Modular multi-degree-of-freedom underactuated bionic prosthetic hand

Abstract

The invention provides a modular multi-degree-of-freedom underactuated bionic prosthetic hand. The hand comprises a palm, a thumb and four fingers. The thumb and the fingers are independent modules which can be independently assembled and dismantled, each module is driven by a micro motor, each module is provided with two moving joints, and the movement of the two joints is coupled and is in an underactuated manner; a mechanical transmission chain of the fingers comprises a micro motor, a micro reducer, a spur gear pair, a sliding screw pair, pull ropes and a torsion spring, the mechanical transmission chain has two-layered arrangement and a returned-type layout is adopted. The invention further provides a wedge concave-convex type fixing device assembly. The motor of the fingers is transversely arranged along the palm, and it is ensured by a conical gear pair that the transmission chain can still be operated reliably when the attitudes of the fingers are changed. According to the bionic prosthetic hand, the motors are fixed on the palm, the bionic prosthetic hand has the advantages of being simple in structure, small in size, light in weight and reliable to operate.

Description

technical field [0001] The invention belongs to the field of medical rehabilitation equipment, in particular to a modular multi-degree-of-freedom underactuated bionic prosthetic hand. Background technique [0002] The prosthetic hand is installed on the end of the residual limb of the hand amputee disabled person, and is used to realize some functions of the human hand. Before 2008, the most successful prosthetic hand on the market was the Suva single-free prosthetic hand of the German OttoBock company. The motion command realizes the movement of the prosthetic hand. This kind of prosthetic hand can only realize simple opening and closing movements, and cannot achieve a better envelope for the manipulated object. [0003] After 2008, multi-freedom prosthetic hands began to come out, the more representative ones are the ilimb prosthetic hand produced by the British company Blatchford &son and the Bebionic prosthetic hand produced by the Iceland Steeper company. These two pr...

AI Technical Summary

Problems solved by technology

Before 2008, the most successful prosthetic hand on the market was the Suva single-free prosthetic hand of the German OttoBock company. Motion commands to realize the movement of the prosthetic hand. This kind of prosthetic hand can only achieve simple opening and closing movements, and cannot achieve a better envelope for the operating object

Only the five-finger grasping operation mode can be realized, and other motion modes such as two-finger pinching and double-clicking of the mouse cannot be realized

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