残疾人用假手的机构研究  

Research on Mechanism of Prosthetic Hand for Handicapped

作　　者：俞昌东[1] 姜力[1] 黄海 史士才[1] 刘宏[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《机械制造》2007年第10期19-22,共4页Machinery

基　　金：国家自然科学基金重点资助项目(编号:50435040)

摘　　要：分析了人手的结构和抓物方式,根据欠驱动和耦合原理研制了仿人型残疾人假手,该手尺寸和成年人手大小相仿,且结构简单,重量轻,高度集成化。利用Matlab软件优化设计了手指各杆件参数,进行了运动学分析。实验证明:该假手具有很好的抓取自适应性,能进行力量抓取和精确抓取。The structure and the grasping method of human hands are analyzed. Based on underactuation and coupling mechanism, a new prosthetic hand has been developed, featuring simple structure, light weight and high integration. Its size is similar with that of an adult＇ s hand. The parameters of the fingers＇ bars have been optimally designed with the help of Matlab and a kinematic analysis has been carried out. The experiments have shown that this hand has an excellent self adaptability in grasping and both power grasp and precision grasp can be accomplished.

关 键 词：仿人型假手 欠驱动 耦合 自适应性 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]