An underactuated prosthetic hand that reproduces the grasping function of the human hand

Abstract

The invention discloses an under-actuated prosthetic hand capable of reproducing a hand grasping function; the under-actuated prosthetic hand is provided with an interphalangeal drive mechanism and a thumb drive mechanism in a palm; finger bodies take pulleys as main parts, and transmission mechanisms arranged in fingers are sequentially and alternately wound on all the pulleys of the fingers by steel wire ropes; joints in the fingers are in flexible coupling by elastic components; the interphalangeal drive mechanism adopts two motors to drive four fingers and multiple degrees of freedom of the fingers in a synergetic way; a thumb body takes a pulley as a main part, the transmission mechanisms in the finger bodies take transmission ropes as transmission mediums, the interphalangeal drive mechanism adopts a gear component for transmission matching, and the four degrees of freedom of the thumb can be controlled by two motors. After the under-actuated prosthetic hand is adopted, self-adaptive grasping of various objects can be accurately completed, and the rich grasping operation function of a human hand can be reproduced; the under-actuated prosthetic hand has the characteristics of being compact in structure, smaller in size, lighter in weight, convenient to control, accurate in grasping action, and the like.

Description

technical field [0001] The invention belongs to the technical field of medical equipment, and more specifically relates to an underactuated prosthetic hand that reproduces the grasping function of a human hand. Background technique [0002] In order to enable the prosthetic hand to be used by humans and complete various tasks anthropomorphically, in addition to being able to complete various grasping tasks, the appearance and volume of the prosthetic hand should be close to that of a human hand, and the few channels currently available should be used. Physiological signals are as precise and manipulable as possible for a wide range of grasping manipulation tasks. In order to achieve the above purpose, it is necessary to reduce the number of driving motors of the prosthetic hand, so as to achieve the characteristics of small size and light weight of the prosthetic hand. [0003] For example, the domestic Harbin Institute of Technology and the German Aerospace Center have rec...

AI Technical Summary

Problems solved by technology

The National University of Defense Technology has developed an underactuated prosthetic hand, in which each finger of the prosthetic hand is equipped with a corresponding motor and pulled by a wire rope to complete various flexible postures; however, this solution still requires five motor inputs. The input of multiple motors will bring about the defects of increased volume and weight, so it is difficult to better meet the requirements of prosthetic hands such as lightness and control convenience.

In addition, the inventors of the applicant proposed an underactuated prosthetic hand in CN201310335089.2. Although the prosthetic hand can solve the problem of large volume and weight to a certain extent, with the development and later testing of actual samples It shows that the number of internal components of the finger is still too complicated, the control accuracy needs to be improved, and it is necessary to make further improvements in the reproducibility and multi-degree-of-freedom of complex movements.

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