WO2021120963A1 - 一种仿人手指指节、仿人手指及手掌结构 - Google Patents

一种仿人手指指节、仿人手指及手掌结构 Download PDF

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Publication number
WO2021120963A1
WO2021120963A1 PCT/CN2020/129514 CN2020129514W WO2021120963A1 WO 2021120963 A1 WO2021120963 A1 WO 2021120963A1 CN 2020129514 W CN2020129514 W CN 2020129514W WO 2021120963 A1 WO2021120963 A1 WO 2021120963A1
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Prior art keywords
finger
turbine
knuckle
motor
worm
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PCT/CN2020/129514
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English (en)
French (fr)
Inventor
郑悦
李向新
田岚
景晓蓓
方鹏
李光林
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中国科学院深圳先进技术研究院
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Publication of WO2021120963A1 publication Critical patent/WO2021120963A1/zh

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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
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • 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
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors

Definitions

  • the invention relates to the technical field of robots, in particular to a structure of human-like finger knuckles, human-like fingers and palms.
  • Human-like prosthetic hands provide convenience for the daily life of disabled persons with missing upper limbs, and are an important research direction in the field of rehabilitation engineering.
  • commercially available prosthetic hands include the safe proportional control myoelectric hand of ottobock®, the high-precision myoelectric control prosthesis iLimb produced by the Scottish company (Touch bionics), etc.
  • each finger has only one degree of freedom, and the movement path is limited by the design structure, which cannot be changed, and cannot completely imitate the movement of each knuckle of a human hand.
  • iLimb is a five-finger prosthetic hand.
  • Each finger is an under-actuated design that includes a drive motor.
  • a single finger is driven by a bevel gear set and a tendon rope.
  • the knuckles of a single finger are coupled by characteristic coefficients. To a certain extent, the actions are imitated.
  • Chinese invention patent CN 104161608 A designed a tendon-driven prosthetic hand.
  • the prosthetic hand contains three fingers and is driven by a single motor. The flexion/extension of each finger is realized through the tendon and rope transmission to complete the grasping action.
  • prosthetic hands often have problems such as low flexibility, poor kinetic energy, and difficulty in practical use.
  • One of the important reasons is the insufficient flexibility of the fingers.
  • the prosthetic hands cannot complete the various grasping movements commonly used in daily life, so that they lose Practicality.
  • the embodiment of the present invention provides a humanoid finger and palm.
  • the degree of freedom of the prosthetic hand is changed by changing the number of finger knuckles and the number of fingers that move independently, thereby setting the entire prosthetic hand according to the number of knuckles and fingers of a single finger selected The number of degrees of freedom and the way of movement.
  • an embodiment of the present invention provides a humanoid finger including one or more humanoid finger knuckles connected in sequence and a finger tip connected to the head end of the humanoid finger knuckle,
  • the finger tip is hinged with the head end of the human-like finger knuckle through a connecting shaft, and the plurality of human-like finger knuckles are sequentially connected by a knuckle connector;
  • the human-like finger knuckles include:
  • a motor and a reducer provided in connection, the motor and the reducer are both arranged inside the knuckle shell;
  • a motor seat connected to the knuckle shell, and the motor and the reducer are fixed on the motor seat;
  • a worm one end of the worm is fixedly connected to the output shaft of the reducer, and the worm is arranged in the motor seat;
  • a turbine meshed and connected with the worm
  • the turbine seat is rotatably connected with the motor seat, and the turbine is fixed in the turbine seat through a turbine shaft.
  • an embodiment of the present invention provides a humanoid palm comprising: a palm body and one or more humanoid fingers as claimed in the preceding claims, the humanoid fingers passing through the end face of the turbine seat The fixing hole is fixed to the palm body.
  • an embodiment of the present invention provides a human-like finger knuckle, including:
  • a motor and a reducer provided in connection, the motor and the reducer are both arranged inside the knuckle shell;
  • a motor seat connected to the knuckle shell, and the motor and the reducer are fixed on the motor seat;
  • a worm one end of the worm is fixedly connected to the output shaft of the reducer, and the worm is arranged in the motor seat;
  • a turbine meshed and connected with the worm
  • the turbine seat is rotatably connected with the motor seat, and the turbine is fixed in the turbine seat through a turbine shaft.
  • the present invention aims to invent a bionic finger structure that includes independently moving finger joints and can be selected according to actual application requirements
  • the number of knuckles, a finger composed of three knuckles can completely imitate the flexion and extension movement capabilities of a natural person's fingers.
  • One or two independently moving knuckles and fingertip structures can also be used to form the finger structure of the prosthetic hand as required.
  • Modular finger knuckles constitute a modular finger.
  • the modular finger structure can be installed on the palm structure to realize a prosthetic hand with multiple finger structures, which is convenient for generating a multi-finger prosthetic hand according to application goals.
  • Figure 1 is a structural diagram of a human-like finger according to an embodiment of the present invention.
  • Figure 2 is a structural diagram of a human-like finger knuckle according to an embodiment of the present invention
  • Figure 3 is a structural diagram of a human-like finger according to another embodiment of the present invention.
  • FIG. 4 is a structural diagram of a human-like finger according to another embodiment of the present invention.
  • Fig. 5 is a structural diagram of a human-like finger according to another embodiment of the present invention.
  • FIG. 1 it is a structural diagram of a human-like finger according to an embodiment of the present invention.
  • the present invention proposes a human-like finger structure, which includes a finger knuckle 10 and a finger tip 30 that can move independently.
  • a finger knuckle 10 and finger tip 30 can form a single free limb finger through the connecting shaft 20, as shown in FIG. 1; the length of the finger can be adjusted by the length of the finger tip 30 to achieve flexion and extension movement around the turbine shaft 1015, The knuckle 10 and the fingertip 30 can rotate relative to the connecting shaft 20.
  • the schematic diagram of the finger knuckle 10 is shown in Figure 2.
  • the finger knuckle 10 is composed of a motor 1011, a reducer 1012, a turbine 1013, a turbine seat 1014, a turbine shaft 1015, a fixing hole 1016, an end cover 1017, a worm 1018, a motor seat 1019 and a knuckle
  • the shell 1020 is composed.
  • the motor 1011 is fixed on the motor base 1019 after being decelerated by the reducer 1012, and the worm 1018 is fixed on the output shaft end of the reducer 1012 and rotates together with the shaft end of the reducer 1012.
  • One end of the worm 1018 is processed into a shaft shape, and the upper and lower displacement is restricted by the end cover 1017 to prevent the worm 1018 from falling off during the rotation.
  • the worm 1018 meshes with the turbine 1013, and the turbine 1013 is restricted to the turbine seat 1014 by the turbine shaft 1015.
  • the motor base 1019 of the turbine base 1014 is rotatably connected.
  • the motor base 1019 may be arranged to overlap the sides of the turbine base 1014 through the two sides of the motor base 1019, and the motor base 1019 is connected through the turbine shaft 1015.
  • the worm 1018 meshes with the turbine 1013, and the turbine 1013 is fixed on the turbine seat 1014, thus realizing the worm 1013 Relative to the clockwise movement of the turbine 1014, the knuckle 10 realizes the flexion movement of the structure.
  • the motor 1011 is energized in the reverse direction, the shaft end of the motor 1011 moves counterclockwise, the reducer 1012 drives the worm 1018 to move counterclockwise, the worm 1018 meshes with the turbine 1013, and the turbine 1013 is fixed on the turbine seat 1014, thus realizing the worm 1013 Relative to the counterclockwise movement of the turbine 1014, the knuckle 10 realizes the stretching movement of the structure.
  • the knuckle 10 can be fixed to the palm body or other required structures through the fixing holes 1016.
  • FIG. 3 it is a structural diagram of a human-like finger according to another embodiment of the present invention, including two finger knuckles 10 and finger tip 30 that can move independently; the two finger knuckles 10 are connected by the knuckles
  • the piece 40 is connected with the finger tip 30 through the connecting shaft 20 to form two free holiday limb fingers.
  • the knuckle 10 and the fingertip 30 can rotate relative to the connecting shaft 20.
  • Both finger knuckles 10 can internally rotate around the turbine shaft in flexion and extension, so that flexion and extension motions with two active degrees of freedom can be realized.
  • FIG. 4 it is a structural diagram of a human-like finger according to another embodiment of the present invention, including three finger knuckles 10 and finger tips 30 that can move independently; the three finger knuckles 10 are connected by the knuckles
  • the piece 40 is connected with the finger tip 30 through the connecting shaft 20 to form two free holiday limb fingers.
  • the knuckle 10 and the fingertip 30 can rotate relative to the connecting shaft 20.
  • the finger knuckles 10 can be rotated internally around the turbine shaft in flexion and extension, so that flexion and extension motions with two active degrees of freedom can be realized.
  • the embodiment of the invention is a three-active-degree-of-freedom finger structure without fingertips.
  • Other finger structures with single active degrees of freedom and two active degrees of freedom finger structures can also be used with or without fingertips.
  • Another embodiment of the present invention is a palm structure containing human-like fingers.
  • the number of degrees of freedom and movement modes of the entire prosthetic hand are also limited by the number of fingers.
  • three-finger prosthetic hands and five-finger prosthetic hands are more commonly used in business.
  • the grip of the three-finger prosthetic hand is relatively stable, and the appearance of the five-finger prosthetic hand is more bionic and easy to be accepted by users.
  • the selected prosthetic finger Similar to a bird's paw structure, it contains three opposite finger structures. According to the configuration of the selected prosthetic finger, it can realize the prosthetic hand structure from 3 degrees of freedom (single finger selects single active degree of freedom finger structure) to 9 degrees of freedom (single finger selects three active degrees of freedom finger structure).
  • a human hand with a prosthetic limb including five finger structures arranged according to the position of the fingers of the human hand. According to the configuration of the selected prosthetic finger, it can realize the prosthetic hand structure of 5 degrees of freedom (single finger selects the single active degree of freedom finger structure) to 15 degrees of freedom (single finger selects the three active degree of freedom finger structure).
  • composition of other prosthetic hands with different numbers of fingers is similar to the three-finger prosthetic hand and the five-finger prosthetic hand, and the description will not be repeated here.
  • the drive motor of the present invention includes but is not limited to an electric motor, and can also be a hydraulic/pneumatic drive, a shape memory alloy drive and other drives; the turbine worm can be replaced by a bevel gear set, a linkage mechanism, and the like.
  • the human-like finger structure of the present invention is composed of a plurality of independently movable knuckles or a plurality of independently movable knuckles matched with fingertips.
  • the human-like finger structure uses one independently moving knuckle to form a single free holiday limb finger, two independent moving knuckles to form two free holiday limb fingers, and three independently moving knuckles to form three free holiday limb fingers. Fully fit the movement of the human hand.
  • This independent knuckle has a built-in motor, which has the advantage of small size.
  • the independently moving knuckle adopts the structure of a worm gear and has a self-locking function.
  • a human-like 5-finger prosthetic hand can achieve 5 degrees of freedom (single active degree of freedom finger structure for a single finger) by matching the number of knuckles contained in each finger to achieve a 15 degree of freedom prosthetic hand structure ( Single finger chooses three active degrees of freedom finger structure).
  • the prosthetic hand can change the size of the prosthetic hand by matching the configuration of the fingertips, so that the size of the prosthetic hand is similar to that of a human hand.
  • the present invention proposes a bionic finger structure.
  • the bionic finger structure can include multiple independently moving finger joints.
  • the finger structure is formed by selecting the number of finger knuckles, and the multi-finger prosthetic hand is formed by selecting the number of fingers.
  • the configuration method can be used for multi-finger and multi-free vacation limbs according to use needs and practical applications.
  • prosthetic hands mostly use EMG signal as the input signal 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 hand that can be controlled is limited. According to the control information that the amputee patient can provide Choosing an appropriate number of degrees of freedom of the prosthetic hand can not only maximize the use of control information, but also reduce the number of driving structures by reducing the number of excess degrees of freedom, thereby reducing unnecessary prosthetic hand quality.
  • the whole prosthetic hand has a compact structure, many prosthetic hand movements and low cost, and provides a more practical and easy-to-commercial prosthetic hand for amputees.
  • the drive motor of the present invention includes but is not limited to an electric motor, and can also be a hydraulic/pneumatic drive, a shape memory alloy drive and other drives; the turbine worm can be replaced by a bevel gear set, a linkage mechanism, and the like.

Abstract

一种仿人手指包括依次连接的一个或多个仿人手指指节（10）以及通过连接轴（20）连接在仿人手指指节（10）首端的手指指尖（30），多个仿人手指指节（10）依次通过指节连接件（40）连接；仿人手指指节（10）包括：指节外壳（1020）；连接设置的电机（1011）和减速器（1012）；电机座（1019），与指节外壳（1020）连接，电机（1011）和减速器（1012）固定在电机座（1019）上；蜗杆（1018），与减速器（1012）的输出轴连接，蜗杆（1018）设置在电机座（1019）内；涡轮（1013），与蜗杆（1018）啮合连接；涡轮座（1014），与电机座（1019）可旋转连接，涡轮（1013）通过涡轮轴（1015）固定在涡轮座（1014）内。仿人手指可通过改变独立运动的仿人手指指节（10）数目和手指数目改变假肢手的自由度，从而根据所选择的单个手指的指节数目和手指数目设置整个假肢手的自由度数目和运动方式。

Description

一种仿人手指指节、仿人手指及手掌结构 技术领域
本发明涉及机器人技术领域，具体涉及一种仿人手指指节、仿人手指及手掌结构。
 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ottobock®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，另外还有关于假肢手设计的专利。
现有假肢手产品中，多采用欠驱动结构设计，每根手指只有一个自由度，能够实现动作路径是被设计结构限定的，无法改变，不能完全仿照人手进行每个指节的运动。
iLimb是有五根手指的假肢手，每根手指是包含一个驱动电机的欠驱动设计，单根手指采用了锥齿轮组和腱绳传动，单根手指的指节之间通过特性系数耦合，在一定程度上实现了动作仿人。
中国发明专利CN 104161608 A设计了一种腱传动假肢手，该假肢手包含三根手指，采用单个电机驱动，通过腱绳传动实现各手指屈/伸，完成抓握动作。
 技术问题
目前假肢手往往存在灵活度低、动能行差、难以实用等问题，其重要原因之一是手指的灵活度不足，导致假肢手无法完成日常生活中常用的多种抓握动作，以至于失去了实用性。
 技术解决方案
本发明实施例提供一种仿人手指及手掌，通过改变独立运动的手指指节数目和手指数目改变假肢手的自由度，从而根据所选择的单个手指的指节数目和手指数目设置整个假肢手的自由度数目和运动方式。
为达到上述目的，一方面，本发明实施例提供了一种仿人手指，包括依次连接的一个或多个仿人手指指节以及连接在所述仿人手指指节的首端的手指指尖，所述手指指尖通过连接轴与所述仿人手指指节的首端铰接，所述多个仿人手指指节依次通过指节连接件连接；
所述仿人手指指节包括：
指节外壳；
连接设置的电机和减速器，所述电机和减速器均设置在所述指节外壳内部；
电机座，与所述指节外壳连接，所述电机和减速器固定在所述电机座上；
蜗杆，所述蜗杆的一端与所述减速器的输出轴固定连接，所述蜗杆设置在所述电机座内；
涡轮，与所述蜗杆啮合连接；
涡轮座，与所述电机座可旋转连接，所述涡轮通过涡轮轴固定在所述涡轮座内。
另一方面，本发明实施例提供了一种仿人手掌，所述手掌包括：包括手掌本体及一个或多个如上权利要求所述的仿人手指，所述仿人手指通过所述涡轮座端面的固定孔固定到所述手掌本体上。
又一方面，本发明实施例提供了一种仿人手指指节，包括：
指节外壳；
连接设置的电机和减速器，所述电机和减速器均设置在所述指节外壳内部；
电机座，与所述指节外壳连接，所述电机和减速器固定在所述电机座上；
蜗杆，所述蜗杆的一端与所述减速器的输出轴固定连接，所述蜗杆设置在所述电机座内；
涡轮，与所述蜗杆啮合连接；
涡轮座，与所述电机座可旋转连接，所述涡轮通过涡轮轴固定在所述涡轮座内。
 有益效果
上述技术方案具有如下有益效果：针对现有技术和方法存在上述不足与缺点，本发明旨在发明一款仿生手指结构，该仿生手指结构包含独立运动的手指关节，并可以根据实际的应用需求选择指节的数目，由三个指节构成的手指能够完全仿照自然人手指的屈伸运动能力。也可以根据需要用一个或者两个独立运动的指节和指尖结构组成假肢手的手指结构。模块化的手指指节构成了模块化的手指，该模块化的手指结构可以安装在手掌结构上实现包含多根手指结构的假肢手，方便根据应用目标生成多手指假肢手。
 附图说明
图1是本发明实施例一种仿人手指的结构图；
图2是本发明实施例一种仿人手指指节的结构图；
图3是本发明又实施例一种仿人手指的结构图；
图4是本发明又实施例一种仿人手指的结构图；
图5是本发明又实施例一种仿人手指的结构图。
 本发明的最佳实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1所示，是本发明实施例一种仿人手指的结构图，本发明提出了一种仿人手指结构，包括可以独立运动的一个手指指节10和手指指尖30。一个手指指节10和手指指尖30通过连接轴20可组成单自由度假肢手指，如图1所示；通过指尖30的长度调整手指的长度尺寸，可实现绕涡轮轴1015的屈伸运动，指节10和指尖30可相对连接轴20转动。
手指指节10的示意图如图2，手指指节10由电机1011、减速器1012、涡轮1013、涡轮座1014、涡轮轴1015、固定孔1016、端盖1017、蜗杆1018、电机座1019和指节外壳1020组成。电机1011经过减速器1012减速后固定在电机座1019上，蜗杆1018固定在减速器1012的输出轴端，跟随减速器1012的轴端一起转动。蜗杆1018的一端加工成轴状，通过端盖1017限制上下的位移，防止蜗杆1018在转动过程中脱落。蜗杆1018和涡轮1013啮合，涡轮1013通过涡轮轴1015限制在涡轮座1014上。涡轮座1014所述电机座1019可旋转连接，例如可以设置为通过电机座1019的两侧面与涡轮座1014侧面重合，通过涡轮轴1015连接所述电机座1019。当电机1011正向通电运行时，电机1011轴端顺时针运动，通过减速器1012带动蜗杆1018顺时针运动，蜗杆1018和涡轮1013啮合，且涡轮1013固定在涡轮座1014上，因此实现了蜗杆1013相对与涡轮1014的顺时针运动，指节10实现结构的屈运动。当电机1011反向通电运行时，电机1011轴端逆时针运动，通过减速器1012带动蜗杆1018逆时针运动，蜗杆1018和涡轮1013啮合，且涡轮1013固定在涡轮座1014上，因此实现了蜗杆1013相对与涡轮1014的逆时针运动，指节10实现结构的伸运动。指节10可以通过固定孔位1016固定在手掌本体或者其它需要的结构上。
如图3所示，是本发明又一实施例的一种仿人手指的结构图，包括可以独立运动的两个手指指节10和手指指尖30；两个手指指节10通过指节连接件40连接，并和手指指尖30通过连接轴20可组成两自由度假肢手指。指节10和指尖30可相对连接轴20转动。两个手指指节10均可内部绕涡轮轴屈伸转动，因此可以实现两个主动自由度的屈伸运动。
如图4所示，是本发明又一实施例的一种仿人手指的结构图，包括可以独立运动的三个手指指节10和手指指尖30；三个手指指节10通过指节连接件40连接，并和手指指尖30通过连接轴20可组成两自由度假肢手指。指节10和指尖30可相对连接轴20转动。手指指节10均可内部绕涡轮轴屈伸转动，因此可以实现两个主动自由度的屈伸运动。
如图5所示，是发明实施例为不搭配指尖的三主动自由度手指结构。其它单主动自由度手指结构和两主动自由度手指结构也可以选择搭配或者不搭配指尖使用。
本发明又一实施例为包含仿人手指的手掌结构，整个假肢手的自由度数目和运动方式还受手指数目限制，选择单根手指的结构构型后（前述1~3种手指构型方法），再根据需要进行手指数目的选择，可以实现两指假肢手、三指假肢手、四指假肢手和五指假肢手。目前，商业上比较常用的是三指假肢手和五指假肢手，三指假肢手的抓握相对稳定，五指假肢手的外观更加仿生且易于被使用者接受。
对于三根手指假肢手具体实施例：
类似于鸟爪结构，包含三根对立设置的手指结构。根据所选假肢手指的构型，可以实现3自由度（单根手指选择单主动自由度手指结构）到9自由度的假肢手结构（单根手指选择三主动自由度手指结构）。
对于五根手指假肢手具体实施例：
仿人手假肢手，包含五根按人手手指位置设置的手指结构。根据所选假肢手指的构型，可以实现5自由度（单根手指选择单主动自由度手指结构）到15自由度的假肢手结构（单根手指选择三主动自由度手指结构）。
其他不同手指数目的假肢手的组成方式同三根手指假肢手和五根手指假肢手类似，此处不再重复说明。
进一步地，本发明的驱动马达包括但不仅限于电动机，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；涡轮蜗杆可以通过锥齿轮组、连杆机构等替换。
本发明相对于现有技术，（1）本发明中的仿人手指结构由多个可独立运动的指节或由多个可独立运动的指节配合指尖组成。
（2）独立运动的指节采用模块化的设计方式，能够实现屈伸运动。
（3）通过设置假肢手指的指节数目设定单根手指的自由度数目和运动方式。该仿人手指结构使用一个独立运动的指节构成单自由度假肢手指，使用两个独立运动的指节构成两自由度假肢手指，使用三个独立运动的指节构成三自由度假肢手指，能够完全拟合人手的运动。
（4）该独立运动的指节内置电机，具有尺寸小的优势。
（5）该独立运动的指节采用蜗轮蜗杆的结构，具有自锁功能。
（6）通过设置假肢手指的根数可实现多自由度假肢手的构型。
（7）仿人5根手指的假肢手可通过配比每根手指包含的指节数，可以实现5自由度（单根手指选择单主动自由度手指结构）到15自由度的假肢手结构（单根手指选择三主动自由度手指结构）。
（8）该假肢手可通过配合指尖构型改变假肢手的尺寸，使得假肢手尺寸仿人手。
本发明提出了一种仿生手指结构，该仿生手指结构可包含多个独立运动的手指关节，通过选择手指指节的数目构成手指结构，通过选择手指的数目构成多指假肢手，因此由多种构型方法，可以根据使用需求和实际应用进行多手指的多自由度假肢手。
目前假肢手多采用肌电信号作为直觉控制的输入信号，而截肢患者残余肌肉端能够提供的信号有限，因此其能控制的假肢手的自由度数目受限，根据截肢患者所能提供的控制信息选择合适的假肢手自由度数目，不仅能够最大程度的利用控制信息，而且能够通过削减多余的自由度数目降低驱动结构的数目，从而减轻不必要的假肢手质量。整个假手结构紧凑，假肢手动作多，成本较低，为截肢者提供了一种较实用、易于商业化的假手。
进一步地，本发明的驱动马达包括但不仅限于电动机，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；涡轮蜗杆可以通过锥齿轮组、连杆机构等替换。
应该明白，公开的过程中的步骤的特定顺序或层次是示例性方法的实例。基于设计偏好，应该理解，过程中的步骤的特定顺序或层次可以在不脱离本公开的保护范围的情况下得到重新安排。所附的方法权利要求以示例性的顺序给出了各种步骤的要素，并且不是要限于所述的特定顺序或层次。
以上所述的具体实施方式，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方式而已，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. 一种仿人手指，其特征在于，包括依次连接的一个或多个仿人手指指节（10）以及连接在所述仿人手指指节（10）的首端的手指指尖（30），所述手指指尖（30）通过连接轴（20）与所述仿人手指指节（10）的首端铰接，所述多个仿人手指指节（10）依次通过指节连接件（40）连接；
    所述仿人手指指节（10）包括：
    指节外壳（1020）；
    连接设置的电机（1011）和减速器（1012），所述电机（1011）和减速器（1012）均设置在所述指节外壳（1020）内部；
    电机座（1019），与所述指节外壳（1020）连接，所述电机（1011）和减速器（1012）固定在所述电机座（1019）上；
    蜗杆（1018），所述蜗杆（1018）的一端与所述减速器（1012）的输出轴固定连接，所述蜗杆（1018）设置在所述电机座（1019）内；
    涡轮（1013），与所述蜗杆（1018）啮合连接；
    涡轮座（1014），与所述电机座（1019）可旋转连接，所述涡轮（1013）通过涡轮轴（1015）固定在所述涡轮座（1014）内。
  2. 如权利要求1所述的仿人手指，其特征在于，所述电机座（1019）具有端盖（1017），所述蜗杆（1018）的另一端抵靠在所述端盖（1017）上。
  3. 如权利要求2所述的仿人手指，其特征在于，所述涡轮座（1014）与所述端盖（1017）平齐的端面上设置有固定孔（1016）。
  4. 如权利要求3所述的仿人手指，其特征在于，通过所述指节连接件（40）将一个仿人手指指节（10）的指节外壳（1020）端部与另一个仿人手指指节（10）的涡轮座（1014）进行固定连接。
  5. 如权利要求1-4之一所述的仿人手指，其特征在于，所述仿人手指指节（10）的个数为一个、两个或三个。
  6. 一种仿人手掌结构，其特征在于，包括手掌本体及一个或多个如权利要求1-5之一所述的仿人手指，所述仿人手指通过所述涡轮座（1014）端面的固定孔（1016）固定到所述手掌本体上。
  7. 如权利要求6所述的仿人手掌，其特征在于，所述仿人手指设置为两个、三个或五个。
  8. 一种仿人手指指节，其特征在于，包括：
    指节外壳（1020）；
    连接设置的电机（1011）和减速器（1012），所述电机（1011）和减速器（1012）均设置在所述指节外壳（1020）内部；
    电机座（1019），与所述指节外壳（1020）连接，所述电机（1011）和减速器（1012）固定在所述电机座（1019）上；
    蜗杆（1018），所述蜗杆（1018）的一端与所述减速器（1012）的输出轴固定连接，所述蜗杆（1018）设置在所述电机座（1019）内；
    涡轮（1013），与所述蜗杆（1018）啮合连接；
    涡轮座（1014），与所述电机座（1019）可旋转连接，所述涡轮（1013）通过涡轮轴（1015）固定在所述涡轮座（1014）内。
  9. 如权利要求8所述的仿人手指指节，其特征在于，所述电机座（1019）具有端盖（1017），所述蜗杆（1018）的另一端抵靠在所述端盖（1017）上。
  10. 如权利要求9所述的仿人手指指节，其特征在于，所述涡轮座（1014）与所述端盖（1017）平齐的端面上设置有固定孔（1016）。
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