CN204428215U - A kind of apery myoelectricity artificial hand - Google Patents
A kind of apery myoelectricity artificial hand Download PDFInfo
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- CN204428215U CN204428215U CN201420708778.3U CN201420708778U CN204428215U CN 204428215 U CN204428215 U CN 204428215U CN 201420708778 U CN201420708778 U CN 201420708778U CN 204428215 U CN204428215 U CN 204428215U
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- dactylus
- tendon
- joint
- middle finger
- nearly dactylus
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Abstract
This utility model provides a kind of apery myoelectricity artificial hand, comprise and engage by facies palmaris and the palm back of the body hands palm formed, be movably set in the forefinger on palm front end and right side, middle finger, nameless, little finger of toe and thumb, and to be arranged in palm and the drive system be connected with each finger actuation, originally do evil through another person and adopt the submissive Hinge joint of spring and tendon to drive the mode be coupled as joint motions, realize the grasping that staff is basic, pinch actions such as getting, whole do evil through another person respectively by four independently driver element carry out drived control, drive system snugly fits in artificial palm, by the parametric controller of apery myoelectricity artificial hand, can realize utilizing electromyographic signal to control to have done evil through another person for the grasping of object, pinch actions such as getting, whole drive system of doing evil through another person is arranged on palm inside, the volume that makes to do evil through another person is little, lightweight, and there is suitable operating function.
Description
Technical field
This utility model relates to hand prosthesis technique field, particularly relates to a kind of apery myoelectricity artificial hand.
Background technology
Functional according to what do evil through another person, common business type can be done evil through another person and be divided into cosmetic hand, utility hand and EMG-controlling prosthetic hand.Decoration is done evil through another person based on the aesthetic appearance of apery hands, is designed by the defect in order to make up people's limbs outward appearance, only plays the effect helping user to recover nature appearance and balance health.Obviously, cosmetic hand can not realize the holding function of staff, can not control it.Rope control is done evil through another person and is also called that health is driving does evil through another person, and is a kind ofly to have staff profile and the conventional of basic function is done evil through another person.Rope control is done evil through another person the motion pulling rope and then control to do evil through another person by the motion of the residual limb such as shoulder or upper arm primarily of user.This structure of doing evil through another person is simple, and maintenance cost is low, durable in use, can use under the environment of the inclement conditions such as humidity, many dirt.Do evil through another person because this is that strength by user self carries out controlling, so it has certain controllability.But the shortcoming that rope control is done evil through another person also clearly, owing to being subject to the restriction of degree of freedom, its function ratio is more single, and the control mode that rope control is done evil through another person is not directly perceived, does not meet normal human nerve control access, and the control of doing evil through another person so this and operation are all inconvenient.
EMG-controlling prosthetic hand carries out by human muscle's signal of telecommunication the Imitating human algorithm that controls, and its profile is more attractive in appearance, and function is more perfect.The signal of telecommunication that electromyographic signal produces when deriving from user muscle spontaneous contractions.The signal of telecommunication that the electrode that this utilization of doing evil through another person is arranged on remaining arm muscles surface gathers to control motor, thus drives the motion of doing evil through another person.But the frame for movement relative complex of existing EMG-controlling prosthetic hand, expensive, and also maintenance cost is high.
Desirable doing evil through another person should be the same with staff in function with profile.Do evil through another person and want to substitute sensation and the motor function of staff, complete certain staff operation task, but also need similar to staff in appearance.But current existing various business is done evil through another person and also do not reached this desirable requirement far away, in life, major part can only be serve as the role that decoration type does evil through another person.The upper limb one of human body has 27 degree of freedom, and the part wherein pointed just has 21 degree of freedom.Current research level does not also accomplish to have doing evil through another person of 21 degree of freedom.The experimentation type of the U.S. and Japan is done evil through another person and is had 7 to 11 degree of freedom, but doing evil through another person of using of Present clinical is at most three degree of freedom, can only complete 6 actions that human hand function is the most frequently used, refers to before stretching, referring to bend, revolve respectively, supination, wrist are stretched, wrist is bent.
Current scientific research personnel has done a lot of research to doing evil through another person, but in fact mostly does evil through another person the stage remaining and be in experiment, from commercialization with practically also have one section of very large gap.The fairly perfect commercialization of current performance is done evil through another person still the EMG-controlling prosthetic hand of just single-degree-of-freedom, open-loop control system.Compared with abroad, the research of China in doing evil through another person also has larger gap, and the university carrying out in this field researching and developing is relative with research institution less, and relevant industry is relatively backward.The current product of domestic manufacturer of doing evil through another person and rehabilitation center is done evil through another person based on decoration and mechanical traction is done evil through another person, so development EMG-controlling prosthetic hand has a wide range of applications and social benefit.
Utility model content
For the technical problem of above-mentioned existence, the purpose of this utility model is to provide a kind of novel apery myoelectricity artificial hand based on submissive hinge, provides similar staff profile, volume little, lightweight and have the EMG-controlling prosthetic hand that staff major part captures function and proper handling function for people with disability.
In order to solve above-mentioned technical problem, this utility model by the following technical solutions:
A kind of apery myoelectricity artificial hand, comprise and engage by facies palmaris and the palm back of the body hands palm formed, be movably set in the forefinger on palm front end and right side, middle finger, nameless, little finger of toe and thumb, and to be arranged in palm and the drive system be connected with each finger actuation, the groove that the described palm is carried on the back and is respectively arranged with in facies palmaris for holding drive system and cavern part, the front end of the described palm back of the body and facies palmaris forms the right side half pedestal of complete pedestal and left half pedestal after being respectively equipped with and engaging, described right half pedestal and left half pedestal are provided with half slot and groove installed by bearing, wherein, described right half pedestal is also provided with palm tendon through hole, described right half pedestal and left half pedestal both sides are provided with the pedestal side cover that screw is fixedly connected with,
Described forefinger, middle finger, the third finger, little finger of toe comprise nearly dactylus, middle finger joint, dactylus far away successively along the direction away from palm, be connected by the submissive Hinge joint of spring between described nearly dactylus, middle finger joint, dactylus far away, nearly dactylus described in each is connected in the pedestal place of palm front end with drive systems, simultaneously, be connected with between described dactylus far away and nearly dactylus and far drive tendon, be connected with between described middle finger joint and palm and closely drive tendon; Described thumb comprises revolving part, the nearly dactylus of thumb, middle finger joint, dactylus far away successively along the direction away from palm, be connected by the submissive Hinge joint of spring between the nearly dactylus of described thumb, middle finger joint, dactylus far away, the nearly dactylus other end of described thumb is connected with the revolving part being connected drive system, simultaneously, be connected with between described dactylus far away and the nearly dactylus of thumb and far drive tendon, described middle finger joint also drives key to be connected with drive systems by the nearly driving tendon that connects successively, tendon connecting rod, rope form;
Described drive system comprise be mounted in the palm back of the body successively abreast each groove in for drive thumb bend and stretch degree of freedom the first driver element, for drive the coupling of middle finger, third finger and little finger of toe bend and stretch degree of freedom the second driver element, for driving thumb to the 3rd driver element of centre of the palm rotary freedom, four-wheel drive unit for driving forefinger to bend and stretch degree of freedom.
Further, the outfan of described first driver element by the first cylindrical straight gear wheels of being meshed be arranged on the first output shaft slapping back by bearing rotationally and be connected, described first output shaft is slapped the pulley held behind and is connected with being positioned at, and described pulley drives key to be connected with the rope form be strapped in the driving keyway slapping and carry on the back between facies palmaris; The outfan of described second driver element by the first bevel gear set of being meshed be arranged on the first jackshaft slapping back by bearing rotationally and be connected, described first jackshaft is slapped the second output shaft carrying on the back front end by the second cylindrical straight gear wheels of being meshed and is connected with being arranged on rotationally by bearing; The outfan of described 3rd driver element is slapped the 4th output shaft on the right side of carrying on the back by the active spur gear wheel, two transition spur gear wheels and the driven spur gear that engage successively and is connected with being arranged at rotationally by bearing; The outfan of described four-wheel drive unit by the second bevel gear set of being meshed be arranged on the second jackshaft slapping back by bearing rotationally and be connected, described second jackshaft is slapped the 3rd output shaft carrying on the back front end by the three cylindrical straight-tooth wheels that are meshed and is connected with being arranged on rotationally by bearing.
Further, described first driver element, the second driver element, the 3rd driver element, four-wheel drive unit include direct current generator, the decelerator be connected with direct current generator outfan, the encoder that is connected with direct current generator circuit, compact conformation volume is little, integrated level is high, for whole apery myoelectricity artificial hand provides power.
Further, also comprise motor rack, described motor rack gland on the first driver element, the second driver element, the 3rd driver element, four-wheel drive unit, and is fixed by screws in the groove of the palm back of the body, makes each driver element more firm.
Further, the gear ratio of described first cylindrical straight gear wheels is 26:10; The gear ratio of described first bevel gear set is 1:1, and the gear ratio of described second cylindrical straight gear wheels is 26:10.The gear ratio of described active spur gear wheel, two transition spur gear wheels and driven spur gear is followed successively by 1:1,26:10,1:1.The gear ratio of described second bevel gear set is 1:1, and the gear ratio of described three cylindrical straight-tooth wheels is 26:10, rational gear ratio, and the operation of doing evil through another person is more prone to, and fidelity more.
Further, the both sides of described nearly dactylus are provided with for the nearly dactylus tendon groove as nearly driving tendon passage along its length, what upper end was laterally run through is provided with nearly dactylus tendon through hole, the submissive Hinge joint of spring connecting nearly dactylus and middle finger joint comprises two the nearly dactylus joint disks being arranged at both sides, nearly dactylus upper end symmetrically, two close circle extension springs be connected to abreast between nearly dactylus and middle finger joint, finger-joint side cover is fixed with by screw outside two nearly dactylus joint disks, the position of described nearly dactylus upper end between two nearly dactylus joint disks is also vertically provided with two side by side, for installing the spring circular hole of close circle extension spring, described nearly dactylus lower end is provided with articulated section, described articulated section is provided with nearly dactylus circular shaft hole and nearly dactylus square hole coaxially, described nearly dactylus square hole matches with the square shaft portion of the second output shaft,
The both sides of described middle finger joint are provided with for the dactylus tendon groove far away as driving tendon passage far away along its length, what lower end was laterally run through is provided with middle finger joint tendon through hole, the submissive Hinge joint of spring connecting dactylus far away and middle finger joint comprises two the middle finger joint joint disks being arranged at both sides, middle finger joint upper end symmetrically, two close circle extension springs be connected to abreast between dactylus far away and middle finger joint, finger-joint side cover is fixed with by screw outside two middle finger joint joint disks, the position of described middle finger joint upper end between two middle finger joint joint disks is also vertically provided with two side by side, for installing the spring circular hole of close circle extension spring, described dactylus upper end far away is tip portion, lower end is vertically provided with two side by side, for installing the spring circular hole of close circle extension spring, and, laterally run through the dactylus tendon through hole far away of dactylus far away,
Described nearly driving tendon stage casing is embedded in nearly dactylus tendon groove, its epimere fastens in middle finger joint tendon through hole after being close to nearly dactylus joint disk, hypomere fastens after being close to right half pedestal in palm tendon through hole, described driving tendon stage casing far away is embedded in middle finger joint tendon groove, its epimere fastens in dactylus tendon through hole far away after being close to middle finger joint joint disk, hypomere fastens in nearly dactylus tendon through hole after being close to nearly dactylus joint disk.
Described thumb nearly dactylus both sides are provided with for the nearly dactylus tendon groove as nearly driving tendon passage along its length, what upper end was laterally run through is provided with thumb nearly dactylus tendon through hole, the submissive Hinge joint of spring connecting the nearly dactylus of thumb and middle finger joint comprises two the thumb nearly dactylus joint disks being arranged at both sides, thumb nearly dactylus upper end symmetrically, two close circle extension springs be connected to abreast between the nearly dactylus of thumb and middle finger joint, finger-joint side cover is fixed with by screw outside two nearly dactylus joint disks, the position of described thumb nearly dactylus upper end between two thumb nearly dactylus joint disks is also vertically provided with two side by side, for installing the spring circular hole of close circle extension spring, the nearly dactylus bottom of described thumb is provided with the stopper slot for limiting the displacement of tendon connecting rod between two parties, both sides, thumb nearly dactylus bottom are provided with connection buckle ear,
Described revolving part is penetratingly provided with the connection square hole matched with the square shaft portion of the 4th output shaft up and down, the one side that described revolving part connects the nearly dactylus of thumb is provided with triangle stopper slot, be provided with bottom described revolving part for penetrate rope form drive key bend and stretch tendon through hole, described revolving part both sides are fixedly connected with by the connection buckle ear of the nearly dactylus of attachment screw and thumb.
Further, the middle part of described nearly dactylus, middle finger joint and dactylus far away is equipped with the cavern part for alleviating deadweight, has both saved material, and has further alleviated again the deadweight of mechanism.
Further, described nearly driving tendon and tendon and the rope form of driving far away drive key all to adopt the flexible rope be made up of polyethylene fibre, cheap, durable.
Further, described nearly dactylus, middle finger joint, dactylus far away, finger-joint side cover, revolving part, the nearly dactylus of thumb, the palm back of the body, facies palmaris, motor rack and pulley are made by aluminium alloy, make mechanism light, durable and with low cost.
Further, described first output shaft, the second output shaft, the first jackshaft, the second jackshaft, the 3rd output shaft, the 4th output shaft are made by No. 45 steel, and easy processing cost is low.
In above-mentioned apery myoelectricity artificial hand, each finger of forefinger, middle finger, the third finger and little finger of toe includes a degree of freedom bent and stretched.Adopt spring flexible hinge to connect between dactylus, this flexible hinge is realized by the close circle extension spring of two that are embedded on dactylus isometric parallel arranged, the application of this flexible hinge make finger only need one independently driver just can realize the motion of bending and stretching.The tendon realizing being coupled between each joint motions drives and adopts rope to control, and comprises nearly driving tendon and far drives tendon, and the nearly tendon that drives is through nearly dactylus, and walk around the joint disk of palm and nearly dactylus, two ends are separately fixed on palm and middle finger joint; Driving tendon far away is through middle finger joint, and walk around the joint disk of nearly dactylus and middle finger joint, two ends are separately fixed on nearly dactylus and dactylus far away, thus realize the coupled motions between each joint.
In above-mentioned apery myoelectricity artificial hand, drive system comprises 4 driver elements, be installed in palm, fixed by two motor racks, drive 4 degree of freedom of doing evil through another person respectively, comprise thumb to the rotation in the centre of the palm, the bending and stretching of thumb, forefinger bend and stretch and the coupling of middle finger, the third finger and little finger of toe is bent and stretched, thumb to the rotation in the centre of the palm, forefinger bend and stretch and the coupling of middle finger, the third finger and little finger of toe is bent and stretched and is driven by gear train, the bending and stretching of thumb realizes tendon by gear train through pulley and drives.
In above-mentioned apery myoelectricity artificial hand, middle finger, the third finger and little finger of toe bend and stretch employing coupled motions, realized the transmission of 1:1 by the power transmission shaft running through the nearly dactylus of three fingers.The oriented centre of the palm of thumb rotates and bends and stretches two degree of freedom, and comprise nearly dactylus and dactylus far away two dactylus, described thumb is arranged on the right side of described palm by revolving part.
Owing to have employed technique scheme, apery myoelectricity artificial hand of the present utility model can realize the gesture that eight can meet daily life needs, comprise cylinder capture, hook get, side pinch get, point to, loosen, ball grab, three fingers pinch and to get and two fingers are pinched and got.Adopt the submissive hinge of spring and tendon to drive coupling to realize four motors to the control in multiple joint, whole drive system of doing evil through another person is arranged on palm inside, and the volume that makes to do evil through another person is little, lightweight, and has suitable operating function.
Accompanying drawing explanation
The overall structure schematic diagram of the apery myoelectricity artificial hand of Fig. 1 involved by this utility model.
The internal structure schematic diagram of the apery myoelectricity artificial hand of Fig. 2 involved by this utility model.
Schematic diagram is looked on a left side for the apery myoelectricity artificial hand of Fig. 3 involved by this utility model.
The palm exploded perspective view of the apery myoelectricity artificial hand of Fig. 4 involved by this utility model.
The palm internal structure schematic diagram of the apery myoelectricity artificial hand of Fig. 5 involved by this utility model.
The palm back of the body perspective view of the apery myoelectricity artificial hand of Fig. 6 involved by this utility model.
The facies palmaris perspective view of the apery myoelectricity artificial hand of Fig. 7 involved by this utility model.
The little finger of toe exploded perspective view of the apery myoelectricity artificial hand of Fig. 8 involved by this utility model.
The nearly dactylus schematic front view of the apery myoelectricity artificial hand of Fig. 9 involved by this utility model.
The nearly dactylus schematic top plan view of the apery myoelectricity artificial hand of Figure 10 involved by this utility model.
The nearly dactylus schematic perspective view of the apery myoelectricity artificial hand of Figure 11 involved by this utility model.
The apery myoelectricity artificial hand of Figure 12 involved by this utility model the 3rd output shaft perspective view.
The middle finger joint schematic front view of the apery myoelectricity artificial hand of Figure 13 involved by this utility model.
The middle finger joint schematic perspective view of the apery myoelectricity artificial hand of Figure 14 involved by this utility model.
The middle finger joint schematic top plan view of the apery myoelectricity artificial hand of Figure 15 involved by this utility model.
The middle finger joint elevational schematic view of the apery myoelectricity artificial hand of Figure 16 involved by this utility model.
The dactylus schematic front view far away of the apery myoelectricity artificial hand of Figure 17 involved by this utility model.
The dactylus schematic perspective view far away of the apery myoelectricity artificial hand of Figure 18 involved by this utility model.
Figure 19 is apery myoelectricity artificial hand middle finger, the nameless nearly dactylus schematic perspective view that this utility model relates to.
Second output shaft perspective view of the apery myoelectricity artificial hand of Figure 20 involved by this utility model.
The view when finger mechanism of the apery myoelectricity artificial hand of Figure 21 involved by this utility model grasps.
The thumb exploded perspective view of the apery myoelectricity artificial hand of Figure 22 involved by this utility model.
The revolving part perspective view of the apery myoelectricity artificial hand of Figure 23 involved by this utility model.
The revolving part schematic top plan view of the apery myoelectricity artificial hand of Figure 24 involved by this utility model.
Figure 25 be in Figure 24 A-A to cross-sectional schematic.
The nearly dactylus perspective view of thumb of the apery myoelectricity artificial hand of Figure 26 involved by this utility model.
The nearly dactylus schematic front view of thumb of the apery myoelectricity artificial hand of Figure 27 involved by this utility model.
Figure 28 be in Figure 27 B-B to cross-sectional schematic.
4th output shaft perspective view of the apery myoelectricity artificial hand of Figure 29 involved by this utility model.
The control principle schematic diagram of the apery myoelectricity artificial hand of Figure 30 involved by this utility model.
In figure: 1-little finger of toe; 2-is nameless; 3-middle finger; 4-forefinger; The submissive Hinge joint of 5-spring; 6-thumb; 7-hands is slapped; 8-pedestal; 9-dactylus far away; 10-middle finger joint; The nearly dactylus of 11-; 12-drive system; The close circle extension spring of 13-; 14-finger-joint side cover; 15-pedestal side cover; 16-slaps the back of the body; 17-far drives tendon; 18-closely drives tendon; 19-facies palmaris; 20-pulley; 21-first output shaft; 22-first cylindrical straight gear wheels; 23-motor rack; 24-first driver element; 25-second driver element; 26-first bevel gear set; 27-second cylindrical straight gear wheels; 28-second output shaft; 29-first jackshaft; 30-second jackshaft; 31-the 3rd output shaft; 32-three cylindrical straight-tooth wheels; 33-second bevel gear set; 34-the 4th output shaft; 35-the 3rd driver element; 36-four-wheel drive unit; 37-is spur gear wheel initiatively; 38-transition spur gear wheel; 39-driven spur gear; 40-drives keyway; 41-palm tendon through hole; Groove installed by 42-bearing; 43-cavern part; 44-groove; 45-screw; 46-nearly dactylus joint disk; 47-nearly dactylus tendon through hole; 48-nearly dactylus tendon groove; 49-nearly dactylus circular shaft hole; 50-spring circular hole; The nearly dactylus square hole of 51-; The nearly dactylus circular hole of 52-; 53-square shaft portion; 54-middle finger joint joint disk; 55-middle finger joint tendon groove; 56-middle finger joint tendon through hole; 57-tip portion; 58-dactylus tendon far away through hole; The nearly dactylus of 59-thumb; 60-attachment screw; 61-tendon connecting rod; 62-revolving part; 63-connects square hole; 64-bends and stretches tendon through hole; 65-triangle stopper slot; 66-thumb nearly dactylus joint disk; 67-stopper slot; 68-connects buckle ear; 69-thumb nearly dactylus tendon through hole; Right half pedestal of 70-; Left half pedestal of 71-.
Detailed description of the invention
Be described in further detail utility model object of the present utility model below in conjunction with the drawings and specific embodiments, embodiment can not repeat one by one at this, but therefore embodiment of the present utility model is not defined in following examples.
As shown in Figure 1 to Figure 4, shown in Figure 22, a kind of apery myoelectricity artificial hand, comprise and engage by facies palmaris 19 and the palm back of the body 16 palm 7 formed, be movably set in the forefinger 4 on palm 7 front end and right side, middle finger 3, nameless 2, little finger of toe 1 and thumb 6, and to be arranged in palm 7 and the drive system 12 be connected with each finger actuation, the groove 44 for holding drive system 12 and cavern part 43 is respectively arranged with in the described palm back of the body 16 and facies palmaris 19, the front end of the described palm back of the body 16 and facies palmaris 19 forms the right side half pedestal 70 of complete pedestal 8 and left half pedestal 71 after being respectively equipped with and engaging, described right half pedestal 70 and left half pedestal 71 are provided with half slot and groove 42 installed by bearing, wherein, described right half pedestal 70 is also provided with palm tendon through hole 41, described right half pedestal 70 and left half pedestal 71 both sides are provided with the pedestal side cover 15 that screw is fixedly connected with, for limiting the position of each driving key,
Described forefinger 4, middle finger 3, the third finger 2, little finger of toe 1 comprise nearly dactylus 11, middle finger joint 10, dactylus 9 far away successively along the direction away from palm 7, be connected by the submissive Hinge joint 5 of spring between described nearly dactylus 11, middle finger joint 10, dactylus 9 far away, nearly dactylus 11 described in each drives with drive system 12 in the pedestal place of palm 7 front end and is connected, simultaneously, be connected with between described dactylus far away 9 and nearly dactylus 11 and far drive tendon 17, be connected with between described middle finger joint 10 and palm 7 and closely drive tendon 18; Described thumb comprises revolving part 62, the nearly dactylus 59 of thumb, middle finger joint 10, dactylus 9 far away successively along the direction away from palm 7, be connected by the submissive Hinge joint 5 of spring between the nearly dactylus of described thumb 59, middle finger joint 10, dactylus 9 far away, described thumb nearly dactylus 59 other end is connected with the revolving part 62 being connected drive system 12, simultaneously, be connected with between described dactylus far away 9 and the nearly dactylus 59 of thumb and far drive tendon 17, described middle finger joint 10 also drives key to drive with drive system 12 by the nearly driving tendon 18 that connects successively, tendon connecting rod 61, rope form to be connected;
Described drive system 12 comprise be mounted in the palm back of the body 16 successively abreast each groove 44 in for drive thumb 6 bend and stretch degree of freedom the first driver element 24, for drive middle finger 3, nameless 2 and little finger of toe 1 coupling bend and stretch degree of freedom the second driver element 25, for driving thumb 6 to drive single 35 yuan, four-wheel drive unit 36 for driving forefinger to bend and stretch degree of freedom to the 3rd of centre of the palm rotary freedom.
Particularly, as shown in Fig. 5, Figure 20, Figure 29, the outfan of described first driver element 24 by the first cylindrical straight gear wheels 22 of being meshed be arranged on the first output shaft 21 slapped on the back of the body 16 by bearing rotationally and be connected, described first output shaft 21 be positioned at the pulley 20 slapping the back of the body 16 rear end and be connected, described pulley 20 drives key to be connected with the rope form be strapped in the driving keyway 40 slapped between the back of the body 16 and facies palmaris 19; The outfan of described second driver element 25 by the first bevel gear set 26 of being meshed be arranged on the first jackshaft 29 slapped on the back of the body 16 by bearing rotationally and be connected, described first jackshaft 29 by the second cylindrical straight gear wheels 27 of being meshed be arranged on the second output shaft 28 slapping the back of the body 16 front end by bearing rotationally and be connected; The outfan of described 3rd driver element 35 by active spur gear wheel 27, two transition spur gear wheels 38 of engaging successively and driven spur gear 39 be arranged at the 4th output shaft 34 slapped on the right side of the back of the body 16 by bearing rotationally and be connected; The outfan of described four-wheel drive unit 36 by the second bevel gear set 33 of being meshed be arranged on the second jackshaft 30 slapped on the back of the body 16 by bearing rotationally and be connected, described second jackshaft 30 by the three cylindrical straight-tooth wheels 32 that are meshed be arranged on the 3rd output shaft 31 slapping the back of the body 16 front end by bearing rotationally and be connected.
Particularly, described first driver element 24, second driver element 25, the 3rd drives single 35 yuan, four-wheel drive unit 36 includes direct current generator, the decelerator be connected with direct current generator outfan, the encoder that is connected with direct current generator circuit, the present embodiment adopts containing accurate helical gear and planetary gear reduction box, electrographite brush direct current generator and dual pathways pulse relative encoder, compact conformation volume is little, integrated level is high, precision is high, for whole apery myoelectricity artificial hand provides power.Also comprise motor rack 23, described motor rack 23 gland drives on list 35 yuan, four-wheel drive unit 36 in the first driver element 24, second driver element 25, the 3rd, and is fixed by screws in the groove 44 of the palm back of the body 19, makes each driver element more firm.
Particularly, the gear ratio of described first cylindrical straight gear wheels 22 is 26:10; The gear ratio of described first bevel gear set 26 is 1:1, and the gear ratio of described second cylindrical straight gear wheels 27 is 26:10.The gear ratio of described active spur gear wheel 37, two transition spur gear wheels 38 and driven spur gear 39 is followed successively by 1:1,26:10,1:1.The gear ratio of described second bevel gear set 33 is 1:1, and the gear ratio of described three cylindrical straight-tooth wheels 32 is 26:10, rational gear ratio, and the operation of doing evil through another person is more prone to, and fidelity is more increased.
Particularly, as shown in Fig. 8 to Figure 19, the both sides of described nearly dactylus 11 are provided with for the nearly dactylus tendon groove 48 as nearly driving tendon 18 passage along its length, what upper end was laterally run through is provided with nearly dactylus tendon through hole 47, the submissive Hinge joint of spring 5 connecting nearly dactylus 11 and middle finger joint 10 comprises two the nearly dactylus joint disks 46 being arranged at both sides, nearly dactylus 11 upper end symmetrically, two close circle extension springs 13 be connected to abreast between nearly dactylus 11 and middle finger joint 10, finger-joint side cover 14 is fixed with by screw outside two nearly dactylus joint disks 46, the position of described nearly dactylus 11 upper end between two nearly dactylus joint disks 46 is also vertically provided with two side by side, for installing the spring circular hole 50 of close circle extension spring 13, described nearly dactylus 11 lower end is provided with articulated section, described articulated section is provided with nearly dactylus circular shaft hole 52 and nearly dactylus square hole 51 coaxially, described nearly dactylus square hole 51 matches with the square shaft portion 53 of the second output shaft 28,
The both sides of described middle finger joint 10 are provided with for the dactylus tendon groove 55 far away as driving tendon 17 passage far away along its length, what lower end was laterally run through is provided with middle finger joint tendon through hole 56, the submissive Hinge joint 5 of spring connecting dactylus 9 far away and middle finger joint 10 comprises two the middle finger joint joint disks 54 being arranged at both sides, middle finger joint 10 upper end symmetrically, two close circle extension springs 13 be connected to abreast between dactylus 9 far away and middle finger joint 10, finger-joint side cover 14 is fixed with by screw outside two middle finger joint joint disks 54, the position of described middle finger joint 10 upper end between two middle finger joint joint disks 54 is also vertically provided with two side by side, for installing the spring circular hole 50 of close circle extension spring 13, described dactylus far away 9 upper end is tip portion 57, lower end is vertically provided with two side by side, for installing the spring circular hole 50 of close circle extension spring 13, and, laterally run through the dactylus tendon through hole 58 far away of dactylus 9 far away,
Described nearly driving tendon 18 stage casing is embedded in nearly dactylus tendon groove 48, its epimere fastens in middle finger joint tendon through hole 56 after being close to nearly dactylus joint disk 46, hypomere fastens in palm tendon through hole 41 after being close to right half pedestal 70, described driving tendon 17 stage casing far away is embedded in middle finger joint tendon groove 55, its epimere fastens in dactylus tendon through hole 58 far away after being close to middle finger joint joint disk 54, hypomere fastens in nearly dactylus tendon through hole 47 after being close to nearly dactylus joint disk 46.
As shown in Figure 22 to Figure 28, described thumb nearly dactylus 59 both sides are provided with for the nearly dactylus tendon groove 48 as nearly driving tendon 18 passage along its length, what upper end was laterally run through is provided with thumb nearly dactylus tendon through hole 69, the submissive Hinge joint of spring 5 connecting the nearly dactylus of thumb 59 and middle finger joint 10 comprises two the thumb nearly dactylus joint disks 66 being arranged at both sides, thumb nearly dactylus 59 upper end symmetrically, two close circle extension springs 13 be connected to abreast between the nearly dactylus of thumb 59 and middle finger joint 10, finger-joint side cover 14 is fixed with by screw outside two nearly dactylus joint disks 46, the position of described thumb nearly dactylus 59 upper end between two thumb nearly dactylus joint disks 66 is also vertically provided with two side by side, for installing the spring circular hole 50 of close circle extension spring 13, described thumb nearly dactylus 59 bottom is provided with the stopper slot 67 for limiting tendon connecting rod 61 displacement between two parties, both sides, thumb nearly dactylus 59 bottom are provided with and connect buckle ear 68,
Described revolving part about 62 is penetratingly provided with the connection square hole 63 matched with the square shaft portion 53 of the 4th output shaft 34, the one side that described revolving part 62 connects the nearly dactylus 59 of thumb is provided with triangle stopper slot 65, be provided with bottom described revolving part 62 for penetrate rope form drive key bend and stretch tendon through hole 64, described revolving part 62 both sides are fixedly connected with by the connection buckle ear 68 of the nearly dactylus 59 of attachment screw 60 and thumb.
Described in the present embodiment, the middle part of nearly dactylus 11, middle finger joint 10 and dactylus 9 far away is equipped with the cavern part for alleviating deadweight, has both saved material, and has further alleviated again the deadweight of mechanism.
Further, described nearly driving tendon 18 and tendon 17 and the rope form of driving far away drive key all to adopt the flexible rope be made up of polyethylene fibre, cheap, durable.
Further, described nearly dactylus 11, middle finger joint 10, dactylus 9 far away, finger-joint side cover 14, revolving part 11, the nearly dactylus 59 of thumb, the palm back of the body 16, facies palmaris 19, motor rack 23 and pulley 20 are made by aluminium alloy, make mechanism light, durable and with low cost.
Further, described first output shaft 21, second output shaft 28, first jackshaft 29, second jackshaft 30, the 3rd output shaft 31, the 4th output shaft 34 are made by No. 45 steel, and easy processing cost is low.
Figure 30 is the control principle schematic diagram of apery myoelectricity artificial hand, and EMG-controlling prosthetic hand control section mainly comprises two basic parts, and one of them part is electromyographic signal collection, treatment and analysis, comprises feature extraction and pattern recognition two functions; A part is that signal exports and carries out action control to the finger of EMG-controlling prosthetic hand in addition.Motion controller sends to motion controller according to the electromyographic signal processed, described motion controller transmits control signal to each driver element, control each motor by predetermined speed and angular turn, first the structure of system set up computer, motion controller, communication between motion drive and EMG-controlling prosthetic hand, connects with the mains between four by actual requirement line.Then carry out communication configuration, system configuration, parameter of electric machine configuration respectively successively by software and control a series of settings such as debugging.Finally control programming is carried out to the motion mode of motor.
When the first driver element 24 obtains control signal, first driver element 24 is through the first cylindrical straight gear wheels 22, first output shaft 21 is with movable pulley 20 to rotate, pulley 20 pulls one ends wound on pulley 20, the rope form that the other end connects tendon connecting rod 61 drives key, then described tendon connecting rod 61 pulls the nearly driving tendon 18 of thumb 6, the passive minimizing of rope coiling length on thumb nearly dactylus joint disk 66, nearly driving tendon 18 pulls the middle finger joint 10 of thumb 6 around the articulation between the nearly dactylus 59 of thumb and middle finger joint 10, simultaneously, driving tendon 17 far away rope coiling length on thumb nearly dactylus joint disk 66 increases, the passive minimizing of rope coiling length on middle finger joint joint disk 54, driving tendon 17 far away pulls dactylus 9 far away around the articulation between middle finger joint 10 and dactylus 9 far away, realize the coupled motions of two articulation, thumb 6 is bent, when the first driver element 24 rotates backward, thumb 6 turns back to position when stretching under the active force of each bending close circle extension spring 13.
When the 3rd driver element 35 obtains control signal, 3rd driver element 35 drives the 4th output shaft 34 be arranged on the right side of the palm back of the body 16 to rotate by active spur gear wheel 27, two transition spur gear wheels 38 of engaging successively and driven spur gear 39, thus drive revolving part 62 synchronous axial system be connected with the 4th output shaft 34, realize the rotation of thumb 6 to the centre of the palm.
When the second driver element 25 obtains control signal, described second driver element 25 drives the second output shaft 28 to rotate by the first bevel gear set 26 and the second cylindrical straight gear wheels 27, thus drive little finger of toe 1, middle finger 2, the nearly dactylus 11 of nameless 3 rotates around the second output shaft 28 axis, described little finger of toe 1, middle finger 2, the coiling length of nearly driving tendon 18 on pedestal 8 of nameless 3 increases, the passive minimizing of rope coiling length on nearly dactylus joint disk 46, little finger of toe 1, middle finger 2, the nearly driving tendon 18 of nameless 3 pulls the middle finger joint 10 of each finger around the articulation between nearly dactylus 11 and middle finger joint 10, simultaneously, driving tendon 17 far away coiling length on nearly dactylus joint disk 46 increases, the passive minimizing of rope coiling length on middle finger joint joint disk 54, driving tendon 17 far away pulls dactylus 9 far away around the articulation between middle finger joint 10 and dactylus 9 far away, realize the coupled motions of two articulation, make little finger of toe 1, middle finger 2, nameless 3 bending (Figure 21), when the second driver element 25 rotates backward, little finger of toe 1, middle finger 2, nameless 3 turn back to position when stretching under the active force of each bending close circle extension spring 13.
When four-wheel drive unit 36 obtains control signal, four-wheel drive unit 36 drives the 3rd output shaft 31 to rotate by the second bevel gear set 33 and three cylindrical straight-tooth wheels 32, thus drive the nearly dactylus 11 of forefinger 4 to rotate around the 3rd output shaft 31 axis, the coiling length of nearly driving tendon 18 on pedestal 8 of described forefinger 4 increases, the passive minimizing of rope coiling length on nearly dactylus joint disk 46, the nearly driving tendon 18 of forefinger 4 pulls middle finger joint 10 around the articulation between nearly dactylus 11 and middle finger joint 10, simultaneously, driving tendon 17 far away coiling length on nearly dactylus joint disk 46 increases, the passive minimizing of rope coiling length on middle finger joint joint disk 54, driving tendon 17 far away pulls dactylus 9 far away around the articulation between middle finger joint 10 and dactylus 9 far away, realize the coupled motions of two articulation, make forefinger 4 bending (Figure 21), when four-wheel drive unit 36 rotates backward, forefinger 4 turns back to position when stretching under the active force of each bending close circle extension spring 13.Each joint side cover of the present embodiment is for limiting the position of tendon.
This apery myoelectricity artificial hand adopts the submissive hinge of spring and tendon to drive coupling to realize 4 motors to the control in 15 joints, the function of doing evil through another person comprise cylinder capture, hook get, side pinch get, point to, loosen, ball grab, three fingers pinch and to get and two fingers are pinched and got, and can meet the fundamental need of people with disability's daily life.
Above-described embodiment of the present utility model is only for this utility model example is clearly described, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., within the protection domain that all should be included in this utility model claim.
Claims (10)
1. an apery myoelectricity artificial hand, comprise and engage the palm (7) formed, the forefinger (4) being movably set in palm (7) front end and right side, middle finger (3), nameless (2), little finger of toe (1) and thumb (6) by facies palmaris (19) and the palm back of the body (16), and to be arranged in palm (7) and the drive system (12) be connected with each finger actuation, it is characterized in that:
The described palm carries on the back in (16) and facies palmaris (19) groove (44) and cavern part (43) that are respectively arranged with for holding drive system (12), the front end of the described palm back of the body (16) and facies palmaris (19) forms the right side half pedestal (70) and left half pedestal (71) of complete pedestal (8) after being respectively equipped with and engaging, described right half pedestal (70) and left half pedestal (71) are provided with half slot and groove (42) installed by bearing, wherein, described right half pedestal (70) is also provided with palm tendon through hole (41), described right half pedestal (70) and left half pedestal (71) both sides are provided with the pedestal side cover (15) that screw is fixedly connected with,
Described forefinger (4), middle finger (3), nameless (2), little finger of toe (1) comprises nearly dactylus (11) successively along the direction away from palm (7), middle finger joint (10), dactylus far away (9), described nearly dactylus (11), middle finger joint (10), be connected by the submissive Hinge joint of spring (5) between dactylus far away (9), nearly dactylus (11) described in each drives with drive system (12) in the pedestal place of palm (7) front end and is connected, simultaneously, be connected with between described dactylus far away (9) and nearly dactylus (11) and far drive tendon (17), be connected with between described middle finger joint (10) and palm (7) and closely drive tendon (18), described thumb comprises revolving part (62) successively along the direction away from palm (7), the nearly dactylus of thumb (59), middle finger joint (10), dactylus far away (9), the nearly dactylus of described thumb (59), middle finger joint (10), be connected by the submissive Hinge joint of spring (5) between dactylus far away (9), the nearly dactylus of described thumb (59) other end is connected with the revolving part (62) being connected drive system (12), simultaneously, be connected with between described dactylus far away (9) and the nearly dactylus of thumb (59) and far drive tendon (17), the nearly driving tendon (18) of described middle finger joint (10) also by connecting successively, tendon connecting rod (61), rope form driving key drives with drive system (12) and is connected,
Described drive system (12) comprises interior the first driver element (24) for driving thumb (6) to bend and stretch degree of freedom of each groove (44) being mounted in the palm back of the body (16) successively abreast, for driving middle finger (3), second driver element (25) of degree of freedom is bent and stretched in nameless (2) and little finger of toe (1) coupling, single (35) unit is driven to the 3rd of centre of the palm rotary freedom for driving thumb (6), for the four-wheel drive unit (36) driving forefinger to bend and stretch degree of freedom.
2. apery myoelectricity artificial hand according to claim 1, it is characterized in that: the outfan of described first driver element (24) is slapped the first output shaft (21) carried on the back on (16) by the first cylindrical straight gear wheels (22) of being meshed and is connected with being arranged on rotationally by bearing, described first output shaft (21) is slapped the pulley (20) carrying on the back (16) rear end and is connected with being positioned at, and described pulley (20) drives key to be connected with the rope form be strapped in the driving keyway (40) slapping and carry on the back between (16) and facies palmaris (19); The outfan of described second driver element (25) is slapped the first jackshaft (29) carried on the back on (16) by the first bevel gear set (26) of being meshed and is connected with being arranged on rotationally by bearing, and described first jackshaft (29) is slapped the second output shaft (28) carrying on the back (16) front end by the second cylindrical straight gear wheels (27) of being meshed and is connected with being arranged on rotationally by bearing; The outfan of described 3rd driver element (35) is slapped the 4th output shaft (34) carried on the back on the right side of (16) by the active spur gear wheel (27) engaged successively, two transition spur gear wheels (38) and driven spur gear (39) and is connected with being arranged at rotationally by bearing; The outfan of described four-wheel drive unit (36) is slapped the second jackshaft (30) carried on the back on (16) by the second bevel gear set (33) of being meshed and is connected with being arranged on rotationally by bearing, and described second jackshaft (30) is slapped the 3rd output shaft (31) carrying on the back (16) front end by the three cylindrical straight-tooth wheels (32) that are meshed and is connected with being arranged on rotationally by bearing.
3. apery myoelectricity artificial hand according to claim 2, is characterized in that: described first driver element (24), the second driver element (25), the 3rd drive single (35) unit, four-wheel drive unit (36) includes direct current generator, the decelerator be connected with direct current generator outfan, the encoder that is connected with direct current generator circuit.
4. apery myoelectricity artificial hand according to claim 3, it is characterized in that: also comprise motor rack (23), described motor rack (23) gland drives on single (35) unit, four-wheel drive unit (36) in the first driver element (24), the second driver element (25), the 3rd, and is fixed by screws in the groove (44) of the palm back of the body (19).
5. apery myoelectricity artificial hand according to claim 2, is characterized in that: the gear ratio of described first cylindrical straight gear wheels (22) is 26:10; The gear ratio of described first bevel gear set (26) is 1:1, and the gear ratio of described second cylindrical straight gear wheels (27) is 26:10;
The gear ratio of described active spur gear wheel (37), two transition spur gear wheels (38) and driven spur gear (39) is followed successively by 1:1,26:10,1:1;
The gear ratio of described second bevel gear set (33) is 1:1, and the gear ratio of described three cylindrical straight-tooth wheels (32) is 26:10.
6. apery myoelectricity artificial hand according to claim 2, it is characterized in that: the both sides of described nearly dactylus (11) are provided with for as the nearly dactylus tendon groove (48) closely driving tendon (18) passage along its length, what upper end was laterally run through is provided with nearly dactylus tendon through hole (47), the submissive Hinge joint of spring (5) connecting nearly dactylus (11) and middle finger joint (10) comprises two nearly dactylus joints disk (46) being arranged at nearly dactylus (11) both sides, upper end symmetrically, two close circle extension springs (13) be connected to abreast between nearly dactylus (11) and middle finger joint (10), two nearly dactylus joint disk (46) outsides are fixed with finger-joint side cover (14) by screw, described nearly dactylus (11) the upper end position be positioned between two nearly dactylus joints disk (46) is also vertically provided with two side by side, for installing the spring circular hole (50) of close circle extension spring (13), described nearly dactylus (11) lower end is provided with articulated section, described articulated section is provided with nearly dactylus circular shaft hole (52) and nearly dactylus square hole (51) coaxially, described nearly dactylus square hole (51) is matched with the square shaft portion (53) of the second output shaft (28),
The both sides of described middle finger joint (10) are provided with for as the dactylus tendon groove (55) far away far driving tendon (17) passage along its length, what lower end was laterally run through is provided with middle finger joint tendon through hole (56), the submissive Hinge joint of spring (5) connecting dactylus far away (9) and middle finger joint (10) comprises two middle finger joint joints disk (54) being arranged at middle finger joint (10) both sides, upper end symmetrically, two close circle extension springs (13) be connected to abreast between dactylus far away (9) and middle finger joint (10), two middle finger joint joint disk (54) outsides are fixed with finger-joint side cover (14) by screw, described middle finger joint (11) the upper end position be positioned between two middle finger joint joints disk (54) is also vertically provided with two side by side, for installing the spring circular hole (50) of close circle extension spring (13), described dactylus far away (9) upper end is tip portion (57), lower end is vertically provided with two side by side, for installing the spring circular hole (50) of close circle extension spring (13), and, laterally run through the dactylus tendon through hole (58) far away of dactylus far away (9),
Described nearly driving tendon (18) stage casing is embedded in nearly dactylus tendon groove (48), its epimere fastens in middle finger joint tendon through hole (56) after being close to nearly dactylus joint disk (46), hypomere fastens in palm tendon through hole (41) after being close to right half pedestal (70), described driving tendon (17) stage casing far away is embedded in middle finger joint tendon groove (55), its epimere fastens in dactylus tendon through hole (58) far away after being close to middle finger joint joint disk (54), hypomere fastens after being close to nearly dactylus joint disk (46) in nearly dactylus tendon through hole (47),
The nearly dactylus of described thumb (59) both sides are provided with for as the nearly dactylus tendon groove (48) closely driving tendon (18) passage along its length, what upper end was laterally run through is provided with thumb nearly dactylus tendon through hole (69), the submissive Hinge joint of spring (5) connecting the nearly dactylus of thumb (59) and middle finger joint (10) comprises two thumb nearly dactylus joints disk (66) being arranged at the nearly dactylus of thumb (59) both sides, upper end symmetrically, two close circle extension springs (13) be connected to abreast between the nearly dactylus of thumb (59) and middle finger joint (10), two nearly dactylus joint disk (46) outsides are fixed with finger-joint side cover (14) by screw, the nearly dactylus of described thumb (59) the upper end position be positioned between two thumb nearly dactylus joints disk (66) is also vertically provided with two side by side, for installing the spring circular hole (50) of close circle extension spring (13), the nearly dactylus of described thumb (59) bottom is provided with the stopper slot (67) for limiting tendon connecting rod (61) displacement between two parties, the nearly dactylus of thumb (59) both sides, bottom are provided with and connect buckle ear (68),
Described revolving part (62) is penetratingly provided with the connection square hole (63) matched with the square shaft portion (53) of the 4th output shaft (34) up and down, the one side that described revolving part (62) connects the nearly dactylus of thumb (59) is provided with triangle stopper slot (65), described revolving part (62) bottom is provided with bends and stretches tendon through hole (64) for what penetrate that rope form drives key, and described revolving part (62) both sides are fixedly connected with the connection buckle ear (68) of the nearly dactylus of thumb (59) by attachment screw (60).
7. apery myoelectricity artificial hand according to claim 1, is characterized in that: the middle part of described nearly dactylus (11), middle finger joint (10) and dactylus far away (9) is equipped with the cavern part for alleviating deadweight.
8. apery myoelectricity artificial hand according to claim 1, is characterized in that: described nearly driving tendon (18) and far drive tendon (17) and rope form to drive key all to adopt the flexible rope be made up of polyethylene fibre.
9. apery myoelectricity artificial hand according to claim 6, is characterized in that: described nearly dactylus (11), middle finger joint (10), dactylus (9) far away, finger-joint side cover (14), revolving part (62), the nearly dactylus of thumb (59), the palm back of the body (16), facies palmaris (19), motor rack (23) and pulley (20) are made by aluminium alloy.
10. apery myoelectricity artificial hand according to claim 2, is characterized in that: described first output shaft (21), the second output shaft (28), the first jackshaft (29), the second jackshaft (30), the 3rd output shaft (31), the 4th output shaft (34) are made by No. 45 steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420708778.3U CN204428215U (en) | 2014-11-21 | 2014-11-21 | A kind of apery myoelectricity artificial hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420708778.3U CN204428215U (en) | 2014-11-21 | 2014-11-21 | A kind of apery myoelectricity artificial hand |
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| Publication Number | Publication Date |
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| CN204428215U true CN204428215U (en) | 2015-07-01 |
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|---|---|---|---|
| CN201420708778.3U Withdrawn - After Issue CN204428215U (en) | 2014-11-21 | 2014-11-21 | A kind of apery myoelectricity artificial hand |
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| CN (1) | CN204428215U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104367405A (en) * | 2014-11-21 | 2015-02-25 | 华南理工大学 | Humanoid type myoelectricity artificial hand |
| CN106510909A (en) * | 2016-11-21 | 2017-03-22 | 上海理工大学 | Rapid-forming modular interest artificial hand |
| CN107049570A (en) * | 2017-03-13 | 2017-08-18 | 日照若比邻机器人科技有限公司 | Manipulator control system |
| US10758379B2 (en) | 2016-05-25 | 2020-09-01 | Scott MANDELBAUM | Systems and methods for fine motor control of fingers on a prosthetic hand to emulate a natural stroke |
-
2014
- 2014-11-21 CN CN201420708778.3U patent/CN204428215U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104367405A (en) * | 2014-11-21 | 2015-02-25 | 华南理工大学 | Humanoid type myoelectricity artificial hand |
| US10758379B2 (en) | 2016-05-25 | 2020-09-01 | Scott MANDELBAUM | Systems and methods for fine motor control of fingers on a prosthetic hand to emulate a natural stroke |
| US11759337B2 (en) | 2016-05-25 | 2023-09-19 | Scott MANDELBAUM | Systems and methods for fine motor control of the fingers on a prosthetic hand to emulate a natural stroke |
| CN106510909A (en) * | 2016-11-21 | 2017-03-22 | 上海理工大学 | Rapid-forming modular interest artificial hand |
| CN107049570A (en) * | 2017-03-13 | 2017-08-18 | 日照若比邻机器人科技有限公司 | Manipulator control system |
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