Key- Area Research and Development Program of Guangdong Province (2020B0909020004)，and Science and Technology Planning Project of Shenzhen (CJGJZD20200617103002006)
假肢手的动作数量与轻量化之间存在矛盾关系，为兼顾两者之间的平衡，满足假肢手多动作和轻量化的要求，该研究通过分析人手的16种日常抓取动作，设计了一种合理的电机驱动结构。该结构在四指中应用了多关节同时屈曲传动，在拇指中应用了定轨迹适应性传动，掌骨使用可自动切换为弧面和平面的对称弹性串联驱动式传动，以及配置五指的自动伸展，将这些机能融合在假肢手中，仅用3个电机实现了11 种假肢手动作，达到了132.1 g的轻量化设计。该文还通过肌电信号结合神经网络算法，实现了假肢手直觉控制，并验证了其具有良好的抓取稳定性和操作性。
It is still a challenge to design a hand prosthesis with a consideration of multi- motions and light weight. In this paper, by analyzing 16 commonly-used motions of human hands, a trade-off plan between weight saving and the number of motions of a hand prosthesis is studied. We determine the functions to be implemented as a constant interlock mechanism of four fingers. An adaptive mechanism is applied for the thumb, and the symmetric series elastic actuator is used for the arching of metacarpal. With such a design, a prosthetic hand was designed just using three motors embedded in the palm, which has weight of 132.1 g and could perform 11 motions. The grasping stability and operability of the hand prosthesis were confirmed with intuitive myoelectric control based on a neural network algorithm in the subject experiments.
YONG Xu, JING Xiaobei, YABUKI Yoshiko, et al. Design and Fabrication of a Bionic Prosthetic Hand with Multi-Motions and Light Weight[J]. Journal of Integration Technology,2022,11(4):31-43