CN110216700B - Flexible under-actuated bionic hand - Google Patents
Flexible under-actuated bionic hand Download PDFInfo
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- CN110216700B CN110216700B CN201810176058.XA CN201810176058A CN110216700B CN 110216700 B CN110216700 B CN 110216700B CN 201810176058 A CN201810176058 A CN 201810176058A CN 110216700 B CN110216700 B CN 110216700B
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- finger
- gear
- knuckle
- palm
- thumb
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention provides a flexible under-actuated bionic hand, which is provided with a palm and finger assembly. The flexible under-actuated bionic hand further comprises: a flexing element disposed on a first surface of the palm for controlling flexing of the finger elements; the intermittent transmission assembly is arranged on a second surface of the palm and used for controlling the separation and the folding of each finger in the finger assembly; wherein the first surface of the palm is opposite the second surface.
Description
Technical Field
The invention relates to a mechanical arm in the field of medical rehabilitation instruments, in particular to a flexible under-actuated bionic hand.
Background
The human hand is a very important tool for the human body to contact with the outside, and is the most complex and delicate tool on which the human depends to live and work. The perception of the outside world by hand is an important component of the human tactile world. Although the human hand is small, the motion is very dexterous and the complex motion can be completed. There are currently over 10 hundred million people with some form of disability worldwide and the number of people with disability is increasing year by year. The report summarizes the world disability status: people with a disability of about 1/5 suffer significant difficulties. People with hand disabilities experience a number of difficulties in working and living, particularly when the most basic control functions of the hands are not available. There are commercial prosthetic hands on the market today to assist hand handicapped people, such as the otto bock, i-Limb prosthetic hand. However, most of the existing commercial artificial hands can only be similar to human hands in appearance, and the practicability is low. The data show that 30-50% of hand amputees use less of their existing prosthetic hands. The main reasons are not limited to the following factors: (1) the function of the artificial hand is single. Most of the existing artificial hands have 1-2 degrees of freedom, and can only complete simple bending/stretching actions, unlike the normal hands which can complete different grasping actions. Moreover, the prosthetic hand does not have shape self-adaption capability (capability of adjusting finger positions according to the shape of a gripped object), so that the gripped object is relatively single; (2) the appearance of the prosthetic hand is similar to a robotic arm. The appearance of the eye-grabbing enables a hand amputee to refuse wearing; the maneuverability of prosthetic hands is poor. The simple, flexible and reliable interactive control with a feedback system cannot be met; the existing myoelectric signal (EMG) control prosthetic hand has a large weight. EMG prostheses control hand movements through residual muscle signals on the forearms. The electromyographic signals can cause pain of a wearer in the acquisition process, and the identification rate of the acquired signals is not high. In addition, existing EMG control. The prosthetic hand of (a) also has no advantages in terms of volume and weight. Therefore, a new bionic hand is needed to solve the above problems.
Disclosure of Invention
The invention aims to provide a flexible under-actuated bionic hand which can realize the actions of opening and closing of five fingers, bending of the five fingers, abduction and adduction of a thumb and the like through a bending component and an intermittent transmission component and can self-adaptively grab objects with different shapes and sizes.
To solve the above problems, the present invention provides a flexible under-actuated bionic hand having a palm and finger assembly. The flexible under-actuated bionic hand further comprises: a flexing element disposed on a first surface of the palm for controlling flexing of the finger elements; the intermittent transmission assembly is arranged on a second surface of the palm and used for controlling the separation and the folding of each finger in the finger assembly; wherein the first surface of the palm is opposite the second surface. That is, the bending component and the intermittent drive component are respectively arranged on the front surface and the back surface of the palm.
In one embodiment of the present invention, the finger assembly includes a thumb, an index finger, a middle finger, a ring finger and a little finger, and the thumb, the index finger, the middle finger, the ring finger and the little finger have a same finger structure; the finger structure is distributed with three grooves, and the finger structure is divided into a first knuckle, a second knuckle, a third knuckle and a connecting knuckle; the connecting knuckle is used for connecting the index finger, the middle finger, the ring finger and the little finger to the palm respectively; the connecting knuckle of the thumb is connected with a thumb rotating shaft, and the thumb rotating shaft is rotatably arranged on the first surface of the palm; through holes are formed in the first knuckle, the second knuckle, the third knuckle and the connecting knuckle, so that a connecting line penetrates through the through holes and is arranged in parallel with a central shaft of the finger structure.
In one embodiment of the present invention, the bending element comprises a first bending element and a second bending element; wherein the first bending assembly comprises: the first motor is fixedly arranged on the first surface of the palm; the first winding sleeve is sleeved on an output shaft of the first motor; the pulley block comprises a first fixed pulley, a second fixed pulley and a movable pulley; the first fixed pulley is fixedly arranged on the first surface of the palm and corresponds to the connecting knuckle of the little finger, and the second fixed pulley is fixedly arranged on the first surface of the palm and corresponds to the connecting knuckle of the ring finger; the second flexure assembly includes: the second motor is fixedly arranged on the first surface of the palm, and an output shaft of the second motor is sleeved with a bevel gear; and, a differential having a housing with a tooth groove formed on an outer peripheral surface thereof to be engaged with the bevel gear; the differential also has a first output shaft and a second output shaft; wherein a first connecting line passes through the little finger and the ring finger through the first fixed pulley and the second fixed pulley; the movable pulley is arranged on the first connecting line between the first fixed pulley and the second fixed pulley, and is connected with the first winding sleeve through a second connecting line; a third connecting wire penetrates through the middle finger and is connected with the first output shaft of the differential; a fourth connecting line penetrates through the index finger and is connected with the second output shaft of the differential; and a fifth connecting wire penetrates through the thumb and is connected with the output shaft of the second motor.
In this way, by means of the first bending assembly consisting of a set of pulleys, the bending of the ring finger and the little finger can be informed simultaneously; while the bending of the thumb, index finger and middle finger can be controlled by the second bending assembly consisting of the differential.
In one embodiment of the present invention, the intermittent drive assembly comprises: a third motor fixedly arranged on the second surface of the palm, and a first crown gear is arranged on an output shaft of the third motor; a gear set including a first partial gear, a second partial gear, an intermediate gear, and at least one finger connecting gear; all gears of the gear set are rotatably disposed on the second surface of the palm; wherein said first partial gear meshes with said first crown gear, said second partial gear meshes with said first partial gear, said intermediate gear meshes with said second partial gear, and said at least one finger connecting gear meshes with at least said intermediate gear; the second crown gear is sleeved at one end of the thumb rotating shaft and is meshed with the first incomplete gear.
In one embodiment of the present invention, the gear set includes three finger connecting gears: a forefinger connecting gear, a ring finger connecting gear and a little finger connecting gear; wherein the connecting knuckle of the forefinger is connected with the rotating shaft of the forefinger connecting gear, and the forefinger connecting gear is meshed with the second incomplete gear; the connecting knuckle of the ring finger is connected with the rotating shaft of the ring finger connecting gear, and the ring finger connecting gear is meshed with the intermediate gear; the connecting knuckle of the little finger is connected with the rotating shaft of the little finger connecting gear, and the little finger connecting gear is meshed with the intermediate gear.
In this way, the third motor drives the first incomplete gear to rotate through the first crown gear on the output shaft of the third motor, and further drives the second incomplete gear to rotate. The second incomplete gear further drives the middle gear and the index finger connecting gear to rotate, and the relative position of the index finger and the middle finger is controlled. Meanwhile, the middle gear drives the ring finger connecting gear and the little finger connecting gear to further control the relative positions of the ring finger and the little finger with the middle finger.
In one embodiment of the invention, the finger assembly is made of a flexible resin. The flexible resin is a common commercial product, and preferably can be applied to a 3D molding technique. Thus, in a preferred embodiment of the present invention, the finger is formed from a flexible resin material by a 3D forming technique.
In an embodiment of the present invention, the first motor, the second motor, and the third motor are all commercially available motors provided with encoders.
In the flexible under-actuated bionic hand, the actions of opening and closing of the five fingers, bending of the five fingers, abduction and adduction of the thumb and the like are realized through the bending component and the intermittent transmission component, and objects with different shapes and sizes can be grabbed in a self-adaptive manner. The flexible under-actuated bionic hand has the advantages of light weight, small volume, convenience in processing and manufacturing and the like.
Drawings
FIG. 1 is a perspective view of a flexible underactuated bionic hand in accordance with an embodiment of the present invention;
FIG. 2 is a perspective view of a finger structure of the flexible underactuated bionic hand;
FIG. 3 is a perspective view of a thumb of the flexible underactuated bionic hand;
FIG. 4 is a front view of the flexible underactuated bionic hand;
FIG. 5 is a rear view of the flexible underactuated bionic hand;
FIG. 6 is a perspective view of a differential of the flexible underactuated bionic hand;
FIG. 7 is a cross-sectional view of the differential shown in FIG. 6;
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, which are included to demonstrate that the invention can be practiced, and to provide those skilled in the art with a complete description of the invention so that the technical content thereof will be more clear and readily understood. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
As shown in fig. 1, a flexible underactuated bionic hand 1 in the present invention has a palm 10 and finger assemblies 20. The finger assembly 20 includes: a thumb 21, an index finger 22, a middle finger 23, a ring finger 24, and a little finger 25.
In the present invention, the index finger 22, the middle finger 23, the ring finger 24 and the little finger 25 have the same finger structure 200.
The finger structure 200 is described in detail below in conjunction with fig. 2.
As shown in FIG. 2, the finger structure 200 is cylindrical to simulate a finger. Three grooves 204 are distributed on the finger structure 200, dividing the finger structure 200 into a first knuckle 201, a second knuckle 202, a third knuckle 203 and a connecting knuckle 206. As shown in fig. 1 and 2, the connecting knuckles 206 are used to connect the index finger 22, middle finger 23, ring finger 24, and little finger 25 having the finger structures 200 to the palm 10.
To achieve the bending of the finger structure 200, the finger structure 200 is made of a flexible resin material. More preferably, the finger structure 200 is formed of a flexible resin material by a 3D molding technique. As shown in fig. 2, through holes 205 are formed in the first knuckle 201, the second knuckle 202, the third knuckle 203, and the connecting knuckle 206. Thus, as shown in fig. 1, the connection line 30 passes through the through hole, and the connection line 30 is disposed parallel to the central axis of the finger structure 200.
As shown in fig. 2, for better structural design, the connecting knuckle 206 has a groove 207, so that the connecting knuckle 206 is snapped onto the palm 10 through the groove 207. Also, the connecting knuckle 206 has a plane surface extending along the central axis direction of the finger structure 200, and a fixing hole 208 is formed on the plane surface to rotatably connect the finger structure 200 with the palm 10 in a manner to be described in detail below.
The thumb 21 is described in detail below with reference to fig. 3.
As shown in fig. 3, similar to the finger structure 200, the thumb 21 is also cylindrical to simulate a finger. Three grooves 210 are distributed on the thumb 21 to divide the thumb 21 into a first knuckle 211, a second knuckle 212, a third knuckle 211 and a connecting knuckle 216. In order to achieve the bending of the thumb 21, the thumb 21 is also made of a flexible resin material. More preferably, the thumb 21 is also formed of a flexible resin material by a 3D molding technique. As shown in fig. 3, through holes 215 are formed in the first knuckle 211, the second knuckle 212, the third knuckle 213, and the connecting knuckle 216. Thus, as shown in fig. 3, the connection line 30 passes through the through hole, and the connection line 30 is disposed in parallel with the central axis of the finger structure 200.
In contrast to the finger arrangements 200 of the other index finger, middle finger, etc., the connecting knuckle 216 of the thumb 21 is connected to a thumb rotation axis 217. Preferably, as shown in fig. 3, the thumb rotation shaft 217 is inserted into the connecting knuckle 216 of the thumb 21, and a crown gear 218 is fitted over the end of the thumb rotation shaft 217. Thus, the thumb rotation shaft 217 is rotatably disposed on the first surface of the palm 10. Other structures of the flexible underactuated bionic hand 1 are described in detail below with reference to fig. 1, 4, and 5.
As shown in fig. 1 and 4, the flexible under-actuated bionic hand 1 includes a bending component disposed on a first surface of the palm 10, such as the palm center surface. As shown in fig. 4, all components disposed on the palm surface of the palm 10 are included in the flexure element. In fact, the surface on which the bending element is located is defined as the palm surface of the palm 10.
As shown in fig. 4, the bending assembly includes a first bending assembly 100 and a second bending assembly. As shown in fig. 4, the first bending assembly 100 includes: a first motor 101, a first winding sleeve 102 and a pulley block 103. Wherein the first motor 101 is fixedly disposed on the first surface of the palm 10 by any known means, such as a nut and screw structure or a fixing plate. The first winding sleeve 102 is sleeved on an output shaft of the first motor 101.
As shown in fig. 4, the pulley block 103 includes a first fixed pulley 1031, a second fixed pulley 1032 and a movable pulley 1033. The first fixed pulley 1031 is fixedly disposed on the first surface of the palm 10 and corresponds to the connecting knuckle of the little finger 25, and the second fixed pulley 1032 is fixedly disposed on the first surface of the palm 10 and corresponds to the connecting knuckle of the ring finger 24. As shown in the drawings, a first connection line 31 passes through the little finger 25 and the ring finger 24 via the first fixed pulley 1031 and the second fixed pulley 1032, and the movable pulley 1033 is disposed on the first connection line 31 between the first fixed pulley and the second fixed pulley. The movable pulley 1033 is also connected to the first winding sleeve 102 by a second connection line 32.
Thus, when the first motor 101 is operated, the first winding sleeve 102 on the output shaft of the first motor 101 is rotated to wind the second connection line 32 or release the second connection line 32, thereby pulling or releasing the movable pulley 1033, and further pulling the little finger 25 and the ring finger 24 to be bent downward and inward through the first connection line 31 or releasing the little finger 25 and the ring finger 24.
Thereby, the little finger 25 and the ring finger 24 can be bent in conjunction by the first motor 101.
Referring further to fig. 4, the second bending element includes: a second electric machine 121 and a differential 122. The second motor 121 is fixedly disposed on the first surface of the palm 10 by any known means, such as a nut and screw structure or a fixing plate. A bevel gear 123 is sleeved on the output shaft of the second motor 121. The differential 122 is a suitable component currently commercially available.
In order to more clearly illustrate the present invention, the structure of the differential 122 is described below in conjunction with fig. 6 and 7.
As shown in fig. 6, the differential 122 has a housing 1221, a tooth groove 1222 engaged with the bevel gear 123 is formed on an outer circumferential surface of the housing 1221, and the differential 122 further has a first output shaft 1223 and a second output shaft 1224. As shown in fig. 4 and 6, the differential 122 is fixed to the first surface of the palm 10 by a known fixing means such as a fixing plate via bearings 1227 on the first output shaft 1223 and the second output shaft 1224.
Referring to fig. 7, two planetary gears 1225 and two side gears 1226 are provided in the housing 1221 of the differential 122, and the planetary gears 1225 are engaged with the side gears 1226. When the tooth grooves 1222 of the surface of the outer housing 1221 are driven by the bevel gear 123, the outer housing 1221 starts to rotate around the first output shaft 1223 and the second output shaft 1224, thereby rotating the inner planetary gears 1225. The planetary gears 1225 drive the side gears 1226 that are in mesh with them, so that the first output shaft 1223 and the second output shaft 1224 start rotating.
With continued reference to fig. 4 and 6, the middle finger 23 is connected to the first output shaft 1223 of the differential 122 via a third connecting line 33; the index finger 22 is connected to the second output shaft 1224 of the differential 122 via a fourth connecting line 34. The thumb 21 is connected to the output shaft of the second motor 121 through a fifth connecting line 35.
Thus, the bending or releasing of the middle finger 23 and the index finger 22 can be controlled by the differential 122, and the bending or releasing of the thumb 21 can be controlled by the rotation of the output shaft of the second motor 121.
As shown in fig. 5, the flexible underactuated bionic hand 1 further comprises an intermittent drive assembly disposed on a second surface of the palm 10, such as the dorsal surface of the palm. As shown in fig. 5, all the components provided on the dorsal surface of the palm 10 are included in the intermittent drive assembly. In fact, the surface on which the intermittent drive assembly is located is defined as the dorsal surface of the palm 10.
As shown in fig. 5, the intermittent drive assembly includes: a third motor 140 and a gear set 160. As shown, the third motor 140 is fixedly disposed on the second surface of the palm by any known means, such as a nut and screw structure or a fixing plate. A first crown gear 141 is provided on the output shaft of the third electric machine 140.
The gear set 160 includes a first incomplete gear 1601, a second incomplete gear 1602, an intermediate gear 1603, and three finger connecting gears (a forefinger connecting gear 1604, a ring finger connecting gear 1605, and a little finger connecting gear (not numbered)). All the gears of the gear set are rotatably arranged on the second surface of the palm, for example, all the gears are rotatably arranged on the second surface of the palm according to a mode that a central shaft is fixedly connected with the palm.
As shown in fig. 5, the first incomplete gear 1601 meshes with the first crown gear 141, the second incomplete gear 1602 meshes with the first incomplete gear 1601, and the intermediate gear 1603 meshes with the second incomplete gear 1602. In addition, the first incomplete gear 1602 is also engaged with the crown gear 218 sleeved on the end of the thumb rotation shaft 217.
As shown in fig. 5, the coupling knuckle of the index finger 22 is coupled to the rotational shaft of the index finger coupling gear 1604, and the index finger coupling gear 1604 is engaged with the second partial gear 1602. The connecting knuckle of the ring finger 24 is connected to the rotation shaft of the ring finger connecting gear 1605, and the ring finger connecting gear 1605 is engaged with the intermediate gear 1603. The coupling knuckles of the small fingers 25 are coupled to the rotation shafts of the small finger coupling gears (not numbered in the drawing) which mesh with the intermediate gear 1603.
When the third motor 140 rotates and when the first incomplete gear 1601 and the second incomplete gear 1602 are in rest, the crown gear 218 on the thumb rotating shaft 217 is rotated through the transmission action of the first incomplete gear 1601, so that the thumb 21 is rotated. When the thumb 21 rotates from 60 ° (with respect to the palm) to 80 °, the first incomplete gear 1601 and the second incomplete gear 1602 start to mesh and start to rotate, and the rest period of the intermittent drive transmission assembly ends.
Thus, the third electric machine 140 drives the first incomplete gear 1601 to rotate through the first crown gear 141 on its output shaft, and further drives the second incomplete gear 1602 to rotate. The second incomplete gear 1602 further drives the intermediate gear 1603 and the index finger connecting gear 1604 to rotate, controlling the relative position of the index finger 22 and the middle finger 23; that is, the index finger 22 can be swung slightly to the left or right in the drawing by the rotation of the index finger connecting gear 1604. Meanwhile, the intermediate gear 1603 drives the ring finger connecting gear 1605 and the little finger connecting gear to further control the relative positions of the ring finger 24, the little finger 25 and the middle finger 23; that is, the ring finger 24 and the little finger 25 can slightly swing left and right.
As will be appreciated by those skilled in the art, all the components of the present invention are commercially available parts suitable for the present invention, and the first motor 101, the second motor 121, and the third motor 140 are commercially available motors provided with encoders.
In the flexible under-actuated bionic hand, the actions of opening and closing of the five fingers, bending of the five fingers, abduction and adduction of the thumb and the like are realized through the bending component and the intermittent transmission component, and objects with different shapes and sizes can be grabbed in a self-adaptive manner. The flexible under-actuated bionic hand has the advantages of light weight, small volume, convenience in processing and manufacturing and the like.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (4)
1. A flexible under-actuated prosthetic hand having a palm and finger assembly, the flexible under-actuated prosthetic hand further comprising: a flexing element disposed on a first surface of the palm for controlling flexing of the finger elements; the intermittent transmission assembly is arranged on a second surface of the palm and used for controlling the separation and the folding of each finger in the finger assembly; wherein the first surface of the palm is opposite the second surface;
the finger assembly comprises a thumb, an index finger, a middle finger, a ring finger and a little finger, and the thumb, the index finger, the middle finger, the ring finger and the little finger have a same finger structure; the finger structure is distributed with three grooves, and the finger structure is divided into a first knuckle, a second knuckle, a third knuckle and a connecting knuckle; the connecting knuckle is used for connecting the index finger, the middle finger, the ring finger and the little finger to the palm respectively; the connecting knuckle of the thumb is connected with a thumb rotating shaft, and the thumb rotating shaft is rotatably arranged on the first surface of the palm; through holes are formed in the first knuckle, the second knuckle, the third knuckle and the connecting knuckle, so that a connecting line penetrates through the through holes and is arranged in parallel with a central shaft of the finger structure;
the flexure assembly includes: a first flexure assembly, the first flexure assembly comprising: the first motor is fixedly arranged on the first surface of the palm; the first winding sleeve is sleeved on an output shaft of the first motor; the pulley block comprises a first fixed pulley, a second fixed pulley and a movable pulley; the first fixed pulley is fixedly arranged on the first surface of the palm and corresponds to the connecting knuckle of the little finger, and the second fixed pulley is fixedly arranged on the first surface of the palm and corresponds to the connecting knuckle of the ring finger; and a second flexure assembly, the second flexure assembly comprising: the second motor is fixedly arranged on the first surface of the palm, and an output shaft of the second motor is sleeved with a bevel gear; and, a differential having a housing with a tooth groove formed on an outer peripheral surface thereof to be engaged with the bevel gear; the differential also has a first output shaft and a second output shaft; wherein a first connecting line passes through the little finger and the ring finger through the first fixed pulley and the second fixed pulley; the movable pulley is arranged on the first connecting line between the first fixed pulley and the second fixed pulley, and is connected with the first winding sleeve through a second connecting line; a third connecting wire penetrates through the middle finger and is connected with the first output shaft of the differential; a fourth connecting line penetrates through the index finger and is connected with the second output shaft of the differential; and a fifth connecting wire penetrates through the thumb and is connected with the output shaft of the second motor.
2. The flexible under-actuated bionic hand according to claim 1, wherein the intermittent drive assembly comprises: a third motor fixedly arranged on the second surface of the palm, and a first crown gear is arranged on an output shaft of the third motor; a gear set including a first partial gear, a second partial gear, an intermediate gear, and at least one finger connecting gear; all gears of the gear set are rotatably disposed on the second surface of the palm; wherein said first partial gear meshes with said first crown gear, said second partial gear meshes with said first partial gear, said intermediate gear meshes with said second partial gear, and said at least one finger connecting gear meshes with at least said intermediate gear; the second crown gear is sleeved at one end of the thumb rotating shaft and is meshed with the first incomplete gear.
3. The flexible under-actuated bionic hand according to claim 2, wherein the gear set comprises three finger-connected gears: a forefinger connecting gear, a ring finger connecting gear and a little finger connecting gear; wherein the connecting knuckle of the index finger is connected with the rotating shaft of the index finger connecting gear, and the index finger connecting gear is meshed with the second incomplete gear; the connecting knuckle of the ring finger is connected with the rotating shaft of the ring finger connecting gear, and the ring finger connecting gear is meshed with the intermediate gear; the connecting knuckle of the little finger is connected with the rotating shaft of the little finger connecting gear, and the little finger connecting gear is meshed with the intermediate gear.
4. A flexible under-actuated bionic hand according to any one of claims 1 to 3, wherein the finger assembly is made of flexible resin.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810176058.XA CN110216700B (en) | 2018-03-02 | 2018-03-02 | Flexible under-actuated bionic hand |
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|---|---|---|---|
| CN201810176058.XA CN110216700B (en) | 2018-03-02 | 2018-03-02 | Flexible under-actuated bionic hand |
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| CN110216700A CN110216700A (en) | 2019-09-10 |
| CN110216700B true CN110216700B (en) | 2022-07-08 |
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| CN110696025B (en) * | 2019-10-17 | 2022-10-25 | 哈尔滨工业大学 | Flexible humanoid hand |
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| JP3914155B2 (en) * | 2000-12-06 | 2007-05-16 | 本田技研工業株式会社 | Multi-finger hand device |
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| CN103565562A (en) * | 2013-08-02 | 2014-02-12 | 华中科技大学 | Under-actuated artificial limb hand |
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| CN110216700A (en) | 2019-09-10 |
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