| 摘要 |
FIELD: medicine. SUBSTANCE: the hand has five fingers that are hinge-joined to the base; the 2-nd and 3-rd, 4-th and 5-th fingers are combined in pairs and kinematically linked to the ends of the lever for balancing the snatching forces between fingers, which is hinge-joined to the lever for balancing the snatching forces between the 1-st finger and other fingers that is hinge-joined to a pulley passed over by branches of the control rope. The fingers are combined in a pair in the form of a tight joint, having an axis of pair rocking perpendicular to the axis of rocking of the pair lever. The ends of the finger rocking levers at snatching perform complex three-dimensional motions, for compensation of which the links connecting them are made semi-rigid. The snatch forces arise at the fingers only after the last of them touches a subject. The leverage provides for balancing of snatch forces among all five fingers, which makes the prosthesis adaptive to the shape of snatched subjects. EFFECT: improved design. 2 cl, 10 dwg |
