CN115444635A - Rope traction mechanical artificial hand simulating ligament structure - Google Patents
Rope traction mechanical artificial hand simulating ligament structure Download PDFInfo
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- CN115444635A CN115444635A CN202211114904.8A CN202211114904A CN115444635A CN 115444635 A CN115444635 A CN 115444635A CN 202211114904 A CN202211114904 A CN 202211114904A CN 115444635 A CN115444635 A CN 115444635A
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- 210000003041 ligament Anatomy 0.000 title claims abstract description 73
- 210000003811 finger Anatomy 0.000 claims abstract description 50
- 210000000707 wrist Anatomy 0.000 claims abstract description 25
- 210000003813 thumb Anatomy 0.000 claims abstract description 24
- 210000000245 forearm Anatomy 0.000 claims abstract description 21
- 229920001296 polysiloxane Polymers 0.000 claims description 18
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 16
- 239000000741 silica gel Substances 0.000 claims description 16
- 229910002027 silica gel Inorganic materials 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 15
- 238000005452 bending Methods 0.000 claims description 7
- 230000001050 lubricating effect Effects 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 210000004932 little finger Anatomy 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 210000005224 forefinger Anatomy 0.000 claims description 2
- 230000003993 interaction Effects 0.000 abstract description 3
- 230000000087 stabilizing effect Effects 0.000 description 10
- 210000003414 extremity Anatomy 0.000 description 7
- 210000001145 finger joint Anatomy 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000002266 amputation Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2002/543—Lower arms or forearms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
- A61F2002/587—Thumbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6827—Feedback system for providing user sensation, e.g. by force, contact or position
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Cardiology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a rope traction mechanical artificial hand simulating a ligament structure, which comprises a mechanical hand (9) and artificial skin (2) on the outer side of the mechanical hand (9), wherein the mechanical hand (9) comprises a palm (1), four fingers (3) and a thumb (4) are arranged on the front side of the palm (1), a wrist (5) is arranged on the rear side of the palm (1), a forearm (6) is arranged on the rear side of the wrist (5), pressure sensors (7) are arranged on the surfaces of the palm (1), the four fingers (3), the thumb (4), the wrist (5) and the forearm (6), and a touch projection map (8) connected with the pressure sensors (7) is arranged in the forearm (6). The device has the advantages of simple structure and multiple degrees of freedom, and has a human-computer interaction function.
Description
Technical Field
The invention relates to a prosthetic hand, in particular to a rope traction mechanical prosthetic hand simulating a ligament structure.
Background
Due to accidents, industrial injuries, diseases and the like, a large number of amputation patients are generated in the world, most of the amputation patients are hand amputation patients, and the amputation patients cannot independently complete daily life requirements, so that the quality of life is obviously reduced. The single-degree-of-freedom artificial hand can complete limited gripping actions through simple finger opening and closing, has single function and poor practicability, does not have human-simulated appearance, is not harmonious with a human body after being worn, and is easily rejected by a patient; the multi-degree-of-freedom artificial hand has the appearance of a hand, is easy to accept by a patient, has better flexibility due to the fact that the number of joints close to that of the hand is set, can realize various actions, and is complex in structure and less in degree of freedom due to the fact that more hinges, connecting rods or other traditional transmission modes are used.
Disclosure of Invention
The invention aims to provide a rope traction mechanical prosthetic hand simulating a ligament structure. The device has the advantages of simple structure and multiple degrees of freedom, and has a human-computer interaction function.
The technical scheme of the invention is as follows: a rope traction mechanical artificial hand simulating a ligament structure comprises a mechanical hand and artificial skin on the outer side of the mechanical hand, wherein the mechanical hand comprises a palm, four fingers and a thumb are arranged on the front side of the palm, a wrist is arranged on the rear side of the palm, a forearm is arranged on the rear side of the wrist, pressure sensors are arranged on the surfaces of the palm, the four fingers, the thumb, the wrist and the forearm, a touch projection map connected with the pressure sensors is arranged in the forearm, projection points which are uniformly distributed are arranged on the touch projection map, and each projection point is provided with a corresponding pressure sensor. This application is connected with patient's arm through the fixed orifices on the forearm, and the pressure that artificial skin received can transmit to pressure sensor to transmit to the sense of touch through signal processing chip and throw the map, the sense of touch is thrown and is equipped with evenly distributed's projection point on the map, and every projection point all has corresponding pressure sensor, and the patient can find the projection point that every pressure sensor corresponds through the study experiment, thereby can have better sense of touch and obtain the function.
In the aforesaid rope traction mechanical artificial hand of simulation ligament structure, four fingers include forefinger, middle finger, ring finger and little finger, four fingers comprise 3 knuckles, rotationally connect between two adjacent knuckles, the knuckle upper end is equipped with the draw-in groove that is used for installing main silicone tube, the lower part is equipped with the first mounting hole with knuckle length direction syntropy in the knuckle, be equipped with the crooked first ligament of control four fingers in the first mounting hole, knuckle middle part both sides are equipped with the second mounting hole, are equipped with the stabilizator pipe in the second mounting hole. The main silicone tube is used for springback after the bending of the four fingers, the first ligament is used for realizing the bending of the four fingers, the stabilizing tube is used for maintaining the stability of the four fingers in the motion process, and the stabilizing tube can be changed into the first ligament, so that the four fingers have more degrees of freedom, the grabbing function is better, and the main silicone tube and the stabilizing tube are compared with a spring, the main silicone tube and the stabilizing tube have better softness, and better simulation degree, and the touch feeling of the ligament of a real person can be greatly different from that of the ligament of a real person.
In the above rope traction mechanical prosthetic hand simulating a ligament structure, the thumb includes a rotary joint for connecting a palm, second ligaments for controlling the rotation of the rotary joint are arranged on the upper and lower sides of the rotary joint, two knuckles are arranged on the rear side of the rotary joint, and two adjacent knuckles are rotatably connected.
In the aforesaid rope traction machinery artificial limb hand of simulation ligament structure, the palm including the half sole that is used for connecting four fingers and thumb, the half sole upside is equipped with the palm, is equipped with the first mounting groove that is used for installing main silicone tube in the palm, the half sole downside is equipped with the lower palm, is equipped with the second mounting groove that is used for installing first ligament in the lower palm.
Among the aforesaid rope traction machinery artificial limb hand of simulation ligament structure, the palm front side be equipped with the installation piece, the installation piece front side be equipped with and be used for connecting the universal joint of four fingers, be equipped with the locating hole that is used for fixed main silicone tube and stabilizator tube in the installation piece and be used for carrying out the guiding hole that leads to first ligament, the palm rear side is equipped with the connecting block that is used for connecting the wrist, the connecting block both sides are equipped with the pivot, the palm left side is equipped with the installation axle that is used for connecting revolute joint.
In the rope traction mechanical prosthetic hand simulating the ligament structure, the wrist comprises a sheath which is a bendable sheath made of flexible materials, a joint for connecting the forearm is arranged in the sheath, the joint comprises a circular sheet connected with the forearm, a connecting column which is coaxially arranged is arranged in the middle of the circular sheet, and a limiting joint is arranged at the end of the connecting column, far away from the circular sheet; a silica gel sleeve is arranged outside the joint, and a limit groove corresponding to the limit section is arranged in the silica gel sleeve; the silica gel cover front end is equipped with first fixture block and the second fixture block of connecting the pivot, and first fixture block and second fixture block rear end are equipped with the stopper corresponding with the spacing groove, are equipped with between stopper and the spacing festival and are used for the lubricated silica gel disc of shock attenuation.
In the rope traction mechanical prosthetic hand simulating the ligament structure, the front side of the first fixture block is provided with an arc-shaped groove corresponding to the rotating shaft, the two sides of the first fixture block are provided with locking pieces for preventing the first fixture block from being separated from the rotating shaft, the front end of each locking piece is provided with a locking section for limiting the rotating shaft in a circular arc shape, and two ports of each locking section are provided with connecting strips connected with the first fixture block.
In the rope traction mechanical artificial limb hand simulating the ligament structure, the buncher is arranged on the front end face of the small arm, limiting holes corresponding to the first ligament and the second ligament are formed in the buncher, an installation cavity is formed in the middle of the small arm, a plurality of groups of steering units with different angles are arranged in the installation cavity, each group of steering units consists of a plurality of steering engines, a winder is arranged on each steering engine, an artificial ligament beam splitter is arranged on the outer side of the steering engine closest to a palm, and a power supply is arranged on the rear side of the steering engine furthest from the palm; the rear end of the forearm is provided with a fixing hole connected with a patient, the bottom of the fixing hole is provided with a touch projection map, the side wall of the fixing hole is provided with a connecting ring used for connecting the arm of the patient, the connecting ring is internally provided with a fixing groove used for installing an EMG signal processing chip, and the surface of the EMG signal processing chip is provided with an EMG signal sensor contacted with the arm of the patient.
In the rope traction mechanical prosthetic hand simulating the ligament structure, the artificial ligament beam splitter comprises a bottom plate, two rows of limit columns are uniformly distributed on the bottom plate, and a top plate is arranged at the upper ends of the limit columns.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the pressure sensors are arranged on the surfaces of the palm, the four fingers, the thumb, the wrist and the forearm, and the information of the pressure sensors is projected to the arm of the patient through the touch projection map, so that the patient can learn the pressure sensor corresponding to each projection point through learning, and the touch control device has a better touch function;
2. the four fingers are bent by arranging the main silicone tube, the first ligament and the stabilizing tube, so that the four fingers can grab articles more stably, the structure is simpler, and more degrees of freedom are provided;
3. according to the medical wrist protection device, the silica gel disc used for damping and lubricating is arranged between the limiting block and the limiting joint, so that the vibration of the palm to the wrist and the forearm is reduced, and the arm of a patient is prevented from being injured again;
4. the buncher in this application forearm can make first ligament and second ligament keep avoiding taking place the winding when getting into the forearm installation cavity, and artifical ligament beam splitter can make and disperse first ligament and second ligament, avoids taking place mutual interference, influences the bending of four fingers and thumb.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a broken away view of the present invention;
FIG. 3 is a schematic view of the thumb of the present invention;
FIG. 4 is a schematic view of the construction of the forearm of the invention;
FIG. 5 is a schematic view of the wrist of the present invention;
FIG. 6 is a schematic view of the palm of the present invention;
FIG. 7 is a front view of the present invention;
FIG. 8 is a schematic diagram of a structure of four fingers in the present invention.
The labels in the figures are: 1-mechanical arm, 11-middle palm, 111-mounting block, 112-universal joint, 113-positioning hole, 114-connecting block, 115-rotating shaft, 116-mounting shaft, 117-guiding hole, 12-upper palm, 121-first mounting groove, 13-lower palm, 131-second mounting groove, 2-artificial skin, 3-four fingers, 31-forefinger, 311-knuckle, 312-main silicone tube, 313-clamping groove, 314-first mounting hole, 315-second mounting hole, 316-first ligament, 317-stabilizing tube, 32-middle finger, 33-ring finger, 34-little finger, 4-thumb, 41-rotating joint, 42-second ligament, 5-wrist, 51-joint, 511-wafer, 512-connecting column, 513-a limiting joint, 52-a silica gel sleeve, 521-a limiting groove, 53-a first fixture block, 531-a limiting block, 532-an arc groove, 533-a locking piece, 5331-a locking section, 5332-a connecting strip, 54-a silica gel disc, 55-a sheath, 56-a second fixture block, 6-a small arm, 61-a mounting cavity, 611-a winder, 612-a steering engine, 613-a steering engine group, 62-an artificial ligament beam splitter, 621-a bottom plate, 622-a limiting column, 623-a top plate, 63-a power supply, 64-a fixing hole, 641-a connecting ring, 642-an EMG signal processing chip, 643-a fixing groove, 644-an EMG signal sensor, 67-a buncher, 671-a limiting hole and 7-a pressure sensor, 8-touch projection map, 81-projection point, 9-manipulator.
Detailed Description
The invention is further described with reference to the following figures and examples, which are not to be construed as limiting the invention.
Example 1. A rope traction mechanical artificial hand simulating a ligament structure is shown in figures 1-8 and comprises a manipulator 9 and artificial skin 2 on the outer side of the manipulator 9, wherein the manipulator 9 comprises a palm 1, four fingers 3 and a thumb 4 are arranged on the front side of the palm 1, a wrist 5 is arranged on the rear side of the palm 1, a forearm 6 is arranged on the rear side of the wrist 5, pressure sensors 7 are arranged on the surfaces of the palm 1, the four fingers 3, the thumb 4, the wrist 5 and the forearm 6, and a touch projection map 8 connected with the pressure sensors 7 is arranged in the forearm 6.
The four fingers 3 comprise an index finger 31, a middle finger 32, a ring finger 33 and a little finger 34, the four fingers 3 are composed of 3 finger joints 311, two adjacent finger joints 311 are rotatably connected, a clamping groove 313 used for mounting a main silicone tube 312 is arranged at the upper end of each finger joint 311, a first mounting hole 314 which is in the same direction as the length direction of each finger joint 311 is arranged at the middle lower part of each finger joint 311, a first ligament 316 for controlling the four fingers 3 to bend is arranged in each first mounting hole 314, second mounting holes 315 are arranged on two sides of the middle part of each finger joint 311, and a stabilizing pipe 317 is arranged in each second mounting hole 315.
The thumb 4 comprises a rotary joint 41 for connecting the palm 1, the upper side and the lower side of the rotary joint 41 are provided with second ligaments 42 for controlling the rotation of the rotary joint 41, the rear side of the rotary joint 41 is provided with two knuckles 311, and the two adjacent knuckles 311 are rotatably connected.
Palm 1 including the palm 11 that is used for connecting four fingers 3 and thumb 4, palm 11 upside is equipped with palm 12, is equipped with the first mounting groove 121 that is used for installing main silicone tube 312 in palm 12, and palm 11 downside is equipped with lower palm 13, is equipped with the second mounting groove 131 that is used for installing first ligament 316 in the lower palm 13.
The front side of the middle palm 11 is provided with an installation block 111, the front side of the installation block 111 is provided with a universal joint 112 used for connecting the four fingers 3, the installation block 111 is internally provided with a positioning hole 113 used for fixing the main silicone tube 312 and the stabilizing tube 317 and a guide hole 117 used for guiding the first ligament 316, the rear side of the middle palm 11 is provided with a connecting block 114 used for connecting the wrist 5, two sides of the connecting block 114 are provided with rotating shafts 115, and the left side of the middle palm 11 is provided with an installation shaft 116 used for connecting the rotating joint 41.
The wrist 5 comprises a sheath 55, the sheath 55 is a flexible sheath made of flexible materials, a joint 51 used for connecting the small arm 6 is arranged in the sheath 55, the joint 51 comprises a circular sheet 511 connected with the small arm 6, a connecting column 512 coaxially arranged is arranged in the middle of the circular sheet 511, and a limiting joint 513 is arranged at the end, far away from the circular sheet 511, of the connecting column 512; a silica gel sleeve 52 is arranged outside the joint 51, and a limit groove 521 corresponding to the limit joint 513 is arranged in the silica gel sleeve 52; the front end of the silica gel sleeve 52 is provided with a first fixture block 53 and a second fixture block 56 which are connected with the rotating shaft 115, the rear ends of the first fixture block 53 and the second fixture block 56 are provided with a limiting block 531 corresponding to the limiting groove 521, and a silica gel disc 54 for damping and lubricating is arranged between the limiting block 531 and the limiting section 513.
The front side of the first fixture block 53 is provided with an arc-shaped groove 532 corresponding to the rotating shaft 115, two sides of the first fixture block 53 are provided with locking pieces 533 for preventing the first fixture block 53 from separating from the rotating shaft 115, the front end of the locking pieces 533 is provided with an arc-shaped locking section 5331 for limiting the rotating shaft 115, and two ports of the locking section 5331 are provided with connecting strips 5332 connected with the first fixture block 53.
The front end face of the small arm 6 is provided with a buncher 67, the buncher 67 is internally provided with a limiting hole 671 corresponding to the first ligament 316 and the second ligament 42, the middle part of the small arm 6 is provided with a mounting cavity 61, a plurality of groups of rudder units 613 with different angles are arranged in the mounting cavity 61, each group of rudder unit 613 is composed of a plurality of steering engines 612, the steering engines 612 are provided with wire winders 611, the outer side of the steering engine 61 closest to the palm 1 is provided with an artificial ligament beam splitter 62, and the rear side of the steering engine 61 furthest from the palm 1 is provided with a power supply 63; the rear end of the small arm 6 is provided with a fixing hole 64 connected with the patient, the bottom of the fixing hole 64 is provided with a touch projection map 8, the side wall of the fixing hole 64 is provided with a connecting ring 641 used for connecting the arm of the patient, the connecting ring 641 is internally provided with a fixing groove 643 used for installing an EMG signal processing chip 642, and the surface of the EMG signal processing chip 642 is provided with an EMG signal sensor 644 contacted with the arm of the patient.
The artificial ligament beam splitter 62 comprises a bottom plate 621, two rows of limiting columns 622 are uniformly distributed on the bottom plate 621, and a top plate 623 is arranged at the upper ends of the limiting columns 622.
The touch projection map 8 is provided with uniformly distributed projection points 81, and each projection point 81 is provided with a corresponding pressure sensor 7.
Example 2. On the basis of the embodiment 1, the stabilizing pipe 317 in the second mounting hole 315 is replaced by the first ligament 316, so that the four fingers 3 and the thumb 4 can move in the horizontal direction, and thus, the first ligament 31 has more degrees of freedom, the first ligament passes backwards through the second mounting groove 131, the buncher 67 and the artificial ligament splitter 62 in sequence to the reel 611 on the steering engine 612, and the number of the steering engine 612 and the reel 611 is synchronously increased according to the increased number of the first ligament 316, so that the invention has more degrees of freedom.
The working principle of the invention is as follows: the patient wears the present invention by attaching an arm in the fixing hole 64 of the lower arm 6, and the shape of the fixing hole 64 can be adjusted according to the shape of the arm, so that the tactile projection map 8 can be fitted to the arm of the patient, and the EMG signal sensor 644 can contact the arm of the patient, so that data can be collected and transmitted to the EMG signal processing chip 642, enabling information transfer from the person to the present invention, the EMG signal processing chip 642 controls the movement of the rudder unit 613, controls the rotation of the reel 611, the reel 611 can drive the first ligament 316 and the second ligament 42 to move, realizes the bending of the four fingers 3 and the thumb 4, the thumb 4 can realize the rotation perpendicular to the direction of the palm 1 through the second ligament 42, thereby having more freedom degrees, the buncher 67 and the artificial ligament splitter 62 can prevent the first ligament 316 and the second ligament 42 from being wound to affect the bending of the four fingers 3 and the thumb 4, the upper ends of the four fingers 3 and the thumb 4 are provided with the main silicone tube 312, one end of the main silicone tube 312 is connected with the front end of the palm 1, the main silicone tube 312 can play a role of recovery to ensure that the four fingers 3 and the thumb 4 can recover to the original state after being bent, the stabilizing tube 317 is fixed in the second mounting hole 317, the stabilizing tube 317 can ensure that the four fingers 3 and the thumb 4 can be kept stable in the bending and recovery processes, the object grabbing of the invention is more stable, the silicone disc 54 in the wrist 5 is soaked in oil before being mounted, thereby lubricating the positioning block 531 and the stop node 513, so that the palm 1 can rotate more smoothly relative to the wrist 5, the first ligament 316 can be arranged on the palm 1, and the rotation of the palm 1 is realized through the winder 611 on the rudder unit 613, and the silica gel disc 54 can reduce the impact of the palm 1 on the wrist 5, so as to prevent the arm of the patient from receiving secondary injury. The artificial skin 2 can transmit the received pressure to the pressure sensor 7, the pressure sensor 7 can transmit information to the touch projection map 8, the touch projection map 8 is provided with the projection points 81 which are uniformly distributed, and each projection point 81 is provided with the corresponding pressure sensor 7, so that a patient can learn to find the projection point 81 corresponding to each pressure sensor 7, know which part of the touch screen touches east and west, and know the magnitude of the received force during touch through different data transmitted by the pressure sensor 7. Compared with the existing common artificial limb, the artificial limb has a brain-computer interaction interface, so that a human body is connected with machinery, information transmission can be quickly and accurately realized, and compared with other neural artificial limbs, the artificial limb has the advantages of quick wearing, quick adaptation, compact structure, low price, similarity with a natural hand of the human body, and capability of enhancing the self-confidence of a patient in wearing.
Claims (10)
1. A rope traction mechanical artificial hand simulating a ligament structure is characterized in that: the artificial skin (2) comprises a manipulator (9) and an artificial skin (9) on the outer side of the manipulator (9), wherein the manipulator (9) comprises a palm (1), four fingers (3) and a thumb (4) are arranged on the front side of the palm (1), a wrist (5) is arranged on the rear side of the palm (1), a forearm (6) is arranged on the rear side of the wrist (5), pressure sensors (7) are arranged on the surfaces of the palm (1), the four fingers (3), the thumb (4), the wrist (5) and the forearm (6), and a touch projection map (8) connected with the pressure sensors (7) is arranged in the forearm (6).
2. A rope-pulled mechanical prosthetic hand that mimics a ligament structure according to claim 1, wherein: four fingers (3) including forefinger (31), well finger (32), ring finger (33) and little finger (34), four fingers (3) comprise 3 knuckle (311), rotationally connect between two adjacent knuckle (311), knuckle (311) upper end is equipped with draw-in groove (313) that are used for installing main silicone tube (312), lower part is equipped with first mounting hole (314) with knuckle (311) length direction syntropy in knuckle (311), be equipped with first ligament (316) of control four fingers (3) bending in first mounting hole (314), knuckle (311) middle part both sides are equipped with second mounting hole (315), be equipped with in second mounting hole (315) and stabilize pipe (317).
3. A rope-pulled mechanical prosthetic hand that mimics a ligament structure according to claim 1, wherein: the thumb (4) comprises a rotating joint (41) used for being connected with the palm (1), second ligaments (42) for controlling the rotating joint (41) to rotate are arranged on the upper side and the lower side of the rotating joint (41), two knuckles (311) are arranged on the rear side of the rotating joint (41), and the two adjacent knuckles (311) are rotatably connected.
4. A rope-pulled mechanical prosthetic hand that mimics a ligament structure according to claim 1, wherein: palm (1) including being used for connecting half sole (11) of four fingers (3) and thumb (4), half sole (11) upside is equipped with palm (12), is equipped with first mounting groove (121) that are used for installing main silicone tube (312) in palm (12), half sole (11) downside is equipped with palm (13) down, is equipped with second mounting groove (131) that are used for installing first ligament (316) in palm (13) down.
5. A ligament structure-mimicking rope-traction mechanical prosthetic hand according to claim 4, wherein: well palm (11) front side be equipped with installation piece (111), installation piece (111) front side is equipped with universal joint (112) that are used for connecting four fingers (3), be equipped with locating hole (113) that are used for fixed main silicone tube (312) and stable tube (317) in installation piece (111) and be used for leading guiding hole (117) to first ligament (316), well palm (11) rear side is equipped with connecting block (114) that are used for connecting wrist (5), connecting block (114) both sides are equipped with pivot (115), well palm (11) left side is equipped with installation axle (116) that are used for connecting rotation joint (41).
6. A rope-pulled mechanical prosthetic hand that mimics a ligament structure according to claim 1, wherein: the wrist (5) comprises a sheath (55), the sheath (55) is a bendable sheath made of flexible materials, a joint (51) used for connecting the small arm (6) is arranged in the sheath (55), the joint (51) comprises a circular sheet (511) connected with the small arm (6), a connecting column (512) which is coaxially arranged is arranged in the middle of the circular sheet (511), and a limiting joint (513) is arranged at the end, far away from the circular sheet (511), of the connecting column (512); a silica gel sleeve (52) is arranged outside the joint (51), and a limit groove (521) corresponding to the limit joint (513) is arranged in the silica gel sleeve (52); the front end of the silica gel sleeve (52) is provided with a first clamping block (53) and a second clamping block (56) which are connected with the rotating shaft (115), the rear ends of the first clamping block (53) and the second clamping block (56) are provided with a limiting block (531) corresponding to the limiting groove (521), and a silica gel disc (54) for damping and lubricating is arranged between the limiting block (531) and the limiting joint (513).
7. The rope-pulled mechanical prosthetic hand of claim 6, wherein: an arc-shaped groove (532) corresponding to the rotating shaft (115) is formed in the front side of the first clamping block (53), locking pieces (533) for preventing the first clamping block (53) from being separated from the rotating shaft (115) are arranged on two sides of the first clamping block (53), an arc-shaped locking section (5331) used for limiting the rotating shaft (115) is arranged at the front end of each locking piece (533), and connecting strips (5332) connected with the first clamping block (53) are arranged at two ports of each locking section (5331).
8. A rope-pulled mechanical prosthetic hand that mimics a ligament structure according to claim 1, wherein: the front end face of the small arm (6) is provided with a buncher (67), a limiting hole (671) corresponding to the first ligament (316) and the second ligament (42) is formed in the buncher (67), the middle of the small arm (6) is provided with a mounting cavity (61), a plurality of groups of rudder units (613) with different angles are arranged in the mounting cavity (61), each group of rudder unit (613) consists of a plurality of steering engines (612), a winder (611) is arranged on each steering engine (612), an artificial ligament beam splitter (62) is arranged on the outer side of the steering engine (61) closest to the palm (1), and a power supply (63) is arranged on the rear side of the steering engine (61) farthest from the palm (1); the rear end of the small arm (6) is provided with a fixing hole (64) connected with a patient, the bottom of the fixing hole (64) is provided with a touch projection map (8), the side wall of the fixing hole (64) is provided with a connecting ring (641) used for connecting the arm of the patient, a fixing groove (643) used for installing an EMG signal processing chip (642) is arranged in the connecting ring (641), and the surface of the EMG signal processing chip (642) is provided with an EMG signal sensor (644) contacted with the arm of the patient.
9. A rope-pulling mechanical prosthetic hand simulating a ligament structure according to claim 8, wherein: artificial ligament beam splitter (62) include bottom plate (621), bottom plate (621) on be equipped with two of evenly distributed spacing post (622), spacing post (622) upper end is equipped with roof (623).
10. A rope-pulled mechanical prosthetic hand that mimics a ligament structure according to claim 1, wherein: the touch projection map (8) is provided with projection points (81) which are uniformly distributed, and each projection point (81) is provided with a corresponding pressure sensor (7).
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| CN202211114904.8A CN115444635A (en) | 2022-09-14 | 2022-09-14 | Rope traction mechanical artificial hand simulating ligament structure |
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| JP2008023276A (en) * | 2006-07-16 | 2008-02-07 | Hiroshi Yokoi | All-fingers movable type artificial hand |
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