CN101073520A - Sinew-driven pseudohand finger mechanism - Google Patents
Sinew-driven pseudohand finger mechanism Download PDFInfo
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- CN101073520A CN101073520A CN 200710072411 CN200710072411A CN101073520A CN 101073520 A CN101073520 A CN 101073520A CN 200710072411 CN200710072411 CN 200710072411 CN 200710072411 A CN200710072411 A CN 200710072411A CN 101073520 A CN101073520 A CN 101073520A
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Abstract
The invention is concerned with a false finger framework driven by muscle, involving a kind of false finger framework. The existing false hand framework cannot solve the opposite movement of finger knuckle. The base knuckle and base seat connect in moving through base joint, the base knuckle and middle knuckle connect in moving with middle joint, and the middle knuckle and end knuckle connect in moving with end joint. The one end of driven muscle connects with end knuckle through base seat, base knuckle, middle knuckle and end knuckle, and it is at the outside of base joint, middle joint and end joint. This invention enhances the agility of finger without adding the freedom of finger to false hand with easy structure and credible safety. It realizes the opposite movement of finger knuckle and the finger can fit for catching objects with different shapes and sizes.
Description
Technical field
The present invention relates to a kind of finger mechanism of doing evil through another person.
Background technology
Staff is complicated, the meticulousst instrument that the mankind depend on for existence and work, and the disappearance of hands not only makes the people lose the critical function of hands but also suffers menticide.Owing to reasons such as vehicle accident, industrial injury and diseases, people with disability's quantity significantly increases, and this is serious social concern in the global range.
Ideal doing evil through another person should be the same with true hands on shape and function, and it can not only substitute the sensation and the motor function of staff, but also will have graceful profile as staff.But present technology does not also reach this ideal requirement far away.The human upper limb mechanism model has 27 degree of freedom, and wherein finger part has 20 degree of freedom, but present scientific level can't accomplish to have the electronic hand prosthesis of 20 degree of freedom.The very sophisticated of present clinical use done evil through another person, and mostly has only single degree of freedom, can realize the closure/opening movement of thumb and all the other fingers.In the motion of the single degree of freedom that realizes doing evil through another person, each finger all is inflexible, do not have can independent rotation dactylus, (near the joint of palm) position is driven by gear mechanism each finger just in basic joint, each finger is except that the closure of relative palm/opening, can not realize pointing the relative motion of dactylus.Inflexible finger mechanism, the finger mechanism that guaranteed to do evil through another person is simple in structure, use is reliable, but can not realize the self-adapting grasping ability to the difformity object, has therefore limited the range of application of doing evil through another person.
Summary of the invention
The purpose of this invention is to provide the finger mechanism of doing evil through another person that a kind of tendon drives, it can solve the problem that existing artificial hand mechanism can not realize pointing the relative motion of dactylus.
The present invention includes pedestal, basic dactylus, middle dactylus, terminal dactylus; The present invention also comprises driving tendon, basic joint, middle joint, terminal joint; Described basic dactylus and pedestal are rotationally connected by basic joint, base dactylus and middle dactylus are rotationally connected by middle joint, dactylus and terminal dactylus are rotationally connected by terminal joint in the middle of described, one end of described driving tendon passes pedestal, basic dactylus, middle dactylus, terminal dactylus and affixed with terminal dactylus from the bottom to top successively respectively, and drives the outside that tendon is positioned at basic joint, middle joint and terminal joint.
The present invention has following beneficial effect: when the finger mechanism of doing evil through another person that tendon of the present invention drives uses, the other end that drives tendon is connected with driver, when driving under the pulling force effect of tendon in driver, will overcome the active force of joint torsion spring, drive each dactylus and rotate around each corresponding joint.When finger was unloaded, the rotation in each joint order, rotational angle were by drive decisions such as bending moment that tendon produces, joint torsion spring stiffness on each joint; When the basic dactylus of finger contacts with crawled object, the base joint will no longer be rotated, terminal two dactylus will be rotated further under the pulling force that drives tendon, when middle dactylus contacts with object, does not rotate in middle joint, and terminal dactylus will be rotated further, and all contact with being operated object until all dactylus, thereby realization be to the self-adapting grasping of object; When the driver backward rotation, drive tendon laxity, each joint will turn back under the active force of joint torsion spring and stretch the position.The present invention has improved the motility of finger under the situation that does not increase the finger degree of freedom of doing evil through another person, it is simple in structure, safe and reliable, can realize pointing the relative motion of dactylus, and finger can be realized the self-adapting grasping to difformity, size object.
Description of drawings
Fig. 1 is the front view of the finger mechanism of doing evil through another person of tendon driving of the present invention, Fig. 2 is the left view of Fig. 1, Fig. 3 is the main pseudosection that basic dactylus 3 and middle dactylus 4 are rotationally connected by middle joint 7, Fig. 4 is the left view of Fig. 3, Fig. 5 is the front view of pedestal 2, Fig. 6 is the left view of Fig. 5, Fig. 7 is the front view of basic dactylus 3, Fig. 8 is the left view of Fig. 7, Fig. 9 is the front view of middle dactylus 4, Figure 10 is the left view of Fig. 9, Figure 11 is the front view of terminal dactylus 5, Figure 12 is the left view of Figure 11, Figure 13 be the finger mechanism of doing evil through another person that drives of tendon of the present invention walk the tendon pathway figure, Figure 14 is the envelope procedure chart (initial position state) of finger mechanism to object 53 of doing evil through another person that tendon of the present invention drives, Figure 15 is the envelope procedure chart (basic dactylus 3 with object 53 contact) of finger mechanism to object 53 of doing evil through another person that tendon of the present invention drives, Figure 16 be the finger mechanism of doing evil through another person that drives of tendon of the present invention to the envelope procedure chart (drive tendon 1 and drive terminal two arthrogryposises) of object 53, Figure 17 is the envelope procedure chart (terminal dactylus 4 with object 53 contact) of finger mechanism to object 53 of doing evil through another person that tendon of the present invention drives.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1～Fig. 4 and Figure 13 present embodiment is described, present embodiment is made up of pedestal 2, basic dactylus 3, middle dactylus 4, terminal dactylus 5, driving tendon 1, basic joint 6, middle joint 7, terminal joint 8; Described basic dactylus 3 is rotationally connected by basic joint 6 with pedestal 2, base dactylus 3 is rotationally connected by middle joint 7 with middle dactylus 4, dactylus 4 is rotationally connected by terminal joint 8 with terminal dactylus 5 in the middle of described, one end of described driving tendon 1 passes pedestal 2, basic dactylus 3, middle dactylus 4, terminal dactylus 5 and affixed with terminal dactylus 5 from the bottom to top successively respectively, and drive the outside that tendon 1 is positioned at basic joint 6, middle joint 7 and terminal joint 8, the length that the length of each dactylus is respectively pointed dactylus according to staff is determined.
The specific embodiment two: in conjunction with Fig. 2, Fig. 5 and Fig. 6 present embodiment is described, the pedestal 2 of present embodiment is made up of pedestal 9 and pedestal bourdon tube 10; Be respectively equipped with basic joint axis hole 12 on two engaging lugs 11 of described pedestal 9, pedestal 9 is provided with axially extending bore 13, described pedestal bourdon tube 10 is embedded in the described axially extending bore 13, be respectively equipped with the spacing shoulder 14 of pedestal on the outer face of two engaging lugs 11 of pedestal 9, described driving tendon 1 passes in pedestal bourdon tube 10.So be provided with, simple in structure, safe and reliable, adopt the pedestal bourdon tube in addition, can reduce to drive the friction of motion of tendon and pedestal.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: in conjunction with Fig. 1, Fig. 2, Fig. 7 and Fig. 8 present embodiment is described, the basic dactylus 3 of present embodiment is made up of two and half basic dactylus 15, basic dactylus screw rod 16, first basic dactylus alignment pin 17, the second basic dactylus alignment pin 18, basic dactylus bourdon tube 19; Described two and half basic dactylus 15 left-right symmetric are placed, two and half basic dactylus 15 are by basic dactylus screw rod 16, the first basic dactylus alignment pin 17, the second basic dactylus alignment pin 18 connects, opposite position place on two and half basic dactylus, the 15 corresponding side end faces is provided with interior groove 20 respectively, be combined into an endoporus 21 by described two interior grooves 20, described basic dactylus bourdon tube 19 is embedded in the described endoporus 21, be respectively equipped with basic joint shaft blind hole 23 on the engaging lug 22 corresponding side end faces of described each half basic dactylus 15 lower end, be respectively equipped with lower limit shoulder 24 on the outer face of the engaging lug 22 of each half basic dactylus 15 lower end, joint shaft blind hole 26 in the middle of being respectively equipped with on the engaging lug 25 corresponding side end faces of described each half basic dactylus 15 upper end, be respectively equipped with upper limit shoulder 27 on the outer face of the engaging lug 25 of each half basic dactylus 15 upper end, described driving tendon 1 passes in basic dactylus bourdon tube 19.So be provided with, simple in structure, safe and reliable, adopt basic dactylus bourdon tube in addition, can reduce to drive the friction of motion of tendon and basic dactylus.Other composition and annexation are identical with the specific embodiment one, two.
The specific embodiment four: in conjunction with Fig. 1, Fig. 2, Fig. 6, Fig. 8 present embodiment is described, the basic joint 6 of present embodiment is made up of basic joint torsion spring 28, basic joint turning cylinder 29; Described basic joint turning cylinder 29 passes described basic joint axis hole 12 and is contained in described two basic joint shaft blind holes 23, and basic joint torsion spring 28 is housed on the basic joint turning cylinder 29, and the two ends of described basic joint torsion spring 28 are connected with basic dactylus 3 with pedestal 2 respectively.So be provided with, can avoid basic joint turning cylinder axial motion, make finger can bear certain side-sway direction power simultaneously.Other composition and annexation are identical with the specific embodiment one, two, three.
The specific embodiment five: in conjunction with Fig. 1, Fig. 2, Fig. 9 and Figure 10 present embodiment is described, the middle dactylus 4 of present embodiment is made up of two middle dactylus 30, middle dactylus screw rod 31, first middle dactylus alignment pin 32, the second middle dactylus alignment pin 33, middle dactylus bourdon tube 34; Described two middle dactylus 30 left-right symmetric are placed, two middle dactylus 30 are by middle dactylus screw rod 31, dactylus alignment pin 32 in the middle of first, dactylus alignment pin 33 connects in the middle of second, groove 35 in the dactylus in the middle of opposite position place on two middle dactylus 30 corresponding side end faces is provided with respectively, by dactylus inner via hole 36 in the middle of groove 35 is combined in described two middle dactylus, dactylus bourdon tube 34 is embedded in the described middle dactylus inner via hole 36 in the middle of described, joint axis hole 38 in the middle of being respectively equipped with on two engaging lugs 37 of described each middle dactylus 30 lower end, dactylus lower limit shoulder 39 in the middle of the outer face of the engaging lug 37 of each middle dactylus 30 lower end is provided with, be respectively equipped with terminal joint shaft blind hole 41 on the engaging lug 40 corresponding side end faces of described each middle dactylus 30 upper end, dactylus upper limit shoulder 42 in the middle of the outer face of the engaging lug 40 of each middle dactylus 30 upper end is provided with, described driving tendon 1 passes in middle dactylus bourdon tube 34.So be provided with, simple in structure, safe and reliable, adopt middle dactylus bourdon tube in addition, can reduce to drive the friction of motion of tendon and middle dactylus.Other composition and annexation are identical with the specific embodiment three.
The specific embodiment six: in conjunction with Fig. 1, Fig. 2, Fig. 8, Figure 10 present embodiment is described, the middle joint 7 of present embodiment is made up of middle joint torsion spring 43, middle joint turning cylinder 44; Described middle joint turning cylinder 44 passes described middle joint axis hole 38 and is contained in described two middle joint shaft blind holes 26, joint torsion spring 43 in the middle of being equipped with on the middle joint turning cylinder 44, the two ends of described middle joint torsion spring 43 are connected with middle dactylus 4 with basic dactylus 3 respectively.So be provided with, joint turning cylinder axial motion in the middle of can avoiding, make finger can bear certain side-sway direction power simultaneously, when finger is vertical, middle joint torsion spring makes the counter-rotational pretightning force of finger-joint, but when driving in the middle of the tendon pulling joint forward rotation, will overcome torsion spring power, along with the increase of joint rotational angle, torsion spring power increases.When driving tendon pulling force reduces, middle joint torsion spring will make finger return to and stretch the position.Other composition and annexation are identical with the specific embodiment five.
The specific embodiment seven: in conjunction with Fig. 1, Fig. 2, Figure 11, Figure 12 present embodiment is described, the terminal dactylus 5 of present embodiment is made up of finger tip 45, terminal dactylus bourdon tube 46; Be respectively equipped with terminal axis hole 48 on two engaging lugs 47 of described finger tip 45, finger tip 45 is provided with the driving tendon and passes hole 49, described terminal dactylus bourdon tube 46 is embedded in described driving tendon and passes in the hole 49, the outer face of two engaging lugs 47 of finger tip 45 is provided with the spacing shoulder 50 of finger tip, and described driving tendon 1 passes in terminal dactylus bourdon tube 46.So be provided with, simple in structure, safe and reliable, adopt terminal dactylus bourdon tube in addition, can reduce to drive the friction of motion of tendon and terminal dactylus.Other composition and annexation are identical with the specific embodiment five.
The specific embodiment eight: in conjunction with Fig. 1, Fig. 2, Figure 10, Figure 12 present embodiment is described, the terminal joint 8 of present embodiment is made up of terminal joint torsion spring 51, terminal joint turning cylinder 52; Described terminal joint turning cylinder 52 passes described terminal axis hole 48 and is contained in described two terminal joint shaft blind holes 41, on the terminal joint turning cylinder 52 terminal joint torsion spring 51 is housed, the two ends of described terminal joint torsion spring 51 are connected with terminal dactylus 5 with middle dactylus 4 respectively.So be provided with, when rotated in terminal joint, driving tendon and middle dactylus had relative motion.Other composition and annexation are identical with the specific embodiment seven.
The specific embodiment nine: present embodiment is described in conjunction with Fig. 2, but the finger tip 45 of present embodiment, two middle dactylus 30, two and half basic dactylus 15 and pedestal 9 are made by injected plastics material or aluminium alloy, but described injected plastics material is moulded fluorothene for poly-, helps reducing production costs, alleviating the weight of finger.Other composition and annexation are identical with the specific embodiment seven.
The specific embodiment ten: in conjunction with Fig. 1, Figure 13～Figure 17 present embodiment is described, the driving tendon 1 of present embodiment is steel wire or rope, uses reliably steel wire or rope outsourcing.Other composition and annexation are identical with the specific embodiment one, seven.
The finger mechanism of doing evil through another person that tendon of the present invention drives adopts owes type of drive, realizes the envelope of object 53 is grasped by one degree of freedom.From initial position (seeing accompanying drawing 14), pulling drives tendon 1, and each joint is all crooked, and each dactylus is drawn close to object 53, and the angle of arthrogryposis is relevant with the wiring path that drives tendon 1, joint torsion spring stiffness etc.(see accompanying drawing 15) when basic dactylus 3 contacts with object 53, basic joint 6 will no longer be rotated, and drive tendon 1 and will continue to drive terminal two arthrogryposises (seeing accompanying drawing 16); When middle dactylus 4 contacts with object 53, middle joint 7 will not rotated, and drive tendon 1 and will continue to drive terminal arthrogryposis, contact (seeing accompanying drawing 17) with object 53 until terminal dactylus 4, thereby realize the self adaptation envelope of object 53 is grasped.
Claims (10)
1, a kind of finger mechanism of doing evil through another person of tendon driving, it comprises pedestal (2), basic dactylus (3), middle dactylus (4), terminal dactylus (5); It is characterized in that it also comprises driving tendon (1), basic joint (6), middle joint (7), terminal joint (8); Described basic dactylus (3) is rotationally connected by basic joint (6) with pedestal (2), base dactylus (3) is rotationally connected by middle joint (7) with middle dactylus (4), dactylus (4) is rotationally connected by terminal joint (8) with terminal dactylus (5) in the middle of described, one end of described driving tendon (1) passes pedestal (2), basic dactylus (3), middle dactylus (4), terminal dactylus (5) and affixed with terminal dactylus (5) from the bottom to top successively respectively, and drives the outside that tendon (1) is positioned at basic joint (6), middle joint (7) and terminal joint (8).
2, the finger mechanism of doing evil through another person that drives of tendon according to claim 1 is characterized in that described pedestal (2) is made up of pedestal (9) and pedestal bourdon tube (10); Be respectively equipped with basic joint axis hole (12) on two engaging lugs (11) of described pedestal (9), pedestal (9) is provided with axially extending bore (13), described pedestal bourdon tube (10) is embedded in the described axially extending bore (13), be respectively equipped with the spacing shoulder of pedestal (14) on the outer face of two engaging lugs (11) of pedestal (9), described driving tendon (1) passes in pedestal bourdon tube (10).
3, the finger mechanism of doing evil through another person that drives of tendon according to claim 1 and 2 is characterized in that described basic dactylus (3) is made up of two and half basic dactylus (15), basic dactylus screw rod (16), the first basic dactylus alignment pin (17), the second basic dactylus alignment pin (18), basic dactylus bourdon tube (19); Described two and half basic dactylus (15) left-right symmetric are placed, two and half basic dactylus (15) are by basic dactylus screw rod (16), the first basic dactylus alignment pin (17), the second basic dactylus alignment pin (18) connects, opposite position place on the corresponding side end face of two and half basic dactylus (15) is provided with interior groove (20) respectively, be combined into an endoporus (21) by described two interior grooves (20), described basic dactylus bourdon tube (19) is embedded in the described endoporus (21), be respectively equipped with basic joint shaft blind hole (23) on the corresponding side end face of engaging lug (22) of described each half basic dactylus (15) lower end, be respectively equipped with lower limit shoulder (24) on the outer face of the engaging lug (22) of each half basic dactylus (15) lower end, joint shaft blind hole (26) in the middle of being respectively equipped with on the corresponding side end face of engaging lug (25) of described each half basic dactylus (15) upper end, be respectively equipped with upper limit shoulder (27) on the outer face of the engaging lug (25) of each half basic dactylus (15) upper end, described driving tendon (1) passes in basic dactylus bourdon tube (19).
4, the finger mechanism of doing evil through another person that drives of tendon according to claim 3 is characterized in that described basic joint (6) is made up of basic joint torsion spring (28), basic joint turning cylinder (29); Described basic joint turning cylinder (29) passes described basic joint axis hole (12) and is contained in described two basic joint shaft blind holes (23), on the base joint turning cylinder (29) basic joint torsion spring (28) is housed, the two ends of described basic joint torsion spring (28) are connected with basic dactylus (3) with pedestal (2) respectively.
5, the finger mechanism of doing evil through another person that drives of tendon according to claim 3, it is characterized in that described in the middle of dactylus (4) form by dactylus alignment pin (33), middle dactylus bourdon tube (34) in the middle of the dactylus alignment pin (32), second in the middle of two middle dactylus (30), the middle dactylus screw rod (31), first; Described two middle dactylus (30) left-right symmetric is placed, two middle dactylus (30) are by middle dactylus screw rod (31), dactylus alignment pin (32) in the middle of first, dactylus alignment pin (33) connects in the middle of second, groove (35) in the dactylus in the middle of opposite position place on the corresponding side end face of two middle dactylus (30) is provided with respectively, by dactylus inner via hole (36) in the middle of groove (35) is combined in described two middle dactylus, dactylus bourdon tube (34) is embedded in the described middle dactylus inner via hole (36) in the middle of described, joint axis hole (38) in the middle of being respectively equipped with on two engaging lugs (37) of described each middle dactylus (30) lower end, dactylus lower limit shoulder (39) in the middle of the outer face of the engaging lug (37) of each middle dactylus (30) lower end is provided with, be respectively equipped with terminal joint shaft blind hole (41) on the corresponding side end face of engaging lug (40) of described each middle dactylus (30) upper end, dactylus upper limit shoulder (42) in the middle of the outer face of the engaging lug (40) of each middle dactylus (30) upper end is provided with, described driving tendon (1) passes in middle dactylus bourdon tube (34).
6, the finger mechanism of doing evil through another person that drives of tendon according to claim 5, it is characterized in that described in the middle of joint (7) form by middle joint torsion spring (43), middle joint turning cylinder (44); Described middle joint turning cylinder (44) passes described middle joint axis hole (38) and is contained in described two middle joint shaft blind holes (26), joint torsion spring (43) in the middle of being equipped with on the middle joint turning cylinder (44), the two ends of described middle joint torsion spring (43) are connected with middle dactylus (4) with basic dactylus (3) respectively.
7, the finger mechanism of doing evil through another person that drives of tendon according to claim 5 is characterized in that described terminal dactylus (5) is made up of finger tip (45), terminal dactylus bourdon tube (46); Be respectively equipped with terminal axis hole (48) on two engaging lugs (47) of described finger tip (45), finger tip (45) is provided with the driving tendon and passes hole (49), described terminal dactylus bourdon tube (46) is embedded in described driving tendon and passes in the hole (49), the outer face of two engaging lugs (47) of finger tip (45) is provided with the spacing shoulder of finger tip (50), and described driving tendon (1) passes in terminal dactylus bourdon tube (46).
8, the finger mechanism of doing evil through another person that drives of tendon according to claim 7 is characterized in that described terminal joint (8) is made up of terminal joint torsion spring (51), terminal joint turning cylinder (52); Described terminal joint turning cylinder (52) passes described terminal axis hole (48) and is contained in described two terminal joint shaft blind holes (41), on the terminal joint turning cylinder (52) terminal joint torsion spring (51) is housed, the two ends of described terminal joint torsion spring (51) are connected with terminal dactylus (5) with middle dactylus (4) respectively.
9, the finger mechanism of doing evil through another person of tendon driving according to claim 7, it is characterized in that described finger tip (45), two middle dactylus (30), two and half basic dactylus (15) and pedestal (9) but make by injected plastics material or aluminium alloy, but described injected plastics material is the poly-fluorothene of moulding.
10, according to the finger mechanism of doing evil through another person of claim 1 or 7 described tendons drivings, it is characterized in that described driving tendon (1) is steel wire or rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710072411 CN101073520A (en) | 2007-06-27 | 2007-06-27 | Sinew-driven pseudohand finger mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710072411 CN101073520A (en) | 2007-06-27 | 2007-06-27 | Sinew-driven pseudohand finger mechanism |
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| CN101073520A true CN101073520A (en) | 2007-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200710072411 Pending CN101073520A (en) | 2007-06-27 | 2007-06-27 | Sinew-driven pseudohand finger mechanism |
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Cited By (18)
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| CN102357884A (en) * | 2011-10-14 | 2012-02-22 | 清华大学 | Quickly-grabbed under-actuated robot hand device |
| CN102363302A (en) * | 2011-10-25 | 2012-02-29 | 杭州电子科技大学 | Anthropomorphic dexterous hand device driven by single motor |
| CN102528815A (en) * | 2012-01-05 | 2012-07-04 | 上海大学 | Multi-degree-of-freedom underactuated manipulator |
| CN104257443A (en) * | 2014-08-04 | 2015-01-07 | 中国科学院深圳先进技术研究院 | Artificial hand |
| CN104367405A (en) * | 2014-11-21 | 2015-02-25 | 华南理工大学 | Humanoid type myoelectricity artificial hand |
| CN104434350A (en) * | 2014-11-21 | 2015-03-25 | 华南理工大学 | Finger mechanism of anthropomorphic myoelectrical artificial hand |
| CN105415388A (en) * | 2015-12-08 | 2016-03-23 | 哈尔滨工业大学 | Tendon-driving robot finger mechanism |
| CN105619426A (en) * | 2015-12-01 | 2016-06-01 | 清华大学 | Tendon-rope type lateral locking linkage self-adaption robot finger device |
| CN105751232A (en) * | 2016-05-20 | 2016-07-13 | 哈尔滨工业大学 | Human-simulated finger with base joint and interphalangeal joint respectively and independently driven |
| CN106038007A (en) * | 2016-07-04 | 2016-10-26 | 中国科学院深圳先进技术研究院 | Bionic artificial hand |
| CN106109066A (en) * | 2015-11-18 | 2016-11-16 | 杭州若比邻机器人科技有限公司 | The mounting structure of artificial limb thumb |
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- 2007-06-27 CN CN 200710072411 patent/CN101073520A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102357884A (en) * | 2011-10-14 | 2012-02-22 | 清华大学 | Quickly-grabbed under-actuated robot hand device |
| CN102363302A (en) * | 2011-10-25 | 2012-02-29 | 杭州电子科技大学 | Anthropomorphic dexterous hand device driven by single motor |
| CN102363302B (en) * | 2011-10-25 | 2013-09-18 | 杭州电子科技大学 | Anthropomorphic dexterous hand device driven by single motor |
| CN102528815A (en) * | 2012-01-05 | 2012-07-04 | 上海大学 | Multi-degree-of-freedom underactuated manipulator |
| CN104257443A (en) * | 2014-08-04 | 2015-01-07 | 中国科学院深圳先进技术研究院 | Artificial hand |
| CN104434350A (en) * | 2014-11-21 | 2015-03-25 | 华南理工大学 | Finger mechanism of anthropomorphic myoelectrical artificial hand |
| CN104367405A (en) * | 2014-11-21 | 2015-02-25 | 华南理工大学 | Humanoid type myoelectricity artificial hand |
| CN104434350B (en) * | 2014-11-21 | 2017-02-22 | 华南理工大学 | Finger mechanism of anthropomorphic myoelectrical artificial hand |
| CN106109066A (en) * | 2015-11-18 | 2016-11-16 | 杭州若比邻机器人科技有限公司 | The mounting structure of artificial limb thumb |
| CN106109066B (en) * | 2015-11-18 | 2018-01-16 | 杭州若比邻机器人科技有限公司 | The mounting structure of artificial limb thumb |
| CN105619426A (en) * | 2015-12-01 | 2016-06-01 | 清华大学 | Tendon-rope type lateral locking linkage self-adaption robot finger device |
| CN105415388A (en) * | 2015-12-08 | 2016-03-23 | 哈尔滨工业大学 | Tendon-driving robot finger mechanism |
| CN105751232A (en) * | 2016-05-20 | 2016-07-13 | 哈尔滨工业大学 | Human-simulated finger with base joint and interphalangeal joint respectively and independently driven |
| CN106038007B (en) * | 2016-07-04 | 2017-11-07 | 中国科学院深圳先进技术研究院 | Bionical prosthetic hand |
| CN106038007A (en) * | 2016-07-04 | 2016-10-26 | 中国科学院深圳先进技术研究院 | Bionic artificial hand |
| CN106272526A (en) * | 2016-09-19 | 2017-01-04 | 上海未来伙伴机器人有限公司 | A kind of Dextrous Hand |
| CN106926266A (en) * | 2017-02-27 | 2017-07-07 | 哈尔滨工业大学深圳研究生院 | A kind of rope drives the mechanical clamping device of linkage |
| CN108068134A (en) * | 2017-12-11 | 2018-05-25 | 南京邮电大学 | A kind of flexible mechanical paw quick based on power and application method |
| CN108371575A (en) * | 2018-01-23 | 2018-08-07 | 莆田学院 | A kind of severed finger auxiliary grip and knocking device |
| CN108371575B (en) * | 2018-01-23 | 2024-08-20 | 莆田学院 | Auxiliary grabbing and knocking device for broken finger |
| CN110450180A (en) * | 2019-08-16 | 2019-11-15 | 哈尔滨工业大学 | Flexible drive variable rigidity differential couple robot finger apparatus |
| CN110450180B (en) * | 2019-08-16 | 2022-09-30 | 哈尔滨工业大学 | Flexible driving rigidity variable differential coupling robot finger device |
| CN111168698A (en) * | 2020-03-03 | 2020-05-19 | 山东大学 | Rope-driven bionic mechanical gripper and rehabilitation nursing device |
| CN111168698B (en) * | 2020-03-03 | 2021-03-16 | 山东大学 | Rope-driven bionic mechanical gripper and rehabilitation nursing device |
| CN111658152A (en) * | 2020-07-10 | 2020-09-15 | 山东大学 | Operation mechanical arm and endoscope system |
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