CN106821560A - A kind of two-way gear drive is done evil through another person - Google Patents
A kind of two-way gear drive is done evil through another person Download PDFInfo
- Publication number
- CN106821560A CN106821560A CN201710016160.9A CN201710016160A CN106821560A CN 106821560 A CN106821560 A CN 106821560A CN 201710016160 A CN201710016160 A CN 201710016160A CN 106821560 A CN106821560 A CN 106821560A
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- CN
- China
- Prior art keywords
- finger
- gear
- group
- another person
- prosthesis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- 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
- A61F2002/6836—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- 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
Done evil through another person the invention discloses a kind of two-way gear drive, including fixed part and movable part, fixed part includes connection end and palm end, movable part includes two groups of symmetrically arranged finger prosthesis, and finger lower section is provided with arc gear wheel；Driver part includes motor and master gear, and horizontally extending shaping sprocket drive spindle at the core wheel of master gear, gear shaft is engaged with the first arc gear wheel, and tumbler gear is provided between gear shaft and the second arc gear wheel.The present invention uses gear drive, due to gear-driven stability, makes to do evil through another person with stabilization, fixed gearratio, the grasping speed of prosthetic hand more easy to control, so as to complete natural grasp motion；In addition the Bidirectional driving characteristic done evil through another person using multiple gear engagements, by the two groups of motions of finger prosthesis of a motor control, so that the whole structure done evil through another person is compacter and simplifies, mitigate the weight of prosthetic hand, the comfortableness that physical disabilities wear is improved while controlling production cost.
Description
Technical field
The present invention relates to a kind of medical rehabilitation apparatus for serving upper limb disability personage, and in particular to a kind of two-way gear is passed
It is dynamic to do evil through another person.
Background technology
Upper extremity prosthesis is the means and method of utilizing works technology, to make up the limbs of upper limb amputee or Partial defect
Defect and specially design and make the artificial prosthesis of assembling, its Main Function is that instead of losing the partial function of limbs, makes to cut
Limb person recovers certain taking care of oneself and ability to work.Upper extremity prosthesis is broadly divided into cosmetic arm, instrument hand, leads at present
Draw formula mechanical prosthetic hand, electrical artificial limb, myoelectric limb.With the development of science and technology, artificial limb is towards intellectuality, lightweight, active
The trend development of control.In order that do evil through another person that commercial market can be generalized to, stabilization, reliable mechanical structure are essential.
Development both at home and abroad to bionic hand at present has the progress advanced by leaps and bounds, the I- of TouchBionics companies of Britain
Each finger-joint of Michelangelo's bionic hand of Limb products and Otto Burger can self-movement, but the body of bionic hand
Product is big, weight is big and expensive, and marketing is extremely difficult.Chinese patent CN201510280027.5 proposes a kind of passive
Do evil through another person, the grasp motion that can complete to do evil through another person by action bars, however it is necessary that itself power source, the use to operator is caused necessarily
Difficulty.Chinese patent CN201310082024.1 proposes a kind of doing evil through another person for apery type, is carried out using six-bar linkage coupling mechanism
The simulation of digital flexion action, but the stability of the mechanism is not high.
The content of the invention
It is not strong in order to solve the above-mentioned existing passive function of doing evil through another person, it is difficult to meet the daily demand of disabled patient, and imitate
The problems such as mechanism's weight of green hand is big, volume is big, stability is not high, does evil through another person the invention provides a kind of two-way gear drive, has
Body scheme is as follows：
A kind of two-way gear drive is done evil through another person, including body, and body includes fixed part and movable part, and the fixed part includes using
In the connection end worn and the palm end of driver part is installed, the movable part includes symmetrically arranged first group of artificial hand
Refer to and second group of finger prosthesis；The palm end is vertically arranged at the top of the connection end by some attaching nuts, described
First group of finger prosthesis and second group of bottom of finger prosthesis are connected on the palm end by rotary shaft respectively, and described first
Group finger prosthesis and second group of finger prosthesis can rotate by the center of circle of corresponding rotary shaft, divide in the rotary shaft
The first arc gear wheel and the second arc gear wheel are not fixedly connected with；The driver part includes motor and defeated with motor
Shaft engagement master gear, at the core wheel of the master gear it is horizontally extending form it is parallel with driving motor output shaft
Gear shaft, the gear shaft is engaged with first arc gear wheel；The palm end is provided with tumbler gear, the tumbler gear
Engaged respectively with the gear shaft and second arc gear wheel (5)；The connection end is provided with for controlling the driving electricity
Machine rotates forward the switch of reversion.
Further, first group of finger prosthesis include integrally formed first knuckle, second knuckle, third knuckle and
4th finger joint, the angle between the first knuckle and the second knuckle is 150 °, and the second knuckle refers to the described 3rd
Angle between section is 150 °, and the angle between the third knuckle and the 4th finger joint is 180 °；Described second group artificial
Finger includes integrally formed wuzhijie point, the 6th finger joint, the 7th finger joint and the 8th finger joint, the wuzhijie point and the described 6th
Angle between finger joint is 160 °, and the angle between the 6th finger joint and the 7th finger joint is 150 °, the 7th finger joint
It it is 160 ° with the angle between the 8th finger joint.
Further, the motor is connected with planetary reduction gear, the output shaft of the planetary reduction gear and the master
Gear is engaged.
Further, the palm end is the platy structure of rectangle, the upper end at the palm end form two it is mutually right
The sheet of title is raised, two sheets project through the rotary shaft respectively with first group of finger prosthesis and second group of people
The bottom connection of work finger.
Further, first group of finger prosthesis include two finger prosthesis of parallel arrangement, described two artificial hands
Finger is fixedly connected by connecting shaft, and two finger prosthesis can synchronize rotary motion.
Further, the rotary flat of two finger prosthesis of first group of finger prosthesis and second group of finger prosthesis
Face is mutually staggered.
Further, the correspondence arc gear wheel keeps the motion pole of engagement with the gear shaft on the palm end
Extreme position is provided with some stopping means.
Further, cavity structure, and two are shaped to inside first group of finger prosthesis and second group of finger prosthesis
Side offers some anti-slide openings connected with cavity.
Further, anti-slip rubber is filled with the cavity, the anti-slip rubber passes to be formed by the anti-slide opening
Some anti-skid bulges.
The beneficial effects of the present invention are：A kind of two-way gear drive proposed by the present invention is done evil through another person, and using gear drive, is passed
Motivation structure possesses transmission efficiency very high, can more stably grasp object；And due to gear-driven stability, make to do evil through another person
With stabilization, fixed gearratio, the grasping speed of prosthetic hand more easy to control, so as to complete natural grasp motion；In addition it is false
The Bidirectional driving characteristic that hand is engaged using multiple gears, by the two groups of motions of finger prosthesis of a motor control so that whole
The structure done evil through another person is compacter and simplifies, and mitigates the weight of prosthetic hand, improves physical disabilities while controlling production cost and wears
The comfortableness worn, it is easier to promote.
Brief description of the drawings
The structural representation of Fig. 1 embodiment of the present invention 1,
The structure right view of Fig. 2 embodiment of the present invention 1,
First group of finger prosthesis structural representation of Fig. 3 embodiment of the present invention 1,
Second group of finger prosthesis structural representation of Fig. 4 embodiment of the present invention 1,
The master gear structural representation of Fig. 5 embodiment of the present invention 1,
The structural representation of Fig. 6 embodiment of the present invention 2,
The structure right view of Fig. 7 embodiment of the present invention 2.
Figure number and title：1st, connection end, 2, palm end, 3, second group of finger prosthesis, 301, wuzhijie point, 302,
Six finger joints, the 303, the 7th finger joint, the 304, the 8th finger joint, 4, first group of finger prosthesis, 401, first knuckle, 402, second knuckle,
403rd, third knuckle, the 404, the 4th finger joint, the 5, second arc gear wheel, 6, tumbler gear, 7, gear shaft, the 8, first arc gear wheel,
9th, rotary shaft II, 10, rotary shaft I, 11, master gear, 12, motor, 13, planetary reduction gear, 14, output shaft, 15, connection
Axle.
Specific embodiment
To describe technology contents, structural feature, institute's reached purpose and effect of the present invention in detail, embodiment exemplified below is simultaneously
Accompanying drawing is coordinated to be explained in detail.
Embodiment 1
Refer to shown in Fig. 1 and Fig. 2, the present invention provides a kind of two-way gear drive and does evil through another person, including body, body includes solid
Determine portion and movable part, fixed part includes the connection end 1 for wearing and the palm end 2 for installing driver part, movable part
Including two groups of symmetrically arranged first group of finger prosthesis 4 and second group of finger prosthesis 3；Palm end 2 by some attaching nuts
The top of connection end 1 is vertically arranged at, according to the wearing position of user different connection ends can be selected (for example to coordinate wrist
Or the connection end of ancon), more hommization.The bottom of finger prosthesis is fixed on palm end 2 by rotary shaft 9,10, manually
Finger can rotate by the center of circle of rotary shaft, 9,10 in rotary shaft on be respectively fixedly connected with the and of the first arc gear wheel 8
Second arc gear wheel 5；Driver part includes the planetary reduction gear 13 and and planet that motor 12 and motor 12 are connected
The master gear 11 of the output shaft engagement of decelerator.As shown in figure 5, along level towards the side of motor 12 at the core wheel of master gear 11
To elongation moulding sprocket drive spindle 7, gear shaft 7 is engaged with the first arc gear wheel 8 of first group of lower end of finger prosthesis 4, gear shaft 7 with
Tumbler gear 6, tumbler gear 6 and gear shaft 7 and second are provided between second group of second arc gear wheel 5 of the lower end of finger prosthesis 3
Second arc gear wheel 5 of group finger prosthesis 3 lower end is engaged respectively；It is additionally provided with connection end 1 anti-for controlling motor to rotate forward
The switch for turning.
As shown in Figure 3 and Figure 4, first group of finger prosthesis 4 include integrally formed first knuckle 401, second knuckle 402,
The finger joint 404 of third knuckle 403 and the 4th, the angle between first knuckle 401 and second knuckle 402 is 150 °, second knuckle 402
It it is 150 ° with the angle between third knuckle 403, the angle between the finger joint 404 of third knuckle 403 and the 4th is 180 °；Second group
Finger prosthesis 3 include integrally formed wuzhijie point 301, the 6th finger joint 302, the 7th finger joint 303 and the 8th finger joint 304, the 5th
Angle between the finger joint 302 of finger joint 301 and the 6th is 160 °, and the angle between the 6th finger joint 302 and the 7th finger joint 303 is
150 °, the angle between the 7th finger joint 303 and the 8th finger joint 304 is 160 °；Angle between above-mentioned each finger joint makes first group
Finger prosthesis 4 and second group of finger prosthesis 3 more meet the grasping custom of people, are easy to crawl.
Embodiment 2
As shown in Figure 6 and Figure 7, embodiment 2 is with the difference of embodiment 1：First group of finger prosthesis 4 includes parallel arrangement
Two finger prosthesis, two finger prosthesis are fixedly connected by connecting shaft 15 so that two finger prosthesis can be synchronized
Rotary motion, first group of the two of finger prosthesis 4 finger prosthesis are mutually staggered with the Plane of rotation of second group of finger prosthesis 3.
Embodiment 3
Embodiment 3 is with the difference of embodiment 1：Correspondence arc gear wheel keeps engagement with gear shaft on palm end 2
Limit of sports record position be provided with four stopping means altogether.
Embodiment 4
Embodiment 4 is with the difference of embodiment 1：Cavity structure, two groups are shaped to inside two groups of finger prosthesis 3 and 4
The relative both sides of finger prosthesis offer and anti-slip rubber, anti-skidding rubber are filled with some anti-slide openings connected with cavity, cavity
Glue passes to form some anti-skid bulges by anti-slide opening.On the one hand these anti-skid bulges play increasing when doing evil through another person and grasping thing
Big frictional force prevents thing from coming off, and on the other hand playing dispersion grip prevents from damaging thing.
The course of work of the invention is as follows：When the output shaft of planetary reduction gear turns clockwise, drive is nibbled with output shaft
The master gear rotate counterclockwise of conjunction, i.e. gear shaft also rotate counterclockwise, gear shaft rotate clockwise band by the first arc gear wheel
First group of finger prosthesis is moved to rotate clockwise, while gear shaft drives the second arc gear wheel to rotate counterclockwise by tumbler gear,
And then drive second group of finger prosthesis to rotate counterclockwise, that is, complete the action of " grasping " of doing evil through another person；Conversely, defeated when planetary reduction gear
During shaft rotate counterclockwise, first group of finger prosthesis and second group of finger prosthesis can complete the action of " release ".
In sum, only the preferred embodiments of the invention, does not limit protection scope of the present invention with this, all according to the present invention
Equivalence changes that the scope of the claims and description are made and modification, are all within the scope of patent of the present invention covers.
Claims (9)
1. a kind of two-way gear drive is done evil through another person, including body, it is characterised in that：The body includes fixed part and movable part, institute
Stating fixed part includes that it is right that the movable part includes for the connection end (1) worn and the palm end (2) for being provided with driver part
Claim the first group of finger prosthesis (4) and second group of finger prosthesis (3) that set；The palm end (2) is perpendicular by some attaching nuts
Directly it is arranged at the top of the connection end (1), first group of finger prosthesis (4) and second group of bottom of finger prosthesis (3) point
Not Tong Guo rotary shaft (9,10) be connected on the palm end (2), first group of finger prosthesis (4) and second group of finger prosthesis
(3) can be rotated by the center of circle of corresponding rotary shaft, first has been respectively fixedly connected with the rotary shaft (9,10)
Arc gear wheel (8) and the second arc gear wheel (5)；The driver part includes motor (12) and is exported with motor (12)
Axle engagement master gear (11), at the core wheel of the master gear (11) it is horizontally extending form it is defeated with motor (12)
The parallel gear shaft of shaft (7), the gear shaft (7) is engaged with first arc gear wheel (8)；Set on the palm end (2)
There is tumbler gear (6), the tumbler gear (6) is engaged respectively with the gear shaft (7) and second arc gear wheel (5)；Institute
Connection end (1) is stated to be provided with for controlling the motor (12) to rotate forward the switch for inverting.
2. a kind of two-way gear drive according to claim 1 is done evil through another person, it is characterised in that：First group of finger prosthesis
(4) including integrally formed first knuckle (401), second knuckle (402), third knuckle (403) and the 4th finger joint (404), institute
It is 150 ° to state the angle between first knuckle (401) and the second knuckle (402), the second knuckle (402) and described
Angle between three finger joints (403) is 150 °, and the third knuckle (403) is with the angle between the 4th finger joint (404)
180°；Second group of finger prosthesis (3) includes integrally formed wuzhijie point (301), the 6th finger joint (302), the 7th finger joint
(303) and the 8th finger joint (304), the angle between the wuzhijie point (301) and the 6th finger joint (302) is 160 °, institute
It is 150 ° that the 6th finger joint (302) is stated with the angle between the 7th finger joint (303), the 7th finger joint (303) and described
Angle between eight finger joints (304) is 160 °.
3. a kind of two-way gear drive according to claim 1 is done evil through another person, it is characterised in that：Motor (12) connection
The output shaft (14) for having planetary reduction gear (13), the planetary reduction gear (13) is engaged with the master gear (11).
4. a kind of bidirectional wheel transmission practicality according to claim 1 is done evil through another person, it is characterised in that：The palm end (2) is square
The platy structure of shape, the upper end of the palm end (2) forms two symmetrical sheets projections, and two sheets are raised
Bottom by the rotary shaft (9,10) respectively with first group of finger prosthesis (4) and second group of finger prosthesis (3) is connected.
5. a kind of two-way gear drive according to claim 1 is done evil through another person, it is characterised in that：First group of finger prosthesis
(4) including two finger prosthesis being arranged in parallel, two finger prosthesis are mutually permanently connected by connecting shaft (15), two
The finger prosthesis can synchronize rotary motion.
6. a kind of two-way gear drive according to claim 5 is done evil through another person, it is characterised in that：Second group of finger prosthesis
(3) Plane of rotation is located between two Plane of rotations of finger prosthesis of first group of finger prosthesis (4).
7. a kind of two-way gear drive according to claim 1 is done evil through another person, it is characterised in that：Correspondence on the palm end (2)
The arc gear wheel keeps the limit of sports record position of engagement to be provided with some stopping means with the gear shaft.
8. a kind of two-way gear drive according to claim 1 is done evil through another person, it is characterised in that：First group of finger prosthesis
(4) and inside second group of finger prosthesis (3) be shaped to cavity structure, and two sides offer it is some connected with cavity prevent
Slide opening.
9. a kind of two-way gear drive according to claim 8 is done evil through another person, it is characterised in that：Filled with anti-skidding in the cavity
Rubber, the anti-slip rubber passes to form some anti-skid bulges by the anti-slide opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710016160.9A CN106821560B (en) | 2017-01-10 | 2017-01-10 | A kind of two-way gear drive artificial hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710016160.9A CN106821560B (en) | 2017-01-10 | 2017-01-10 | A kind of two-way gear drive artificial hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106821560A true CN106821560A (en) | 2017-06-13 |
| CN106821560B CN106821560B (en) | 2019-03-01 |
Family
ID=59117427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710016160.9A Active CN106821560B (en) | 2017-01-10 | 2017-01-10 | A kind of two-way gear drive artificial hand |
Country Status (1)
| Country | Link |
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| CN (1) | CN106821560B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309520A (en) * | 2018-02-26 | 2018-07-24 | 南京工程学院 | Novel prosthetic device with movable knee joint |
| CN109330751A (en) * | 2018-11-15 | 2019-02-15 | 中国科学院自动化研究所 | A kind of coordinated type prosthetic hand |
| CN109528367A (en) * | 2018-09-19 | 2019-03-29 | 东北大学 | A kind of two finger artificial limbs that assembled can adjust brachium based on 3D printing |
| CN109893307A (en) * | 2019-03-29 | 2019-06-18 | 东北大学 | The ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb and application method |
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| CN101766510A (en) * | 2009-12-18 | 2010-07-07 | 东南大学 | Force touch sensation feedback and force intensity control method of mechanical artificial hand based on myoelectric control |
| US20100217405A1 (en) * | 2007-01-17 | 2010-08-26 | Louis Armando Bravo Castillo | Functional Hand Prosthesis Mechanism |
| CN203458499U (en) * | 2013-09-04 | 2014-03-05 | 上海理工大学 | Artificial hand transmission mechanism with quickly grasping function |
| CN104257443A (en) * | 2014-08-04 | 2015-01-07 | 中国科学院深圳先进技术研究院 | Artificial hand |
| CN204909744U (en) * | 2015-07-24 | 2015-12-30 | 天津大奥合纵科技有限公司 | Integrated wrist formula single degree of freedom artificial limb hand that revolves |
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2017
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100217405A1 (en) * | 2007-01-17 | 2010-08-26 | Louis Armando Bravo Castillo | Functional Hand Prosthesis Mechanism |
| CN101766510A (en) * | 2009-12-18 | 2010-07-07 | 东南大学 | Force touch sensation feedback and force intensity control method of mechanical artificial hand based on myoelectric control |
| CN203458499U (en) * | 2013-09-04 | 2014-03-05 | 上海理工大学 | Artificial hand transmission mechanism with quickly grasping function |
| CN104257443A (en) * | 2014-08-04 | 2015-01-07 | 中国科学院深圳先进技术研究院 | Artificial hand |
| CN204909744U (en) * | 2015-07-24 | 2015-12-30 | 天津大奥合纵科技有限公司 | Integrated wrist formula single degree of freedom artificial limb hand that revolves |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309520A (en) * | 2018-02-26 | 2018-07-24 | 南京工程学院 | Novel prosthetic device with movable knee joint |
| CN109528367A (en) * | 2018-09-19 | 2019-03-29 | 东北大学 | A kind of two finger artificial limbs that assembled can adjust brachium based on 3D printing |
| CN109330751A (en) * | 2018-11-15 | 2019-02-15 | 中国科学院自动化研究所 | A kind of coordinated type prosthetic hand |
| CN109893307A (en) * | 2019-03-29 | 2019-06-18 | 东北大学 | The ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb and application method |
| WO2020199240A1 (en) * | 2019-03-29 | 2020-10-08 | 东北大学 | 3d printing-based ratchet stop mechanical prosthesis having airbag and usage method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106821560B (en) | 2019-03-01 |
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