Under-actuated prosthetic hand system based on planetary gear trains

Abstract

The invention discloses an under-actuated prosthetic hand system based on planetary gear trains. The under-actuated prosthetic hand system is used for realizing continuous hand motions. The under-actuated prosthetic hand system comprises three parts, namely a driving system, a transmission system and a mechanical hand, wherein the driving system comprises stepping motors and the planetary gear trains, the transmission system comprises transmission mechanisms such as flexible shafts, worm gears and worm rods, the mechanical hand comprises a palm and five fingers, and each finger is provided with multiple rotational joints. The input of two stepping motors can be converted into the rotation of thirteen output flexible shafts by the planetary gear trains in the driving system through a cooperative action mode, thus the motion of each joint on the mechanical hand can be cooperatively controlled, and some grabbing motions in daily life and the motion of rotating a rehabilitation training ball can be realized by the mechanical hand. According to the under-actuated prosthetic hand system disclosed by the invention, complicated grabbing motions are realized just through a two-input mode, the motion of the mechanical hand can be controlled by a disabled person who is in lack of a hand through less but accurate muscle signals, and the under-actuated prosthetic hand system has the advantages that the flexibility is high, and the use is convenient.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a medical prosthetic hand system. Background technique [0002] A particularly challenging task when attempting to recreate motor function in a disabled person who has lost a hand is to create a prosthetic hand that has an anthropomorphic form that correctly reproduces the delicate movements of the original. To achieve this goal, the prosthetic hand needs to be able to adapt to a variety of daily movements and can be controlled by the amputee's biosignal interface, such as myoelectric and brain signals. There are many advanced fully-driven anthropomorphic robot hands in the world today, most of which use more inputs to control the various degrees of freedom of the hand, but due to the limited ability to analyze and acquire existing electromyographic signals, many existing bionic The hand is designed using an underactuated approach where the number of driven inputs is...

AI Technical Summary

Problems solved by technology

There are many advanced fully-driven anthropomorphic robot hands in the world today, most of which use more inputs to control the various degrees of freedom of the hand, but due to the limited ability to analyze and acquire the existing electromyographic signals, many existing bionic The hand is designed using an underactuated approach where the number of driven inputs is less than the number of outputs

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