CN101828980A - Human body simulation manipulator for handicapped - Google Patents
Human body simulation manipulator for handicapped Download PDFInfo
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- CN101828980A CN101828980A CN201010155796A CN201010155796A CN101828980A CN 101828980 A CN101828980 A CN 101828980A CN 201010155796 A CN201010155796 A CN 201010155796A CN 201010155796 A CN201010155796 A CN 201010155796A CN 101828980 A CN101828980 A CN 101828980A
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- 238000004088 simulation Methods 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 64
- 210000003041 ligament Anatomy 0.000 claims abstract description 27
- 210000003811 finger Anatomy 0.000 claims description 89
- 210000003813 thumb Anatomy 0.000 claims description 49
- 210000004247 hand Anatomy 0.000 claims description 36
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- 238000009434 installation Methods 0.000 claims description 3
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Abstract
The invention relates to a simulation manipulator with a pure mechanical structure. The simulation manipulator is provided with multi-joint fingers. Transmission ligaments and transmission bodies receive the bending forces of arms to drive hand bodies to clench and stretch, and the magnitude of the holding force can be randomly controlled. The manipulator can very stably and firmly hold articles, can take articles with different volumes, can also hold articles with high frangibility degree stably; and meanwhile, the manipulator has human body simulation functions of writing, cooking, taking food with forks and spoons and the like, which brings great convenience for the life of the handicapped.
Description
Technical field
The present invention relates to a kind of simulation manipulator of pure frame for movement, relate in particular to a kind of arm people with disability simulation manipulator that has.
Background technology
People with disability's simulation manipulator is divided at present two kinds on arm and no arm, and no arm mechanical hand need rely on muscle such as foot, chest to operate, and finishes simple life action.For the arm mechanical hand is arranged, major part all adopts two refer to or mode that many fingers vise is finished the action of getting article and holding article.As the patent No. is myoelectric hand's mechanical hand header structure and the adnexa that CN200720071414.9 applied for, comprise composition forefinger and middle finger at hand, thumb, the hands frame plate, connecting rod, forefinger-compositions such as thumb shaft assembly, single axle rotation has only been adopted in this kind design separately, finish clamping and relieving between forefinger and thumb, though this mode is simple, but it is not high to the ability that keeps article, differ too big with true staff, because this structure can only allow two fulcrums of finger contact with article, contact point just is not easy to arrest thing less on the one hand, contact surface is few and big pressure that cause is easy to pinch target object bad in addition, thereby it is less to take, frangible article are as ceramic articles, even egg etc.The mechanical hand stretching degree of method of clamping is limited on the one hand again, generally be difficult to scope greater than 120 degree, thereby can't the take article of large-scale volume of such mechanical hand have been limited greatly, as large diameter mineral water, finish taking of big article in face of having only the longer ability of trying one's best with the finger design, yet this is more excessive than causing mechanical hand, influences daily life, becomes inconvenient when getting little article on the contrary pinching.Be to finish the function of writing, cook, use fork and spoon feed in the function of common mechanical hand, still can't arrive for these human emulation existing mechanical handss.Various shortcomings at the above existing machinery hands of telling about, as be affectedly bashful the restriction of the volume of article, frangible degree, not enough to the firm degree that holds of article, to the human emulation hypertelorism, the shortcoming of function singleness, the present invention can provide the technical scheme that effectively overcomes the problems referred to above.
Summary of the invention
For solving the various shortcomings of existing machinery hands, as be affectedly bashful the restriction of the volume of article, frangible degree, not enough to the firm degree that holds of article, to the human emulation hypertelorism, the function singleness technical barrier the invention provides a kind of human body simulation manipulator for handicapped, and this mechanical hand has high human emulation degree, can be affectedly bashful different volumes, frangible article can be stablized, firm maintenance article, have other functions as people's height emulation such as writing simultaneously.
The present invention is a kind of human body simulation manipulator for handicapped, comprises hands body, mechanical arm, and the hands body can be realized combination and separate with mechanical arm by locker.Described hands body front side is provided with some fingers, the front side finger is by last finger section, the middle finger section, following finger section flexibly connects successively, last finger pars infrasegmentalis and middle finger section upper end flexibly connect by last spindle, the middle finger pars infrasegmentalis flexibly connects by middle spindle with referring to the section upper end down, under refer to that pars infrasegmentalis and finger root upper end flexibly connect by spindle down, described hands body rear side is provided with one or several thumbs, thumb bottom and thumb root flexibly connect by the thumb axle, described hands body is formed by fixedly connecting by thumb root and some finger roots, hands body and transmission body middle part flexibly connect by the transmission axon, transmission body upper end and thumb bottom flexibly connect by thumb transmission ligament, the transmission body middle part flexibly connects by referring to the transmission ligament down with referring to the section bottom down, middle finger section bottom flexibly connects by middle finger transmission ligament with the middle part that refers to root, last finger section bottom flexibly connects by last finger transmission ligament with referring to section top down, the transmission body other end flexibly connects connecting rod, this human body simulation manipulator for handicapped of and the other end of this connecting rod is connected and fixed device.; Imitation human finger structure; Have three finger section; It is respectively upper segment; Middle segment and lower segment; And between per two finger section by upper spindle; Middle spindle is flexibly connected; Lower segment and hand body also are flexibly connected by lower spindle; Differently with human finger be; The transmission ligament of each finger section of transmission is not one; But be flexibly connected at two transmission ligaments of doing by a metal between the segment of being separated by; As above between segment and the lower segment; Between middle segment and the finger root; All be flexibly connected by the transmission ligament; Particularly importantly; Position relationship between above-mentioned said top and the upper end; The upper end here is than the end of the more close segment in top; Only in this way could force by the motion of articulations digitorum manus adjacent segment under the driving of transmission ligament; Finish and curve and stretch action; Initial driving is to finish by being movably connected in the transmission body that refers to the root place; When this transmission body turns to an extreme angles; Manipulator is just finished the action of holding with a firm grip or stretching; Because transmission body also by transmission ligament and thumb and and lower segment be flexibly connected; And the rotation of transmission body is to rely on the connecting rod that is connected the transmission body rearward end to promote to finish; The promotion of connecting rod then is pulling and the impetus that causes by the bending of arm and the different conditions that stretches; Because when connecting rod and human body forearm; When formation is leg-of-mutton between the big arm; When forearm and big arm shape are gone up in line; Formed leg-of-mutton another side is will changes persuing long; And connecting rod is rigidity; So connecting rod can only satisfy by the mode of pulling transmission body the formation of long triangle edge; The also effect by the transmission ligament of transmission body this moment; Allow manipulator become extended state; Otherwise; When forming little triangle edge; Manipulator just forms the state of holding with a firm grip; Thus; Rely on the bending of arm and open two kinds of duties that dual mode just can have been finished manipulator; The manipulator of this simulation staff has object multiconductor mode; Can better hang on to object; Object is carried out the encirclement of circle type; More save strength; Crooked finger can not cause handicapped yet; Nearly the finger extension angle of 180 degree can be held the object of large volume; Mean forced also allows manipulator be not easy to damage, and prolongs physical life.
As preferably, described hands body can be realized combination and separate with mechanical arm by locker, described locker comprises that hands body bottom is provided with several and connects the spill mouth, and the mechanical arm upper end is provided with several and connects the protruding end, and described connection spill mouth be connected the protruding end and cooperatively interact.Can make things convenient for the people with disability to wear like this and maintenance etc.
As preferably, described finger is middle finger, forefinger and nameless three fingers or suitable increase and decrease finger quantity, and described thumb is two or suitably increases and decreases thumb quantity.Learn according to human emulation, what one-sided mechanical hand with three fingers can be very effective, very stable has held object, the DeGrains that increase finger more, but increased cost, with increased weight, thereby the most preferred number of finger is three, and the most preferred number of thumb is two.
As preferably, the space between described some fingers is relative with thumb.Owing to can't as human thumb, move up and down, thereby to painstakingly allow the thumb of this mechanical hand aim at position, space between the finger of opposite, it generally is the position, space between forefinger and the middle finger, the mechanical hand of only in this way could holding with a firm grip fully, form fist closely, thereby be affectedly bashful tiny as small size such as pen article.
As preferably, described thumb is two.Adopt two thumbs can be more stable object is clamped, this moment, two thumbs were aimed between forefinger and the middle finger respectively and the space between the middle finger and the third finger.
As preferably, described thumb needs only structure and installation site under the suitable change, also can make the hands body open the time, and thumb and other fingers are in same plane, and just as the form of opening of true man's palm, but this structure might influence the size of grip.
As preferably, the finger root sidepiece of described hands body is provided with tool interface, and this tool interface is the cylindrical tube along finger root direction.In this tool interface, special life instruments such as kitchen knife can be installed, allow the people with disability also can finish things such as culinary art alone.
As preferably, the described section sidepiece that refers to down is provided with tool interface, and this tool interface be the fixation clamp of vertical and finger down section.Life article such as common soupspoon, table fork painstakingly are installed in this tool interface, are finished the auxiliary feed action of this hands.
As preferably, the described vertical direction of pars infrasegmentalis that refers to down is provided with the tool interface of cylindrical tube.Pen painstakingly is installed in this tool interface is waited writing implement, allow the people with disability also can write comparatively large-scale font by the personal letter of deformity.
As preferably, described cylindrical tube, fixation clamp and the shaft of a writing brush, its quantity of increase and decrease that can be suitable and change the installation site is connected with various special instruments.
As preferably, described finger inboard is provided with the anti-slip rubber layer.The use of anti-slip rubber layer allows mechanical hand be more prone to hold object, and can be because the metal surface is too smooth the landing article.
As preferably, described hands inside and outside side can cover the rubber skin of one deck human body skin color, to increase aesthetic property.
As preferably, described mechanical arm is provided with some recessed binding mouths.This binding mouth is used for mechanical arm is bundled in the human body forearm.
As preferably, described human body simulation manipulator for handicapped adopts light-weight reinforced aluminum material or other suitable materials to make.Use light-weight reinforced aluminum material or other suitable materials can allow this mechanical hand lighter, also gain in strength, physical life is longer.
As preferably, described mechanical arm rear end connects the great machinery arm, the great machinery arm is provided with fixture, the L shaped connecting rod that the great machinery arm is provided with connects the connecting rod two on the mechanical arm, and connecting rod two is actively socketed on the movable stationary magazine creel on the mechanical arm, the other end of connecting rod two is connected with described connecting rod by the multi-directional ball device, and this multi-directional ball device slides in the loose slot of the end that is fixed on mechanical arm.Added the great machinery arm configuration, allow connecting rod promote the support that transmission body has had the great machinery arm, structure is ingenious, use more comfortable, more can give play to the strength of big arm, avoid connecting rod or fixture directly big arm to be exerted pressure, cause the feeling of fatigue of big arm, even ache, great advantage of this change scheme is also that mechanical arm can be wrapping in the coat-sleeve fully.
As preferably, described mechanical arm rear end connects the great machinery arm, and the great machinery arm is connected with transmission body by connecting rod, and the great machinery arm is provided with fixture, " 7 " shape connecting rod that mechanical arm is provided with connects the back fixation device, and back fixation device and human body interfix.Muscle by human body shoulder and back is regulated control, can finish the control to mechanical hand equally simply and easily.
In a word, the present invention has broken through the technology that the arm mechanical hand is generally arranged in the past, has overcome various shortcomings, as is affectedly bashful the volume of article, the restriction of frangible degree, not enough to the firm degree that holds of article, to the human emulation hypertelorism, inconvenience etc. is operated and worn to function singleness, and this mechanical hand has high human emulation degree, can be affectedly bashful different volumes, frangible article can be stablized, firm maintenance article, have simultaneously other as write, the function of people's height emulation such as culinary art.
Description of drawings
Accompanying drawing 1 is a kind of side view of the present invention;
Accompanying drawing 2 is motion sketch maps of accompanying drawing 1;
Accompanying drawing 3 is another kind of structural representations of the present invention;
Accompanying drawing 4 is motion sketch maps of accompanying drawing 3;
Accompanying drawing 5 is another kind of structural representations of the present invention;
Accompanying drawing 6 is motion sketch maps of accompanying drawing 5.
Description of reference numerals: hands body 1, mechanical arm 2, last finger section 3, middle finger section 4, following finger section 5, last spindle 30, middle spindle 40, following spindle 50, thumb 6, thumb root 7, thumb axle 60, finger root 13, transmission body 8, transmission axon 80, connecting rod 10, fixture 11, locker 12, cylindrical tube 14, fixation clamp 15, the shaft of a writing brush 16, rubber layer 17, binding mouth 18, last finger transmission ligament 19, middle finger transmission ligament 20, following finger transmission ligament 21, thumb transmission ligament 22 connects spill mouth 23, connects protruding end 24, great machinery arm 34, fixture 33, L shaped connecting rod 31, connecting rod 2 28, movable stationary magazine creel 29, multi-directional ball device 27, loose slot 26 connects joint 35, " 7 " shape connecting rod 38, back fixation device 37, big arm deformed limb 42, human body 41.
The specific embodiment
The invention provides following embodiment preferred.
Embodiment 1:
The present invention is a kind of human body simulation manipulator for handicapped, as accompanying drawing 1, comprise hands body 1, mechanical arm 2, the hands body can be realized combination and separate with mechanical arm by locker 12, hands body front side is provided with three fingers, the front side finger is by last finger section 3, middle finger section 4, following finger section 5 flexibly connects successively, last finger pars infrasegmentalis and middle finger section upper end flexibly connect by last spindle 30, the middle finger pars infrasegmentalis flexibly connects by middle spindle 40 with referring to the section upper end down, under refer to that pars infrasegmentalis and finger root upper end flexibly connect by spindle 50 down, described hands body rear side is provided with a thumb 6, thumb bottom and thumb root 7 flexibly connect by thumb axle 60, described hands body is formed by fixedly connecting by thumb root 7 and these three finger roots 13, hands body and transmission body 8 middle parts flexibly connect by transmission axon 80, transmission body upper end and thumb bottom flexibly connect by thumb transmission ligament 22, the transmission body middle part flexibly connects by referring to transmission ligament 21 down with referring to the section bottom down, middle finger section bottom flexibly connects by middle finger transmission ligament 20 with the middle part that refers to root, last finger section bottom flexibly connects by last finger transmission ligament 19 with referring to section top down, the transmission body other end flexibly connects connecting rod 10, the other end of this connecting rod is connected and fixed device 11, this fixture is the binding band, finger root sidepiece at the hands body is provided with tool interface, this tool interface is the cylindrical tube 14 along finger root direction, the infra section of finger sidepiece is provided with tool interface, this tool interface is vertical and refers to the fixation clamp 15 of section down, infra refers to that the vertical direction of pars infrasegmentalis is provided with the tool interface of the shaft of a writing brush 16, the finger inboard is provided with anti-slip rubber layer 17, on this mechanical arm, have two binding mouths 18, be used for fixing band human arm is bundled on the mechanical arm.
Operational approach is as follows, as accompanying drawing 2, people with disability's disabled arm is stretched in the middle of this mechanical arm, by fixing band mechanical hand is bundled on the human arm, by locker hands body and mechanical arm are linked together, what note is that the end of connecting rod must be fixed on position on the big arm by fixture, when human arm stretches, big arm just spurs the connecting rod that is fixed in the above, and connecting rod spurs transmission body at the other end, the front end of transmission body is by thumb transmission ligament 22 pulling thumb bottoms, force the thumb head outwards to launch, simultaneously, the middle part of transmission body refers to the bottom of section down by referring to 21 pullings of transmission ligament down, under the effect of infra spindle, following finger section rotates backward, be connected under the pressure of the middle finger transmission ligament 20 infra sections of the finger rotation that refers to root and middle finger section bottom, be forced to spur the middle finger section, make the middle finger section also rotate backward, equally, be connected and refer to that bottom and the finger transmission ligament 19 that refers to section down are under the pressure of middle finger section rotation with upwarding, be forced to spur the finger section, make and refer to that upward section also rotates backward, thereby finish the process that mechanical hand is stretched out by stretching of human arm, when if human arm carries out flexure operation, same mechanical hand is with regard to the opposite action of holding with a firm grip of finishing, thereby finishes the mechanical hand function of high human emulation.The present embodiment structure is the following forearm incompleteness of ancon, but still the people with disability of reserve part forearm design, and the Qu Jinhang that stretches by human arm ancon joint regulates control, can finish the control to mechanical hand simply and easily.
Embodiment 2:
Present embodiment is for adding the great machinery arm configuration in the above-described embodiments, and more additional outstanding joints, connecting rod setting, makes whole mechanical hand more perfect, uses convenient.Structure as shown in Figure 3, connect a great machinery arm 34 in the mechanical arm rear end, be rotationally connected by connecting joint 35 between great machinery arm and the foregoing mechanical arm, the great machinery arm is provided with fixture 33, fixture is similarly the binding band, the connecting rod 2 28 that the L shaped connecting rod 31 that the great machinery arm is provided with connects on the mechanical arm, wherein the quarter butt of L shaped connecting rod down, quarter butt and stock are angled, and the length of quarter butt is controlled the moving range of the flexible connecting rod that causes of big arm, and finally control the motion amplitude of mechanical hand, and connecting rod two is actively socketed on the movable stationary magazine creel 29 on the mechanical arm, the other end of connecting rod two is connected with described connecting rod 10 by multi-directional ball device 27, and this multi-directional ball device slides in the loose slot 26 of the end that is fixed on mechanical arm.
Operational approach is as follows, as accompanying drawing 4, people with disability's disabled arm is stretched in the middle of this mechanical arm, by big arm fixture mechanical hand is bundled on the human body, in the time of the human arm bending, the L shaped connecting rod of big arm with regard to promoting to be fixed in the above, and L shaped connecting rod promotes connecting rod two at the other end, the front end of connecting rod two promotes connecting rod one by the multi-directional ball device, connecting rod one promotes transmission body at the other end, thereby force the hands body to be held with a firm grip, if when human arm stretches action, same mechanical hand is with regard to the opposite open action of finishing.
Embodiment 3:
Present embodiment is to add great machinery arm, back fixation device and " 7 " shape bar linkage structure etc. in last embodiment 1.Connecting rod and rotor part also can be according to the designs of embodiment 2 in the same present embodiment, structure as shown in Figure 5, connect a great machinery arm 34 in mechanical arm 2 rear ends, be rotationally connected by connecting joint 35 between great machinery arm and the mechanical arm, the great machinery arm is provided with fixture 33, and fixture is similarly the binding band." 7 " shape connecting rod 38 that mechanical arm is provided with connects back fixation device 37, wherein quarter butt of " 7 " shape connecting rod and the universal flexible connection of mechanical arm, the also universal flexible connection of stock of " 7 " shape connecting rod and back fixation device, thereby the motion that ensures big arm and shoulder joint freely, angled between quarter butt and the stock, and the length of quarter butt is controlled the moving range of the kinetic connecting rod of big arm, and finally control the motion amplitude of mechanical hand, and the back fixation device is fixed on the back of people with disability's human body 41.
Operational approach is as follows, as accompanying drawing 6, people with disability's big arm deformed limb 42 is stretched in the middle of the great machinery arm, by big arm fixture and back fixation device mechanical hand is bundled on the human body, when the big arm of human body is proal, big arm just spurs " 7 " the shape connecting rod that is fixed on above the back fixation device, and " 7 " shape connecting rod spurs mechanical arm at the other end, force whole piece machinery arm stretching by connecting the joint, thereby the pulling connecting rod, connecting rod spurs transmission body at the other end, thereby forces the hands body to open, when if the big arm of human body moves backward, same mechanical hand is with regard to the opposite action of holding of finishing.The present embodiment structure is ancon and all people with disability's designs of an incomplete big arm of reserve part of forearm, regulates control by the muscle at human body shoulder and back, can finish the control to mechanical hand equally simply and easily.
Claims (10)
1. human body simulation manipulator for handicapped, comprise hands body (1), mechanical arm (2), it is characterized in that: described hands body can be realized combination and separate with mechanical arm by locker (12), the hands body is formed by fixedly connecting by thumb root (7) and some finger roots (13), hands body front side is provided with some fingers, the front side finger is by last finger section (3), middle finger section (4), following finger section (5) flexibly connects successively, described hands body rear side is provided with one or several thumbs (6), flexibly connect between thumb and the thumb root, flexibly connect between hands body and the transmission body (8), between transmission body and the thumb, transmission body and referring to down between the section, between middle finger section and the finger root, last finger section and flexible connection between the finger section down, the transmission body other end flexibly connects connecting rod (10), and the other end of this connecting rod is connected and fixed device (11).
2. human body simulation manipulator for handicapped according to claim 1, described pars infrasegmentalis and the middle finger section upper end of upward referring to is by last spindle (30) flexible connection, the middle finger pars infrasegmentalis passes through middle spindle (40) and flexibly connects with referring to section upper end down, and spindle (50) flexibly connected under following finger pars infrasegmentalis passed through with finger root upper end.Thumb bottom and thumb root (7) flexibly connect by thumb axle (60), and hands body and transmission body (8) middle part flexibly connects by transmission axon (80).
3. human body simulation manipulator for handicapped according to claim 1, described transmission body upper end and thumb bottom flexibly connect by thumb transmission ligament (22), the transmission body middle part flexibly connects by referring to transmission ligament (21) down with referring to the section bottom down, middle finger section bottom flexibly connects by middle finger transmission ligament (20) with the middle part of finger root, and last finger section bottom flexibly connects by last finger transmission ligament (19) with referring to section top down.
4. human body simulation manipulator for handicapped according to claim 1, described finger is middle finger, forefinger and nameless three fingers or suitably increases and decreases finger quantity, described thumb is two or suitably increases and decreases thumb quantity that the space between described some fingers is relative with thumb.
5. human body simulation manipulator for handicapped according to claim 1, described locker comprises that hands body bottom is provided with several and connects spill mouth (23), the mechanical arm upper end is provided with several and connects protruding end (24), and described connection spill mouth be connected the protruding end and cooperatively interact.
6. human body simulation manipulator for handicapped according to claim 1, the finger root sidepiece of described hands body is provided with tool interface, this tool interface is the cylindrical tube (14) along finger root direction, the described section sidepiece that refers to down is provided with tool interface, this tool interface is vertical and refers to the fixation clamp (15) of section down that the described vertical direction of pars infrasegmentalis that refers to down is provided with the tool interface of the shaft of a writing brush (16).
7. human body simulation manipulator for handicapped according to claim 7, described cylindrical tube, fixation clamp and the shaft of a writing brush, its quantity of increase and decrease that can be suitable and change installation site are connected with various special instruments.
8. human body simulation manipulator for handicapped according to claim 1, described finger inboard is provided with anti-slip rubber layer (17), and described mechanical arm is provided with some recessed binding mouths (18).
9. human body simulation manipulator for handicapped according to claim 1, described mechanical arm rear end connects great machinery arm (34), the great machinery arm is provided with fixture (33), the L shaped connecting rod (31) that the great machinery arm is provided with connects the connecting rod two (28) on the mechanical arm, and connecting rod two is actively socketed on the movable stationary magazine creel (29) on the mechanical arm, the other end of connecting rod two is connected with described connecting rod (10) by multi-directional ball device (27), and this multi-directional ball device slides in the loose slot (26) of the end that is fixed on mechanical arm.
10. human body simulation manipulator for handicapped according to claim 1, described mechanical arm rear end connects great machinery arm (34), the great machinery arm is connected with transmission body (8) by connecting rod (10), the great machinery arm is provided with fixture (33), " 7 " shape connecting rod (38) that mechanical arm is provided with connects back fixation device (37), and back fixation device and human body (41) interfix.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010155796.XA CN101828980B (en) | 2009-04-21 | 2010-03-19 | Human body simulation manipulator for handicapped |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920071120 | 2009-04-21 | ||
| CN200920071120.5 | 2009-04-21 | ||
| CN201010155796.XA CN101828980B (en) | 2009-04-21 | 2010-03-19 | Human body simulation manipulator for handicapped |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101828980A true CN101828980A (en) | 2010-09-15 |
| CN101828980B CN101828980B (en) | 2014-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010155796.XA Expired - Fee Related CN101828980B (en) | 2009-04-21 | 2010-03-19 | Human body simulation manipulator for handicapped |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103240746A (en) * | 2013-04-18 | 2013-08-14 | 塔米智能科技（北京）有限公司 | Finger-guessing robot with image recognition system, and gesture recognition method |
| CN104814817A (en) * | 2015-05-27 | 2015-08-05 | 上海科生假肢有限公司 | Passive artificial hand |
| CN106510909A (en) * | 2016-11-21 | 2017-03-22 | 上海理工大学 | Rapid-forming modular interest artificial hand |
| CN106726026A (en) * | 2017-01-23 | 2017-05-31 | 徐贵升 | A kind of new artificial limb |
| CN111329697A (en) * | 2020-03-16 | 2020-06-26 | 金华市中心医院 | Suspension frame, hoisting machine and hoisting method for simulating hand-lifting of burn patients |
| CN115444635A (en) * | 2022-09-14 | 2022-12-09 | 叶王昊 | Rope traction mechanical artificial hand simulating ligament structure |
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|---|---|---|---|---|
| GB177689A (en) * | 1921-03-11 | 1922-04-06 | Hugh Steeper | Improvement connected with artificial hands |
| CN2464511Y (en) * | 2000-12-12 | 2001-12-12 | 上海巨龄科技有限公司 | Emulation manipulator |
| WO2003017878A1 (en) * | 2001-08-27 | 2003-03-06 | Bergomed Ab | Mechanical hand with the gripping ability of the human hand |
| US20040054424A1 (en) * | 2000-12-06 | 2004-03-18 | Hiroshi Matsuda | Multi-finger hand device |
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2010
- 2010-03-19 CN CN201010155796.XA patent/CN101828980B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB177689A (en) * | 1921-03-11 | 1922-04-06 | Hugh Steeper | Improvement connected with artificial hands |
| US20040054424A1 (en) * | 2000-12-06 | 2004-03-18 | Hiroshi Matsuda | Multi-finger hand device |
| CN2464511Y (en) * | 2000-12-12 | 2001-12-12 | 上海巨龄科技有限公司 | Emulation manipulator |
| WO2003017878A1 (en) * | 2001-08-27 | 2003-03-06 | Bergomed Ab | Mechanical hand with the gripping ability of the human hand |
Cited By (11)
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