Steering engine driving type shoulder disarticulation type upper prosthesis

Abstract

The invention discloses a steering engine driving type shoulder disarticulation type upper prosthesis, which is formed by connecting a shoulder joint, an upper arm, an elbow joint, a front arm, a wrist joint and a mechanical arm, wherein both the rotation action of the shoulder joint, the elbow joint and the front arm and the wrist joint adopt a steering engine mechanism, and the steering engine mechanism is a steering engine mechanism with position feedback, speed feedback and temperature feedback functions. Because the steering engine mechanism is adopted, light weight, convenience and flexibility are realized, the operation is convenient, the movement freedom degree number of the shoulder disarticulation type upper prosthesis can be increased, the robot technology is conveniently transplanted to the upper prosthesis technology, particularly, the shoulder part of the shoulder disarticulation type upper prosthesis is provided with two freedom degree structures with humanoid functions, and in addition, the size is compact, so the appearance of the upper prosthesis is natural, and the use requirement of wearers can be preferably met.

Description

technical field [0001] The invention relates to a human prosthesis, in particular to a shoulder-disconnected upper prosthesis comprising a shoulder with two degrees of freedom of motion joints. Background technique [0002] At present, most of the upper prosthetic products of human shoulder separation type are decorative cosmetic prostheses, and a small amount has partial operation functions. Prosthetics with operational functions generally include cable-controlled prostheses and myoelectrically-controlled prostheses. The cable-controlled prosthesis operates the joints of the prosthesis by mechanical traction of the rope, and the myoelectric control prosthesis uses the control commands issued by the myoelectric signal to operate the joints of the prosthesis driven by the motor. This type of disconnected upper prosthesis is generally It is composed of upper arm, elbow joint, forearm, wrist joint and manipulator. Existing products with operational functions still have the fo...

AI Technical Summary

Problems solved by technology

Existing products with operational functions still have the following practical problems: First, the degree of freedom of movement of the upper prosthesis is generally less than 4 (including hand opening and closing movements), and only a small number of shoulder-disconnected upper prosthetic products have the ability to move. The shoulder joints with movable shoulder joints only have one shoulder joint degree of freedom, which seriously affects the flexibility and practicality of the upper prosthesis. Second, the movement of each joint of the cable-controlled prosthesis is completely driven by mechanical devices, and It is difficult to guarantee the coordination of the operability and the activities between the joints; and the myoelectrically controlled prosthesis often uses a DC motor and a reducer to drive the movement of each joint of the prosthesis, and the position and speed of the joint movement are often not real-time. detection function, which is not conducive to the implantation of robotics technology upwards; especially, if the shoulder joint with humanoid function and two degrees of freedom is to be adopted at the shoulder joint, the structure of the DC motor accelerator and decelerator It will make the shape of the prosthetic shoulder very different from that of a normal person, very unnatural

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