| 摘要 |
A digit mechanism for an artificial hand comprises: a lower digit 44 rotatably coupled to a palm unit 12; an upper digit 48 rotatably coupled to the lower digit 44; each having a rotation mechanism 50, 52; and a force balancing mechanism 60 for mechanically adjusting the magnitude of the moment applied to whichever digit is experiencing lower resistance to movement, in accordance with the magnitude(s) of outside forces resisting rotation of the upper digit 48 and/or the lower digit 44. The digit rotation mechanisms are arranged to be mechanically actuated by a force applied from a single actuator at the palm unit 12. The force balancing mechanism may include a clutch in the form of a band brake. The actuators are hydraulic with a low pressure and high pressure configuration. A method of controlling a digit is also provided. |
