CN109864838A - The wearable compound rod piece prosthetic hand of resilient stiff refers to - Google Patents
The wearable compound rod piece prosthetic hand of resilient stiff refers to Download PDFInfo
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- CN109864838A CN109864838A CN201910278390.1A CN201910278390A CN109864838A CN 109864838 A CN109864838 A CN 109864838A CN 201910278390 A CN201910278390 A CN 201910278390A CN 109864838 A CN109864838 A CN 109864838A
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- 150000001875 compounds Chemical class 0.000 title claims abstract description 9
- 210000003414 extremity Anatomy 0.000 claims description 34
- 210000000707 wrist Anatomy 0.000 claims description 21
- 239000000758 substrate Substances 0.000 claims description 13
- 238000005452 bending Methods 0.000 claims description 3
- 241000905957 Channa melasoma Species 0.000 claims 1
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 238000002567 electromyography Methods 0.000 abstract description 2
- 210000003811 finger Anatomy 0.000 description 103
- 230000033001 locomotion Effects 0.000 description 19
- 230000009471 action Effects 0.000 description 9
- 210000001145 finger joint Anatomy 0.000 description 9
- 210000003813 thumb Anatomy 0.000 description 8
- 238000002266 amputation Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000005057 finger movement Effects 0.000 description 4
- 210000004932 little finger Anatomy 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000001037 metacarpus Anatomy 0.000 description 2
- 238000005728 strengthening Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Abstract
The invention discloses a kind of wearable compound rod piece prosthetic hands of resilient stiff to refer to.Artificial limb finger first knuckle of the present invention is made of stretch section, connecting section and rigid section, first knuckle stretch section proximal end and finger rack are hinged, linkage section is fixedly connected by screw and first knuckle fixed frame, and first knuckle fixed frame is fixed on the residual finger of manpower first knuckle by first knuckle bandage, first knuckle rigid section time distal end is hinged with second knuckle；First connecting rod is made of stretch section, contact-segment and rigid section, and first connecting rod stretch section proximal end and finger rack are hinged, and first connecting rod rigid section distal end is hinged with second knuckle；Second knuckle is hinged with third knuckle, second connecting rod proximal end and artificial limb first knuckle rigid section distal end articulated, and second connecting rod distal end is hinged with third knuckle.Artificial limb finger of the present invention provides motion-promotion force by the residual finger of manpower, is not necessarily to battery, motor, deceleration device and electromyography signal sensor, wearable coupling with manpower, is easily installed and removes.
Description
Technical field
The invention belongs to medical rehabilitation instrument field, in particular to a kind of compound rod piece prosthetic hand of wearable resilient stiff
Refer to.
Background technique
Artificial limb finger is used as the important component of prosthetic hand at present, and prosthetic hand is installed on disabled person's deformed limb end, is used
In the certain functions of realizing manpower, it is generally used for from wrist or ancon patients with amputation.The Suva of German OttoBock company is mono- certainly
It is driven by one micromotor of degree prosthetic hand, this kind of prosthetic hand only has simple folding function, can not achieve complicated movement
Mode.Modern prosthese hand then has multiple freedom degrees, and there are five fingers for general tool, and wherein index finger, middle finger, the third finger and little finger of toe are mechanical
Structure is identical, is referred to as finger, and each finger is main movable joint there are two joint, the first joint, and second joint is driven joint,
The movement in two joints is coupling, and each finger is driven by a micromotor, and this driving method is referred to as drive lacking in the industry.
More representational multi-freedom artificial limb hand is the ilimb prosthetic hand and Iceland that the Blatchford&son company of Britain produces
The Bebionic prosthetic hand of Steeper company production.The first joint of finger of ilimb prosthetic hand is driven by worm and wormwheel, miniature
Motor micro speed reducing device assembly is placed in the cavity of finger first knuckle, and miniature reducer output shaft drives snail by bevel gear pair
Bar revolution, worm gear is connected in palmar hand, fixed relative to palm, and when motor revolution, worm screw is miniature together with micromotor
Retarder and first knuckle are turned round around worm gear, realize the movement in the first joint, and second joint is driven by the rope for being connected in worm gear.
The first joint of finger of Bebionic prosthetic hand is driven by sliding-block linkage, and second joint is driven by four-bar mechanism, and four connect
The active movement rod piece of bar is first knuckle, and micromotor micro speed reducing device assembly is placed in palm.
ILimb artificial limb hand finger, since motor and reducer assemblies are placed in first knuckle cavity, it can also be used to from metacarpus
Patients with amputation, and Bebionic artificial limb finger, since motor and reducer assemblies are placed in palm, it is impossible to be used in from metacarpus amputation
Patient.
In addition, by being found to existing literature retrieval:
Chinese invention patent publication number: CN 1418765, title: Dexterous Robot Hand Mechanism.Two passes of each finger
Section is divided to be controlled respectively by two motors, although increasing flexibility, is not suitable for prosthetic hand due to weight etc..
Chinese invention patent publication number: CN 1365877, title: multi-finger hand simulating.Index finger, middle finger, nothing
Name refer to, four fingers of little finger of toe, one motor control；One motor control of thumb.It is only able to achieve the five fingers grasping manipulation mode,
The finger of other motor patterns such as two pinch take, the operation modes such as double click cannot achieve.
Chinese invention patent publication number: 103565562 A of CN, a kind of title: drive lacking prosthetic hand.Use three motors
The movement of five fingers is controlled, wherein index finger and middle finger are by a motor control, and nameless and little finger of toe is by a motor control, thumb
Refer to by a motor control, can not achieve the self-movement of each finger.Its mechanical drive train is motor driven feed screw nut's machine
Structure, then by slide block guide rail mechanism the rotary motion of motor is converted to the linear movement of sliding block, sliding block pulls rope to drive hand
Refer to each finger joint, transmission chain is longer, keeps hand sizes also longer；The outward turning of thumb and the bent exhibition movement of thumb are not independent.
Chinese invention patent publication number: 103538077 A of CN, a kind of title: multiple degrees of freedom bionic mechanical hand.Use six
Platform motor control prosthetic hand, wherein index finger, middle finger, ring finger and little finger respectively use a motor；Two motors of thumb, one with
In thumb outward turning, one is bent exhibition for thumb.Motor is all fixed on palm, and mechanical drive train is worm and worm gear.Finger
It is sequentially put with thumb motor, keeps palm very long.
It can be seen that from above-mentioned existing product and patented technology for the artificial limb finger from amputation from finger first knuckle
Research also lacks very much.From surgical angle, it is reasonable for capable of as often as possible retaining the tissue of disabled person；Pacify from artificial limb
The angle of dress company is set out, and more excision remnant tissues install artificial limb more convenient sometimes.It is disabled from amputation from finger first knuckle
Person remains a part of first knuckle, and the residual finger of finger can still act, if a kind of artificial limb finger can be invented, realize second knuckle and
The function of third knuckle can bring great life convenient to these disabled persons.
Summary of the invention
It is an object of the invention to overcome the shortcomings of in current artificial limb finger and patented technology, provide a kind of structure it is simple,
Reliably, light-weight artificial limb finger structure, can be used for the patient from finger first knuckle amputation.
The present invention is achieved through the following technical solutions: for sake of convenience, hereinafter, one end of part close to wrist being called
The proximal end of the part, and one end close to finger tip is called the distal end of the part.
This wearable compound rod piece prosthetic hand of resilient stiff refers to from the near to the distant include artificial limb first knuckle, second knuckle and the
Three finger joints；The second bandage of the first bandage of wrist and wrist is each passed through in two side channels of the distal end of substrate, two bandages pass through viscous
It connects or snapping is linked together, the distal end of substrate is made to be fixedly connected with human body wrist；Finger rack by the first rivet of rack and
The second rivet joint of rack is in the distal end of substrate, and close manpower finger first knuckle joint；Artificial limb first knuckle is a bar
Part, the rod piece is by three Duan Zucheng, and respectively stretch section, connecting section and rigid section, stretch section shape are a thin song from the near to the distant
Line plate, the proximal end of stretch section have pin shaft hole, and first knuckle proximal end pin shaft passes through stretch section proximal end pin shaft hole and finger rack
A pin shaft hole, realize the hinge-coupled of artificial limb first knuckle distal end and finger rack, the two can opposite revolution, stretch section
It can produce bending and the flexible deformation stretched, connecting section has elongate slot along finger orientation, and first knuckle fixing screws are worn
It crosses slot and is connected in first knuckle fixed frame, first knuckle bandage passes through the slot on first knuckle fixed frame, first knuckle is consolidated
Determine frame to be fixed on the residual finger of manpower finger first knuckle and be on the back of the hand direction, such artificial limb first knuckle connecting section and manpower
The residual finger of first knuckle, which realizes, to be fixedly connected, and artificial limb first knuckle rigid section is with the residual finger of manpower first knuckle around manpower finger
The revolution of first joint, rigid section have stronger rigidity, cannot generate flexible deformation, time distal end tool pin shaft hole of rigid section, and first
Finger joint time distal end pin shaft passes through rigid section time distal end pin shaft hole, realizes that artificial limb first knuckle time distal end is hinged with artificial limb second knuckle
Connection；First connecting rod is by three Duan Zucheng, and respectively stretch section, contact jaw and rigid section, stretch section shape are one thin from the near to the distant
Curve plate, the proximal end of stretch section has pin shaft hole, and first connecting rod proximal end pin shaft passes through one of the pin shaft hole and finger rack
Pin shaft hole realizes the hinge-coupled of first connecting rod and finger rack, and the two opposite can turn round, and first connecting rod is in manpower
On the outside of finger at the back of the hand direction side, finger movement, connecting rod is turned round around the hole of finger rack, and contact-segment is used for and manpower first
Finger joint joint contact, stretch section can produce flexible deformation, and rigid section has stronger rigidity, cannot generate flexible deformation, rigidity
The distal end of section has pin shaft hole, and first connecting rod distal end pin shaft passes through rigid section distal end pin shaft hole and second knuckle lower end pin shaft hole, real
The hinge-coupled of existing first connecting rod and second knuckle；It is realized with second knuckle upper end by third knuckle pin shaft third knuckle upper end
Hinge-coupled, the two can be relatively rotated around upper end axis；Second connecting rod proximally by second connecting rod proximal end pin shaft and artificial limb
Hinge-coupled is realized in first knuckle rigid section distal end, and the distal end of second connecting rod passes through under second connecting rod distal end pin shaft and third knuckle
Realize hinge-coupled in end；Transmission process when finger is counted on one's fingers is that residual refer to of the first knuckle of manpower finger returns around first knuckle joint
Turn, artificial limb first knuckle rigid section is moved with manpower finger first knuckle, and artificial limb first knuckle stretch section generates elasticity and becomes
Shape is to adapt to this movement, and when first knuckle angle of revolution is smaller, first connecting rod contact-segment is not yet closed with manpower finger first
Section contact, first connecting rod stretch section does not generate flexible deformation, and under the action of first connecting rod, second knuckle is made with respect to first knuckle
Lesser opposite revolution, under the action of second connecting rod, third knuckle makees the revolution of smaller angle with respect to second knuckle, realizes hand
The lesser movement of counting on one's fingers referred to, when first knuckle angle of revolution is larger, first connecting rod contact-segment and the first joint of manpower finger
Contact, first connecting rod stretch section generate flexible deformation, and under the action of first connecting rod, second knuckle is made larger with respect to first knuckle
Opposite revolution, under the action of second connecting rod, third knuckle is made to turn round accordingly with respect to second knuckle, realizes the larger of finger
Movement of counting on one's fingers, stretch section, finger rack, substrate, the first bandage of wrist and the second bandage of wrist of artificial limb first knuckle play
The effect for strengthening connection prevents artificial limb finger first knuckle along residual the fingers landing of manpower first knuckle；Transmission when finger exhibition refers to
Process, which is that the first knuckle of manpower finger is residual, refers to that making exhibition around first knuckle joint refers to revolution, and artificial limb first knuckle rigid section is with people
Hand finger first knuckle moves together, and artificial limb first knuckle stretch section is made to restore movement, and the stretch section of first connecting rod, which is also done, to be restored
Movement, under the action of first connecting rod, second knuckle makees the opposite revolution that exhibition refers to respect to first knuckle, in the effect of second connecting rod
Under, third knuckle makees exhibition with respect to second knuckle and refers to revolution.
The present invention has following technical advantage:
(1) movement of artificial limb finger provides motion-promotion force by the residual finger of manpower first knuckle, is not necessarily to micromotor, mechanical reduction
Device and lithium battery, structure are simple.
(2) movement of artificial limb finger is manipulated by human brain, is not necessarily to electromyography signal sensor and processing circuit.
(3) artificial limb first knuckle and first connecting rod include stretch section and rigid section, are located on the outside of manpower finger, are in
Manpower the back of the hand direction will not form mechanical disturbance to manpower finger movement.
(4) artificial limb finger substrate is fixed by wrist bandage and manpower wrist, realizes artificial limb the by first knuckle bandage
One finger joint is fixed with manpower first knuckle, has the characteristics that wearing, and assembly and dismounting are convenient.
Detailed description of the invention
The exhibition instruction of Fig. 1 artificial limb finger is intended to；
Fig. 2 artificial limb finger is counted on one's fingers schematic diagram.
Wherein: 1. finger deformed limb, 2. first knuckle fixing screws, 3. first connecting rod
4. 5. the first rivet of rack of first connecting rod proximal end pin shaft, 6. the second rivet of rack
7. 8. hand model of the first bandage of wrist, 9. the second bandage of wrist
10. 11. finger rack of substrate, 12. first knuckle proximal end pin shaft
13. 14. first knuckle fixed frame of artificial limb first knuckle, 15. first knuckle bandage
16. 18. second knuckle of first knuckle time distal end 17. first connecting rod distal end pin shaft of pin shaft
19. 20. second connecting rod of third knuckle pin shaft, 21. second connecting rod distal end pin shaft
22. 23. second connecting rod proximal end pin shaft of third knuckle
Specific embodiment
Invention is described further below in conjunction with attached drawing.
As shown in Figure 1, this wearable compound rod piece prosthetic hand of resilient stiff refer to include from the near to the distant artificial limb first knuckle 13,
Second knuckle 18 and third knuckle 22；The first bandage of wrist 7 and wrist second are each passed through in two side channels of the distal end of substrate 10
Bandage 9, two bandages are linked together by bonding or snapping, make wrist fixed connection of the distal end of substrate 10 with hand model 8
It connects；Finger rack 11 is connected in the distal end of substrate 10 by the first rivet of rack 5 and the second rivet of rack 6, and close to manpower hand
Refer to first knuckle joint；Artificial limb first knuckle 13 is a rod piece, which, by three Duan Zucheng, is respectively elasticity from the near to the distant
Section, connecting section and rigid section, stretch section shape are a thin curve plate, and the proximal end of stretch section has pin shaft hole, first knuckle
Proximal end pin shaft 12 passes through a pin shaft hole of stretch section proximal end pin shaft hole and finger rack 11, realizes 13 proximal end of artificial limb first knuckle
With the hinge-coupled of finger rack 11, the two opposite can be turned round, the flexible deformation that stretch section can produce bending and stretch, connection
Connecing section has elongate slot along finger orientation, and first knuckle fixing screws 2 pass through slot and are connected in first knuckle fixed frame 14, the
One finger joint bandage 15 passes through the slot on first knuckle fixed frame 14, and first knuckle fixed frame 14 is fixed on manpower finger first and is referred to
It saves on residual finger 1 and on the back of the hand direction, such 13 connecting section of artificial limb first knuckle and the residual finger 1 of manpower first knuckle realize admittedly
Fixed connection, 13 rigid section of artificial limb first knuckle refer to that 1 turns round around the first joint of manpower finger with manpower first knuckle is residual, rigidity
Section has stronger rigidity, cannot generate flexible deformation, time distal end tool pin shaft hole of rigid section, and first knuckle time distal end pin shaft 16 is worn
Rigid section time distal end pin shaft hole is crossed, realizes 13 distal ends of artificial limb first knuckle and 18 hinge-coupled of artificial limb second knuckle；First connects
Bar 3 is by three Duan Zucheng, and respectively stretch section, contact jaw and rigid section, stretch section shape are a thin curve plate from the near to the distant,
The proximal end of stretch section has pin shaft hole, and first connecting rod proximal end pin shaft 4 passes through a pin shaft hole of the pin shaft hole and finger rack 11, real
The hinge-coupled of existing first connecting rod 3 and finger rack 11, the two opposite can turn round, and first connecting rod 3 is in manpower finger
At the back of the hand direction side, finger movement, first connecting rod 3 is turned round around the hole of finger rack 11 in outside, and contact-segment can be with manpower the
One finger joint joint contact, stretch section can produce flexible deformation, and rigid section has stronger rigidity, cannot generate flexible deformation, just
Property section distal end have pin shaft hole, first connecting rod distal end pin shaft 17 pass through 18 lower end pin shaft of rigid section distal end pin shaft hole and second knuckle
The hinge-coupled of first connecting rod 3 and second knuckle 18 is realized in hole；22 upper end of third knuckle and 18 upper end of second knuckle pass through third
Finger joint pin shaft 19 realizes that hinge-coupled, the two can be relatively rotated around upper end axis；Second connecting rod 20 connects proximally by second
Bar proximal end pin shaft 23 and first knuckle 13 distally realize hinge-coupled, and the distal end of second connecting rod 20 passes through second connecting rod distal end pin shaft
21 realize hinge-coupled with 22 lower end of third knuckle；Transmission process when finger is counted on one's fingers, which is that the first knuckle of manpower finger is residual, refers to 1
It is turned round around first knuckle joint, 13 rigid section of artificial limb first knuckle is moved with manpower finger first knuckle, and artificial limb first refers to
It saves 13 stretch sections and generates flexible deformation to adapt to this movement, when 13 angle of revolution of first knuckle is smaller, first connecting rod 3 is contacted
Duan Shangwei and the first joint contact of manpower finger, 3 stretch section of first connecting rod does not generate flexible deformation, in the effect of first connecting rod 3
Under, second knuckle 18 makees lesser opposite revolution, under the action of second connecting rod 20,22 phase of third knuckle with respect to first knuckle 13
The lesser movement of counting on one's fingers of finger is realized in the revolution for making smaller angle to second knuckle 18, when 13 angle of revolution of first knuckle compared with
When big, 3 contact-segment of first connecting rod and the first joint contact of manpower finger, 3 stretch section of first connecting rod generate flexible deformation, first
Under the action of connecting rod 3, second knuckle 18 makees biggish opposite revolution with respect to first knuckle 13, under the action of second connecting rod 20,
Third knuckle 22 turns round accordingly with respect to second knuckle 18, realizes the biggish movement of counting on one's fingers of finger, and artificial limb finger first refers to
Stretch section, finger rack 11, substrate 10, the first bandage of wrist 7 and the second bandage of wrist 8 of section 13 play the work for strengthening connection
With, prevent artificial limb finger first knuckle 13 along manpower first knuckle it is residual refer to 1 slide；Transmission process when finger exhibition refers to is manpower
The first knuckle of finger is residual to refer to that 1 makees exhibition around first knuckle joint and refers to revolution, and 13 rigid section of artificial limb first knuckle is with manpower finger the
One finger joint moves together, and 13 stretch section of artificial limb first knuckle is made to restore movement, and the stretch section of first connecting rod 3 also does recovery movement,
Under the action of first connecting rod 3, second knuckle 18 makees the opposite revolution that exhibition refers to respect to first knuckle 13, in the work of second connecting rod 20
Under, third knuckle 22 makees exhibition with respect to second knuckle 18 and refers to revolution.
Claims (3)
1. a kind of compound rod piece prosthetic hand of wearable resilient stiff refers to, it is characterised in that: worn respectively in two side channels of substrate distal end
It crosses the second bandage of the first bandage of wrist and wrist, the first bandage of wrist and the second bandage of wrist and is connected in one by bonding or snapping
It rises, the distal end of substrate is made to be fixedly connected with human body wrist；Finger rack passes through the second rivet joint of the first rivet of rack and rack
It is adjacent with the first articulations digitorum manus of manpower finger in the distal end of substrate；First knuckle is by three Duan Zucheng, and respectively first refers to from the near to the distant
Stretch section, first knuckle connecting section and first knuckle rigid section are saved, first knuckle stretch section distal end is hinge connection with finger rack
It connects, the flexible deformation that first knuckle stretch section generates bending and stretches, first knuckle connecting section has elongate slots along finger orientation
Hole, first knuckle pass through slot by fixing screws and are connected in first knuckle fixed frame, and first knuckle bandage passes through first knuckle
First knuckle fixed frame is fixed on the residual finger of manpower finger first knuckle by the slot on fixed frame, and first knuckle rigid section is with people
The residual finger of hand first knuckle is turned round around the first joint of manpower finger together, and first knuckle rigid section distal end hingedly joins with second knuckle
It connects；First connecting rod is by three Duan Zucheng, and respectively first connecting rod stretch section, first connecting rod contact jaw and first connecting rod are rigid from the near to the distant
Property section, first connecting rod stretch section proximal end and finger rack are hinge-coupled, and first connecting rod is turned round around the hole of finger rack, and first connects
Bar contact-segment and manpower first knuckle joint contact, first connecting rod stretch section generate flexible deformation, and first connecting rod rigid section has
Stronger rigidity first connecting rod rigid section distal end and second knuckle are hinge-coupled；Third knuckle upper end passes through with second knuckle upper end
Third knuckle pin shaft realizes that hinge-coupled, the two are relatively rotated around upper end axis；The proximal end of second connecting rod and artificial limb first knuckle
Distal end is hinge-coupled, and distal end and the third knuckle lower end of second connecting rod are hinge-coupled.
2. the compound rod piece prosthetic hand of wearable resilient stiff refers to according to claim 1, it is characterised in that: the first knuckle
On the outside of the residual finger of manpower first knuckle, and on manpower the back of the hand direction.
3. the compound rod piece prosthetic hand of wearable resilient stiff refers to according to claim 1, it is characterised in that: first connecting rod is located at
On the outside of the residual finger of manpower first knuckle, and on manpower the back of the hand direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278390.1A CN109864838B (en) | 2019-04-09 | 2019-04-09 | Wearable elastic rigid composite rod artificial finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278390.1A CN109864838B (en) | 2019-04-09 | 2019-04-09 | Wearable elastic rigid composite rod artificial finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109864838A true CN109864838A (en) | 2019-06-11 |
| CN109864838B CN109864838B (en) | 2024-02-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910278390.1A Active CN109864838B (en) | 2019-04-09 | 2019-04-09 | Wearable elastic rigid composite rod artificial finger |
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| Country | Link |
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| CN (1) | CN109864838B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113069252A (en) * | 2021-03-30 | 2021-07-06 | 合肥工业大学 | Bevel gear connecting rod configuration bionic artificial limb |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1832711A (en) * | 2003-08-21 | 2006-09-13 | 丹尼尔·帝德里克 | Articulated artificial finger assembly |
| EP2545886A1 (en) * | 2011-07-14 | 2013-01-16 | Charles Colin MacDuff | Mechanical prosthetic finger device |
| CN203598078U (en) * | 2013-09-30 | 2014-05-21 | 王博成 | Module type human-imitated artificial finger |
| CN203935304U (en) * | 2014-06-20 | 2014-11-12 | 袁宁 | A kind of Novel bionic ectoskeleton wire-control type artificial limb |
| CN106667628A (en) * | 2016-12-05 | 2017-05-17 | 上海交通大学 | Half-palm artificial limb hand |
| CN106726027A (en) * | 2016-02-24 | 2017-05-31 | 吉林大学 | A kind of drive lacking prosthetic hand |
| KR20180106346A (en) * | 2017-03-20 | 2018-10-01 | 박경국 | Finger prosthesis |
| CN209933083U (en) * | 2019-04-09 | 2020-01-14 | 唐山康义合纵科技有限公司 | Wearable elastic rigid composite rod artificial limb finger |
-
2019
- 2019-04-09 CN CN201910278390.1A patent/CN109864838B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1832711A (en) * | 2003-08-21 | 2006-09-13 | 丹尼尔·帝德里克 | Articulated artificial finger assembly |
| EP2545886A1 (en) * | 2011-07-14 | 2013-01-16 | Charles Colin MacDuff | Mechanical prosthetic finger device |
| CN203598078U (en) * | 2013-09-30 | 2014-05-21 | 王博成 | Module type human-imitated artificial finger |
| CN203935304U (en) * | 2014-06-20 | 2014-11-12 | 袁宁 | A kind of Novel bionic ectoskeleton wire-control type artificial limb |
| CN106726027A (en) * | 2016-02-24 | 2017-05-31 | 吉林大学 | A kind of drive lacking prosthetic hand |
| CN106667628A (en) * | 2016-12-05 | 2017-05-17 | 上海交通大学 | Half-palm artificial limb hand |
| KR20180106346A (en) * | 2017-03-20 | 2018-10-01 | 박경국 | Finger prosthesis |
| CN209933083U (en) * | 2019-04-09 | 2020-01-14 | 唐山康义合纵科技有限公司 | Wearable elastic rigid composite rod artificial limb finger |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113069252A (en) * | 2021-03-30 | 2021-07-06 | 合肥工业大学 | Bevel gear connecting rod configuration bionic artificial limb |
| CN113069252B (en) * | 2021-03-30 | 2024-02-06 | 合肥工业大学 | Umbrella tooth connecting rod configuration bionic artificial limb |
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| Publication number | Publication date |
|---|---|
| CN109864838B (en) | 2024-02-23 |
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