| 摘要 |
The invention is a modular human hand prosthesis with modular, mechanically independent finger modules, which may be applied in prosthetics as a replacement of a single finger, a group of fingers or whole hand or arm, as well as in robotics as a gripper. The device has at least one mechanically independent finger module, particularly consisting of a fixed finger base (8), a finger proximal segment (5), a finger distant segment (6), a rod 7 and a rotational drive (11); the finger base 8 is equipped with a rod rotational proximal joint (1) and the rotational joint of the finger proximal segment (2) is connected via the rod proximal joint (1), rod (7), the rod distant segment (4) and at the same time via the proximal joint of the finger proximal segment (2), the finger proximal segment (5), the distant joint of the finger proximal segment (3) with the finger distant segment (6), and at the same time the distant joint of the finger proximal segment (3) constitutes the rotational permanent centre of the drive (11). |
