The invention relates to a human finger
simulation device on an
artificial hand for the handicapped, in particular to a multimode under-actuated human finger
simulation device with a quick
reflex grabbing function. The device comprises a primary movement mechanism, a secondary movement mechanism, an elastic
coupling link mechanism and a link surpassing mechanism and is capable of realizing human simulated grabbing movement. The primary movement mechanism is capable of realizing
coupling under-actuated and adaptive under-actuated multimode grabbing actions by matching of a motor with the elastic
coupling link mechanism, and the grabbing movement space of the
artificial hand is greatly widened. The secondary movement mechanism is capable of realizing quick
reflex grabbing of the human finger
simulation device by the aid of a micro-
actuator mechanism. When an article subjected to envelop grabbing is in external disturbance, a grabbing force pointing to the interior of the grabbed article is quickly outputted to compensate force and displacement output of the primary movement mechanism until the primary movement mechanism makes adjustment. Secondary movement has
millisecond-scale response speed to realize human simulated quick
reflex movement and anti-slip stable grabbing functions. The specific link surpassing mechanism guarantees the grabbing space of far dactyluses. The multimode under-actuated human finger simulation device is simple in structure, low in manufacturing cost and high in output force, has human simulation characteristics in terms of appearance and actions, and is particularly suitable for artificial hands for the handicapped.