CN104306087A - Pure mechanical wearable finger artificial limb with multi-degree of freedom - Google Patents
Pure mechanical wearable finger artificial limb with multi-degree of freedom Download PDFInfo
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- CN104306087A CN104306087A CN201410515863.2A CN201410515863A CN104306087A CN 104306087 A CN104306087 A CN 104306087A CN 201410515863 A CN201410515863 A CN 201410515863A CN 104306087 A CN104306087 A CN 104306087A
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- forefinger
- dactylus
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Abstract
The invention discloses a pure mechanical wearable finger artificial limb with multi-degree of freedom. The pure mechanical wearable finger artificial limb belongs to the field of mechanical structure sports type wearable finger artificial limbs, and comprises a palm part, an index finger stall, a thumb finger stall and other three finger stalls, wherein the connecting relationship of the index finger stall is as follows: an index finger support is hinged to a palm support; the tail end of an index finger proximal knuckle half-stall is hinged to the index finger support; the tail end of an index finger connecting half-stall is hinged to the index finger support; the top end of the index finger proximal knuckle half-stall is hinged to the tail end of an index finger midfinger knuckle; the top end of the index finger connecting half-stall is hinged to the tail end of the index finger midfinger knuckle; the top end of the index finger midfinger knuckle is hinged to an index finger distal knuckle; the top end of the index finger proximal knuckle half-stall is hinged to a hole of an index finger distal knuckle connecting rod; a connecting structure of the index finger distal knuckle is hinged to the hole of the index finger distal knuckle connecting rod. According to the pure mechanical wearable finger artificial limb with the multi-degree of freedom, three degrees of freedom of the thumb finger, two degrees of freedom of the index finger, and one-way degree of freedom of the middle finger, the third finger and the little finger conform to the general use habit of people, and can meet the requirement of daily exercise required by people.
Description
Technical field
The present invention relates to the wearable finger prosthesis field of frame for movement motor type, be specifically related to one and there is the wearable finger prosthesis of multivariant Purely mechanical.
Background technology
For the people with disability losing Toe Transplantation for Segmental Finger dactylus, especially for the people with disability of only remaining dactylus root, finger prosthesis can help them to realize the common function pointed well.Current motor type points wearable finger prosthesis, mostly is single-degree-of-freedom form, and the interior transhipment that namely only can realize singly referring to is moved.Although most finger motion can be realized like this, the motion that some are more complicated cannot be realized, as: the stretching, extension of gripping, the five fingers, the looped motions etc. singly referred to.
Summary of the invention
In view of this, the invention provides one and there is the wearable finger prosthesis of multivariant Purely mechanical, the motility and the scope of application that singly refer to multifreedom motion and improve the wearable finger prosthesis of finger can be realized.
The present invention is achieved through the following technical solutions:
The mechanical type of multidirectional degree of freedom points a wearable finger prosthesis, and it comprises: palm portion, forefinger fingerstall, thumb fingerstall, middle finger fingerstall, nameless fingerstall, little finger fingerstall;
Described palm portion comprises: palm, palm rest;
Described forefinger fingerstall comprises: forefinger refers to the nearly dactylus of frame, forefinger half cover, forefinger middle finger joint connects half cover, forefinger middle finger joint, forefinger dactylus far away connecting rod, forefinger dactylus far away;
Described thumb fingerstall comprises: interior cotter pin, interior inclined sheet, thumb refer to the nearly dactylus of frame, thumb half cover, thumb dactylus far away connects half cover, thumb dactylus far away;
Described forefinger refers to frame, thumb refers to that frame is the framework of 90-degree bent;
The nearly dactylus of described forefinger half cover, forefinger middle finger joint form the cylindrical shell of a both ends open after connecting half cover docking; And forefinger middle finger joint connects the upper end being partly enclosed within its interface has two symmetrical syndetons, lower end has two symmetrical syndetons; The upper end that the nearly dactylus of forefinger is partly enclosed within its interface has four symmetrical syndetons, and lower end has two symmetrical syndetons;
Described forefinger middle finger joint is the cylindrical shell of both ends open, and there are two symmetrical syndetons its upper end, and there are four symmetrical syndetons lower end;
Described forefinger dactylus far away is the open housing in one end, and there are four symmetrical syndetons open end;
The nearly dactylus of described thumb half cover, thumb dactylus far away form the cylindrical shell of a both ends open after connecting half cover docking; And thumb dactylus far away connects the upper end being partly enclosed within its interface has two symmetrical syndetons, lower end has two symmetrical syndetons; The upper end that the nearly dactylus of thumb is partly enclosed within its interface has two symmetrical syndetons, and lower end has two symmetrical syndetons;
Described thumb dactylus far away is identical with forefinger dactylus far away structure;
Described middle finger fingerstall, nameless fingerstall, little finger fingerstall are all identical with the composition of forefinger fingerstall and structure;
Its annexation is as follows: forefinger refers to that the vertical portion of frame is flexibly connected with palm rest, and forefinger refers to that frame can rotate around the axis perpendicular to palm plane, with forefinger, the syndeton of the nearly dactylus of forefinger half cover end refers to that the horizontal component of frame is flexibly connected near the position of palm of the hand plane, junction point is set to E, with forefinger, the syndeton that forefinger middle finger joint connects half cover end refers to that the horizontal component of frame is flexibly connected near the position of the back of the hand plane, junction point is set to B; The syndeton on the nearly dactylus of forefinger half cover top is flexibly connected with the syndeton of forefinger middle finger joint end, and junction point is set to C, and the syndeton that forefinger middle finger joint connects half cover top is flexibly connected with the syndeton of forefinger middle finger joint end, and junction point is set to A; Wherein, the line of junction point A-B and the line of junction point C-E are space crossed; The syndeton on forefinger middle finger joint top is flexibly connected with the syndeton of forefinger dactylus far away, junction point is set to F, the syndeton on the nearly dactylus of forefinger half cover top is flexibly connected with the hole of forefinger dactylus connecting rod end far away, junction point is set to D, the syndeton of forefinger dactylus far away is flexibly connected with the hole on forefinger dactylus connecting rod far away top, junction point is set to G, and wherein, the line of junction point C-F and the line of junction point D-G are space crossed;
Interior sheet is partially connected with palm rest piecemeal activity by interior cotter pin, thumb refers to that the vertical portion of frame is flexibly connected with interior inclined sheet, with thumb, the syndeton of the nearly dactylus of thumb half cover end refers to that the horizontal component of frame is flexibly connected near the position of palm of the hand plane, junction point is set to K, syndeton and the thumb of thumb dactylus far away connection half cover end refer to that the horizontal component of frame is movable near the position of the back of the hand plane, and junction point is set to I; The syndeton on the nearly dactylus of thumb half cover top is flexibly connected with the syndeton of thumb dactylus far away, and junction point is set to J, and the syndeton that thumb dactylus far away connects half cover top is flexibly connected with the syndeton of thumb dactylus far away, and junction point is set to H; Wherein, the line of junction point J-K and the line of junction point H-I are space crossed;
Middle finger fingerstall, nameless fingerstall, little finger fingerstall are by referring to that frame is fixed in palm rest;
Further, described forefinger refers to the movable connection method of frame and miscellaneous part, thumb refers to the movable connection method of frame and miscellaneous part, middle finger refers to frame, the third finger refers to frame, little finger refers to frame and the movable connection method of miscellaneous part is rivet interlacement;
Described forefinger fingerstall, thumb fingerstall, middle finger fingerstall, nameless fingerstall, little finger fingerstall can combination in any be arranged in palm portion, namely the severed finger situation of people with disability is adapted to, by demand combinations, if lack forefinger and middle finger than people with disability, can forefinger fingerstall and middle finger fingerstall be arranged in palm portion;
When forefinger fingerstall is in the naturalness of stretching, junction point C-E line in the nearly knuckle of forefinger that the nearly dactylus of forefinger half cover, forefinger middle finger joint are formed after connecting half cover docking and the angle of palm place plane are 15.00 °, the angle of the junction point C-E line in the junction point C-F line in forefinger middle finger joint and the nearly knuckle of forefinger is 7.70 °, and the angle of the junction point C-F line in the line on the knuckle summit far away of the junction point F-in forefinger dactylus far away and forefinger middle finger joint is 17.70 °; When forefinger fingerstall is in bending limit state, junction point C-E line in the nearly knuckle of forefinger that the nearly dactylus of forefinger half cover, forefinger middle finger joint are formed after connecting half cover docking and the angle of palm place plane are 45.00 °, the angle of the junction point C-E line in the junction point C-F line in forefinger middle finger joint and the nearly knuckle of forefinger is 55.36 °, and the angle of the junction point C-F line in the line on the knuckle summit far away of the junction point F-in forefinger dactylus far away and forefinger middle finger joint is 55.80 °.
Operation principle: when pointing severed finger to the nearly dactylus of a forefinger half cover side direction driving force, to connect palm rest and forefinger, forefinger fingerstall refers to that the axis of the rivet of frame rotates for rotation centerline, namely forefinger fingerstall carries out lateral deflection campaign, when pointing severed finger to the nearly dactylus of a forefinger half cover bending driving force to the palm of the hand, the nearly dactylus of forefinger half cover, forefinger middle finger joint connects half cover, forefinger middle finger joint, forefinger dactylus far away connecting rod and forefinger dactylus far away form a multi link link gear jointly, when the nearly dactylus of forefinger half cover moves to palm of the hand direction, forefinger middle finger joint is driven to connect half cover successively, forefinger middle finger joint, forefinger dactylus connecting rod far away, forefinger dactylus far away moves to palm of the hand direction, realize forefinger fingerstall and carry out curvature movement, therefore the motion of the lateral deflection of forefinger fingerstall and inflexion two degree of freedom is realized,
When pointing severed finger to an interior inclined sheet driving force, cotter pin within drive thumb fingerstall is that rotation centerline is rotated by interior sheet partially, namely thumb fingerstall carries out interior to yaw motion, when pointing severed finger to the nearly dactylus of a thumb half cover side direction driving force, thumb fingerstall connects and refers to that the axis of the rivet of frame rotates for center of rotation to connect interior inclined sheet and thumb, and thumb fingerstall carries out lateral deflection campaign, when pointing severed finger to the nearly dactylus of a thumb half cover bending driving force to the palm of the hand, the nearly dactylus of thumb half cover, thumb dactylus far away connects half cover and thumb dactylus far away forms a connection-rod linkage mechanism jointly, when the nearly dactylus of thumb half cover moves to palm of the hand direction, drive thumb dactylus far away to connect partly cover and thumb dactylus far away successively to move to palm of the hand direction, realize thumb fingerstall and carry out curvature movement, therefore realize in thumb fingerstall to deflection, the motion of lateral deflection and the three degree of freedom that curves inwardly,
When pointing the bending driving force from nearly dactylus fingerstall to the palm of the hand of severed finger to middle finger fingerstall, nameless fingerstall, little finger fingerstall, move identical with the inflexion of forefinger fingerstall, namely middle finger fingerstall, nameless fingerstall, little finger fingerstall all have the motion of inflexion one degree of freedom;
In sum, the Three Degree Of Freedom of thumb, the two degrees of freedom of forefinger, the single-degree-of-freedom of middle finger, the third finger, little finger can realize interior turn of single finger prosthesis, side turns and the motion amounting to eight degrees of freedom such as bending, and the present invention is multivariant structure.
Beneficial effect of the present invention:
(1) Single Degree Of Freedom of two degree of freedom of thumb three degree of freedom of the present invention, forefinger and middle finger, the third finger, little finger meets the general use habit of people, the daily required great majority motion of people can be accomplished, save the stability that unnecessary degree of freedom can strengthen total, make the relative position between each finger more firm, when not wearing, mutual collision not easily occurs;
(2) Three Degree Of Freedom of thumb is liberated by the present invention: thumb fingerstall interior to yaw motion, lateral deflection campaign and the motion that curves inwardly, thus more more complicated motions of thumb can be realized, the mechanical type extending this multidirectional degree of freedom points function and the scope of application thereof of wearable finger prosthesis;
(3) the present invention according to the actual requirements, and forefinger have employed two degrees of freedom mechanical linkage formula motion, makes its lateral deflection having finger and aduncate ability, can realize most functions of forefinger in daily life;
(4) the present invention is driven by severed finger, and without the need to extra drive source, and be Purely mechanical structure, light and practical, reliability is high;
(5) structure of the present invention is simplified, and in conjunction with the rapidity of 3D printing technique and one printing advantage, can effectively prevent loaded down with trivial details assembling process, achieve rapid processing and the use of required finished product;
(6) the present invention adopts the method for modularized design, can dismantle unwanted artificial limb, to adapt to the real needs of people with disability according to the concrete condition of the disappearance severed finger of people with disability;
(7) rivet interlacement mode is taked in flexible connection of the present invention, not only convenient the but also complexity of alleviator.
Accompanying drawing explanation
Fig. 1 is that the mechanical type of a complete set of multidirectional degree of freedom points wearable finger prosthesis axonometric drawing;
Fig. 2 is the two degrees of freedom list spindle mapping that the mechanical type of multidirectional degree of freedom points wearable finger prosthesis;
Fig. 3 is that the two degrees of freedom list that the mechanical type of multidirectional degree of freedom points wearable finger prosthesis refers to front view;
Fig. 4 is that the two degrees of freedom list that the mechanical type of multidirectional degree of freedom points wearable finger prosthesis refers to sectional view;
Fig. 5 is the Three Degree Of Freedom list spindle mapping that the mechanical type of multidirectional degree of freedom points wearable finger prosthesis;
Fig. 6 is the single-degree-of-freedom list spindle mapping that the mechanical type of multidirectional degree of freedom points wearable finger prosthesis;
Fig. 7 is the two dactylus mechanism sketches that the mechanical type of multidirectional degree of freedom points wearable finger prosthesis;
Fig. 8 is that the mechanical type of multidirectional degree of freedom points wearable finger prosthesis three dactylus motion sketch;
Wherein, 1-palm, 2-palm rest, 3-forefinger refers to frame, the nearly dactylus of 4-forefinger half cover, and 5-forefinger middle finger joint connects half cover, 6-forefinger middle finger joint, 7-forefinger dactylus connecting rod far away, 8-forefinger dactylus far away, cotter pin in 9-, inclined sheet in 10-, 11-thumb refers to frame, the nearly dactylus of 12-thumb half cover, 13-thumb dactylus far away connects half cover, 14-thumb dactylus far away.
Detailed description of the invention
To develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.
See accompanying drawing 1, the invention provides one and there is the wearable finger prosthesis of multivariant Purely mechanical, comprising: palm portion, forefinger fingerstall, thumb fingerstall, middle finger fingerstall, nameless fingerstall, little finger fingerstall;
Described palm portion comprises: palm 1, palm rest 2;
See accompanying drawing 2,3,4, described forefinger fingerstall comprises: forefinger refers to the nearly dactylus of frame 3, forefinger half cover 4, forefinger middle finger joint connects half cover 5, forefinger middle finger joint 6, forefinger dactylus far away connecting rod 7, forefinger dactylus 8 far away;
See accompanying drawing 5, described thumb fingerstall comprises: interior cotter pin 9, interior inclined sheet 10, thumb refer to the nearly dactylus of frame 11, thumb half cover 12, thumb dactylus far away connects half cover 13, thumb dactylus 14 far away;
See accompanying drawing 6, described middle finger fingerstall, nameless fingerstall, little finger fingerstall are identical with the composition structure of forefinger fingerstall;
Described forefinger refers to frame 3, thumb refers to that frame 11 is the framework of 90-degree bent, and distribution 5 hinge holes;
The finger frame of middle finger fingerstall, nameless fingerstall, little finger fingerstall is the framework of 90-degree bent, and distribution 6 hinge holes;
The nearly dactylus of described forefinger half cover 4, forefinger middle finger joint form the cylindrical shell of a both ends open after connecting half cover 5 docking; And forefinger middle finger joint connects half cover 5, and have 2 symmetrical circular holes in the upper end of its interface be A and A ', it is B and B ' that lower end has 2 symmetrical circular holes; The nearly dactylus of forefinger half cover 4 has 4 symmetrical circular holes and is respectively C and C ', D and D ' in the upper end of its interface, it is E and E ' that lower end has 2 symmetrical syndetons;
The cylindrical shell of described forefinger middle finger joint 6 both ends open, and its upper end has 2 symmetrical circular holes to be F and F ', lower end has 4 symmetrical circular holes to be respectively A2 and A2 ', C2 and C2 ';
Described forefinger dactylus 8 far away is the open housing in one end, and open end has 4 symmetrical circular holes to be respectively F2 and F2 ', G and G ';
The nearly dactylus of described thumb half cover 12, thumb dactylus far away form the cylindrical shell of a both ends open after connecting half cover 13 docking; And thumb dactylus far away connects half cover 13, and have 2 symmetrical circular holes in the upper end of its interface be H and H ', it is I and I ' that lower end has 2 symmetrical circular holes; The nearly dactylus of thumb half cover 12 has 2 symmetrical circular holes in the upper end of its interface be J and J ', and it is K and K ' that lower end has 2 symmetrical circular holes;
Described thumb dactylus far away 14 is identical with forefinger dactylus far away 8 structure, and circular hole is respectively H2 and H2 ', J2 and J2 ';
Its annexation is as follows: forefinger refers to that frame 3 is flexibly connected with palm rest 2 by a rivet, and forefinger refers to that frame 3 rotates around the axis perpendicular to palm plane, by rivet and forefinger, circular hole E and E ' of the nearly dactylus of forefinger half cover 4 ends refers to that frame 3 is flexibly connected, by rivet and forefinger, circular hole B and B ' of forefinger link refers to that frame 3 is flexibly connected; Circular hole C and C ' on the nearly dactylus of forefinger half cover 4 tops coordinates with circular hole C2 and C2 ' the passing hole axle of forefinger middle finger joint 6 end respectively and is flexibly connected, circular hole A and A ' that forefinger middle finger joint connects half cover 5 tops coordinates with circular hole A2 and A2 ' the passing hole axle of forefinger middle finger joint 6 end respectively and is flexibly connected, and wherein the line of circular hole A/A2-B and the line of C/C2-E are space crossed; Circular hole F and F ' on forefinger middle finger joint 6 top respectively circular hole F2 and F2 ' the passing hole axle of dactylus 8 far away from forefinger coordinates and is flexibly connected, circular hole D and D ' on the nearly dactylus of forefinger half cover 4 tops coordinates with the hole passing hole axle of two forefinger dactylus connecting rod 7 far away ends respectively and is flexibly connected, circular hole G and G ' of forefinger dactylus far away 8 coordinates with the hole passing hole axle on two forefinger dactylus connecting rod 7 far away tops respectively and is flexibly connected, and wherein the line of circular hole C2-F/F2 and the line of D-G are space crossed;
Interior sheet 10 is partially connected with palm rest 2 piecemeal activity by interior cotter pin 9, thumb refers to that frame 11 is flexibly connected with interior inclined sheet 10 by a rivet, by rivet and thumb, circular hole K and K ' of the nearly dactylus of thumb half cover 12 ends refers to that frame 11 is flexibly connected, by rivet and thumb, circular hole I and I ' that thumb dactylus far away connects half cover 13 ends refers to that frame 11 is flexibly connected; The nearly dactylus of thumb half cover circular hole J and J ' on 12 tops coordinates with circular hole J2 and J2 ' the passing hole axle of thumb dactylus 14 far away and is flexibly connected, thumb dactylus far away connects half cover circular hole H and H ' on 13 tops and coordinates with circular hole H2 and H2 ' the passing hole axle of thumb dactylus 14 far away and be flexibly connected, and wherein the line of circular hole J/J2-K and the line of H/H2-I are space crossed;
The structure of middle finger fingerstall, nameless fingerstall, little finger fingerstall is all identical with the structure of forefinger fingerstall, and is fixed in palm rest 2 by two rivets by finger frame;
Described forefinger fingerstall, thumb fingerstall, middle finger fingerstall, nameless fingerstall, little finger fingerstall can combination in any be arranged in palm portion, namely the severed finger situation of people with disability is adapted to, by demand combinations, if lack forefinger and middle finger than people with disability, can forefinger fingerstall and middle finger fingerstall be arranged in palm portion;
When forefinger fingerstall is in the naturalness of stretching, junction point C-E line in the nearly knuckle of forefinger that the nearly dactylus of forefinger half cover 4, forefinger middle finger joint are formed after connecting half cover 5 docking and the angle of palm place plane are 15.00 °, the angle of the junction point C-E line in the junction point C-F line in forefinger middle finger joint 6 and the nearly knuckle of forefinger is 7.70 °, and the angle of the junction point C-F line in the line on the knuckle summit far away of the junction point F-in forefinger dactylus far away 8 and forefinger middle finger joint 6 is 17.70 °; When forefinger fingerstall is in bending limit state, junction point C-E line in the nearly knuckle of forefinger that the nearly dactylus of forefinger half cover 4, forefinger middle finger joint are formed after connecting half cover 5 docking and the angle of palm place plane are 45.00 °, the angle of the junction point C-E line in the junction point C-F line in forefinger middle finger joint 6 and the nearly knuckle of forefinger is 55.36 °, and the angle of the junction point C-F line in the line on the knuckle summit far away of the junction point F-in forefinger dactylus far away 8 and forefinger middle finger joint 6 is 55.80 °.
Operation principle: see accompanying drawing 7, when pointing severed finger to the nearly dactylus of forefinger half cover 4 one side direction driving forces, to connect palm rest 2 and forefinger, forefinger fingerstall refers to that the axis of the rivet of frame 3 rotates for rotation centerline, namely forefinger fingerstall carries out lateral deflection campaign, when pointing severed finger to the nearly dactylus of forefinger half cover 4 one bending driving forces to the palm of the hand, the nearly dactylus of forefinger half cover 4, forefinger middle finger joint connects half cover 5, forefinger middle finger joint 6, forefinger dactylus far away connecting rod 7 and forefinger dactylus 8 far away be a composition multi link link gear jointly, when the nearly dactylus of forefinger half cover 4 moves to palm of the hand direction, forefinger middle finger joint is driven to connect half cover 5 successively, forefinger middle finger joint 6, forefinger dactylus connecting rod 7 far away, forefinger dactylus 8 far away moves to palm of the hand direction, realize forefinger fingerstall and carry out curvature movement, therefore the motion of the lateral deflection of forefinger fingerstall and inflexion two degree of freedom is realized,
See accompanying drawing 8, when pointing severed finger to interior inclined sheet 10 1 driving forces, in partially sheet 10 by cotter pin 9 within drive thumb fingerstall for rotation centerline is rotated, namely thumb fingerstall carries out interior to yaw motion, when pointing severed finger to the nearly dactylus of thumb half cover 12 1 side direction driving forces, thumb fingerstall connects and refers to that the axis of the rivet of frame 11 rotates for center of rotation to connect interior inclined sheet 10 and thumb, and thumb fingerstall carries out lateral deflection campaign, when pointing severed finger to the nearly dactylus of thumb half cover 12 1 bending driving forces to the palm of the hand, the nearly dactylus of thumb half cover 12, thumb dactylus far away connects half cover 13 and thumb dactylus 14 far away forms a connection-rod linkage mechanism jointly, when the nearly dactylus of thumb half cover 12 moves to palm of the hand direction, drive thumb dactylus far away to connect partly cover 13 and thumb dactylus 14 far away successively to move to palm of the hand direction, realize thumb fingerstall and carry out curvature movement, therefore realize in thumb fingerstall to deflection, the motion of lateral deflection and the three degree of freedom that curves inwardly,
When pointing the bending driving force from nearly dactylus to the palm of the hand of severed finger to middle finger fingerstall, nameless fingerstall, little finger fingerstall, move identical with the inflexion of forefinger fingerstall, namely middle finger fingerstall, nameless fingerstall, little finger fingerstall all have the motion of inflexion one degree of freedom.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. there is the wearable finger prosthesis of multivariant Purely mechanical, it is characterized in that, comprising: palm portion, forefinger fingerstall, thumb fingerstall, middle finger fingerstall, nameless fingerstall, little finger fingerstall;
Described palm portion comprises: palm (1), palm rest (2);
Described forefinger fingerstall comprises: forefinger refers to that frame (3), the nearly dactylus of forefinger half overlaps (4), forefinger middle finger joint connects half cover (5), forefinger middle finger joint (6), forefinger dactylus far away connecting rod (7), forefinger dactylus far away (8);
Described thumb fingerstall comprises: interior cotter pin (9), interior inclined sheet (10), thumb refer to that frame (11), the nearly dactylus of thumb half overlaps (12), thumb dactylus far away connects half cover (13), thumb dactylus far away (14);
Described forefinger refers to frame (3), thumb refers to that frame (11) is the framework of 90-degree bent;
The nearly dactylus of described forefinger half cover (4), forefinger middle finger joint form the cylindrical shell of a both ends open after connecting half cover (5) docking; And forefinger middle finger joint connects half cover (5) has two symmetrical syndetons in the upper end of its interface, lower end has two symmetrical syndetons; The nearly dactylus of forefinger half cover (4) has four symmetrical syndetons in the upper end of its interface, lower end has two symmetrical syndetons;
The cylindrical shell that described forefinger middle finger joint (6) is both ends open, and there are two symmetrical syndetons its upper end, there are four symmetrical syndetons lower end;
Described forefinger dactylus far away (8) is the open housing in one end, and there are four symmetrical syndetons open end;
The nearly dactylus of described thumb half cover (12), thumb dactylus far away form the cylindrical shell of a both ends open after connecting half cover (13) docking; And thumb dactylus far away connects half cover (13) has two symmetrical syndetons in the upper end of its interface, lower end has two symmetrical syndetons; The nearly dactylus of thumb half cover (12) has two symmetrical syndetons in the upper end of its interface, lower end has two symmetrical syndetons;
Described thumb dactylus far away (14) is identical with forefinger dactylus far away (8) structure;
Described middle finger fingerstall, nameless fingerstall, little finger fingerstall are all identical with the composition of forefinger fingerstall and structure;
Its annexation is as follows: forefinger refers to that the vertical portion of frame (3) is flexibly connected with palm rest (2), and forefinger refers to that frame (3) can rotate around the axis perpendicular to palm plane, with forefinger, the syndeton of the nearly dactylus of forefinger half cover (4) end refers to that the horizontal component of frame (3) is flexibly connected near the position of palm of the hand plane, junction point is set to E, with forefinger, the syndeton that forefinger middle finger joint connects half cover (5) end refers to that the horizontal component of frame (3) is flexibly connected near the position of the back of the hand plane, junction point is set to B; The syndeton on the nearly dactylus of forefinger half cover (4) top is flexibly connected with the syndeton of forefinger middle finger joint (6) end, junction point is set to C, the syndeton that forefinger middle finger joint connects half cover (5) top is flexibly connected with the syndeton of forefinger middle finger joint (6) end, and junction point is set to A; Wherein, the line of junction point A-B and the line of junction point C-E are space crossed; The syndeton on forefinger middle finger joint (6) top is flexibly connected with the syndeton of forefinger dactylus far away (8), junction point is set to F, the syndeton on the nearly dactylus of forefinger half cover (4) top is flexibly connected with the hole of forefinger dactylus connecting rod (7) far away end, junction point is set to D, the syndeton of forefinger dactylus far away (8) is flexibly connected with the hole on forefinger dactylus connecting rod (7) far away top, junction point is set to G, wherein, the line of junction point C-F and the line of junction point D-G are space crossed;
Interior sheet (10) is partially connected with palm rest (2) piecemeal activity by interior cotter pin (9), thumb refers to that the vertical portion of frame (11) is flexibly connected with interior inclined sheet (10), with thumb, the syndeton of the nearly dactylus of thumb half cover (12) end refers to that the horizontal component of frame (11) is flexibly connected near the position of palm of the hand plane, junction point is set to K, with thumb, the syndeton that thumb dactylus far away connects half cover (13) end refers to that the horizontal component of frame (11) is flexibly connected near the position of the back of the hand plane, junction point is set to I; The syndeton on the nearly dactylus of thumb half cover (12) top is flexibly connected with the syndeton of thumb dactylus far away (14), junction point is set to J, the syndeton that thumb dactylus far away connects half cover (13) top is flexibly connected with the syndeton of thumb dactylus far away (14), and junction point is set to H; Wherein, the line of junction point J-K and the line of junction point H-I are space crossed;
Middle finger fingerstall, nameless fingerstall, little finger fingerstall are by referring to that frame is fixed in palm rest (2).
2. one as claimed in claim 1 has the wearable finger prosthesis of multivariant Purely mechanical, and it is characterized in that, described forefinger fingerstall, thumb fingerstall, middle finger fingerstall, nameless fingerstall, little finger fingerstall can combination in any be arranged in palm portion.
3. one as claimed in claim 1 has the wearable finger prosthesis of multivariant Purely mechanical, it is characterized in that, described forefinger refers to the movable connection method of frame (3) and miscellaneous part, movable connection method that thumb refers to frame (11) and miscellaneous part, its excess-three refer to that the movable connection method of frame and miscellaneous part is rivet interlacement.
4. one as claimed in claim 1 has the wearable finger prosthesis of multivariant Purely mechanical, it is characterized in that, when forefinger fingerstall is in the naturalness of stretching, the nearly dactylus of forefinger half cover (4), junction point C-E line in the nearly knuckle of forefinger that forefinger middle finger joint is formed after connecting half cover (5) docking and the angle of palm place plane are 15.00 °, the angle of the junction point C-E line in the junction point C-F line in forefinger middle finger joint (6) and the nearly knuckle of forefinger is 7.70 °, the angle of the junction point C-F line in the line on the knuckle summit far away of the junction point F-in forefinger dactylus far away (8) and forefinger middle finger joint (6) is 17.70 °, when forefinger fingerstall is in bending limit state, junction point C-E line in the nearly knuckle of forefinger that the nearly dactylus of forefinger half cover (4), forefinger middle finger joint are formed after connecting half cover (5) docking and the angle of palm place plane are 45.00 °, the angle of the junction point C-E line in the junction point C-F line in forefinger middle finger joint (6) and the nearly knuckle of forefinger is 55.36 °, and the angle of the junction point C-F line in the line on the knuckle summit far away of the junction point F-in forefinger dactylus far away (8) and forefinger middle finger joint (6) is 55.80 °.
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| CN201410515863.2A CN104306087B (en) | 2014-09-29 | 2014-09-29 | One has the wearable finger prosthesis of multivariant Purely mechanical |
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| CN201410515863.2A CN104306087B (en) | 2014-09-29 | 2014-09-29 | One has the wearable finger prosthesis of multivariant Purely mechanical |
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| CN104306087B CN104306087B (en) | 2016-06-22 |
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| CN107229344A (en) * | 2017-07-06 | 2017-10-03 | 东南大学 | A kind of finger ring type haptic gloves and preparation method that clamping force feeling is provided |
| CN108371575A (en) * | 2018-01-23 | 2018-08-07 | 莆田学院 | A kind of severed finger auxiliary grip and knocking device |
| CN109454658A (en) * | 2018-12-21 | 2019-03-12 | 长安大学 | A kind of mechanical finger |
| CN109514544A (en) * | 2018-12-27 | 2019-03-26 | 浙江工业大学 | A kind of bionic mechanical hand |
| CN112494186A (en) * | 2020-10-21 | 2021-03-16 | 南昌大学 | Mechanical auxiliary grabbing device for thumb missing crowd |
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| CN112494186A (en) * | 2020-10-21 | 2021-03-16 | 南昌大学 | Mechanical auxiliary grabbing device for thumb missing crowd |
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