CN209827112U - Driving rope and four-bar linkage combined under-actuated bionic prosthetic finger - Google Patents
Driving rope and four-bar linkage combined under-actuated bionic prosthetic finger Download PDFInfo
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- CN209827112U CN209827112U CN201920102410.5U CN201920102410U CN209827112U CN 209827112 U CN209827112 U CN 209827112U CN 201920102410 U CN201920102410 U CN 201920102410U CN 209827112 U CN209827112 U CN 209827112U
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims abstract description 39
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000009347 mechanical transmission Effects 0.000 claims abstract description 8
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 10
- 229910052802 copper Inorganic materials 0.000 claims description 10
- 239000010949 copper Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 238000005452 bending Methods 0.000 abstract description 12
- 210000003811 finger Anatomy 0.000 description 104
- 210000003813 thumb Anatomy 0.000 description 9
- 210000004247 hand Anatomy 0.000 description 5
- 210000001145 finger joint Anatomy 0.000 description 4
- 210000004932 little finger Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000203475 Neopanax arboreus Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
The utility model discloses a combination type under-actuated bionic artificial finger of a driving rope and a four-bar linkage mechanism. The finger body part of the utility model comprises a finger frame, a first knuckle, an extension spring, a second knuckle, a knuckle connecting piece and a third knuckle; the finger mechanical transmission chain comprises a micro motor micro speed reducer component, a micro worm and worm gear pair, a driving rope component and a connecting rod; the first knuckle, the second knuckle, the connecting rod and the finger rack form a four-bar linkage, and the motion of the bending and the spreading of the finger of the first knuckle enables the second knuckle to realize the motion of the bending and the spreading of the finger in a driven manner, so that an under-actuated motion mode is formed. The utility model discloses the finger is modular structural design, the assembly and the demolition of the whole finger of being convenient for, and finger simple structure, light in weight, the design of finger leads to palm thickness size to reduce.
Description
Technical Field
The utility model belongs to the field of medical rehabilitation instruments, in particular to a combined under-actuated bionic artificial limb finger of a driving rope and a four-bar linkage mechanism.
Background
The artificial hand is arranged at the end part of the disabled stump and is used for realizing certain functions of the hand. Before 2008, most artificial hands sold on the market are Suva single-degree-of-freedom artificial hands of otto bock company, germany, the artificial hands have limited motion modes and only have simple opening and closing functions, and fingers only have one motion joint. After 2008, multi-degree-of-freedom prosthetic hands began to emerge, typically an ilimb prosthetic hand manufactured by Blatchford & son of the uk and a beibionic prosthetic hand manufactured by Steeper of iceland. The two types of prosthetic hands are provided with five fingers, wherein the index finger, the middle finger, the ring finger and the little finger have the same mechanical structure and are collectively called as fingers, each finger is provided with two joints, the first joint is a driving joint, the second joint is a driven joint, the motion of the two joints is coupled, each finger is driven by a micro motor, and the driving mode is called as underactuation in the industry. The first joint of the fingers of the ilimb artificial hand is driven by a worm and worm gear, the miniature motor and miniature speed reducer assembly is arranged in a cavity of the first knuckle of the fingers, an output shaft of the miniature speed reducer drives the worm to rotate through a bevel gear pair, the worm gear is connected to the palm part and is fixed relative to the palm, when the motor rotates, the worm rotates together with the miniature motor and the first knuckle around the worm gear to realize the flexion and extension of the fingers, and the second joint is driven by a rope connected to the worm gear. The main defect of the artificial limb finger is that the micro-motor micro-reducer component is arranged in a cavity of a first knuckle of the finger, although the space of a palm can be saved, the micro-motor micro-reducer is limited by the length of the micro-motor micro-reducer, the length of the first knuckle of the finger is longer than the length of the knuckle of the finger, the micro-motor micro-reducer also serves as the load of the micro-motor, the effective power of the motor is wasted, the center of rotation of the first knuckle is the center of a worm wheel and is positioned in the palm center of the first knuckle, when the artificial hand skin is worn, the joint of the hand skin deforms greatly, and the effective power of the motor is greatly wasted. The effective power available to the fingers for grasping is small. A first joint of a finger of the Bebionic prosthetic hand is driven by a sliding block connecting rod mechanism, a second joint of the finger of the Bebionic prosthetic hand is driven by a four-connecting rod mechanism, an active motion rod piece of the four-connecting rod is a first knuckle, and a micro-motor micro-speed reducer assembly is arranged in a palm. The main drawback of this type of prosthetic hand is that the first articulation transmission chains of the fingers are arranged in two layers, which, although reducing the length of the transmission chains, makes the palm fat, affecting the aesthetic appearance of the prosthetic hand.
In addition, the following are found by searching the existing literature:
chinese utility model patent publication No.: CN 103565562 a, name: an under-actuated prosthetic hand. Three motors are used for controlling the movement of five fingers, wherein the index finger and the middle finger are controlled by one motor, the ring finger and the little finger are controlled by one motor, and the thumb is controlled by one motor, so that the independent movement of each finger cannot be realized. The mechanical transmission chain is characterized in that a motor drives a screw rod nut mechanism, the rotary motion of the motor is converted into the linear motion of a sliding block through a sliding block guide rail mechanism, the sliding block pulls a rope to drive each knuckle of a finger, and the transmission chain is longer, so that the size of a palm is also longer; each finger uses three ropes and a plurality of guide wheels, which is complicated. The outward rotation of the thumb and the flexion and extension movement of the thumb are not independent.
Chinese utility model patent publication No.: CN 1418765, name: a dexterous hand mechanism of a robot. The two joints of each finger are controlled by two motors respectively, although the flexibility is increased, the artificial hand is not suitable for reasons of weight and the like.
Chinese utility model patent publication No.: CN 1365877, name: the robot simulates a multi-finger hand device. Four fingers, namely an index finger, a middle finger, a ring finger and a little finger, are controlled by one motor; the thumb is controlled by a motor. Only the five-finger grabbing operation mode can be realized, and other motion modes such as two-finger pinching, mouse double-click and the like cannot be realized.
Chinese utility model patent publication No.: CN 103538077 a, name: a multi-freedom-degree machine bionic hand. Six motors are used for controlling the prosthetic hand, wherein the index finger, the middle finger, the ring finger and the little finger are respectively provided with one motor; the thumb uses two motors, one for outward rotation of the thumb and the other for flexion and extension of the thumb. The motors are all fixed on the palm of the hand, and the mechanical transmission chain is a worm and worm gear mechanism. The finger and thumb motors are arranged in sequence, so that the palm is very long, and the second knuckle of the thumb cannot do flexion and extension movement.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects in the prior prosthetic hand product and the patent technology, and provides a modular underactuated human-simulated prosthetic finger structure with simple structure, flexible control and strong function.
The utility model discloses a following technical scheme realizes:
a combined under-actuated bionic artificial finger with a driving rope and a four-bar linkage mechanism comprises a finger body and a mechanical finger transmission chain; the finger body comprises a finger rack, a first knuckle, an extension spring, a second knuckle, a knuckle connecting piece and a third knuckle from near to far; the first knuckle is connected to the far end of the finger rack through a first joint pin shaft and can rotate around the first joint pin shaft to form a first finger joint; the second knuckle is connected to the far end of the first knuckle through a second joint pin shaft and can rotate around the second joint pin shaft to form a second finger joint; the two ends of the knuckle connecting piece are respectively provided with a flange structure, the flange at the near end of the knuckle connecting piece is inserted into the cavity at the far end of the second knuckle, the flange at the far end of the knuckle connecting piece is inserted into the cavity at the near end of the third knuckle, and the third knuckle cannot move relative to the second knuckle due to the interference connection of the two, so that the second knuckle, the knuckle connecting piece and the third knuckle are designed into three parts in consideration of an injection molding process, the mold drawing is facilitated, and the crater is reduced; the proximal end lantern ring end of an extension spring is sleeved on the first spring pin, the first spring pin is fixed at the distal end of the first knuckle, the distal end lantern ring of the extension spring is sleeved on the second spring pin, and the second spring pin is fixed at the proximal end of the second knuckle;
the finger motion transmission chain comprises a micro-motor micro-speed reducer component, a worm and worm gear pair, a tension rope component and a connecting rod; the micro-motor micro-reducer component is connected to the finger rack in an interference connection mode and is positioned at the palm center of the palm; the micro worm is arranged in an overhead cavity of the finger machine, one part of a central hole with a D-shaped section of the micro worm is sleeved on the diameter of an output shaft with a D-shaped section of the micro speed reducer, the other part of the central hole with the D-shaped section of the micro worm is sleeved on an extension shaft with the D-shaped section, the extension shaft is inserted into an extension shaft copper sleeve, and the extension shaft copper sleeve is fixedly connected with the inner surface of a copper sleeve hole of the finger machine frame through interference fit of the outer surface of the extension shaft copper sleeve; the micro worm wheel is sleeved on the worm wheel hollow shaft, the worm wheel hollow shaft is tightly connected with the finger rack, and the micro worm wheel is meshed with the micro worm; the two sides of the miniature worm wheel are provided with flange structures, a through hole is processed on the spoke, the driving rope passes through the through hole of the spoke of the miniature worm wheel and can be wound or unwound on the outer surfaces of the flanges at the two sides of the worm wheel, a driving rope pin shaft is fixedly connected to the near end of the first knuckle of the finger, and the two end parts of the driving rope are connected to the driving rope pin shaft in a locking manner; a connecting rod is arranged in a cavity of a first finger joint of the finger, a pin shaft hole at the near end of the connecting rod is sleeved on a first connecting rod pin shaft, the first connecting rod pin shaft is fixedly connected to the far end of the finger rack, a pin shaft hole at the far end of the connecting rod is sleeved on a second connecting rod pin shaft, and the second connecting rod pin shaft is fixedly connected to the near end of a second finger joint of the finger;
the mechanical transmission process when the fingers do the bending motion is as follows: the miniature motor rotates clockwise, the speed is reduced through the miniature speed reducer, the output shaft diameter of the miniature speed reducer drives the miniature worm to rotate clockwise around the axis of the miniature worm, the miniature worm drives the miniature worm wheel to rotate clockwise around the hollow worm wheel shaft, the driving rope is pulled by the hole on the spoke of the miniature worm wheel to be wound on the flanges at two sides of the miniature worm wheel, the end part of the driving rope pulls the first finger knuckle of the finger to perform a finger bending motion, the first finger knuckle, the finger rack, the connecting rod and the second finger constitute a four-link mechanism, the finger bending motion of the first finger knuckle enables the second finger to perform the finger bending motion, and the extension spring is in a stretching state;
when the fingers do finger-spreading movement, the mechanical transmission process is that the micro motor rotates counterclockwise and is decelerated by the micro speed reducer,
the output shaft neck of the miniature speed reducer drives the miniature worm to rotate anticlockwise around the axis of the miniature worm, the miniature worm drives the miniature worm wheel to rotate anticlockwise around the hollow worm wheel shaft, the driving rope is unwound by flanges on two sides of the miniature worm wheel, the extension spring contracts, the first knuckle makes finger-expanding motion under the action of the restoring force of the extension spring, the first knuckle, the finger rack, the connecting rod and the second knuckle form a four-link mechanism, and the finger-expanding motion of the first knuckle makes the second knuckle also make finger-expanding motion.
The technical advantages and technical effects of the utility model are embodied in that:
the artificial finger is of a modular structure and is arranged on or detached from the artificial palm part through the finger rack, so that great convenience is brought to the manufacture and maintenance of the artificial hand.
The first knuckle is driven to perform finger bending and finger unfolding movement by winding and unwinding the driving rope on the micro worm gear flange, so that the mechanism is simplified, and the length of a transmission chain is reduced. The design makes the length and thickness of the artificial limb palm part close to the human hand.
The first knuckle, the second knuckle of the finger, the connecting rod and the finger rack form a four-bar linkage, the movement of the second knuckle relative to the first knuckle is determined, an under-actuated mode is achieved, and each finger only needs one micro motor to drive.
When the fingers are in a finger-unfolding state, if the back of the fingers is subjected to external force, the fingers can do finger bending movement to prevent the fingers from being damaged due to the fact that only the flexible connection of the driving rope is arranged between the first knuckle and the finger rack and the elastic connection of the extension spring is arranged between the second knuckle and the first knuckle, and therefore the safety protection effect is achieved.
Because the first knuckle is not provided with the micro motor and the micro speed reducer, the length of the finger knuckle is not limited, and the first knuckle of the finger can be designed into the knuckle length of a man, a woman or a child according to requirements.
Drawings
FIG. 1 is a schematic diagram of a finger-like state;
fig. 2 is a schematic view of the finger in flexed state.
Wherein:
1. third knuckle 2, knuckle connector 3, second knuckle 4, second extension spring pin
5. Extension spring 6, first extension spring pin 7, connecting rod 8, first connecting rod pin shaft
9. First joint pin shaft 10, extension shaft copper sleeve 11, extension shaft
12. Miniature worm 13, miniature speed reducer 14, miniature motor 15 and finger rack
16. Worm wheel hollow shaft 17, miniature worm wheel 18, driving rope 19 and driving rope pin shaft
20. A first knuckle 21, a second joint pin 22, and a second link pin.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
The utility model provides a combination type under-actuated bionic artificial finger of a driving rope and a four-bar linkage, the following description uses a finger rack 15 as a reference, one end of each component close to the finger rack is a near end, one end far away from the finger rack is a far end, as shown in figure 1, the near end of a first knuckle 20 is connected to the far end of the finger rack 15 through a first joint pin shaft 9, and the first knuckle 20 can do rotary motion relative to the first joint pin shaft 9; the near end of the second knuckle 3 is connected with the far end of the first knuckle 20 through a second knuckle pin shaft 21, and the second knuckle 3 can do rotary motion relative to the second knuckle pin shaft 21; the proximal flange of the knuckle connector 2 is inserted into the cavity at the distal end of the second knuckle 3, the two are in interference fit connection, the distal flange of the knuckle connector 2 is inserted into the cavity at the proximal end of the third knuckle 1, and the two are in interference fit connection, so that the third knuckle 1 cannot move relative to the second knuckle 3; the proximal collar of the extension spring 5 is coupled to the outer circle of the first extension spring pin 6, while the first extension spring pin 6 is fixedly coupled to the distal end of the first knuckle 20, the distal collar of the extension spring 5 is coupled to the outer circle of the second extension spring pin 4, while the second extension spring pin 4 is fixedly coupled to the proximal end of the second knuckle 3; the connecting rod 7 is arranged in the cavity of the first knuckle 20, a pin hole at the near end of the connecting rod 7 is sleeved on the first connecting rod pin shaft 8, the first connecting rod pin shaft 8 is fixedly connected to the far end of the finger rack 15, a pin hole at the far end of the connecting rod 7 is sleeved on the second connecting rod pin shaft 22, and the second connecting rod pin shaft 22 is fixedly connected to the near end of the second knuckle 3.
The micro motor 14 and the micro reducer 13 form a component, the component is arranged on the finger rack 15 through a mounting hole of the finger rack 15, the shaft hole is matched in interference fit, the component formed by the micro motor 14 and the micro reducer 13 is fixedly connected relative to the finger rack 15, and no relative movement exists between the micro motor 14 and the micro reducer 13; the miniature worm 12 is arranged in a cavity of the finger rack 15, one part of a central hole of a D-shaped section of the miniature worm 12 is sleeved on an output journal of a D-shaped section of the miniature speed reducer 13, because the axial length of the miniature worm 12 is longer than that of the output journal of the miniature speed reducer 13, one part of an extension shaft 11 of the D-shaped section of the miniature speed reducer 13 is connected with the central hole of the D-shaped section of the miniature worm 12, the other part of the extension shaft 11 of the D-shaped section of the miniature speed reducer 13 is arranged in the central hole of the extension shaft copper sleeve 10, and the outer cylindrical surface of the extension shaft copper sleeve 10 is connected in one hole of the finger; the micro worm wheel 17 is sleeved on the outer surface of the worm wheel hollow shaft 16, the micro worm wheel 17 can do rotary motion relative to the worm wheel hollow shaft 16, and the worm wheel hollow shaft 16 is fixedly connected with the finger rack 15; the two sides of the miniature worm wheel 17 are respectively provided with a flange, a through hole is processed on the spoke of the miniature worm wheel 17, the driving rope 18 passes through the through hole on the spoke of the miniature worm wheel 17 and can be wound and unwound on the flanges on the two sides of the miniature worm wheel 17, the two end parts of the driving rope 18 are fixedly connected on a driving rope pin shaft 19 in a locking manner, and the driving rope pin shaft 19 is fixedly connected below the near end of the first knuckle 20.
The mechanical transmission process when the fingers do the bending motion is as follows: the output shaft of the micro motor 14 rotates clockwise, the speed is reduced by the micro reducer 13, the output shaft diameter of the micro reducer 13 drives the micro worm 12 to rotate clockwise around the axis, the micro worm 12 drives the micro worm wheel 17 to rotate clockwise around the hollow worm wheel shaft 16, the driving rope 19 is pulled by the hole on the spoke of the micro worm wheel 17 to wind on the flanges at two sides of the micro worm wheel 17, the end of the driving rope 19 pulls the first knuckle 20 to perform a finger bending motion, the first knuckle 20, the finger rack 15, the connecting rod 7 and the second knuckle 3 form a four-bar mechanism, the motion of the first knuckle 20 causes the second knuckle 3 to perform a finger bending motion, the tension spring 5 is in a tension state, and fig. 2 is a schematic diagram that the fingers are in a finger bending state.
The mechanical transmission process when the finger makes finger-spreading motion is that the output shaft of the micro motor 14 rotates counterclockwise, the speed is reduced by the micro reducer 13, the output shaft neck of the micro reducer 13 drives the micro worm 12 to rotate counterclockwise around the axis thereof, the micro worm 12 drives the micro worm wheel 17 to rotate counterclockwise around the hollow worm wheel shaft 16, the driving rope 19 is unwound from the flanges at the two sides of the micro worm wheel 17, the extension spring 5 contracts, the first knuckle 20 makes finger-spreading motion under the restoring force of the extension spring 5, the first knuckle 20, the finger rack 15, the connecting rod 7 and the second knuckle 3 form a four-bar linkage mechanism, the finger-spreading motion of the first knuckle 20 makes the second knuckle 3 also make finger-spreading motion, and fig. 1 is a schematic diagram of the finger in finger-spreading state.
Claims (2)
1. The utility model provides a drive rope and four link mechanism combination formula under-actuated bionic prosthetic finger, prosthetic finger comprises finger body and finger mechanical transmission chain, its characterized in that: the finger body comprises a finger rack, a first knuckle, an extension spring, a second knuckle, a knuckle connecting piece and a third knuckle from near to far; the first knuckle is connected to the far end of the finger rack through a first joint pin shaft; the second knuckle is connected to the far end of the first knuckle through a second joint pin shaft; the knuckle connecting piece is used for connecting the second knuckle and the third knuckle; the proximal end lantern ring end of the extension spring is sleeved on the first spring pin, the first spring pin is fixed at the distal end of the first knuckle, the distal end lantern ring of the extension spring is sleeved on the second spring pin, and the second spring pin is fixed at the proximal end of the second knuckle; the finger motion transmission chain comprises a component consisting of a micro motor and a micro speed reducer, a worm and worm gear pair, a tension rope component and a connecting rod; the assembly formed by the micro motor and the micro speed reducer is connected to the finger rack in an interference connection mode and is positioned at the palm center of the palm; the micro worm is arranged in an overhead cavity of the finger machine, one part of a central hole with a D-shaped section of the micro worm is sleeved on an output shaft with a D-shaped section of the micro speed reducer, the other part of the central hole with the D-shaped section of the micro worm is sleeved on an extension shaft with the D-shaped section of the micro speed reducer, the extension shaft with the D-shaped section of the micro speed reducer is inserted into an extension shaft copper sleeve, and the extension shaft copper sleeve is fixedly connected with the inner surface of a copper sleeve hole of the finger machine frame through interference fit of the outer surface of the extension; the micro worm wheel is sleeved on the worm wheel hollow shaft, the worm wheel hollow shaft is tightly connected with the finger rack, and the micro worm wheel is meshed with the micro worm; the two sides of the micro worm wheel are provided with flange structures, a through hole is processed on the spoke, the driving rope penetrates through the through hole of the micro worm wheel spoke and is wound or unwound on the outer surface of the micro worm wheel flange, a driving rope pin shaft is fixedly connected to the near end of the first knuckle, and the two end parts of the driving rope are fixedly connected to the driving rope pin shaft in a locking manner; the connecting rod is arranged in the cavity of the first knuckle, a pin shaft hole at the near end of the connecting rod is sleeved on a first connecting rod pin shaft, the first connecting rod pin shaft is fixedly connected to the far end of the finger rack, a pin shaft hole at the far end of the connecting rod is sleeved on a second connecting rod pin shaft, and the second connecting rod pin shaft is fixedly connected to the near end of the second knuckle.
2. The under-actuated biomimetic prosthetic finger in combination with a drive cable and a four bar linkage as recited in claim 1, wherein each end of the knuckle coupler has a flange structure, the flange at the proximal end of the knuckle coupler is inserted into the cavity at the distal end of the second knuckle, and the flange at the distal end of the knuckle coupler is inserted into the cavity at the proximal end of the third knuckle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920102410.5U CN209827112U (en) | 2019-01-22 | 2019-01-22 | Driving rope and four-bar linkage combined under-actuated bionic prosthetic finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920102410.5U CN209827112U (en) | 2019-01-22 | 2019-01-22 | Driving rope and four-bar linkage combined under-actuated bionic prosthetic finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209827112U true CN209827112U (en) | 2019-12-24 |
Family
ID=68902234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920102410.5U Withdrawn - After Issue CN209827112U (en) | 2019-01-22 | 2019-01-22 | Driving rope and four-bar linkage combined under-actuated bionic prosthetic finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209827112U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109758275A (en) * | 2019-01-22 | 2019-05-17 | 内蒙古恩德莱康复器具有限公司 | A kind of driving rope and four-bar mechanism combined type under-actuated bionic artificial limb finger |
| CN114073607A (en) * | 2020-08-17 | 2022-02-22 | 北京展翼计划科技发展有限公司 | Artificial hand realizing stable grabbing action |
| WO2023177383A1 (en) * | 2022-03-18 | 2023-09-21 | Esper Inc. | A mechanical finger for an artificial wrist and a mechanical finger actuator |
| RU2808344C1 (en) * | 2023-01-19 | 2023-11-28 | Общество С Ограниченной Ответственностью "Максбионик" | Electric drive mechanism of finger of bionic brush |
-
2019
- 2019-01-22 CN CN201920102410.5U patent/CN209827112U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109758275A (en) * | 2019-01-22 | 2019-05-17 | 内蒙古恩德莱康复器具有限公司 | A kind of driving rope and four-bar mechanism combined type under-actuated bionic artificial limb finger |
| CN109758275B (en) * | 2019-01-22 | 2023-11-10 | 内蒙古恩德莱康复器具有限公司 | Combined under-actuated bionic artificial finger with driving rope and four-bar mechanism |
| CN114073607A (en) * | 2020-08-17 | 2022-02-22 | 北京展翼计划科技发展有限公司 | Artificial hand realizing stable grabbing action |
| WO2023177383A1 (en) * | 2022-03-18 | 2023-09-21 | Esper Inc. | A mechanical finger for an artificial wrist and a mechanical finger actuator |
| RU2808344C1 (en) * | 2023-01-19 | 2023-11-28 | Общество С Ограниченной Ответственностью "Максбионик" | Electric drive mechanism of finger of bionic brush |
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| GR01 | Patent grant | ||
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20191224 Effective date of abandoning: 20231110 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20191224 Effective date of abandoning: 20231110 |