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WO2018006722A1 - 仿生假肢手 - Google Patents

仿生假肢手 Download PDF

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Publication number
WO2018006722A1
WO2018006722A1 PCT/CN2017/090255 CN2017090255W WO2018006722A1 WO 2018006722 A1 WO2018006722 A1 WO 2018006722A1 CN 2017090255 W CN2017090255 W CN 2017090255W WO 2018006722 A1 WO2018006722 A1 WO 2018006722A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
assembly
reins
thumb
prosthetic hand
Prior art date
Application number
PCT/CN2017/090255
Other languages
English (en)
French (fr)
Inventor
景晓蓓
雍旭
徐睿
郑悦
田岚
张浩诗
李向新
李光林
Original Assignee
中国科学院深圳先进技术研究院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Priority to JP2018569128A priority Critical patent/JP6712332B2/ja
Publication of WO2018006722A1 publication Critical patent/WO2018006722A1/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
    • 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
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • 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
    • 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
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors

Definitions

  • the invention relates to a prosthetic hand, in particular to a bionic prosthetic hand in the field of rehabilitation medical devices.
  • the myoelectric prosthetic hand can replace the missing limbs and provide convenience for the daily life of disabled patients with upper limbs. It is one of the important research directions in the field of rehabilitation engineering.
  • the myoelectric prosthetic hand has only three fingers: thumb, index finger and middle finger. It can only achieve the single mode action of hand opening or closing to complete the grab; in addition, the safe proportional control of myoelectric
  • the fingers of the prosthetic hand are an integrated structure, and coupling motion based on multiple joints cannot be achieved. Therefore, the practicality of this product in daily life is not high.
  • each finger movement can be controlled individually to achieve more hand movements; and the four fingers other than the thumb have the far knuckles.
  • the metacarpal wrist joint of the thumb of the prosthetic hand does not have independent degrees of freedom, so the rotation of the inner or outer rotation of the thumb needs to be manually assisted to rotate; in addition, although it realizes the bionic design of appearance and action, Due to the heavier weight (more than 500g), it imposes a heavy burden on the patient and is not suitable for long-term wear.
  • the existing multi-degree-of-freedom myoelectric prosthetic hand gives degrees of freedom to each joint to achieve independent movement of a single finger and joint, and the number of movements is large, but due to the large number of motors, the control system is complicated and the maintenance cost is high; Because of the heavy weight, it directly causes the patient to suffer from soreness and fatigue after wearing for a long time, so that it cannot be worn and used for a long time. Therefore, this kind of prosthetic hand is not only greatly reduced in practicality, but the most important point is that it is expensive and difficult to be accepted by ordinary families for ordinary patients.
  • the electromyographic prosthetic hand on the market is made of metal material in the main part, which not only increases the weight, but also uses the traditional transmission method such as gears at the joints, and the multi-stage meshing makes the transmission efficiency poor, and the torque of the motor is not obtained. Maximizing the performance will eventually require the use of expensive, large-volume, high-torque output motors. However, such remedies have increased the cost and increased the weight.
  • the existing myoelectric prosthetic hand is also unsatisfactory in grasping ability, not only when the object is grasped, the user has to change and adjust the appropriate grasping posture through the auxiliary movement of the upper limb due to the interference of other fingers, and When grasping the object, the grabbing material is made because the finger pad structure does not have viscoelastic properties containing a certain covering force and friction. The stability of the body is not enough.
  • the existing myoelectric prosthetic hand shape is not bionic, the patient is likely to attract the attention of the surrounding people when wearing the prosthetic hand in public, so that the wearer is in conflict, and the willingness to use is reduced, so that it is better to use no action.
  • the functional decorative prosthetic hand also resists the use of myoelectric prosthetic hands with a shape that is not bionic.
  • the shape is bionic, which is convenient for patients to wear and use for a long time.
  • the invention provides a bionic prosthetic hand, the bionic prosthetic hand comprising:
  • a finger member having an index finger assembly, a middle finger assembly, a ring finger assembly, a little finger assembly, and a thumb assembly, wherein the index finger assembly, the middle finger assembly, the ring finger assembly, and the little finger assembly are respectively openably coupled to the palm member Upper end
  • a tiger mouth member that is vertically rotatably coupled to an inner side of the palm member, the thumb assembly being openably coupled to the tiger mouth member.
  • the present invention contemplates using only two small motors (ie, a finger drive motor and a thumb drive motor) as drives to drive the five fingers of the thumb assembly, the index finger assembly, the middle finger assembly, the ring finger assembly, and the little finger assembly, respectively. Stretching or flexing action, as well as internal or external rotation of the metacarpal wrist joint of the thumb assembly. That is, the present invention drives the thumb assembly to rotate or rotate externally by a thumb drive motor that is connected to the tiger's mouth member to drive the thumb to rotate internally or externally, so that the thumb assembly can be vertically rotated to form with the other four finger assemblies. Parallel or opposite different spatial positions; and the rotational axis of the motor driven by the finger simultaneously drives the five finger assemblies to flex or stretch. Therefore, the thumb assembly and the other four finger components cooperate to complete the three types of grasping, precision grasping and side grabbing of various forms, which are the main grasping modes in the daily life of normal people up to 85%.
  • the present invention drives the five finger assemblies to simultaneously stretch or flex by the rotation axis of the finger drive motor, through the path lengths of different reins pipes disposed in the palm members, so that the matching is carried in different lengths of different reins pipes.
  • the reins are used to achieve the separation movement of the finger assembly. That is, the invention further derives the separation extension of the ring finger component and the little finger component.
  • the late motion causes the ring finger assembly and the little finger assembly to be structurally designed to produce delayed buckling relative to the index finger assembly and the middle finger assembly to effectively avoid false touch or interference problems. This makes it possible to avoid the phenomenon that the ring finger component and the little finger component contact the object before the forefinger component and the middle finger component are in contact with the object during the precise grasping, thereby improving the grasping ability.
  • the present invention calculates and matches five elastic bands which are most suitable for the stiffness coefficient according to the different lengths of each finger assembly, and the elastic bands are respectively disposed on the finger back portions of the respective finger assemblies. That is, as a passive recovery power source, an elastic band disposed at the back of the finger of the five finger assemblies will pull the finger assemblies to perform the stretching action. Specifically, when the finger drive motor drives the rotation axis to reverse and relax the traction of each finger component reel, each finger component will return to the five-finger open state due to the resilience of the elastic bands at the back of the finger. The stretching action of each finger assembly.
  • the flexible finger joint structure of the distal knuckle joint of the present invention and the rigid joint member skeleton can be integrally formed by a 3D printer, so as to avoid the increase of the process and the cost caused by the installation or bonding; or, the flexible finger
  • the abdominal structure can also be attached to the joint member frame by bonding or inlaying.
  • the finger pad structure is a flexible structure made of a flexible rubber material, thereby improving the contact area of the finger assembly when grasping the object and enhancing the surface friction performance, and improving the covering force and the surface friction force when the article is grasped, so as to greatly Improve the stability of the gripping object.
  • the center of rotation of the proximal knuckle joint and the palm member, and the center of rotation of the middle knuckle joint and the proximal knuckle joint are all a slewing line, the joints Since the parts are formed along the respective centers of rotation to form a line contact structure with no friction generated by other joints, the conventional joint rotation pair is prevented from causing friction during movement due to surface contact with each other, thereby weakening the finger output force.
  • the frictionless wire contact configuration of the invention can maximize the output force efficiency of the finger drive motor to the respective finger assemblies.” Or "as compared to existing prosthetic hands, the use of shaft connections at the joints and joints, It is bound to generate friction between the mutual contact surfaces to reduce the output efficiency of the force.
  • the non-axial connection between the joint members of the finger assemblies of the present invention, that is, the line contact method, the friction force is zero, and the pair is avoided. The internal losses caused by the finger drive motor output.”
  • Figure 1 is a front elevational view of a bionic prosthetic hand of the present invention.
  • Figure 2 is a rear elevational view of the bionic prosthetic hand of the present invention.
  • FIG. 3 is a schematic view showing the structure of a palm member of a bionic prosthetic hand of the present invention.
  • FIG. 4 is a schematic view showing the structure of a thumb assembly of a bionic prosthetic hand of the present invention.
  • Figure 5 is a schematic view showing the structure of the index finger assembly of the bionic prosthetic hand of the present invention.
  • Figure 6 is a schematic view showing the structure of the index finger assembly of the bionic prosthetic hand of the present invention.
  • the present invention provides a bionic prosthetic hand comprising a palm member 1, a finger member 2 and a tiger mouth member 3, wherein: the finger member 2 has an index finger assembly 21, a middle finger assembly 22, a ring finger assembly 23, a little finger assembly 24 and a thumb assembly 25, the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the little finger assembly 24 are respectively openably coupled to an upper end of the palm member 1; the tiger mouth member 3 is The thumb member 25 is openably coupled to the tiger mouth member 3 in a vertically rotatably connected manner to the inner side of the palm member 1.
  • the palm member 1 is a member having a shape similar to a human hand shape.
  • the overall shape of the palm member 1 is bionic according to the average size and size of the adult female right hand; the palm member 1 is on both sides thereof.
  • the structure close to the wrist is designed as a transition surface shape to more realistically simulate the shape of the human hand.
  • the lower end of the palm member 1 (that is, the end portion of the palm member 1 and the wrist is connected) is connected with a connecting shaft 11 capable of expanding the wrist joint, so as to facilitate the later expansion of the wrist function or directly as a fixed connection end. use.
  • the finger member 2 is composed of an index finger assembly 21, a middle finger assembly 22, a ring finger assembly 23, a little finger assembly 24, and a thumb assembly 25, wherein the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, and the little finger assembly 24 are respectively coupled to the upper end of the palm member 1. .
  • the position angle of the index finger assembly 21 and the middle finger assembly 22 on the palm member 1 coincides with the position of the spatial engagement analysis calculation at the time of precision grasping; and the position of the ring finger assembly 23 and the little finger assembly 24 on the palm member 1 is located. The angle is in line with the irregular arc distribution of the human hand. In the present embodiment, as shown in FIG.
  • a finger driving motor 4 is disposed in the palm member 1, and a rotating shaft 41 is connected to the finger driving motor 4, and the rotating shaft 41 drives the motor 4 through a plurality of plugs 42 and a finger.
  • the rotating shaft is connected; a sliding bearing 43 is disposed at the outer side of the palm member 1, and a central shaft 44 is bored in the sliding bearing 43, and the rotating shaft 41 is positioned and supported by the sliding bearing 43 and the central shaft 44.
  • the rotating shaft 41 is spaced apart from the axial direction thereof with a plurality of annular grooves 411.
  • the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, the little finger assembly 24 and the thumb assembly 25 pass the index finger reins 211 and the middle finger reins respectively.
  • the finger driving motor 4 can pass the above reins (ie, the index finger reins 211,
  • the middle finger reins 221, the ring finger reins 231, the little finger reins 241 and the thumb reins 251) drive the respective finger assemblies (ie, the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23,
  • the little finger assembly 24 and the thumb assembly 25) together perform the five-finger flexion action (i.e., the closing action).
  • the five routing pipes include an index finger reins pipe 12, a middle finger reins pipe 13, a ring finger reins pipe 14, and a little finger reins.
  • the pipe 15 and the thumb reins pipe 16 wherein the index finger reins 211 are disposed in the index finger reins pipe 12 , the middle finger reins 221 are disposed in the middle finger reins pipe 13 , and the ring finger reins 231 are disposed in the ring finger reins pipe
  • the little finger reins 241 are placed in the little finger reins pipe 15 and the thumb reins 251 are placed in the thumb reins pipe 16.
  • the palm member 1 is provided with a cavity 17, and the five routing conduits are respectively connected to the cavity 17, and the cavity 17 is disposed at an upper portion of the palm member 1, and the finger driving motor 4 and the rotating shaft 41 are located at the same.
  • the cavity 17 is peripherally provided with a protective cover 18. Since the index finger reins 211, the middle finger reins 221, the ring finger reins 231, the little finger reins 241 and the thumb reins 251 are precision core drives that drive the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, the little finger assembly 24, and the thumb assembly 25.
  • the ring finger assembly 23 and the little finger assembly 24 are simultaneously flexed at the same angular velocity, the ring finger assembly 23 and the little finger assembly 24 are prone to occur prior to the other.
  • the three finger assemblies contact the grasping target to cause problems such as accidental touch or interference, such as when grasping a small volume object placed on a plane
  • the thumb assembly 25, the index finger assembly 21 and the middle finger assembly 22 cooperate to form a precise kneading of the three-point contact, and at this time, if the ring finger assembly 23 and the little finger assembly 24 are simultaneously flexed at the same speed to contact the plane, the bionic prosthetic hand cannot achieve three fingers.
  • the three points of the component are precisely pinched, so that the precision gripping action is not well implemented or the crawling fails.
  • the length of the ring finger reins 231 and the length of the little finger reins 241 are both designed to be larger than the length of the index finger reins 211 and the length of the middle finger reins 221 .
  • the length of the ring finger reel 231 refers to the actual length between the end of the ring finger reel 231 connected from the ring finger assembly 23 to the end connected to the rotating shaft 41
  • the length of the small finger reel 241 refers to the length.
  • the actual length of the little finger reins 241 from the end connected to the little finger assembly 24 to the end connected to the rotating shaft 41, the length of the index finger reel 211 is the end of the index finger reel 211 from the index finger assembly 21 To the connection to the rotating shaft 41
  • the actual length between the ends, the length of the middle finger reins 221 refers to the actual length of the middle finger reins 221 from one end connected to the middle finger assembly 22 to the end connected to the rotating shaft 41.
  • the index finger reins 211, the middle finger reins 221, the ring finger reins 231 and the little finger reins 241 are respectively passed through the index finger reins pipe 12, the middle finger reins pipe 13, the ring finger reins pipe 14, the little finger ⁇ located in the palm member 1.
  • the length of the ring finger reel 231 and the length of the little finger reins 241 are designed to be larger than the length of the index finger reins 211 and the length of the middle finger reins 221, that is, the length of the ring finger reins duct 14
  • the length of the small finger reins duct 15 is designed to be greater than the length of the index finger reins duct 12 and the length of the middle finger reins duct 13.
  • the present invention achieves the separation movement of the respective finger assemblies by matching the path lengths of the different reins conduits disposed within the palm member 1 to match the lengths of the different reins that are threaded within the different reins conduits, such that the ring finger assembly 23 and the little finger assembly
  • the buckling motion of 24 is retarded by the flexion motion of index finger assembly 21 and middle finger assembly 22; in this manner, thumb assembly 25, index finger assembly 21 and middle finger assembly 22 will form three faster than the ring finger assembly 23 and the little finger assembly 24 reach the same flexion angle.
  • the precise pinching action is performed to avoid the above-mentioned accidental touch or interference problem.
  • the palm member 1 is further provided with a thumb driving motor 5, and the tiger mouth member 3 is connected to the rotating shaft 51 of the thumb driving motor 5, and the end of the thumb assembly 25 is pivoted. Connected to the tiger mouth component 3.
  • the thumb assembly 25 includes a metacarpal wrist joint 252, a proximal knuckle joint 253, and a distal knuckle joint 254 that are sequentially connected.
  • the metacarpal wrist joint 252 passes through the thumb.
  • the cord 251 is coupled to the rotational shaft 41 of the finger drive motor 4, and the proximal knuckle joint 253 is coupled to the metacarpal wrist joint 252 by a plug 255 that is coupled to the proximal portion by a plug (not shown). Knuckle joint 253.
  • the metacarpal wrist joint 252 has a pivot end 2521 pivotally connected to the other side of the tiger mouth member 3 through the pivot end 2521 of the metacarpal wrist joint 252, thereby enabling the thumb assembly 25 to be realized relative to the tiger mouth member 3. Flexing or stretching. Further, the metacarpal wrist joint 252 of the thumb assembly 25 is connected with a tiger mouth skateboard 256. The tiger mouth slide 256 is slidably inserted into the tiger mouth member 3. The tiger mouth slide 256 is provided with a chute 2561, and the tiger mouth member 3 is provided. The limit plug 31 is fixed to the tiger mouth member 3 through the sliding slot 2561.
  • the sliding groove 2561 reciprocates relative to the limit plug 31, thereby restricting the tiger mouth skateboard 256 at the tiger's mouth.
  • the maximum extreme position within the component 3 is limited by the angle at which the metacarpal wrist joint 252 of the thumb assembly 25 flexes or stretches to prevent the metacarpal wrist joint 252 from disengaging from the tiger mouth component 3 during sliding. And the purpose of eliminating the angle error and increasing the strength of the thumb assembly 25 at the extended limit position can be achieved.
  • the end of the mouth member 3 and the thumb drive motor 5 of the present invention are fixed at one end by a floating positioning connection.
  • the thumb drive motor 5 is disposed at the inner lower portion of the inner side of the palm member 1, the upper end of the tiger mouth member 3 and the thumb drive
  • the rotating shaft 51 of the moving motor 5 is fixedly connected; the other end of the tiger mouth member 3 is provided with a connecting hole 32 which is connected to the short shaft 10 at the lower end of the palm member by a clearance fit to form a rotating pair.
  • the tiger mouth member 3 connected thereto is driven to drive the thumb assembly 25 to perform an internal rotation or an external rotation motion; and the connection manner in which one end of the fixed end floats ensures the thumb
  • the smooth rotation of the inner or outer rotation of the assembly 25 provides a rigid support.
  • the present invention drives the thumb assembly 25 to rotate or rotate externally by the tiger mouth member 3 attached to the rotating shaft 51 of the thumb drive motor 5, so that the thumb assembly 25 can be rotated to different spatial positions parallel or opposite to the remaining four fingers;
  • the rotating shaft 41 of the drive motor 4 drives the five finger assemblies (i.e., the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, the little finger assembly 24, and the thumb assembly 25) to effect flexion or extension.
  • the internal or external rotation of the thumb assembly 25 and the flexion or extension of the five finger assemblies will cooperate with the three types of grasping modes of grasping force, precision grasping and side grasping in various forms, and this multi-modal grasping
  • the rate of taking action in normal people's daily life is as high as 85%.
  • the structure of the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the little finger assembly 24 are the same, respectively, which are respectively connected by the proximal knuckle joint member 61, the middle knuckle joint member 62 and the distal finger.
  • the joint joint member 63 is formed by the index finger reins 211, the middle finger reins 221, the ring finger reins 231 or the little finger reins 241 connected to the rotating shaft 41, and the middle knuckle joint member 62 is rotatably connected to the near The upper end of the knuckle joint member 61 is connected to the upper end of the middle knuckle joint member 62.
  • the structure of the index finger assembly 21 is merely taken as an example.
  • the index finger assembly 21 is composed of three parts, a proximal knuckle joint member 61, a middle knuckle joint member 62, and a distal knuckle joint member 63.
  • the transmission mechanism of the index finger assembly 21 drives the proximal phalanx joint member 61 by the finger drive motor 4 disposed in the palm member 1 to drive the proximal knuckle joint member 61, wherein one end of the index finger reins 211 passes the index finger reins conduit 12 and the finger.
  • the rotating shaft 41 of the driving motor 4 is connected, and the other end thereof is fixed to the inside of the proximal knuckle joint member 61 through the wire hole 611; while the rotating shaft 41 of the finger driving motor 4 drives the proximal knuckle joint member 61 to rotate, it is driven.
  • the second index finger reins 212 rotates, wherein the second index finger reins 212 are fixed at both ends, one end of which is fixed to the inside of the middle knuckle joint member 62 through the wire hole 621, and the other end passes through the proximal finger through the wire hole 612
  • the joint member 61 is fixed to the palm member 1.
  • the finger drive motor 4 drives the index finger reins 211 to rotate
  • the combined linkage of the index finger reins 211 and the second index finger reins 212 causes the proximal knuckle joint member 61 and the middle knuckle joint member 62 to simultaneously flex, and because of the reins
  • the transmission can realize the natural and anthropomorphic grasping action of the object.
  • the distal knuckle joint member 63 is fixed to the middle knuckle joint member 62 by the plug 631, which can be customized, and is easy to disassemble and maintain.
  • a cavity 613 is provided inside the proximal knuckle joint member 61, and an elastic member 614 is mounted in the cavity 613.
  • the elastic member 614 can be, for example, a spring.
  • one end of the elastic member 614 is fixed to the middle knuckle joint member 62 by the upper reins through the wire hole 615, and the other end of the elastic member 614 is fixed to the palm member by the lower reins through the wire hole 616. 1, the upper reins and the lower reins are fixed length.
  • the elastic member 614 when the index finger assembly 21 receives a large external force (parallel to the plane of the palm member 1), the elastic member 614 will be deformed, whereby the elastic member 614 can function not only as a damping for flexible avoidance but also for transmitting force.
  • the two fixed ends of the proximal knuckle joint member 61 and the middle knuckle joint member 62 are weakened to weaken the impact force, thereby realizing a load-protecting structure of the passively displaceable index finger assembly 21 which is not easily damaged, and the bionic prosthetic hand is greatly improved. Security.
  • an upper inner inclined surface 617 and a lower inner inclined surface 618 are formed at both ends of the proximal knuckle joint member 61, and one end of the middle knuckle joint member 62 is connected to the proximal knuckle joint member 61.
  • a lower inner inclined surface 622 is formed, and the upper inner inclined surface 617, the lower inner inclined surface 618 and the lower inner inclined surface 622 are disposed to ensure that the proximal knuckle joint member 61 is relatively close to the palm member 1 and the middle knuckle joint member 62 is relatively close to the knuckle joint member.
  • the center of rotation of the proximal knuckle joint member 61 and the palm member 1, and the center of rotation of the middle knuckle joint member 62 and the proximal knuckle joint member 61 are both a revolving line, and the joint members are
  • the line contact structure is formed along the respective center of rotation to form a friction-free structure with other joints, and the conventional joint rotation pair is prevented from causing friction during the movement due to surface contact with each other to weaken the finger output force.
  • the frictionless wire contact configuration of the present invention can maximize the output force efficiency of the finger drive motor 4 to the respective finger assemblies.
  • the distal knuckle joint member 63 can be integrally formed with the middle knuckle joint member 62; or, in other embodiments, the distal knuckle joint member 63 can pass through a plurality of plugs
  • the 631 is fixedly attached to the middle knuckle joint member 62, so that not only the installation becomes very simple, but the distal knuckle joint member 63 can be directly and conveniently replaced for later maintenance if damage occurs; in addition, the index finger assembly 21 is provided.
  • the main advantage of being divided into three parts is that it can be personalized according to the length and thickness of each patient's finger or joint. Customization will greatly expand the scope of application of this bionic prosthetic hand to different users.
  • the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, the little finger assembly 24, and the thumb assembly 25 are respectively connected with elastic bands 213 and elastic.
  • the belt 222, the elastic band 232, the elastic band 242, and the elastic band 257, and the elastic band 213, the elastic band 222, the elastic band 232, the elastic band 242, and the elastic band 257 are respectively connected to the palm member 1 through the respective finger assemblies.
  • the elastic band 213, the elastic band 222, the elastic band 232, and the elastic band 242 shown in FIG. 2 are the protrusions installed in the grooves and grooves at the back of each finger assembly finger. Between the gaps formed.
  • FIGS. 3 and 4 at the upper end of the back side of the palm member 1, that is, at the position of the palm member 1 where the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, and the little finger assembly 24 are disposed, Four hooks 19 are provided respectively, and the elastic band 213, the elastic band 222, the elastic band 232 and the elastic band 242 respectively penetrate the middle finger joints 62 of the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the little finger assembly 24, respectively.
  • the proximal knuckle joint members 61 are attached to the four hooks 19 on the palm member 1.
  • the elastic band 257 is connected to the tiger mouth member 3 through the proximal knuckle joint 253 and the metacarpal wrist joint 252 of the thumb assembly 25.
  • the elastic band 213, the elastic band 222, the elastic band 232, the elastic band 242 and the elastic band 257 are respectively disposed on the index finger assembly 21.
  • the middle finger assembly 22, the ring finger assembly 23, the little finger assembly 24, and the finger back portion of the thumb assembly 25, that is, as a passive recovery power source the elastic band disposed at the back of the finger of the five finger assemblies will pull the finger assemblies to stretch action.
  • the finger driving motor 4 drives the rotating shaft 41 to reverse and relax the pulling of the finger assembly reins, each finger assembly will return to the five-finger open state due to the resilience of each elastic band at the back of the finger. Achieve the stretching action of the finger assembly.
  • the index finger assembly 21, the middle finger assembly 22, the distal knuckle joint 63 of the ring finger assembly 23 and the little finger assembly 24, and the distal knuckle joint 254 of the thumb assembly each include an articulation frame 632 and a connection A finger pad structure 633 on the joint member frame 632.
  • the finger pad structure 633 and the joint member frame 632 can be integrally formed by a 3D printer to avoid the increase in the process and the cost increase caused by the mounting and bonding; or, in other embodiments, the finger pad structure 633 can be Attached to the joint member frame 632 by bonding or inlaying, the inlaid connection means that a fitting structure such as a bump and a groove is provided between the joint member frame 632 and the finger pad structure 633 to make the joint member skeleton
  • the 632 and the finger pad structure 633 are snap-fitted with each other.
  • the finger pad structure 633 is a flexible structure constructed using a flexible rubber material.
  • the ratio of the flexible material to the skeleton is calculated and calculated at the distal knuckle joint member 63.
  • the amount of the approximation is similar to the viscoelasticity of the finger pad of a normal person, where the volume ratio of the finger pad structure 633 of the distal knuckle joint member 63 to the joint member frame 632 is 0.54 to 0.66. In this way, the covering force of the object when the finger component grasps the object is increased, and the friction generated when contacting the surface of the article is increased to greatly improve the stability of the grasping object.
  • the present invention contemplates using only two small motors (i.e., finger drive motor 4 and thumb drive motor 5) as a drive to simultaneously drive thumb assembly 25, index finger assembly 21, middle finger assembly 22, ring finger assembly 23 and little finger assembly 24
  • the five fingers extend or flex; and the inner or outer rotation of the thumb assembly 25 about the shaft 51 of the thumb drive motor 5.
  • the proximal knuckle joint member 61 is provided with a load protection device for subjecting the finger assembly (i.e., the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the little finger assembly 24) to a large lateral force.
  • a load protection device for subjecting the finger assembly (i.e., the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the little finger assembly 24) to a large lateral force.
  • bionic prosthetic hand of the present invention is more user-friendly in designing some details of the patient's actual use: designing the delayed motion of the ring finger component 23 and the little finger component 24 to improve the grasping ability during precision grasping.
  • the flexible structure is used to approximate the viscoelastic characteristics of the human finger belly to improve the grasping ability, and the easy-to-detach and easy-maintained finger joint structure suitable for personalization.
  • the invention also considers the simplification of the structure and the convenient maintenance in the manufacturing and installation process, and combines the 3D printing technology to finally realize the lightweight, low cost and bionic design, which greatly improves the cost performance of the bionic prosthetic hand. And practicality.
  • the bionic prosthetic hand of the present invention realizes the control of the thumb by adding a thumb drive motor 5 within a range allowed within the palm member 1.
  • the inner or outer rotation of the assembly 25 solves the intermediate steps of manually adjusting the position of the thumb of the prosthetic hand before grasping the different objects, or fixing the lock with a tool before starting to grasp the object. .
  • the invention adopts high-strength resin material combined with 3D printing processing.
  • the joint parts of the finger assembly not only shorten the manufacturing cycle, low cost, and do not require secondary processing, the most important thing is to greatly reduce the weight, and obtain a good evaluation of small burden and no discomfort after the patient actually wears for a long time. Feedback.
  • the present invention only uses two small motors to respectively drive the inner or outer rotation of the thumb assembly.
  • the action and the stretching or flexing action of the five-finger component, and the combination of these actions can couple the side grabbing, precision gripping and gripping gripping actions that account for 85% of the hand movements in actual daily life, which not only increases the gripping action And improved practicality.
  • the present invention adopts a finger-belly structure 633 of a flexible rubber material, that is, a bionic simulation of the human finger belly is designed.
  • the viscoelastic structure is used to increase the coating force and friction of the object when the object is grasped, and the gripping ability is improved by improving the stability when grasping the object.
  • the finger pad structure 633 and the joint member frame 632 are printed in 3D, which eliminates the increase in the number of processes and the cost caused by the mounting and bonding.
  • the present invention designs a finger joint that can be customized and easily disassembled and maintained, and also achieves a large finger. Lateral (Parallel to the palm plane) External forces can create a flexible avoidance that is not susceptible to damage to the passive proximally displaced proximal knuckle joint 61.
  • the non-axial connection that is, the line contact mode, is adopted between the joint members of the finger assemblies of the present invention, so that the frictional force is zero, and the internal loss caused by the output of the finger drive motor 4 is avoided.
  • bionic prosthetic hand of the present invention is within the allowable range of the palm member 1, and the finger driving motor 4 and the thumb driving motor 5 of the present invention can be replaced by other motor or pneumatic hydraulic driving means;
  • the finger driving motor 4 and the thumb driving motor 5 of the present invention can be replaced by other motor or pneumatic hydraulic driving means;
  • each of the reins can be arbitrarily laid out;
  • the reel linkage linkage in each finger assembly can be replaced by a belt drive or other type of composite linkage;
  • the length and position can change the flexion angular velocity of the finger joint and adjust the output force. Therefore, the transmission system can also be used in any other mechanical transmission of the non-bionic prosthetic hand; all the plug-type fixings between the joints can be replaced with bolts.
  • the flexible structure of the finger pad structure 633 can also be used in other combinations such as inlaying, bonding, etc.; Small, so the size and appearance of the palm part 1 and each finger assembly can be arbitrarily changed; It can be replaced with elastic parts with inherent stiffness coefficient such as springs, torsion springs or rubber bands; the materials and manufacturing methods used in the manufacture of the whole bionic prosthetic hand are not limited to resin, rubber-like materials and 3D printing, and can be selected according to needs. Other materials or changes in manufacturing methods.
  • each reel can be replaced with a wire, rope or belt of other materials.

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  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Vascular Medicine (AREA)
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Abstract

一种仿生假肢手，其包括：手掌部件（1）；手指部件（2），其具有食指组件（21）、中指组件（22）、无名指组件（23）、小指组件（24）和拇指组件（25），食指组件（21）、中指组件（22）、无名指组件（23）和小指组件（24）分别可开合地连接在手掌部件（1）的上端；虎口部件（3），其可竖直转动地连接于手掌部件（1）的内侧，拇指组件（25）可开合地连接于虎口部件（3）。仿生假肢手的拇指组件（25）能够内旋或外旋，且食指组件（21）、中指组件（22）、无名指组件（23）、小指组件（24）和拇指组件（25）能够实现伸展或屈曲动作，仿生假肢手重量轻，方便患者长时间佩戴和使用。

Description

仿生假肢手 技术领域
本发明有关于一种假肢手，尤其有关于一种康复医疗器械领域中的仿生假肢手。
背景技术
肌电假肢手可以取代残缺的肢体，能为上肢缺失残疾人患者的日常生活提供便利，是目前康复工程领域的重要研究方向之一。
现有产品中的安全比例控制肌电假肢手仅有拇指、食指和中指这三根手指，它只能实现手张开或闭合这种单一模式的动作来完成抓取；另外，安全比例控制肌电假肢手的手指为一体化构造，无法实现基于多关节的耦合运动。因此，这种产品在日常生活中的实用性并不高。
现有产品中还具有五根手指的假肢手，除无名指与小指进行耦合运动以外，能单独控制每根手指运动，实现较多的手部动作；并且除拇指以外的四指具备除远指节关节外的两个关节耦合运动的特点。但是，该种假肢手的拇指的掌骨腕关节不具备独立自由度，因此拇指内旋或外旋的旋转动作需要靠人工手动辅助转动；另外，它虽然实现了外观、动作上的仿生设计，但是因重量较重(重达500g以上)而给患者造成较大负担，不适合长时间佩戴。
目前，现有的多自由度肌电假肢手虽然给各个关节赋予自由度来实现单个手指及关节的独立运动，可动作数量多，但是由于电机数量众多，致使控制系统复杂，维护成本高；另外，由于重量较重，直接导致患者长时间佩戴后容易出现酸痛、疲劳等问题，从而无法长时间佩戴和使用。因此，这类假肢手不仅在实用性上大打折扣，而且最关键之处是价格不菲，难以面向普通患者被一般家庭所接受。
其次，市面上的肌电假肢手在结构方面由于主体部分采用金属材质，不仅使重量增加，并且关节副处使用齿轮等传统传动方式，而多级啮合使得传动效率差，电机的扭矩得不到最大限度发挥，最终致使需要使用价格较贵、体积较大的大扭矩输出电机来进行弥补。但这样的补救措施却反而提高了成本，额外加大了重量。
另外，既存的肌电假肢手在抓取能力上也差强人意，不仅在物体抓取时由于其它手指的干涉而造成使用者不得不通过上肢的辅助运动来变换和调节合适的抓取姿势，并且在抓握物体时，由于指腹结构不具备含有一定包覆力和摩擦力的粘弹特性而使得抓取物 体的稳定性不够。并且，在手指受到侧向(平行于手掌平面)外力作用时，因没有设置负载保护结构而使得手指关节容易发生损坏，而使得整个假肢手的实用性大打折扣，而这也是直接导致使用者认为肌电假肢手灵巧度不足，实用性不高的一大原因。
再者，由于现有的肌电假肢手外形不够仿生，患者在公共场合佩戴使用假肢手时容易招致周围人群的注意，使佩戴者产生抵触心理，从而使用意愿降低，导致其宁可使用无任何动作功能的装饰性假肢手，也抗拒使用外形不够仿生的肌电假肢手。
发明内容
本发明的目的是提供一种仿生假肢手，其拇指组件能够内旋或外旋，且食指组件、中指组件、无名指组件、小指组件和拇指组件能够实现伸展或屈曲动作，该仿生假肢手重量轻、外形仿生，方便患者长时间佩戴和使用。
本发明提供一种仿生假肢手，所述仿生假肢手包括：
手掌部件；
手指部件，其具有食指组件、中指组件、无名指组件、小指组件和拇指组件，所述食指组件、所述中指组件、所述无名指组件和所述小指组件分别可开合地连接在所述手掌部件的上端；
虎口部件，其可竖直转动地连接于所述手掌部件的内侧，所述拇指组件可开合地连接于所述虎口部件。
本发明的仿生假肢手的特点及优点是：
一、本发明设计了一种仅使用两个小型电机(即，手指驱动电机和拇指驱动电机)作为驱动，来分别驱动拇指组件、食指组件、中指组件、无名指组件和小指组件这五根手指的伸展或屈曲动作，以及拇指组件的掌骨腕关节件的内旋或外旋动作。也即，本发明通过连接在虎口部件上的驱动拇指内旋或外旋的拇指驱动电机来带动拇指组件内旋或外旋，以使拇指组件能竖直地旋转到与其它四根手指组件形成平行或对立的不同空间位置；并且通过手指驱动电机的转动轴同时带动五根手指组件屈曲或伸展。从而实现拇指组件与其它四根手指组件配合完成各种形态的握力抓取、精密抓取和侧面抓取这三种在正常人日常生活中所占比率高达85％的主要抓取模式。
二、本发明通过手指驱动电机的转动轴带动五根手指组件同时伸展或屈曲，通过设置在手掌部件内的不同腱绳管道的路径长度，以使匹配穿设在不同腱绳管道内不同长度的腱绳来实现手指组件的分离运动。即本发明又衍生出无名指组件和小指组件的分离延 迟运动，使无名指组件和小指组件从结构上设计为相对于食指组件和中指组件产生延迟屈曲，以有效避免误触碰或者干涉问题。如此便使得在精密抓取时，避免了无名指组件及小指组件先于食指组件及中指组件接触物体而发生误动作或无法抓取的现象，提高了抓取能力。
三、本发明根据每根手指组件的不同长度计算并匹配了劲度系数最为适合的五根弹性带，各弹性带分别设置在各手指组件的指背部分。也即，作为被动回复动力源，设置在五根手指组件的指背处的弹性带将拉动各手指组件实现伸展动作。具体表现为，当手指驱动电机带动转动轴反转，放松牵引各手指组件腱绳的同时，各手指组件将由于其指背处各弹性带的回弹力而恢复到五指张开的状态，从而实现各手指组件的伸展动作。
四、本发明的远指节关节件的柔性的指腹结构与刚性的关节件骨架体可通过3D打印机一体成型，以免去安装或粘接造成的工序增加及成本提高；又或者，柔性的指腹结构还可通过粘接或镶嵌方式连接于关节件骨架体。该指腹结构为使用柔性类橡胶材料构成的柔性结构，以此来提高手指组件抓取物体时的接触面积以及增强表面摩擦性能，提升抓取物品时的包覆力和表面摩擦力，以大大提高抓握物体的稳定性。
五、关于无摩擦结构部分，例如：引用“另外，近指节关节件与手掌部件的回转中心、以及中指节关节件与近指节关节件的回转中心，均为一回转线，该些关节件处由于是沿各自的回转中心形成与其他关节构成无摩擦产生的线接触构造，杜绝了传统关节转动副由于相互间的面接触导致在运动时产生摩擦作用而削弱手指输出力的情况。本发明的这种无摩擦的线接触构造可以将手指驱动电机的输出力效率最大化的输出到各个手指组件上。”或者“相比于现有假肢手在关节与关节处采用轴连接的方式，势必会在其相互接触面之间产生摩擦力从而降低力的输出效率。本发明的各手指组件的各关节件之间采用非轴连接，即线接触方式，因此摩擦力为零，避免了对手指驱动电机输出所造成的内部损耗。”
附图说明
图1为本发明的仿生假肢手的正视图。
图2为本发明的仿生假肢手的后视图。
图3为本发明的仿生假肢手的手掌部件的结构示意图。
图4为本发明的仿生假肢手的拇指组件的结构示意图。
图5为本发明的仿生假肢手的食指组件的结构示意图一。
图6为本发明的仿生假肢手的食指组件的结构示意图二。
具体实施方式
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和图2所示，本发明提供一种仿生假肢手，其包括手掌部件1、手指部件2和虎口部件3，其中：手指部件2具有食指组件21、中指组件22、无名指组件23、小指组件24和拇指组件25，所述食指组件21、所述中指组件22、所述无名指组件23和所述小指组件24分别可开合地连接在所述手掌部件1的上端；虎口部件3可竖直转动地连接于所述手掌部件1的内侧，所述拇指组件25可开合地连接于所述虎口部件3。
具体是，手掌部件1为一外形结构类似人手形状的部件，在本发明中，该手掌部件1的整体形状按照成人女性右手的平均尺寸及大小进行了仿生设计；该手掌部件1在其两侧以及接近手腕处的结构均设计为过渡曲面造型，以更真实地模拟人手的外形形状。在本实施例中，该手掌部件1的下端(也即，该手掌部件1与手腕相连接的端部)连接有能扩展手腕关节的连接轴11，方便后期扩展手腕功能或者直接作为固定连接端使用。
手指部件2由食指组件21、中指组件22、无名指组件23、小指组件24和拇指组件25组成，其中，食指组件21、中指组件22、无名指组件23和小指组件24分别连接于手掌部件1的上端。在本发明中，该食指组件21、中指组件22位于手掌部件1上的位置角度吻合于精密抓取时的空间啮合解析计算的位置；而无名指组件23、小指组件24位于手掌部件1上的位置角度则符合人手的不规则弧面分布。在本实施例中，如图3所示，手掌部件1内设有手指驱动电机4，该手指驱动电机4上连接有转动轴41，该转动轴41通过多个插栓42与手指驱动电机4的转轴相连接；在手掌部件1的外侧处设有滑动轴承43，该滑动轴承43内穿设有中心轴44，转动轴41将通过滑动轴承43及中心轴44来定位和支撑。该转动轴41上沿其轴向方向间隔设有多个环形凹槽411，该食指组件21、中指组件22、无名指组件23、小指组件24和拇指组件25分别通过食指腱绳211、中指腱绳221、无名指腱绳231、小指腱绳241和拇指腱绳251连接于转动轴41的多个环形凹槽411内，从而该手指驱动电机4可通过以上腱绳(也即，食指腱绳211、中指腱绳221、无名指腱绳231、小指腱绳241和拇指腱绳251)驱动各个手指组件(也即，食指组件21、中指组件22、无名指组件23、 小指组件24和拇指组件25)来共同完成五指的屈曲动作(也即，闭合动作)。如此，当手指驱动电机4驱动转动轴41正转时，便可带动五根腱绳驱动五根手指组件实现闭合动作；而手指驱动电机4驱动转动轴41反转时，相当于将五根腱绳放松，为实现五根手指组件的张开动作做准备。
在本实施例中，如图3所示，手掌部件1内设有五条走线管道，该五条走线管道包括食指腱绳管道12、中指腱绳管道13、无名指腱绳管道14、小指腱绳管道15和拇指腱绳管道16，其中，食指腱绳211穿设在食指腱绳管道12内，中指腱绳221穿设在中指腱绳管道13内，无名指腱绳231穿设在无名指腱绳管道14内，小指腱绳241穿设在小指腱绳管道15内，拇指腱绳251穿设在拇指腱绳管道16。进一步的，该手掌部件1内设有空腔17，上述五条走线管道分别与空腔17相连通，该空腔17设于手掌部件1的上部，手指驱动电机4和转动轴41均位于该空腔17中。在本实施例中，如图2所示，该空腔17外设有一防护盖板18。由于食指腱绳211、中指腱绳221、无名指腱绳231、小指腱绳241和拇指腱绳251是驱动食指组件21、中指组件22、无名指组件23、小指组件24和拇指组件25的精密核心传动部分，并且考虑到外形需要仿生模拟人手的实际形态而不再额外增加不必要的空间体积，因此需要通过设置内置的空腔17来放置上述传动部分以及防护盖板18对其进行防尘和避免异物接触的防护处理。
考虑到在精密抓取时，如果食指组件21、中指组件22、无名指组件23和小指组件24这四根手指组件同时以相同的角速度屈曲的话，则无名指组件23、小指组件24容易发生先于其它三根手指组件(也即，食指组件21、中指组件22和拇指组件25)接触抓取目标物而导致误触碰或者干涉等问题，例如在抓取放置于平面上的小体积物体时，往往需要拇指组件25、食指组件21和中指组件22配合形成三点接触的精确捏合，而此时无名指组件23和小指组件24如果以相同速度同时屈曲进而接触平面，会导致该仿生假肢手无法实现三根手指组件的三点精确捏合动作，从而使得精密抓取动作不能很好地实现或抓取失败。
因此，在本发明的一个实施方式中，将无名指腱绳231的长度、小指腱绳241的长度均设计为大于食指腱绳211的长度和中指腱绳221的长度。
具体是，上述无名指腱绳231的长度是指该无名指腱绳231自与无名指组件23相连接的一端至连接在转动轴41的一端之间的实际长度，该小指腱绳241的长度是指该小指腱绳241自与小指组件24相连接的一端至连接在转动轴41的一端之间的实际长度，该食指腱绳211的长度是指该食指腱绳211自与食指组件21相连接的一端至连接在转动轴41的 一端之间的实际长度，该中指腱绳221的长度是指该中指腱绳221自与中指组件22相连接的一端至连接在转动轴41的一端之间的实际长度。因食指腱绳211、中指腱绳221、无名指腱绳231和小指腱绳241分别穿设在位于手掌部件1内的食指腱绳管道12、中指腱绳管道13、无名指腱绳管道14、小指腱绳管道15中，因此本发明将无名指腱绳231的长度、小指腱绳241的长度均设计为大于食指腱绳211的长度和中指腱绳221的长度，也就是将无名指腱绳管道14的长度和小指腱绳管道15的长度均设计为大于食指腱绳管道12的长度和中指腱绳管道13的长度。
本发明通过设置在手掌部件1内的不同腱绳管道的路径长度，以使匹配穿设在不同腱绳管道内的不同腱绳长度来实现各手指组件的分离运动，使无名指组件23和小指组件24的屈曲运动迟缓于食指组件21和中指组件22的屈曲运动；通过这样的方式，拇指组件25、食指组件21和中指组件22将快于无名指组件23和小指组件24达到同一屈曲角度前形成三点精确捏合动作，从而避免上述所提的误触碰或者干涉问题。
在本发明的一实施例中，如图1和图3所示，该手掌部件1上还设有拇指驱动电机5，虎口部件3连接于拇指驱动电机5的转轴51，拇指组件25的一端枢接于该虎口部件3。
在本实施例中，请配合参阅图4所示，该拇指组件25包括依次相连的掌骨腕关节件252、近指节关节件253以及远指节关节件254，掌骨腕关节件252通过拇指腱绳251连接于手指驱动电机4的转动轴41，近指节关节件253通过插栓255连接于掌骨腕关节件252，远指节关节件254通过插栓(图中未示出)连接于近指节关节件253。
该掌骨腕关节件252具有枢接端2521，该拇指组件25通过掌骨腕关节件252的枢接端2521枢接于虎口部件3的另一侧，从而使得该拇指组件25能够相对虎口部件3实现屈曲或伸展动作。进一步的，该拇指组件25的掌骨腕关节件252上连接有虎口滑板256，该虎口滑板256可滑动地插接于虎口部件3内，虎口滑板256上设有滑槽2561，虎口部件3上设有限位插栓31，该限位插栓31穿过滑槽2561固定于虎口部件3上。当虎口滑板256通过拇指腱绳251在虎口部件3内滑动时，也即拇指组件25实现屈曲或伸展动作时，该滑槽2561相对于限位插栓31往复滑动，从而限制虎口滑板256在虎口部件3内的最大极限位置，以对拇指组件25的掌骨腕关节件252发生屈曲或伸展时的角度进行限位，以防止掌骨腕关节件252在滑动的过程中脱离虎口部件3的情况发生，且能达到消除角度误差以及拇指组件25在伸展极限位置处增加强度的目的。
本发明的虎口部件3与拇指驱动电机5之间采用一端固定一端浮动式定位连接。具体而言，该拇指驱动电机5设置在手掌部件1的内侧中下部，该虎口部件3的上端与拇指驱 动电机5的转轴51固定连接；虎口部件3的另一端设有连接孔32，连接孔32通过间隙配合的方式连接于手掌部件下端的短轴10以形成一转动副。当拇指驱动电机5的转轴51跟随其转动时，将驱动与之相连接的虎口部件3从而带动拇指组件25实现内旋或外旋动作；并且这种一端固定一端浮动的连接方式既保障了拇指组件25内旋或外旋动作的顺畅自如又为其提供了刚性支撑。
本发明通过连接在拇指驱动电机5的转轴51上的虎口部件3带动拇指组件25内旋或外旋，以使拇指组件25可以旋转到与其余四指平行或对立的不同空间位置；还通过手指驱动电机4的转动轴41带动五根手指组件(也即，食指组件21、中指组件22、无名指组件23、小指组件24和拇指组件25)实现屈曲或伸展。拇指组件25的内旋或外旋与五根手指组件的屈曲或伸展将配合完成各种形态的握力抓取、精密抓取和侧面抓取这三种抓取模式，而这种多形态的抓取动作在正常人日常生活中所占比率高达85％。
根据本发明的一个实施方式，该食指组件21、中指组件22、无名指组件23和小指组件24的结构均相同，其分别由依次相连的近指节关节件61、中指节关节件62和远指节关节件63组成，该近指节关节件61通过食指腱绳211、中指腱绳221、无名指腱绳231或小指腱绳241连接于转动轴41，中指节关节件62可转动地连接于近指节关节件61的上端，远指节关节件63连接于中指节关节件62的上端。
具体是，由于该食指组件21、中指组件22、无名指组件23和小指组件24除了手指关节长度不同以外，在结构上均一致，因此在这里仅以食指组件21为例进行结构说明。如图5和图6所示，该食指组件21由近指节关节件61、中指节关节件62和远指节关节件63这三部分组成。该食指组件21的传动机构是通过设置在手掌部件1内的手指驱动电机4驱动食指腱绳211来带动近指节关节件61动作，其中食指腱绳211的一端通过食指腱绳管道12与手指驱动电机4的转动轴41相连，其另一端通过走线孔611固定于近指节关节件61的内部；在手指驱动电机4的转动轴41带动近指节关节件61转动的同时，会带动第二食指腱绳212发生转动，其中，第二食指腱绳212为两端固定，其一端通过走线孔621固定于中指节关节件62内部，其另一端通过走线孔612穿过近指节关节件61而固定于手掌部件1上。
当手指驱动电机4驱动食指腱绳211发生转动时，食指腱绳211和第二食指腱绳212的复合联动会使得近指节关节件61、中指节关节件62同时产生屈曲，且由于腱绳传动可以实现对物体自然、拟人的抓取动作。而远指节关节件63则通过插栓631固定于中指节关节件62处，既可以实现个性化定制，同时又易拆卸易维护。
另外，在本发明中，在近指节关节件61内部设有空腔613，空腔613内可安装有弹性件614，在本实施例中，空腔613内左右对称地安装有两个弹性件614，该弹性件614例如可为弹簧，在此仅以位于空腔613内右侧的弹性件614为例进行说明。如图5所示，该弹性件614的一端由上腱绳通过走线孔615固定于中指节关节件62处，该弹性件614的另一端由下腱绳通过走线孔616固定于手掌部件1，该上腱绳以及下腱绳均为定长。如此在食指组件21承受侧向(平行于手掌部件1的平面)较大外力时，弹性件614将发生形变，由此弹性件614不仅可以作为阻尼起到柔性避让的作用，还可以将力传递给近指节关节件61和中指节关节件62的两个固定端以削弱冲击力，从而实现了不易损坏的可被动侧向位移的食指组件21的负载保护构造，大幅度提高了仿生假肢手的安全性。
除此之外，在本发明中，在近指节关节件61的两端分别形成有上内斜面617和下内斜面618，在中指节关节件62与近指节关节件61相连接的一端形成有下内斜面622，该上内斜面617、下内斜面618和下内斜面622的设置，保证了近指节关节件61相对手掌部件1、以及中指节关节件62相对近指节关节件61的弯曲角度；另外，近指节关节件61与手掌部件1的回转中心、以及中指节关节件62与近指节关节件61的回转中心，均为一回转线，该些关节件处由于是沿各自的回转中心形成与其他关节构成无摩擦产生的线接触构造，杜绝了传统关节转动副由于相互间的面接触导致在运动时产生摩擦作用而削弱手指输出力的情况。本发明的这种无摩擦的线接触构造可以将手指驱动电机4的输出力效率最大化的输出到各个手指组件上。
另外，在本发明的一实施例中，该远指节关节件63可一体成型于中指节关节件62；或者，在其他的实施例中，该远指节关节件63可通过多个插栓631固定连接于中指节关节件62，如此不仅安装变得十分简便，而且在如果发生损坏的情况后可以直接方便的替换掉该远指节关节件63以便于后期维护；另外，将食指组件21分为3部分(也即，近指节关节件61、中指节关节件62和远指节关节件63)构成的最主要优点是可以按照每个患者手指乃至关节的不同长度及粗细进行个性化定制，将极大地拓展该仿生假肢手面向不同用户情况下的适用范围。
在本发明的一个实施方式中，如图2和图4所示，该食指组件21、中指组件22、无名指组件23、小指组件24和拇指组件25的指背处分别连接有弹性带213、弹性带222、弹性带232、弹性带242和弹性带257，并且弹性带213、弹性带222、弹性带232、弹性带242和弹性带257贯穿各个手指组件分别连接于手掌部件1。其中，图2中所示的弹性带213、弹性带222、弹性带232、弹性带242是安装在各手指组件指背处的凹槽和凹槽内的凸块 之间形成的缝隙中。
具体是，如图3和图4所示，在手掌部件1的手背一侧的上端，也即沿设置食指组件21、中指组件22、无名指组件23和小指组件24的手掌部件1的位置处，分别设有四个卡勾19，弹性带213、弹性带222、弹性带232和弹性带242分别贯穿于食指组件21、中指组件22、无名指组件23和小指组件24各自的中指节关节件62和近指节关节件61，并各自连接在手掌部件1上的四个卡勾19。而弹性带257贯穿于拇指组件25的近指节关节件253和掌骨腕关节件252而连接于虎口部件3。
本发明根据每根手指组件的不同长度计算并匹配了劲度系数最为适合的五根弹性带，弹性带213、弹性带222、弹性带232、弹性带242和弹性带257分别设置在食指组件21、中指组件22、无名指组件23、小指组件24和拇指组件25的指背部分，也即，作为被动回复动力源，设置在五根手指组件的指背部处的弹性带将拉动各手指组件实现伸展动作。具体表现为，当手指驱动电机4带动转动轴41反转，放松牵引各手指组件腱绳的同时，各手指组件将由于其指背处各弹性带的回弹力恢复到五指张开的状态，从而实现手指组件的伸展动作。
根据本发明的一个实施方式，食指组件21、中指组件22、无名指组件23和小指组件24的远指节关节件63、以及拇指组件的远指节关节件254均包括关节件骨架体632以及连接在该关节件骨架体632上的指腹结构633。
具体是，该指腹结构633与关节件骨架体632可通过3D打印机一体成型，以免去安装和粘接造成的工序增加和成本提高；或者，在其它的实施例中，该指腹结构633可通过粘接或镶嵌方式连接于关节件骨架体632，该镶嵌连接方式是指在关节件骨架体632与指腹结构633之间设置例如凸块和凹槽的配合结构，以使关节件骨架体632与指腹结构633相互卡扣配合。在本发明中，该指腹结构633为使用柔性类橡胶材料构成的柔性结构，以食指组件21为例，在远指节关节件63处通过计算分析柔性材料与骨架体之间各自所占比例的多寡来近似吻合正常人指腹的粘弹性，此处远指节关节件63的指腹结构633与关节件骨架体632的体积比为0.54～0.66。以此来提高手指组件抓取物体时对物品的包覆力，同时增加与物品表面接触时所产生的摩擦力来大大提高抓握物体的稳定性。
本发明设计了一种仅使用两个小型电机(即，手指驱动电机4和拇指驱动电机5)作为驱动，来同时驱动拇指组件25、食指组件21、中指组件22、无名指组件23和小指组件24这五根手指的伸展或屈曲动作；以及拇指组件25的绕拇指驱动电机5的转轴51的内旋或外旋动作。通过以上动作组合可以产生各种形态的握力抓取、精密抓取和侧面抓取这 三种抓取模式，而这些抓取动作在日常生活中占据85％之多。进一步的，本发明中，近指节关节件61内设有负载保护装置，使手指组件(也即，食指组件21、中指组件22、无名指组件23和小指组件24)受到较大侧向外力时可以产生柔性避让，而不易被损坏。
另外，本发明的仿生假肢手在针对患者在实际使用过程中的一些细节方面做了更为人性化的设计：设计无名指组件23和小指组件24的延迟运动来提高精密抓取时的抓取能力，采用柔性结构来近似仿生模拟人手指腹的粘弹特性以提高抓取能力，以及适用于个性化定制的易拆卸、易维护的手指关节件结构。
最后，本发明还在制造及安装工艺方面也尽量兼顾了结构简化、维护便捷的考虑，并结合3D打印技术来最终实现了轻量化、低成本及外形仿生设计，大大提高了仿生假肢手的性价比及实用性。
本发明的仿生假肢手的特点和优点是：
一、相比于现有使用单电机控制、只具备五指主动屈曲和伸展动作的假肢手，本发明的仿生假肢手通过在手掌部件1内允许的范围内增加了拇指驱动电机5来实现控制拇指组件25内旋或外旋动作，如此便解决了此类假肢手在抓握不同物体之前需先要手动调整拇指位置，或是用工具将其固定锁紧后才能开始抓握物体的这些中间步骤。
二、相比于现有采用全金属制造的假肢手，不仅成本高、重量大，使得患者由于负担过重而无法长时间佩戴的问题来说，本发明采用高强度树脂材料结合3D打印加工各手指组件的关节件，不仅缩短了制造周期、成本低，且无需二次加工，最重要的是将重量大大减轻，并且在患者长时间实际佩戴后得到了负担小、无不适感的良好评价和反馈。
三、相比于现有只能五指同时屈曲或伸展、只能做到握力抓取这一种单一抓取模式的假肢手，本发明仅采用两个小型电机分别驱动拇指组件内旋或外旋动作以及五指组件的伸展或屈曲动作，而这些动作的组合能耦合完成在实际日常生活中占手动作85％之多的侧面抓取、精密抓取和握力抓取动作，不仅增加了抓取动作，而且提高了实用性。
四、相比于现有假肢手并未在指腹处进一步提高抓取能力的现状下，本发明采用了柔性类橡胶材料的指腹结构633，也即，设计了能仿生模拟人手指腹的粘弹特性的结构，以此增加抓取物体时对物体的包覆力和摩擦力，通过提高抓握物体时的稳定性来提高了抓取能力。另外，该指腹结构633与关节件骨架体632采用3D一体化打印，免去了安装和粘接造成的工序增加和成本提高。
五、相比于现有假肢手在后期维护困难和未考虑手指负载保护机构的现状下，本发明设计了既可个性化定制又便于拆卸、维护的手指关节，还实现了手指在受到较大侧向 (平行于手掌平面)外力时可以产生柔性避让，而不易被损坏的可被动侧向位移的近指节关节件61构造。
六、相比于现有假肢手在关节与关节处采用轴连接的方式，势必会在其相互接触面之间产生摩擦力从而降低力的输出效率。本发明的各手指组件的各关节件之间采用非轴连接，即线接触方式，因此摩擦力为零，避免了对手指驱动电机4输出所造成的内部损耗。
另外，本领域技术人员能够了解，本发明上述的仿生假肢手，在手掌部件1内允许范围内，本发明的手指驱动电机4和拇指驱动电机5可以用其它电机或气压液压等驱动方式替换；在手掌部件1及各手指组件中空间允许的范围内，各腱绳可任意布局；各手指组件中的腱绳复合联动可替换为带传动或其它类型的复合联动；由于调节复合联动的腱绳长短及位置可以任意改变手指关节的屈曲角速度以及调整输出力的大小，故该传动系统也可用在非仿生假肢手的其他任意机械传动处；各关节件间的所有插栓式固定可替换为螺栓固定、卡扣固定等其它形式的紧固方式；指腹结构633的柔性结构除3D一体化打印之外，也可采用镶嵌、粘接等其它的结合形式；由于各腱绳传动所占空间非常之小，故可任意改变手掌部件1及各手指组件的尺寸大小及外形外观；贯穿式各弹性带可以替换为弹簧、扭簧或橡皮筋等带有固有劲度系数的弹性部件；整个仿生假肢手制造所使用的材料及制造手段不仅仅局限于树脂、类橡胶材料以及3D打印，可以根据需要选取其它材料或者变更制造方式。各腱绳除可使用PE线之外，还可使用其他材质的线、绳或带来替代。
最后说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的宗旨和范围，其均应涵盖在本发明的权利要求范围当中。

Claims (13)

  1. 一种仿生假肢手，其中，所述仿生假肢手包括：
    手掌部件；
    手指部件，其具有食指组件、中指组件、无名指组件、小指组件和拇指组件，所述食指组件、所述中指组件、所述无名指组件和所述小指组件分别可开合地连接在所述手掌部件的上端；
    虎口部件，其可竖直转动地连接于所述手掌部件的内侧，所述拇指组件可开合地连接于所述虎口部件。
  2. 如权利要求1所述的仿生假肢手，其中，所述手掌部件内设有手指驱动电机，所述手指驱动电机上连接有转动轴，所述转动轴上沿其轴向方向设有多个环形凹槽，所述食指组件、所述中指组件、所述无名指组件、所述小指组件和所述拇指组件分别通过食指腱绳、中指腱绳、无名指腱绳、小指腱绳和拇指腱绳连接于所述转动轴的多个环形凹槽内。
  3. 如权利要求2所述的仿生假肢手，其中，所述无名指腱绳的长度、所述小指腱绳的长度均大于所述食指腱绳的长度和所述中指腱绳的长度。
  4. 如权利要求2所述的仿生假肢手，其中，所述手掌部件内设有空腔，所述手指驱动电机和所述转动轴均位于所述空腔中，所述空腔外设有防护盖板。
  5. 如权利要求1所述的仿生假肢手，其中，所述手掌部件上设有拇指驱动电机，所述虎口部件连接于所述拇指驱动电机的转轴，所述拇指组件的一端枢接于所述虎口部件。
  6. 如权利要求5所述的仿生假肢手，其中，所述拇指组件上连接有虎口滑板，所述虎口滑板可滑动地插接于所述虎口部件内，所述虎口滑板上设有滑槽，所述虎口部件上设有限位插栓，所述限位插栓穿设在所述滑槽内。
  7. 如权利要求1所述的仿生假肢手，其中，所述食指组件、所述中指组件、所述无名指组件、所述小指组件和所述拇指组件的指背处分别设置有弹性带，所述弹性带连接于所述手掌部件。
  8. 如权利要求2所述的仿生假肢手，其中，所述食指组件、所述中指组件、所述无名指组件和所述小指组件的结构均相同，其分别由依次相连的近指节关节件、中指节关节件和远指节关节件组成，所述近指节关节件通过所述食指腱绳、所述中指腱绳、所述无名指腱绳或所述小指腱绳连接于所述转动轴，所述中指节关节件可转动地连接于所述 近指节关节件的上端，所述远指节关节件连接于所述中指节关节件的上端。
  9. 如权利要求8所述的仿生假肢手，其中，所述近指节关节件内设有弹性件，所述弹性件的一端通过上腱绳连接于所述中指节关节件，所述弹性件的另一端通过下腱绳连接于所述手掌部件。
  10. 如权利要求8所述的仿生假肢手，其中，所述远指节关节件一体成型于所述中指节关节件；或者，所述远指节关节件通过多个插栓固定连接于所述中指节关节件。
  11. 如权利要求2所述的仿生假肢手，其中，所述拇指组件包括依次相连的掌骨腕关节件、近指节关节件以及远指节关节件，所述掌骨腕关节件通过所述拇指腱绳连接于所述转动轴，所述近指节关节件通过插栓连接于所述掌骨腕关节件，所述远指节关节件通过插栓连接于所述近指节关节件。
  12. 如权利要求8或11所述的仿生假肢手，其中，所述远指节关节件包括关节件骨架体以及连接在所述关节件骨架体上的指腹结构。
  13. 如权利要求12所述的仿生假肢手，其中，所述指腹结构与所述关节件骨架体通过3D打印机一体成型；或者，所述指腹结构通过粘接或镶嵌方式连接于所述关节件骨架体。
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