Un-drived self-adapted three-figure linage mechanism convenient for the handicapped having artificial hand

A linkage mechanism and under-actuated technology, applied in prosthetics, artificial arms, medical science, etc., can solve problems such as fingers and whole hands cannot maintain shape well, cannot maintain a grasping state, and cannot grasp objects stably, achieving The effect of light weight, increased stiffness, and high grip

Inactive Publication Date: 2009-08-05
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention aims to solve the problem that the existing underactuated self-adaptive prosthetic hand device cannot maintain the grasping state in the power-off state after grasping the object, and cannot grasp the object stably; in the free state, the fingers and the whole hand cannot maintain the shape and shape well. It is difficult to coordinate the problem of movement, and then provides an underactuated adaptive three-finger linkage mechanism for the artificial hand of the disabled

Method used

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  • Un-drived self-adapted three-figure linage mechanism convenient for the handicapped having artificial hand
  • Un-drived self-adapted three-figure linage mechanism convenient for the handicapped having artificial hand
  • Un-drived self-adapted three-figure linage mechanism convenient for the handicapped having artificial hand

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specific Embodiment approach 1

[0008] Specific implementation mode one: as figure 1 , figure 2 As shown, the underactuated self-adaptive three-finger linkage mechanism of the artificial hand for the disabled in this embodiment consists of a motor 1, a reducer 2, a motor seat 3, a three-finger base 6, a three-finger shaft 9, a middle finger transmission mechanism, and a ring finger transmission mechanism and the little finger transmission mechanism; the middle finger transmission mechanism is composed of small bevel gear 5, large bevel gear 8, gear retainer 10, middle finger torque sensor 7, middle finger drive torsion spring 12, middle finger spring support 22, middle finger first drive torsion spring Stop pin 11, middle finger second driving torsion spring stop pin 26 and middle finger sensor stop pin 27 are formed; described ring finger transmission mechanism is made up of ring finger torque sensor 21, ring finger driving torsion spring 19, ring finger spring support 18, ring finger first driving torsion...

specific Embodiment approach 2

[0010] Specific implementation mode two: as figure 1 As shown, the motor 1 of this embodiment is a stepping motor. Because the stepper motor has a reverse holding torque, it can maintain the gripping state when the power is lost. Other components and connections are the same as those in the first embodiment. The stepper motor in this embodiment is a two-phase permanent-magnet stepper motor manufactured by Portestcap Corporation with a model number of P110-06-2.5.

specific Embodiment approach 3

[0011] Specific implementation mode three: as figure 1 , figure 2 As shown, the middle finger torque sensor 7 , the ring finger torque sensor 21 , the little finger torque sensor 17 and the third finger shaft 9 in this embodiment are all clearance fit. With such a structure, the middle finger torque sensor 7 , the ring finger torque sensor 21 , and the little finger torque sensor 17 do not completely move synchronously with the three-finger shaft 9 to realize the adaptability of the three fingers to grasp different objects. Other components and connections are the same as those in the first embodiment.

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Abstract

An underactuated adaptive three-finger linkage mechanism for a prosthetic hand for disabled people relates to an anthropomorphic manipulator. The invention solves the problems that the existing under-actuated self-adaptive prosthetic hand device cannot maintain the grasping state in the power-off state; the fingers and the whole hand cannot maintain the shape well in the free state and are difficult to coordinate when moving. The middle finger driving torsion spring (12) is installed on the middle finger spring support (22), the middle finger sensor stop pin (27) is fixed on the large bevel gear (8) and the gear retaining sleeve (10), and the ring finger driving torsion spring (19) is installed on the On the ring finger spring support (18), the ring finger sensor stop pin (25) is located on the ring finger spring support (18), the little finger drive torsion spring (16) is installed on the little finger spring support (15), and the little finger sensor stop pin (23) is arranged on the ring finger spring support (18). On the little finger spring support (15). The invention has the advantages of good movement coordination of the three fingers when bending, stable grasping, wide grasping range, and greater grasping force can be maintained even in a power-off state.

Description

technical field [0001] The invention relates to an anthropomorphic manipulator, in particular to an underactuated self-adaptive three-finger linkage mechanism of a prosthetic hand for a disabled person. Background technique [0002] The prosthetic hand for the disabled uses an underactuated and adaptive mechanism to realize adaptive grasping of objects by three fingers (middle finger, ring finger, and little finger) driven by a motor. The existing underactuated adaptive prosthetic device (patent application No. 200610009677.7) uses one driver to drive three fingers, and these three fingers can adaptively grasp objects of various shapes at the same time. The base joints of the three fingers are installed on the same drive shaft through the torsion spring, and the motor and deceleration system drive the three fingers to move through the torsion spring. When a certain finger encounters an object and stops moving, it does not affect the movement of other fingers, thus Realize t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61F2/54A61F2/68
Inventor 姜力刘宏俞昌东史士财黄海
Owner HARBIN INST OF TECH
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