一种欠驱动机械仿生半掌假手的研究与设计
Research and Design of an Underactuated Mechanical Bionic Partial Hand Prosthesis

在涉及手部的截肢案例中，半掌截肢患者所占比例最大，但由于截肢类型的多样性以及产品商业化困难，近几十年对于半掌截肢假体的研究与设计相对较少，这造成很多半掌截肢患者找不到适合自己的假体产品。本文针对跨掌指关节四指截肢的患者，设计一款基于欠驱动原理的机械仿生假手。该假手手指采用七连杆欠驱动机构设计，通过Whiffle Tree机构实现指间力自适应分配，通过可复位式直线棘轮实现自锁与解锁。整个假手以手腕驱动，可实现自适应抓握。假手多数零件采用3D打印技术制造，具有顺应性好、可自锁、成本低、质量轻的特点。仿真和实验表明，该假手可成为相关患者的一个不错选择。
In hand amputation cases, partial hand amputation patients account for the largest proportion, however, due to the diversity of amputation types and the difficulty of product commercialization, research and design of partial hand amputation prosthesis are relatively few in recent decades, which has caused many patients with partial hand amputation cannot find suitable prosthesis products. In this paper, a mechanical bionic prosthetic hand based on underactuated principle is designed for the patients with four finger amputations across the metacarpophalangeal joint. The fingers of the prosthetic hand are designed with seven-link underactuated mechanism, which real-izes the adaptive distribution of interfinger force through the Whiffle Tree mechanism and realizes the self-locking and unlocking through the resettable linear ratchet. The whole artificial hand is driven by the wrist, which can realize adaptive grip. Most parts of the prosthetic hand are manu-factured by 3D printing technology, which has the characteristics of good compliance, self-locking, low cost and light weight. Simulations and experiments have shown that the prosthetic hand can be a good choice for relevant patients.