CN104799982B - Single motor drive lacking prosthetic hand based on continuum differential attachment - Google Patents
Single motor drive lacking prosthetic hand based on continuum differential attachment Download PDFInfo
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- CN104799982B CN104799982B CN201510246103.0A CN201510246103A CN104799982B CN 104799982 B CN104799982 B CN 104799982B CN 201510246103 A CN201510246103 A CN 201510246103A CN 104799982 B CN104799982 B CN 104799982B
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Abstract
The invention discloses a kind of prosthetic hand, this prosthetic hand includes palm, electric-motor drive unit and continuum differential attachment, and wherein electric-motor drive unit and continuum differential attachment are fixed on palm.One tunnel output can be converted to multiple-channel output by continuum differential attachment, thus controls the motion of each finger respectively, and should be when prosthetic hand grasping object, and continuum differential attachment can flexural deformation.In the prosthetic hand of the present invention, owing to have employed continuum differential attachment, therefore structure is relatively easy, and when wherein certain root or a few fingers touch object, not in contact with bear on the B alloy wire corresponding to the finger of object load less thus can continue motion, the Continuum Structure within continuum differential attachment can be made to continue deformation, the finger making correspondence still can continue bending, until these fingers also completely attach to object, make four fingers all contact the outer surface profile of crawled object, thus realize well capturing or the function of operation object.
Description
Technical field
The present invention relates to the drive lacking prosthetic hand of a kind of humanoid, specifically a kind of based on continuum
The motor-driven drive lacking prosthetic hand of the only use of differential attachment one, is applied to rehabilitation medical instrument neck
Territory, is particularly well-suited to hand patients with amputation.
Background technology
Due to reasons such as contingency, industrial injury, diseases, create a large amount of patients with amputation in the world, its
In be hand patients with amputation mostly, they cannot the daily life requirement of complete independently, thus life matter
Amount significantly reduces.In order to improve the quality of life of hand amputation people with disability, associated companies and scientific research institution
Have developed various artificial limb, including obtaining wide variety of single-degree-of-freedom prosthetic hand and having
The multi-freedom artificial limb hands of humanoid.
Single-degree-of-freedom prosthetic hand can complete limited grasp motion, merit by simple fingers opening-closing
Can be single, practicality is poor, and does not have apery profile, is discord with human body, is easily subject to after dressing
Repel to patient.Multi-freedom artificial limb hands has staff outward appearance, is easily accepted by patients, and is provided with and people
Pass joint number that palmistry is near thus there is more preferable motility, it is possible to achieve diversified action, but
This multi-freedom artificial limb hands, owing to using more hinge, connecting rod or other traditional transmission mode, is tied
Structure is complicated, cost is high, there is presently no and is widely used.
Summary of the invention
It is an object of the invention to provide and a kind of adapt to different body forms, such that it is able to complete more to assist
Adjust and the prosthetic hand of the most close motion of staff.
For achieving the above object, the present invention proposes a kind of novel drive lacking prosthetic hand, only with one
The driving of motor, as driving input, is inputted and is assigned to five driving outputs, then transmit by individual motor
On each joint of five fingers, comply with grasping movement with complete prosthetic hand；It is specifically designed one
Planting continuum differential attachment, it drives input to be completely connected with driving output each several part and can continuous modification.
Under the driving of motor, continuum differential attachment is possible not only to integrally move, and, is capturing not meanwhile
With object time, continuum differential attachment can also produce correspondence deformation so that each road movement output
There is different outputs, so that prosthetic hand has adaptability to different crawl objects.
Owing to continuum differential attachment not using the conventional motion such as hinge, connecting rod secondary, thus eliminate
The return difference of drive system.A large amount of use elastic alloy wires, as driving and transmitting element, make prosthetic hand have
There is the strongest adaptive ability, substantially alleviate the weight of prosthetic hand simultaneously.
System inputs as driving only with a motor, it is achieved more movement output, simple in construction,
Cost substantially reduces.Simultaneously between each finger to move through continuum differential attachment interrelated,
Make each joint of finger have coordinated movement relation, and adapt to different body forms, artificial limb
Hands is such that it is able to complete the motion more coordinated and staff is the most close.
The prosthetic hand of the present invention is mainly by palm and finger, electric-motor drive unit, continuum differential attachment
And battery composition.The prosthetic hand of the present invention copies human hand dimensions to build, have close with staff outside
See and size.
Prosthetic hand is mainly made up of palm and five fingers, and five fingers are separately fixed on palm correspondence
Position.Its middle finger is directly driven by a power transmission shaft, it is achieved the bending of finger and expansion, and remaining is four years old
One tunnel motion input is converted into 4 road movement outputs by continuum differential attachment by individual finger, thus drives
Four fingers in addition to thumb.The upset of thumb refers to that joint is passive, the flip-like of external force adjustable thumb
State, thumb upset joint is positively retained at any rollover states under intraarticular frictional force effect, so that
Obtain prosthetic hand and be suitable for the crawl of different objects.
Electric-motor drive unit: electric-motor drive unit is fixed on inside palm.Motor is solid by a support
It is scheduled on pedestal, pedestal is fixed quill shaft simultaneously, in quill shaft, is disposed with linear bearing, linear axes
There is a power transmission shaft to slide wherein in holding, power transmission shaft is fixed with the tooth on a tooth bar, with motor
Wheel engagement, the rack-and-pinion that rotates through of motor drives power transmission shaft to seesaw in linear bearing.Pass
Dynamic the tip of the axis is connected in the drive link of thumb, drives thumb bending and stretching.Meanwhile, tooth bar
On be further fixed on one for the clamp structure clamping B alloy wire, thus drive continuum differential attachment
Input B alloy wire seesaws the most simultaneously.
Continuum differential attachment: continuum differential attachment refers to drive input and drives output by elasticity
Element connects, and what composition each several part was completely connected can the drive mechanism of continuous modification.The differential machine of continuum
One end of the input B alloy wire of structure is fixed together with power transmission shaft, is driven can be moved forward and backward by motor；
Input B alloy wire is through fixed disk, and the other end is fixed on the middle part of an end disk, the two ends of end disk
It is respectively fixed with one first output B alloy wire, material is thus formed the base of a continuum differential attachment
This unit, divide into two-way movement output by a road motion input.One motion input is possible not only to band
Dynamic two movement outputs move simultaneously, in the case of the carrying of two-way movement output is unbalanced, and three
Root B alloy wire can bend towards same direction so that two first output B alloy wires have different defeated
Output.Further, two first output B alloy wires are each passed through fixed disk, are fixed on two other
The middle part of end disk, each end disk is similarly fixed with two second output B alloy wires, thus will
One tunnel motion input is allocated to four road movement outputs.The B alloy wire of four road movement outputs is separately fixed at
On the connecting rod of four fingers, it is possible to drive four fingers to realize bending, stretching.
It is simultaneously embedded in battery and control circuit in palm, constitutes a prosthetic hand system completed.
This prosthetic hand system can be contained on the deformed limb of patient by reception cavity, it becomes possible to by electromyographic signal etc.
Mode controls prosthetic hand and realizes various grasping movement.
According to an aspect of the present invention, it is provided that a kind of prosthetic hand, it is characterised in that described prosthetic hand includes:
Electric-motor drive unit, described electric-motor drive unit is provided with pedestal and motor, and wherein said motor is solid
On described pedestal and the output shaft of motor is provided with gear, described pedestal is fixed with hollow simultaneously
Axle, is provided with a power transmission shaft and slides wherein, this power transmission shaft is fixed with a tooth bar in this quill shaft,
This tooth bar engages with the gear on motor, thus the rotating through rack and pinion engagement of motor and drive institute
State power transmission shaft to move along a straight line in quill shaft；This transmission the tip of the axis is connected in the drive link of thumb,
For driving thumb bending and stretching；And it is further fixed on one on tooth bar for the folder clamping B alloy wire
Hold structure；
Continuum differential attachment, described continuum differential attachment is provided with fixed disk, multiple end disk, defeated
Entering B alloy wire, the first output B alloy wire and the second output B alloy wire, described fixed disk is provided with for described
Multiple holes that input B alloy wire and output B alloy wire pass, one end of described input B alloy wire and described folder
Hold the fixing connection of structure, thus realize rectilinear movement by the driving of motor, and the other end is fixed on one
The middle part of individual end disk；One end being respectively fixed at two ends with one first output B alloy wire of this end disk,
The other end of these two first output B alloy wires is each passed through described fixed disk and is fixed on two other end
The middle part of end plate, each in two other end disk described be respectively fixed at two ends with one second defeated
Go out B alloy wire, thus four described second output B alloy wires through described fixed disk and respectively with described vacation
The corresponding finger of limb hands connects, thus drives four finger motions in addition to thumb；And
Palm, is used for fixing described electric-motor drive unit and described continuum differential attachment and finger.
It is preferred that described prosthetic hand also includes that battery and controller, described battery are described motor and described control
Device processed is powered, and described controller is used for receiving electromyographic signal or external signal to drive electric machine rotation.
It is preferred that be fixed with two ring supports, institute on the described pedestal of described electric-motor drive unit simultaneously
The two ends stating quill shaft are connected to said two ring support, and thumb is fixed on described quill shaft
On, in wherein said two ring supports, one for split ring and is provided with screw, is used for adjusting this annular
Frictional force between support and quill shaft so that the upset of thumb can be adjusted, keeps adjusting simultaneously
After attitude.
In one preferred embodiment, described thumb is sequentially provided with upset from root to end and refers to joint, second knuckle
And third knuckle, connected by pin respectively between them, constitute three rotary joints, wherein overturn
Referring to that joint is fixed on described quill shaft, described second knuckle connects via one end of connecting rod with described power transmission shaft
Connect.
In above-described embodiment, it is preferable that be fixed with first connecting rod, first connecting rod and on described power transmission shaft
One end of two connecting rods is connected by the first pin, and the other end of second connecting rod and third connecting rod are by second
Pin connects, and second connecting rod is connected on second knuckle by the second pin simultaneously, and second connecting rod is the most logical
Crossing the 3rd pin connection and have third connecting rod, third connecting rod is connected on the 4th pin through second knuckle,
4th pin is connected on the third knuckle of thumb.
In one preferred embodiment, each finger in addition to thumb includes that base, first knuckle and second refer to
Joint, base is fixed on palm, and first knuckle is connected by the first pin and first connecting rod with base, the
One refers to be connected by the second pin between joint and second knuckle, thus defines two rotary joints, institute
State one of second output B alloy wire to be connected with one end of described first connecting rod, thus drive this finger motion.
In above-described embodiment, it is preferable that be additionally provided with a torsion spring on the second pin, joint is made to keep exhibition
Open state, and the other end of first connecting rod is hinged with one end of second connecting rod, the other end of second connecting rod
Hinged with second knuckle by the second pin.
In one preferred embodiment, described continuum differential attachment include a fixed disk, 3 end disk, one
Root input B alloy wire, two first output B alloy wires and four second output B alloy wires, described fixed disk is fixed
On described pedestal.
The overall work principle of the present invention is as follows: according to the difference of the shape of object to be crawled, can
The position saved to pre-adjust the upset of thumb to refer to, makes thumb be maintained at suitable this object of crawl
Position.Then, controlling electric machine rotation by switch or electromyographic signal, band carry-over bar and power transmission shaft move,
Thumb is driven to realize bending by connecting rod.Meanwhile, by the clamp structure band being fixed on tooth bar
The input B alloy wire of dynamic continuum differential attachment moves forward and backward.A piece input is closed by continuum differential attachment
The motion of spun gold is divided into the motions of four output B alloy wires, is connected respectively to forefinger, middle finger, unknown
Referring to and little finger of toe, these four fingers bend simultaneously, the most promptly object.When wherein certain root or a few handss
When finger contacts object, the continuum within continuum differential attachment can produce flexural deformation, holds
Still can be moved by loading little B alloy wire, make the finger of correspondence still can bend, until these fingers
Also object is completely attached to so that four fingers all contact the outer surface profile of crawled object, to thing
Body realizes good crawl.
Accompanying drawing explanation
Fig. 1 is the three-dimensional knot of based on continuum differential attachment single motor drive lacking prosthetic hand of the present invention
Structure schematic diagram；
Fig. 2 is the perspective view of the electric-motor drive unit of prosthetic hand；
Fig. 3 is the perspective view of the continuum differential attachment of prosthetic hand；
Fig. 4 is the diastrophic signal of continuum when outfan load imbalance of continuum differential attachment
Figure；
Fig. 5 is the schematic perspective view of the thumb structure of prosthetic hand；And
Fig. 6 is the schematic perspective view of the forefinger structure of prosthetic hand.
Detailed description of the invention
Below with reference to accompanying drawing, presently preferred embodiments of the present invention is described in detail, in order to become apparent from understanding this
The objects, features and advantages of invention.It should be understood that embodiment shown in the drawings is not to model of the present invention
The restriction enclosed, and simply to illustrate that the connotation of technical solution of the present invention.
As it is shown in figure 1, the prosthetic hand 1000 of the present embodiment mainly includes electric-motor drive unit 100, connects
Continuous body differential attachment 200, thumb 300, forefinger 400, middle finger 500, the third finger 600, little finger of toe 700
With battery 800 and palm 900, each parts are all fixed on palm 900.Individually below to each portion
Structure and the function divided are described in detail.
Fig. 2 shows the perspective view of the electric-motor drive unit 100 of prosthetic hand.Such as Fig. 2 institute
Showing, motor 1 is fixed on pedestal 3 by electric machine support 2.In the output shaft (not shown) of motor
It is fixed with a gear 4, engages with tooth bar 5.Pedestal 3 is fixed with two ring supports 6 simultaneously
With 7, two supports being fixed with a quill shaft 8, thumb is fixed on this quill shaft 8.Wherein,
Ring support 7 is split ring, is provided with screw 9 on split ring, is used for adjusting ring support 7 and hollow
Frictional force (completing by adjusting the gap between them) between axle 8, makes to be fixed on quill shaft 8
On the upset of thumb 300 refer to that saving (as shown in Figure 5) can be adjusted, after keeping adjusting simultaneously
Attitude.
It is fixed with linear bearing 10 in quill shaft 8, in linear bearing 10, has a power transmission shaft 11 to pass.
One end of power transmission shaft 11 is fixed with tooth bar 5, tooth bar 5 and the gear on the output shaft being fixed on motor 1
4 engagements, thus power transmission shaft 11 can move forward and backward under the drive of motor 1.Another of power transmission shaft 11
End is fixed with a connecting rod 12, the connecting rod 33 (as shown in Figure 5) that connecting rod 12 is connected on thumb 300,
Thus drive thumb 300 realize bending or launch motion.Meanwhile, tooth bar 5 is further fixed on a folder
Hold structure 13, it has a hole be available for B alloy wire 14 and pass, can be by alloy by tightening screw 15
Silk 14 locking.
Fig. 3 shows the perspective view of the continuum differential attachment 200 of prosthetic hand.Such as Fig. 3
Shown in, fixed disk 16 is fixed on pedestal 3, which is provided with the multiple holes passed for each elastic alloy wire.
Specifically, elastic alloy wire (input B alloy wire) 14 passes through one of hole, elastic alloy wire 14
One end be fixed in end disk 17, locked by screw 18.The two ends of end disk 17 are fixed respectively
There is the top of B alloy wire (the first output B alloy wire) 19 and 20.Similarly, B alloy wire 19 and 20
It is locked in end disk 17 by screw 21 and 22 the most respectively, material is thus formed a continuum difference
The elementary cell of motivation structure.Can be moved in elastic alloy wire 14 Shang mono-tunnel by this continuum differential attachment
Input divide into the two-way movement output on elastic alloy wire 19 and 20.
B alloy wire 19 is through the hole on fixed disk 16, and end is fixed in end disk 23.Same,
B alloy wire 24 and 25 it is fixed with in end disk 23.So, is moved in elastic alloy wire 19 Shang mono-road
Input divide into the two-way movement output on elastic alloy wire 24 and 25.
B alloy wire 20 is through another hole on fixed disk 16, and end is fixed in end disk 50.With
Sample, end disk 50 is fixed with B alloy wire 26 and 27.Is moved in elastic alloy wire 20 Shang mono-road
Input divide into the two-way movement output on elastic alloy wire 26 and 27.
By such a continuum differential attachment, the motion of elastic alloy wire 14 is transformed into elastic conjunction
The motion of spun gold 24～27.
What Fig. 4 showed the continuum differential attachment 200 of prosthetic hand bears difference at B alloy wire 24～27
In the case of load, the diastrophic schematic diagram of continuum.Seesaw when driving elastic alloy wire 14
Time, continuum differential attachment is possible not only to integrally move forward and backward, according to being applied to elastic alloy wire
The difference of the load on 24～27, continuum can produce corresponding deformation, to adapt to the load in the external world, as
Shown in Fig. 4.
Fig. 5 shows the perspective view of the thumb 300 of prosthetic hand.As it is shown in figure 5, thumb
First knuckle (upset refer to joint) 28 be fixed on quill shaft 8, thus thumb 300 and quill shaft 8
Entirety can rotate around the axis of quill shaft.Meanwhile, quill shaft 8 and ring are adjusted by adjustment screw 9
Frictional force between shape support 7, makes thumb upset refer to that joint can adjust easily, simultaneously at prosthetic hand
Use during can keep pre-adjust attitude.
Respectively by pin 31 and pin between first knuckle 28, second knuckle 29 and third knuckle 30
32 connect, and constitute three rotary joints.The connecting rod 12 and the connecting rod 33 that are enclosed within power transmission shaft 11 pass through pin
Nail 34 connection.The other end of connecting rod 33 is connected again by pin 36 with connecting rod 35.Connecting rod 35 is same
Time be connected on second knuckle 29 by pin 31.The opposite side of connecting rod 35 is connected by pin 37
There is connecting rod 38.Thumb second knuckle 29 is internal has one to be available for the hole that connecting rod 38 passes through, connecting rod 38
The other end be connected on pin 39 through this hole, pin 39 is connected on thumb third knuckle 30.
When motor 1 is moved forward and backward, by connecting rod 12,33 by gear 4 band carry-over bar 5 and power transmission shaft 11
Drivening rod 35 and second knuckle 29 rotate, and also drive third knuckle 30 same by connecting rod 38 simultaneously
Time rotate, thus realize bending and the expansion of thumb.
Fig. 6 shows the perspective view of the forefinger 400 of prosthetic hand.As shown in Figure 6, forefinger
400 are fixed on palm 900 by forefinger base 39 (such as via screw).The first knuckle of forefinger
40 are connected by pin 41 with forefinger base 39 and connect between them and have connecting rod 46, and forefinger first refers to
Joint 40 and forefinger second knuckle 42 connect again by another pin 43, and such forefinger is the formation of two
Individual rotary joint.Also it is installed with a torsion spring 44 simultaneously on pin 43, makes joint keep deployed condition.Even
An elastic alloy wire therein 24 of four road movement outputs of continuous body differential attachment 200 is by pin 45
It is connected on connecting rod 46.The other end of connecting rod 46 is connected by pin 47 another root connecting rod 48.Even
Bar 48 connects forefinger second knuckle 42 by pin 49.
When motor 1 is moved rearwards by by gear 4 band carry-over bar 5 and clamp structure 13, the company of drive
The elastic alloy wire 14 of continuous body differential attachment 200 is moved rearwards by simultaneously.Continuum differential attachment 200 will
The conversion of motion of a piece elastic alloy wire 14 is the motion of four elastic alloy wires 24～27, wherein forefinger
Corresponding elastic alloy wire 24 pulls connecting rod 46 and first knuckle 40 to rotate, now second knuckle 42
Relative with between first knuckle 40 remain stationary as；When first knuckle 40 touches object, second refers to
Joint 42 starts to rotate until it also touches object.
Middle finger 500, the third finger 600 have similar structure and work with little finger of toe 700 to forefinger 400
Principle, and flexible B alloy wire 25,26 and 27 drives respectively, is not described in detail in this.Additionally, hands
The most also it is embedded with battery and control circuit in the palm, constitutes a prosthetic hand system completed.
The prosthetic hand overall work principle of the present embodiment is as follows: according to the shape of object to be crawled
Difference, the upset that can pre-adjust thumb refers to the position of joint, makes thumb be maintained at suitable crawl
The position of this object.Then, control motor 1 by switch or electromyographic signal and rotate, be fixed on motor 1
On gear 3 band carry-over bar 4 and power transmission shaft 11 be moved rearwards by, by connecting rod 12,31 drive thumb
Realize bending.On the other hand, the clamp structure 13 by being fixed on tooth bar 4 drives continuum differential
The elastic alloy wire 14 of mechanism 200 moves.Continuum differential attachment 200 is by an elastic alloy wire 14
The motion that conversion of motion is four elastic alloy wires 24～27, be connected respectively to forefinger, middle finger, nothing
Name refers to and little finger of toe, and these four fingers bend simultaneously, the most promptly object.As wherein certain root or a few
When finger touches object, the continuum flexural deformation within continuum differential attachment 200, hold
Still can be moved by loading little B alloy wire, make the finger of correspondence still can bend, until these fingers
Also object is completely attached to so that four fingers all contact the outer surface profile of crawled object, thus
Realize well capturing or the function of operation object.
Below presently preferred embodiments of the present invention has been described in detail, it is understood that reading this
After bright above-mentioned teachings, the present invention can be made various changes or modifications by those skilled in the art.
These equivalent form of values fall within the application appended claims limited range equally.
Claims (8)
1. a prosthetic hand, it is characterised in that described prosthetic hand includes:
Electric-motor drive unit, described electric-motor drive unit is provided with pedestal and motor, and wherein said motor is solid
On described pedestal and the output shaft of motor is provided with gear, described pedestal is fixed with hollow simultaneously
Axle, is provided with a power transmission shaft and slides wherein, this power transmission shaft is fixed with a tooth bar in this quill shaft,
This tooth bar engages with the gear on motor, thus the rotating through rack and pinion engagement of motor and drive institute
State power transmission shaft to move along a straight line in quill shaft；This transmission the tip of the axis is connected in the drive link of thumb,
For driving thumb bending and stretching；And it is further fixed on one on tooth bar for the folder clamping B alloy wire
Hold structure；
Continuum differential attachment, described continuum differential attachment is provided with fixed disk, multiple end disk, defeated
Entering B alloy wire, the first output B alloy wire and the second output B alloy wire, described fixed disk is provided with for described
Multiple holes that input B alloy wire and output B alloy wire pass, one end of described input B alloy wire and described folder
Hold the fixing connection of structure, thus realize rectilinear movement by the driving of motor, and the other end is fixed on one
The middle part of individual end disk；One end being respectively fixed at two ends with one first output B alloy wire of this end disk,
The other end of these two first output B alloy wires is each passed through described fixed disk and is fixed on two other end
The middle part of end plate, each in two other end disk described be respectively fixed at two ends with one second defeated
Go out B alloy wire, thus four described second output B alloy wires through described fixed disk and respectively with described vacation
The corresponding finger of limb hands connects, thus drives four finger motions in addition to thumb；And
Palm, is used for fixing described electric-motor drive unit and described continuum differential attachment and finger.
Prosthetic hand the most according to claim 1, it is characterised in that described prosthetic hand also includes battery
And controller, described battery is described motor and described controller is powered, and described controller is used for receiving myoelectricity
Signal or external signal drive electric machine rotation.
Prosthetic hand the most according to claim 1, it is characterised in that the institute of described electric-motor drive unit
Stating and be fixed with two ring supports on pedestal simultaneously, the two ends of described quill shaft are connected to described two
Individual ring support, and thumb is fixed on described quill shaft, in wherein said two ring supports one
For split ring and be provided with screw, it is used for adjusting the frictional force between this ring support and quill shaft so that
The upset of thumb can be adjusted, and keeps the attitude after adjusting simultaneously.
Prosthetic hand the most according to claim 1, it is characterised in that described thumb is from root to end
It is sequentially provided with upset and refers to joint, second knuckle and third knuckle, connected by pin respectively between them, structure
Becoming three rotary joints, wherein upset refers to that joint is fixed on described quill shaft, described second knuckle via
Connecting rod is connected with one end of described power transmission shaft.
Prosthetic hand the most according to claim 4, it is characterised in that be fixed with on described power transmission shaft
One connecting rod, first connecting rod is connected by the first pin with one end of second connecting rod, another of second connecting rod
End is connected by the second pin with third connecting rod, and second connecting rod is connected to second by the second pin simultaneously
Referring on joint, second connecting rod connects also by the 3rd pin third connecting rod, and third connecting rod is through the second finger
Joint is connected on the 4th pin, and the 4th pin is connected on the third knuckle of thumb.
Prosthetic hand the most according to claim 1, it is characterised in that each hands in addition to thumb
Referring to include base, first knuckle and second knuckle, base is fixed on palm, and first knuckle leads to base
Cross the first pin and first connecting rod connect, connected by the second pin between first knuckle and second knuckle,
Thus define two rotary joints, one of described second output B alloy wire and the one of described first connecting rod
End connects, thus drives this finger motion.
Prosthetic hand the most according to claim 6, it is characterised in that be additionally provided with one on the second pin
Individual torsion spring, makes joint keep deployed condition, and one end hinge of the other end of first connecting rod and second connecting rod
Connecing, the other end of second connecting rod is hinged with second knuckle by the second pin.
Prosthetic hand the most according to claim 1, it is characterised in that described continuum differential attachment bag
Include a fixed disk, 3 end disk, an input B alloy wire, two first output B alloy wires and four pieces the
Two output B alloy wires, described fixed disk is fixed on described pedestal.
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| CN201510246103.0A CN104799982B (en) | 2015-05-14 | 2015-05-14 | Single motor drive lacking prosthetic hand based on continuum differential attachment |
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| CN201510246103.0A CN104799982B (en) | 2015-05-14 | 2015-05-14 | Single motor drive lacking prosthetic hand based on continuum differential attachment |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106618813B (en) * | 2015-11-04 | 2018-09-07 | 中国科学院深圳先进技术研究院 | Prosthetic hand |
| CN106038009B (en) * | 2015-11-18 | 2018-02-06 | 杭州若比邻机器人科技有限公司 | Prosthetic hand |
| CN106667628B (en) * | 2016-12-05 | 2019-08-09 | 上海交通大学 | A kind of half palm prosthetic hand |
| CN107693175A (en) * | 2017-10-27 | 2018-02-16 | 伏彦龙 | A kind of artificial limb manipulator and its arm |
| CN108917589B (en) * | 2018-07-18 | 2020-09-08 | 上海交通大学 | Manipulator joint angle measuring system, platform and measuring method |
| CN108908391A (en) * | 2018-08-14 | 2018-11-30 | 东南大学 | A kind of bionic mechanical hand based on differential design |
| CN111513898B (en) * | 2020-05-15 | 2021-06-29 | 华中科技大学 | Under-actuated prosthetic hand with self-adaptive grabbing function |
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| JP2001277175A (en) * | 2000-03-30 | 2001-10-09 | Hiroshima Pref Gov | Multi-fingered movable robot hand and its gripping control method |
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| CN101058184A (en) * | 2007-06-07 | 2007-10-24 | 上海交通大学 | Simulative mechanical hand with under-driven adaptive mechanism |
| CN203510219U (en) * | 2013-10-25 | 2014-04-02 | 沈阳中科正方新能源技术有限公司 | Differential gear drive type adaptive manipulator |
| CN103690280A (en) * | 2013-12-13 | 2014-04-02 | 上海交通大学 | Continuum transmission mechanism-based under-actuated prosthetic hand |
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