compact, the prosthetic hand has many movements, and the cost is low. It provides a more practical and easy to commercialize prosthetic hand for amputees.
- FIG. 1 is a schematic diagram of a front view structure of a prosthetic hand provided by an embodiment of the present invention
- FIG. 2 is a schematic diagram of a left side view of a prosthetic hand provided by an embodiment of the present invention.
- FIG. 3 is a schematic structural diagram of a first driving structure provided by an embodiment of the present invention.
- FIG. 4 is a top view of a screw slider provided by an embodiment of the present invention.
- FIG. 5 is a schematic front view of a thumb structure and a second driving structure provided by an embodiment of the present invention.
- FIG. 6 is a schematic diagram of a right side view of a thumb structure and a second driving structure provided by an embodiment of the present invention
- FIG. 7 is a schematic structural diagram of a first solenoid and a second solenoid provided by an embodiment of the present invention.
- FIG. 8 is a schematic structural diagram of a single free vacation limb hand provided by an embodiment of the present invention.
- FIG. 9 is a schematic structural diagram of a double free vacation limb hand provided by an embodiment of the present invention.
- FIG. 10 is a schematic structural diagram of a double free vacation limb hand provided by another embodiment of the present invention.
- 200-Thumb structure 201-Thumb base; 202-Fourth torsion spring; 203-Proximal knuckle of thumb; 2031-Third through hole; 204-Fifth torsion spring; 205-Far knuckle of thumb; 206 -Thumb tendon cord; 207-Second solenoid; 208-Second wiring seat; 209-First pulley; 210-Second pulley; 211-Terminal buckle;
- an embodiment of the present invention proposes a prosthetic hand, wherein the driving structure for controlling the flexion and extension of the prosthetic hand adopts a modular design,
- the prosthetic hand has been personalized for the user, which aims to meet the user's basic daily movement needs, choose an appropriate number of degrees of freedom and the assembly scheme of the drive structure according to the user's needs, and minimize the quality of the prosthetic hand.
- the embodiment of the present invention can realize a variety of multi-free holiday limb hand configurations, design the number of degrees of freedom of the prosthetic hand according to the actual situation of the user, and select the assembly scheme of the driving structure to the fingers according to the user's common actions, which guarantees the dexterity of use Under the circumstances, the weight of the prosthetic hand is minimized, so the prosthetic hand is highly acceptable and has great practical potential.
- FIG. 1 is a schematic diagram of a front view structure of a prosthetic hand
- FIG. 2 is a schematic diagram of a left view structure of the prosthetic hand.
- the prosthetic hand of the embodiment of the present invention includes a supporting structure 500, a thumb structure 200, a finger structure 100 and at least one first driving structure 300.
- the thumb structure 200 mainly includes a thumb
- the finger structure 100 includes four fingers other than the thumb, that is, including the index finger, the middle finger, the ring finger, and the little finger.
- the index finger, the middle finger, the ring finger, the little finger, and the thumb are arranged according to the relative positions of the human fingers.
- the supporting structure 500 where the supporting structure 500 corresponds to a human palm.
- the index finger, the middle finger, the ring finger and the little finger adopt a modular design, and their movement principle is the same, only the length is different.
- the left and right prosthetic hands can be installed by changing the installation position of the thumb.
- the thumb has two phalanx, specifically including the proximal phalanx of the thumb 203 and the distal phalanx of the thumb 205 (the phalanx closer to the palm is called the proximal phalanx, and the finger farther from the palm The knot is called the far knuckle, the same below)
- the index finger, the middle finger, the ring finger and the little finger each have three knuckles, specifically including the proximal finger knuckle 103, the middle finger 105 and the distal finger 107, which are arranged in order from near to far, and are used to connect the distal finger 107 and the finger.
- the finger strap 108 of the first driving structure 300 is used to connect the distal finger 107 and the finger.
- each first driving structure 300 includes a first driving element 301, a first transmission assembly, a screw 306, a screw slider 305, a guide rod 307, and a first driving element 301 disposed on the supporting structure 500.
- the head end of the first transmission assembly is connected with the output end of the first driving element 301, and the end of the first transmission assembly is connected with the screw rod 306, and the first transmission assembly is used to transmit the power of the first driving element 301 to the wire.
- the rod 306 drives the screw 306 to rotate; the screw slider 305 is respectively sleeved outside the screw 306 and the guide rod 307 to convert the rotation of the screw 306 into the screw slider 305 along the axial direction of the screw 306
- the guide rod 307 plays a guiding role and can limit the rotation of the screw slider 305;
- the screw slider 305 is provided with a wiring hole 3051 corresponding to the first wiring seat 308 and coaxially arranged, and the thumb
- One end of the tendon cord 206 and finger tendon cord 108 is fixedly connected to the corresponding distal phalanx (for example, one end of the thumb tendon cord 206 is fixedly connected to the distal thumb phalanx 205, and one end of the finger tendon cord 108 is fixedly connected to the distal finger joint 107 ), the other end passes through the first wiring seat 308 and the corresponding wiring hole 3051 and then is fixed on the screw slider 305.
- the linear movement of the screw slider 305 drives the thumb cord
- the screw slider moves up and down along the axial direction of the screw (that is, the axial direction of the guide rod 307) under the rotation of the screw, and is provided on the screw slider 305 There is a guide hole 3052, and the guide hole 3 052 is used to limit the guide rod 307.
- the prosthetic hand of the embodiment of the present invention has at least the following beneficial effects: [0055] First, the prosthetic hand of the present invention is designed to imitate the appearance of a natural human hand with 5 fingers including index finger, middle finger, ring finger, little finger and thumb, and 14 knuckles, which can meet the user's basic daily movement needs;
- the second and fifth fingers and the first driving structure 300 that drives the five fingers to perform coupled flexion and extension motions adopt a modular design, which can achieve single finger flexion and extension and combined actions of different fingers, such as power grip, fine pinch, Side pinching and hook-like gripping, etc., where a first driving structure 300 realizes one active degree of freedom, and the number of first driving structures 300 can be selected according to the design requirements of the degree of freedom of the prosthetic hand, so single degree of freedom, Two degrees of freedom, three degrees of freedom, four degrees of freedom, and five degrees of freedom prosthetic hand fingers active flexion and extension of the number of degrees of freedom, and different free holiday limb hands when assembling the fingers driven by the first drive structure 300 have multiple assembly solutions , Different assembly schemes can realize different prosthetic hand movements;
- the finger adopts a tendon transmission design structure.
- a single finger flexion and extension or multiple fingers can be flexed and extended at the same time, and the interphalangeal flexion and extension motions can be coupled. So as to realize an under-driven artificial hand drive mode;
- the first driving structure 300 is arranged in the supporting structure 500, which will not interfere with the wrist movements.
- the whole prosthetic hand has a compact structure, many prosthetic hand movements, and low cost, which provides a better way for amputee patients. Practical and easy to commercialize prosthetic hands.
- the number of the first driving structure 300 is 1 to 5, thereby realizing 1 to 5 degrees of freedom of the prosthetic hand.
- the screw slider 305 is provided with five wiring holes 3051, which correspond to the five first wiring seats 308, the five wiring holes 3051 and the five first wiring seats 308 are—
- the number of the first wiring seats 308 can be installed according to the number of fingers that need to be driven, and at most five first wiring seats 308 can be installed at a position corresponding to one first driving structure 300.
- the five wire routing holes 3051 are evenly arranged in the circumferential direction and penetrate the screw slider 305, which can respectively correspond to five fingers, so as to realize the flexion and extension of the five fingers together, and can also correspond to 1 to 4 fingers. , And then realize the flexion and extension of 1 to 4 fingers.
- the first driving structure 300 Different numbers of, and select the number of application routing holes 3051, can realize the coupled flexion and extension movement of the fingers
- the first driving structure 300 realizes the coupling flexion and extension movement of the fingers, and the abduction and adduction of the thumb is completed by a separate second driving structure 400, the first driving structure 300 and the second driving structure 300
- the driving structure 400 combines the two to realize up to six free vacation limbs.
- the prosthetic hand further includes a second driving structure 400 disposed on the supporting structure 500, and the second driving structure 400 is used to drive the thumb to perform adduction and abduction movements.
- the second driving structure 400 is disposed in the supporting structure 500, and will not interfere with the movement of the wrist.
- the second driving structure 400 includes a second driving element 401, a second transmission assembly, a rotating shaft 405 and a fixing cap 406.
- the head end of the second transmission component is connected with the output end of the second driving element 401
- the end of the second transmission component is connected with the rotating shaft 405
- the second transmission component is used to transmit the power of the second driving element 401 to the rotating shaft 405.
- the thumb further includes a thumb base 201.
- the proximal phalanx of the thumb 203 is rotatably connected to one end of the thumb base 201, and the other end of the thumb base 201 is fixedly connected to the rotating shaft 405, and the thumb base is rotated by the rotating shaft 405. 201 rotates to drive the thumb to perform adduction and abduction movements.
- the fixing cap 406 is fixed to one end of the rotating shaft 405 to limit the axial movement of the thumb base 201.
- the support structure 500 includes a support frame 501, and a fixing seat 502 and a screw seat 503 provided on the support frame 501, wherein the first driving element 301 and the second driving element 401 is fixed on the fixing base 502, one end of the screw 306 is connected with the fixing base 502, the other end of the screw 306 is connected with the screw base 503, the position of the screw 306 is restricted by the screw base 503, the first wiring base 308 Installed on the screw seat 503.
- the fixing cap 406 fixes the thumb base 201 between the fixing base 502 and the fixing cap 406 to limit the axial movement of the thumb base 201.
- the screw rod 306 is connected to the fixed base 502 through a bearing, and is connected to the screw base 503 through a bearing.
- the screw rod 306 is connected to the fixed base 502 through a bearing, and is connected to the screw base 503 through a bearing.
- connection length of the tendon rope can be adjusted by adjusting the degree of overlap between the first wire routing seat 308 and the lead screw seat, so that the tendon rope is in a tight state, which is convenient for installation and adjustment in actual use.
- the effective adjustment length is the thickness of the screw seat.
- the index finger, middle finger, ring finger and little finger all further include a finger base 101, a first torsion spring 102, a second torsion spring 104, a third torsion spring 106, and a first knuckle shaft , The second knuckle axis and the third knuckle axis.
- the first torsion spring 102 is sleeved on the first knuckle shaft
- the second torsion spring 104 is sleeved on the second knuckle shaft
- the third torsion spring 106 is sleeved on the third knuckle shaft
- the finger base 101 is fixed to the support frame 501
- the finger near knuckle 103 is rotatably connected with the finger base 101 through the first torsion spring 102 and the first knuckle shaft
- the finger middle knuckle 105 is connected to the finger base 101 through the second torsion spring 104 and the second knuckle shaft.
- the proximal finger knuckle 103 is rotatably connected
- the finger distal knuckle 107 is rotatably connected with the middle finger 105 through the third torsion spring 106 and the third knuckle shaft.
- the thumb also includes a fourth torsion spring 202, a fifth torsion spring 204, a fourth knuckle shaft, and a fifth knuckle shaft.
- the fourth torsion spring 202 is sleeved on the fourth knuckle shaft
- the fifth torsion spring 204 is sleeved on the fifth knuckle shaft
- the thumb near knuckle 203 is connected to the fourth knuckle shaft through the fourth torsion spring 202 and the fourth knuckle shaft.
- the proximal phalanx of the thumb 203 is rotatably connected; the distal phalanx 205 of the thumb is rotatably connected to the proximal phalanx 203 through the fifth torsion spring 204 and the fifth phalanx shaft.
- the fingers can be stretched in a relaxed state of the tendon cord.
- a first through hole 1031 is provided in the proximal finger joint 103 of the finger, and a second through hole 1051 is provided in the middle finger section 105 of the finger.
- a third through hole 2031 is opened in the proximal phalanx of the thumb 203.
- the first through hole 1031 and the second through hole 1051 are used for the finger tendon cord 108 to pass through, and the third through hole 2031 is used for the thumb tendon cord 206.
- the index finger, middle finger, ring finger and little finger all further include a first solenoid 109, and one end of the first solenoid 109 is connected to the distal finger 107, The other end of the first solenoid 109 is connected to the corresponding first wiring seat 308.
- the thumb also includes a second solenoid 207, one end of the second solenoid 207 is connected to the distal phalanx 205 of the thumb, and the other end of the second solenoid 207 is connected to the corresponding first wiring seat 308.
- the above-mentioned finger tendon cord 108 is installed through the first solenoid 109, and the thumb tendon cord 206 is installed through the second solenoid 207.
- the first solenoid 109 and the second solenoid 207 are small-diameter, hollow, bendable, non-stretchable or compressible routing channels.
- the solenoids are used to limit the position of the tendon, and the solenoids can Limit the length of the tendon inside the solenoid.
- the tendon rope is in a tight state at the initial position.
- one end of the aforementioned finger tendon cord 108 is fixed to the corresponding distal phalanx 107, the other end passes through the first through hole 1031 of the middle finger 105 of the finger, and then passes through the second proximal phalanx 103 of the finger.
- the through hole 1051 is guided by the first solenoid 109 and passes through the first wiring seat 308, and then passes through the wiring hole 3051 ,
- the terminal buckle 211 fixes the end of the finger tendon 108 near the wiring hole 3051 on the screw slider 305.
- the line segment of the finger tendon 108 between the corresponding first wiring seat 308 and the screw slider 305 is vertical, that is, coincides with the axis of the wiring hole 3051.
- the finger cord 108 is in a tensioned state and does not have the ability to stretch.
- a second cable routing seat 208 is further installed on the screw seat 503, and the thumb structure 200 further includes a first pulley 209 and a second pulley 210 provided on the supporting structure 500,
- the second pulley 210 is at the same height as the first pulley 209.
- One end of the thumb tendon 206 passes through the second cable seat 208 and is tangent to one side of the first pulley 209.
- the tangent of the thumb tendon 206 to the first pulley 209 is
- the axis of the second cable seat 208 coincides with the axis of the cable hole 3051 on the screw slider 305 after the thumb tendon 206 passes around the first pulley 209 and the second pulley 210.
- the first pulley 209 and the second pulley 210 play a guiding role.
- one end of the thumb tendon cord 206 is fixed on the far phalanx 205 of the thumb, and the other end comes out of the third through hole 2031 of the proximal phalanx 203 of the thumb, and is guided and passed through the second solenoid 207
- the second cable seat 208 is tangent to the side of the first pulley 209.
- the tangent line of the thumb cord 206 to the first pulley 209 coincides with the axis of the second cable seat 208, and the thumb cord 206 bypasses the second pulley 210
- the rear is coincident with one of the holes in the routing hole 3051 on the screw slider.
- the terminal buckle 211 fixes the end of the thumb tendon 206 to the routing hole 3051 on the screw slider. nearby.
- the first pulley 209 and the second pulley 210 are fixed to the screw seat.
- the thumb tendon cord 206 is under tension and does not have the ability to stretch.
- the first transmission assembly includes a first reducer 302, a first gear 303, and a second gear 304.
- the first reducer 302 is connected to the output shaft of the first drive element 301
- the first gear 303 is fixedly sleeved on the output shaft of the first reducer 302
- the second gear 304 is fixedly sleeved on the screw rod 306 and connected with The first gear 303 meshes.
- the first driving element 301 is decelerated by the first reducer 302, it drives the first gear 303 to rotate, and the first gear 303 drives the second gear 304 to rotate, thereby driving the lead screw to rotate.
- the second drive assembly includes a second reducer 402, a third gear 403, and a fourth gear 404.
- the second reducer 402 is connected to the output shaft of the second drive element 401, and the third gear 403 is fixedly sleeved on On the output shaft of the second reducer 402, the fourth gear 404 is fixedly sleeved on the rotating shaft 405 and meshes with the third gear 403.
- the second driving element 401 is decelerated by the second reducer 402, it drives the third gear 403 to rotate, and the third gear 403 drives the fourth gear 404 to rotate, thereby driving the rotating shaft 405 to rotate.
- the first driving element 301 and the second driving element 401 may be driving motors.
- the driving motors include but are not limited to electric motors, and may also be hydraulic/pneumatic drives, shape memory alloy drives, etc. He drives.
- an adaptive mechanism is provided at the distal end of the finger (including the index finger, middle finger, ring finger, little finger, and thumb).
- the shape of the object to be taken has a certain adaptability to enhance the stability of grasping.
- the adaptive mechanism may be a torsion spring, which makes the end knuckles bend to adapt to the shape of the object.
- the flexion and extension of the finger structure 100 is implemented by the first driving structure 300, and the specific implementation manner is as follows:
- the first driving element 301 is decelerated by the first reducer 302 and then drives the first gear 303 fixed on the output shaft of the first reducer 302 to rotate, the first gear 303 meshes with the second gear 304, and the second gear 304 Fixed on the shaft end of the lead screw, driving the lead screw to rotate, the lead screw slider and the lead screw cooperate to move, transforming the rotating motion of the lead screw into the linear motion of the lead screw slider; fixed on the fixed seat 502 and the lead screw seat
- the guide rod 307 is used to limit the rotation of the screw slider; one end of the finger tendon 108 driving the finger structure 100 is fixed on the wire routing hole 3051 of the screw slider; therefore, when the first driving element 301 is positively energized, The screw slider moves vertically downwards to drive the finger tendon cord 108 to stretch, thereby driving the bending of the finger structure 100; when the first driving element 301 is energized in the reverse direction, the screw slider moves vertically upward, so that the finger tendon cord 108 relaxes ,
- the flexion and extension of the thumb structure 200 is also implemented by the first driving structure 300, and the specific implementation manner is as follows:
- the first driving element 301 is decelerated by the first reducer 302 and then drives the first gear 303 fixed on the shaft of the first reducer 302 to rotate.
- the third gear 403 meshes with the second gear 304, and the second gear 304 is fixed to
- the shaft end of the lead screw drives the lead screw to rotate, and the lead screw slide and the lead screw move together to convert the rotation movement of the lead screw into the linear motion of the lead screw slide; the guide rod 307 fixed to the fixed seat 502 and the lead screw seat It is used to limit the rotation of the screw slider; one end of the thumb tendon 206 of the driving thumb structure 200 is fixed on the routing hole 3051 of the screw slider, and the other end passes through the first pulley 209 and the second pulley 210 to change direction.
- the third through hole 2031 of the proximal phalanx of the thumb 203 is connected to the distal phalanx 205 of the thumb; the tendon cord 206 of the thumb is in a taut state. Therefore, when the first driving element 301 is forwardly energized After that, the screw slider moves vertically downwards to pull the thumb tendon cord 206, thereby driving the bending of the thumb structure 200; when the first driving element 301 is energized in the reverse direction, the screw slider moves vertically upwards, so that the thumb tendon cord 206 relaxes , The thumb structure 200 is restored to the initial position under the action of the fourth torsion spring and the fifth torsion spring 204. [0082]
- the adduction and abduction of the thumb structure 200 are implemented by the second driving structure 400, and the specific implementation is as follows:
- the second drive element is decelerated by the second reducer 402 and then drives the third gear 403 fixed on the shaft of the second reducer 402 to rotate.
- the third gear 403 meshes with the fourth gear 404, and the fourth gear 404 is fixed to One end of the rotating shaft 405 drives the rotating shaft 405 to rotate, and the thumb base 201 and the rotating shaft 405 are fixed and can rotate under the drive of the rotating shaft 405. Therefore, when the second driving element 401 is positively energized, the thumb structure 200 is driven to complete the adduction movement; When the second driving element 401 is energized in the reverse direction, the thumb structure 200 is driven to complete the abduction movement.
- the first driving structure 300 of the prosthetic hand adopts a modular design, a different number of selections and assembly of the first driving structure 300 and the second driving structure 400 can realize a variety of free holiday limbs.
- the finger structure 100 of the prosthetic hand also adopts a modular design structure. Therefore, for the selection and assembly of the number of fingers, a prosthetic hand with different numbers of fingers can be realized.
- the combination of drive structure is as follows:
- first driving structure 300 as a driving structure for multiple fingers can realize simultaneous flexion/extension movement of five fingers, and the thumb can be passively rotated internally and externally.
- the tendon ropes corresponding to the five fingers are respectively fixed in the five routing holes 30 51 of the screw slider.
- the five first routing seats 308 are installed on the screw seat corresponding to the positions of the five routing holes 3051. Adjust the first The position of the wire routing seat 308 relative to the screw seat makes each tendon tight.
- the lead screw slider moves vertically downward to pull the tendons, thereby driving the bending of the finger structure 100 and the thumb structure 200;
- the first driving element 301 is energized in the reverse direction,
- the screw slide block moves vertically upwards, so that the tendons are relaxed, and both the thumb structure 200 and the finger structure 100 return to their original positions. At this point, the thumb can be moved in and out.
- first drive structure 300 as the drive structure for the simultaneous flexion and extension of the five fingers
- second drive structure 400 as the thumb adduction and extension.
- Figure 9 The schematic diagram of the installation principle of the extended drive mechanism and the prosthetic hand is shown in Figure 9 (part of the structure is omitted).
- the second is to select two first drive structures 300 as the drive structures for multiple finger flexion and extension.
- the following 15 motion distribution schemes for driving flexion and extension can be made according to the actions to be completed and the method of arrangement and combination: 1
- One first driving structure 300 drives one finger
- the second first driving structure 300 drives four fingers.
- the first drive structure 300 drives two fingers, and the second drive structure 300 drives three fingers.
- the installation method is similar to the schematic diagram and the above solution, and is not shown separately here.
- the second is to select three first drive structures 300 as the drive structures for multiple finger flexion and extension.
- the following 25 types of action distribution schemes for driving flexion and extension can be made according to the action to be completed and the connection method of the corresponding drive structure of the tendon rope: 1
- the first first driving structure 300 drives one finger
- the second first driving structure 300 drives one finger
- the third first driving structure 300 drives three fingers.
- the first is to select three first drive structures 300 as the drive structure for simultaneous flexion and extension of multiple fingers, and one second drive structure 400 as the thumb adduction.
- Abduction drive structure at this time, the finger flexion and extension has the above-mentioned three active freedom holiday limbs and the second method 25 kind of drive scheme.
- the second is to select four first driving structures 300 as the driving structures for flexion and extension of multiple fingers, the first first driving structure 300 drives one finger, and the second first driving structure 300 drives one finger, The third first drive structure 300 drives one finger, and the fourth first drive structure 300 drives two fingers.
- the following 10 types of flexion and extension actions can be assigned according to the action to be completed and the connection method of the corresponding drive structure of the tendon rope : A ⁇ B ⁇ C ⁇ DE, A ⁇ B ⁇ D ⁇ CE, A ⁇ B ⁇ E ⁇ CD, A ⁇ C ⁇ D ⁇ BE, A ⁇ C ⁇ E ⁇ BD, B ⁇ D ⁇ ACE, A ⁇ D ⁇ E ⁇ BC, B ⁇ C ⁇ D ⁇ AE, B ⁇ C ⁇ E ⁇ AD, B ⁇ D ⁇ E ⁇ AC, C ⁇ D ⁇ E ⁇ AB.
- the thumb can be rotated passively.
- the driving mechanism of abduction, finger flexion and extension is like the ten driving schemes of the second method of four active free vacations.
- the second is to select five first driving structures 300 as the driving structures for flexion and extension of multiple fingers. Each finger completes the flexion and extension movement through a separate first driving structure 300. At a position corresponding to the first driving structure 300, a tendon cord corresponding to the driving finger is installed. At this time, the thumb can be rotated passively.
- Six active free holiday limbs select five first drive structures 300 to drive fingers to achieve flexion and extension movement, each first drive structure 300 drives one finger, and one second drive structure 400 is selected to implement thumb adduction and abduction movement.
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Abstract
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US11439519B2 (en) * | 2020-05-15 | 2022-09-13 | Huazhong University Of Science And Technology | Under-driven prosthetic hand with self-adaptive grasping function |
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CN109758276A (zh) * | 2019-02-28 | 2019-05-17 | 中国科学院深圳先进技术研究院 | 一种假肢手 |
CN111110408B (zh) * | 2019-12-16 | 2022-03-18 | 中国科学院深圳先进技术研究院 | 一种仿人手指指节、仿人手指及手掌结构 |
CN111317975B (zh) * | 2020-02-28 | 2021-05-07 | 南开大学 | 一种手指康复机构 |
CN111467097B (zh) * | 2020-04-17 | 2022-02-22 | 苏州通和景润康复科技有限公司 | 一种五自由度智能假肢手 |
CN111643315B (zh) * | 2020-04-27 | 2021-09-03 | 东南大学 | 一种基于绳索驱动的柔性手部功能康复装置 |
DE102020115575A1 (de) * | 2020-06-12 | 2021-12-16 | Otto Bock Healthcare Products Gmbh | Prothesenhand |
MX2020004609A (es) * | 2020-07-13 | 2022-01-14 | Pro/Bionics S A De C V | Protesis de mano. |
CN115054481B (zh) * | 2022-06-17 | 2023-05-30 | 重庆市南开两江中学校 | 一种柔性手部康复外骨骼及其工作方法 |
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