CN201299671Y - Wearable mechanical artificial-finger - Google Patents
Wearable mechanical artificial-finger Download PDFInfo
- Publication number
- CN201299671Y CN201299671Y CNU2008200506085U CN200820050608U CN201299671Y CN 201299671 Y CN201299671 Y CN 201299671Y CN U2008200506085 U CNU2008200506085 U CN U2008200506085U CN 200820050608 U CN200820050608 U CN 200820050608U CN 201299671 Y CN201299671 Y CN 201299671Y
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- China
- Prior art keywords
- finger
- hole
- link block
- palm
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 241000905957 Channa melasoma Species 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 5
- 239000011148 porous material Substances 0.000 claims description 3
- 244000060701 Kaempferia pandurata Species 0.000 claims description 2
- 235000016390 Uvaria chamae Nutrition 0.000 claims description 2
- 238000005452 bending Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 10
- 210000001145 finger joint Anatomy 0.000 abstract 1
- 210000000811 metacarpophalangeal joint Anatomy 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- VEXZGXHMUGYJMC-UHFFFAOYSA-M Chloride anion Chemical compound [Cl-] VEXZGXHMUGYJMC-UHFFFAOYSA-M 0.000 description 1
- 241001397306 Proales Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
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- Prostheses (AREA)
Abstract
The utility model relates to a wearable mechanical artificial-finger device. One end of a connecting module of the device is in shaft-hole connection with a first fingertip module, and the other end thereof is connected in a fingertip joint rotating hole; one end of a power drive rod is in shaft-hole connection with the connecting module on the same central line with the fingertip joint rotating hole, and the other end thereof is connected on the shaft hole of a palm-finger connecting module; the palm-finger connecting module is fixed in a second finger module and is in shaft-hole connection with the second finger module; a parallel drive rod penetrates through a second finger joint rotating hole and is fixed in the slotted hole of the palm-finger connecting module; an extension assist spring is connected on the parallel drive rod; a spring locating sleeve is fixed at the back side of the extension assist spring sleeve arranged on the parallel drive rod; a fixed pipe is fixed at the tail end of the parallel drive rod; and a receiving cavity is in rivet-hole connection with a palm-finger module. The device has small shape and light weight, which solves the problem that the existing artificial finger device can not realize powerful grabbing and holding and flexible movement; in addition, the device is applicable to handicapped persons who lose two fingers or more fingers.
Description
Technical field
This utility model relates to the machine emulated finger of a kind of Worn type of artificial limb.
Background technology
Human finger is flexible, and function is a lot, except function such as can realizing grabbing, hold, pinch, take, can also carry out other a lot of meticulous compound motions.But in the existing prosthesis technique, silica gel emulation finger-stall has just played a kind of effect of decorative appearance, can not realize the proper motion function of human finger, so brought very big trouble and difficulty for the incomplete personage of finger in study, life, work.
Summary of the invention
The purpose of this utility model provides a kind of machine emulated finger apparatus of Worn type near human finger proper motion function, it has not only possessed the flexion and extension function of human finger, but also possessed grasping, be affectedly bashful function, its device is small and exquisite, profile is near the human finger size, on the finger that has been fit to be worn on incomplete.
This utility model is by the following technical solutions: the machine emulated finger apparatus of a kind of Worn type, this device comprise that the first finger tip module, link block, the second finger print piece, the palm refer to driving mechanism and receptive cavity; The palm refers to that driving mechanism comprises that also power drive bar, finger tip joint rotation hole, the second articulations digitorum manus rotation hole, the palm refer to link block, driven in parallel bar, help and stretch spring, spring positioning sleeve, stationary pipes; Link block one end is connected with the first finger tip module axis hole, and the other end is connected finger tip joint rotation hole; Power drive bar one end is connected with the link block axis hole, and on a centrage, the other end is connected the palm and refers on the link block axis hole with finger tip joint rotation hole; The palm refers to that link block is fixed on to carry out axis hole with it and connects in the second finger print piece; The driven in parallel bar passes the second articulations digitorum manus rotation hole, is fixed on the palm and refers in the link block slotted eye; Help and stretch spring and be connected on the driven in parallel bar; The spring positioning sleeve is fixed on helping on the driven in parallel bar and stretches the spring housing rear side; Stationary pipes is fixed on driven in parallel bar end; Receptive cavity is connected with palm finger print piece rivet hole.
The present invention compared with prior art has the following advantages and the salience effect: this device utilizes the residual position of finger to be connected both combinations with the receptive cavity of the machine emulated finger of Worn type.When flexion and extension was carried out at the residual position of finger, the palm that will drive on the machine emulated finger of Worn type referred to that driving mechanism rotates, thereby reaches the passive flexion and extension of the machine emulated finger of Worn type.This device only adopts the power drive bar to carry out transmission with parallel drive rod, simple in structure, in light weight, characteristics such as maintain easily, thereby can make the machine emulated finger of Worn type similar, also possess the flexion and extension function that existing silica gel emulation finger-stall can not be realized human finger simultaneously to the articulation structure merit of human finger.This device can be used as a single finger, and can also be combined into two or more companies and refer to the machine emulated finger apparatus of Worn type,
Description of drawings
Fig. 1 is the machine emulated finger apparatus front view of the Worn type of utility model, Fig. 2 is the vertical view of Fig. 1, Fig. 3 is that the A-A of Fig. 1 throws view, Fig. 4 is the bottom view of Fig. 1, Fig. 5 is the first finger tip link block front view, Fig. 6 is the throwing view of Fig. 5, Fig. 7 is that link block is thrown view, Fig. 8 is the vertical view of Fig. 7, Fig. 9 is the front view of power drive bar, Figure 10 is the vertical view of Fig. 9, Figure 11 is the second finger print piece master pseudosection, Figure 12 is the vertical view of Figure 11, Figure 13 is the bottom view of Figure 11, Figure 14 is the front view that the palm refers to link block, Figure 15 is the part sectioned view of overlooking of Figure 14, Figure 16 is the bottom view of Figure 14, Figure 17 is the front view of driven in parallel bar, Figure 18 is the vertical view of Figure 17, Figure 19 helps the front view of stretching spring, and Figure 20 is the vertical view of Figure 19, and Figure 21 is that the spring stationary positioned is overlapped main pseudosection, Figure 22 is the vertical view of Figure 21, Figure 23 is the rearview of Figure 21, and Figure 24 is the front view of stationary pipes, and Figure 25 is the vertical view of Figure 24, Figure 26 is the front view of receptive cavity, Figure 27 is the vertical view of Figure 25, and Figure 28 is the bottom view of Figure 25, and Figure 29 represents connecting axle 12 respectively, connecting axle 13, connecting axle 14, the front view of connecting axle 15, Figure 30 is the vertical view of Figure 29, Figure 31,32,33,34 are the curvature movement exemplary view.
In from Fig. 1 to Figure 34
1, the first finger tip module, 2, link block,
3, power drive bar, 4, the second finger print piece,
5, the palm refers to driving mechanism, 6, the palm refers to link block,
7, driven in parallel bar, 8, help and stretch spring,
9, spring positioning sleeve, 10, stationary pipes,
11, receptive cavity, 12, the first finger tip module connecting axle,
13, link block connecting axle, 14, the palm refers to connecting axle before the link block,
15, the palm refers to connecting axle after the link block, and 16, second refers to fixedly dead slot,
17, the palm refers to riveted holes before the link block, 18, the palm refers to riveted holes after the link block,
19, the first finger tip module axis hole, 20, finger tip joint rotation hole,
21, the second finger print piece axis hole, 22, the second articulations digitorum manus rotation hole,
23, riveted holes before the receptive cavity, 24, riveted holes behind the receptive cavity,
25, the hollow cuboid groove of the first finger tip module, 26, the link block front-axle hole,
27, axis hole after the link block, 28, dead slot in the middle of the link block,
29, connecting hole before the power drive bar, 30, connecting hole behind the power drive bar,
31, the palm refers to the link block axis hole, 32, the palm refers to connecting hole before the link block,
33, the palm refers to link block hyperextension stopper, 34, the palm refers to that link block connects fluting,
35, the palm refers to link block left side slotted eye, 36, the palm refers to the right slotted eye of link block,
37, spring positioning sleeve left side locating hole, 38, the right locating hole of spring positioning sleeve,
39, fixing pore, 40, receptive cavity deformed limb parcel groove,
41, the receptive cavity suspention is recessed.
The specific embodiment
According to Fig. 1, Fig. 2, Fig. 3, Fig. 4 embodiment is described, its embodiment refers to driving mechanism 5 and receptive cavity 11 by the first finger tip module 1, link block 2, the second finger print piece 4, the palm; The described palm refers to that driving mechanism comprises that also power drive bar 3, finger tip joint rotation hole 20, the second articulations digitorum manus rotation hole 22, the palm refer to link block 6, driven in parallel bar 7, help and stretch spring 8, spring positioning sleeve 9, stationary pipes 10; Described link block one end is connected with the first finger tip module axis hole 19, and the other end is connected finger tip joint rotation hole; Connecting hole 29 is connected on the link block front-axle hole 26 and the first finger tip module axis hole 19 before the described power drive bar, and this junction point and finger tip joint rotation hole are on same centrage, and back connecting hole 30 is connected the palm and refers on the link block axis hole 31; The described palm refers to that link block is fixed on second finger print piece the inside by back connecting axle 15 and is connected with its axis hole 21; Described driven in parallel bar passes the second articulations digitorum manus rotation hole, is fixed on the palm and refers to 36 li of driven in parallel bar left side slotted eye 35 on the link block and right slotted eyes; Described helping stretched spring and is fixed on the driven in parallel bar; Described spring positioning sleeve is fixed on the driven in parallel bar, is positioned to help to stretch the spring rear side; Described stationary pipes is fixed on the two ends seam of driven in parallel bar; Receptive cavity is fixed on the rivet hole of palm finger print piece.
According to Fig. 3, Fig. 5, Fig. 6, Fig. 7, Fig. 9 embodiment is described, the first finger tip module 1 of its embodiment comprises hollow cuboid groove 25, connecting axle 12, axis hole 19, described connecting axle pass the axis hole that is positioned on the first finger tip module and with link block front-axle hole 26 and power drive bar before connecting hole 29 together be connected in the hollow cuboid groove.
According to Fig. 1, Fig. 3, Fig. 7, Fig. 8, Figure 13 illustrates embodiment, dead slot 28 in the middle of the link block 2 of its embodiment comprises, connecting axle 13, front-axle hole 26, back axis hole 27, the dead slot purpose is in order not stop that the power drive bar is connected with link block in the middle of described, described connecting axle is connected after finger tip joint rotation hole 20 and the link block on the axis hole 27, simultaneously link block is fixed on second finger print piece the place ahead fixedly in the dead slot 16a, its structural parameters meet following relation: the length of establishing link block is L, equal the width of the second finger print piece inwall because of the width a of link block, and the height h=a of connection mode, then: L: a: h=2～4: 1: 1, its structure plays and connects the first finger tip module and the second finger print piece purpose, form the finger tip joint, played the effect that connects the power drive bar simultaneously.
According to Fig. 3, Figure 11, Figure 12, Figure 13 embodiment is described, the second finger print piece 4 of its embodiment has comprised fixedly dead slot 6, finger tip joint rotation hole 20, axis hole 21, the second articulations digitorum manus rotation hole 22, the described finger tip joint rotation hole and the second articulations digitorum manus rotation hole are positioned on same the centrage, axis hole is positioned at the front lower place of the second articulations digitorum manus rotation hole, its structure is an important connection carrier, fixes link block and the palm refers to link block by axis hole.
According to Fig. 9, Figure 10 embodiment is described, connecting hole 29 and back connecting hole 30 before the power drive bar 3 of its embodiment comprises, its structural parameters meet following relation: the length of establishing the power drive bar is L1, the height h1 of power drive bar equals the width of the second finger print piece inwall, then: L1: h1=2～5: 1, this structure purpose is in order effectively to drive the motion of the first finger tip joint module.
According to Fig. 3, Figure 14, Figure 15, Figure 16, Figure 18 illustrates embodiment, the palm of its embodiment refers to that link block 6 has comprised connection fluting 34, preceding connecting axle 14, back connecting axle 15, preceding connecting hole 31, back connecting hole 32, hyperextension stopper 33, left side slotted eye 35, right slotted eye 36, preceding riveted holes 17, back riveted holes 18, connecting axle is connected with connecting hole 30 behind the power drive bar by preceding connecting hole before described, the power drive bar is fixed in the connection fluting, described back connecting axle passes the back connecting hole and is connected axis hole 21 with the second finger print piece, make the palm refer to that link block is fixed on the second finger print piece rear fixedly in the dead slot 16b, the described hyperextension stopper and the second finger print piece outer wall are wide, and be positioned at its back lower place, the main purpose of its structure is to drive the first finger tip block motion in order to reach connection power drive bar, simultaneously also by with being connected of parallel drive rod, formed second articulations digitorum manus.
According to Fig. 1, Fig. 4, Figure 17, Figure 18 embodiment is described, the driven in parallel bar 7 of its embodiment passes the second articulations digitorum manus rotation hole 22, implement parallel bending according to the second finger print piece outer wall width, pass left slotted eye 35 and right slotted eye 36 that the palm refers to link block respectively.In whole device motor process, played the flexion and extension that promotes the second finger print piece and the control palm and referred to that link block rotates around the second finger print piece axis hole.
According to Fig. 4, Figure 15, Figure 19, Figure 20, Figure 31, Figure 32 illustrates embodiment, the helping of its embodiment stretched spring and comprised a left side and help and stretch spring 8a and the right side and help and stretch spring 8b, described helping stretched spring and is positioned at the palm and refers to link block left side slotted eye and right slotted eye rear, be separately fixed on the driven in parallel bar, when the driven in parallel bar is subjected to proal external force, will drive whole Worn type mechanical prosthetic hand finger device travels forward, being fixed on helping of driven in parallel bar this moment stretches spring and will be compressed, after the external force of driven in parallel bar disappears, help and stretch spring and will discharge compressed power, the machine emulated finger apparatus of Worn type will return to straight configuration.
According to Fig. 4, Figure 21, Figure 22, Figure 23 embodiment is described, the spring positioning sleeve 9 of its embodiment comprises locating hole 37 and locating hole 38, two holes are fixed on the driven in parallel bar, laying respectively at a left side helps and stretches spring 8a and the right side and help and stretch spring 8b rear side, the described spring positioning sleeve and the palm refer to that link block left side slotted eye and right slotted eye are wide, and its structural design main purpose is to slide backward when spring is compressed in order to prevent to help to stretch.
According to Fig. 4, Figure 24, Figure 25 embodiment is described, the stationary pipes 10 of its embodiment is fixed on the two ends seam of driven in parallel bar by pore 39, the structural design order is for the two ends that connect the driven in parallel bar and prevents that the driven in parallel bar from scratching human hands that its stationary pipes material is a polrvinyl chloride.
According to Fig. 2, Fig. 4, Figure 26, Figure 27, Figure 28 illustrates embodiment, the receptive cavity 11 of its embodiment comprises deformed limb parcel groove 40, suspend recessed 41 in midair, preceding riveted holes 23 and back riveted holes 24, described deformed limb parcel groove is used for fixing the residual position of finger, recessed of described suspention is fixed on the finger root position of residual finger, play the effect of suspending in midair and preventing to point play between residual position and the receptive cavity, riveted holes and back riveted holes refer to the preceding riveted holes of link block respectively before described with the palm, back riveted holes riveted joint, its structural design mainly are that machine emulated finger apparatus of Worn type and the residual position of finger are connected as one.
Operation principle is described below:
According to Figure 31, Figure 32, Figure 33, shown in Figure 34, the machine emulated finger of the Worn type of its embodiment is by receptive cavity and finger being connected of residual position, both are integrated, when the metacarpophalangeal joints of human hands carries out curvature movement, the palm that will drive on the machine emulated finger of Worn type refers to that driving mechanism rotates, make the driven in parallel bar that is positioned at human hands metacarpophalangeal joints position be subjected to a power that promotes forward, thereby the spring positioning sleeve that has driven on the driven in parallel bar is stretched spring and is compressed helping, further also driving the second finger print piece implements to rotate, refer to that link block carries out flexing around connecting axle and rotate and be positioned at the palm inside the second finger print piece, also driving with the palm simultaneously and referring to that the power drive bar that link block is connected moves backward, last power drive bar together is inconjunction with the first finger tip module and implements curvature movement, the flexion angle that moves when the human hands metacarpophalangeal joints is big more, the flexion angle of first finger tip module on the machine emulated finger of Worn type and the motion of the second finger print piece also can and then become big, when the metacarpophalangeal joints of human hands carries out stretching, compressed helping stretched spring strength and will be obtained discharging, spring positioning sleeve on the driven in parallel bar is set back, thereupon the first finger tip module, the power drive bar, the palm refers to link block, the second finger print piece, the driven in parallel bar equally also returns to the normal straight configuration of Figure 31.This device can be used as a single finger, can also be combined into two or more companies and refer to the machine emulated finger apparatus of Worn type, and this device not only can satisfy the profile and the moving condition of normal finger, and dresses convenient, small and exquisite flexible.
Claims (10)
1, the machine emulated finger apparatus of a kind of Worn type is characterized in that: it comprises that the first finger tip module (1), link block (2), the second finger print piece (4), the palm refer to driving mechanism (5) and receptive cavity (11); The described palm refers to that driving mechanism comprises that also power drive bar (3), finger tip joint rotation hole (20), the second articulations digitorum manus rotation hole (22), the palm refer to link block (6), driven in parallel bar (7), help and stretch spring (8), spring positioning sleeve (9), stationary pipes (10); Described link block one end is connected with the first finger tip module axis hole (19), and the other end is connected finger tip joint rotation hole; Connecting hole (29) is connected on the link block front-axle hole (26) and the first finger tip module axis hole (19) before the described power drive bar, this junction point and finger tip joint rotation hole are on same centrage, and back connecting hole (30) is connected the palm and refers on the link block axis hole (31); The described palm refers to that link block is fixed in the second finger print piece and with its axis hole and is connected; Described driven in parallel bar passes the second articulations digitorum manus rotation hole, is fixed on the palm and refers in the driven in parallel bar slotted eye on the link block: described helping stretched spring and is fixed on the driven in parallel bar; Described spring positioning sleeve is fixed on the driven in parallel bar, is positioned to help to stretch the spring rear side; Described stationary pipes is fixed on the two ends seam of driven in parallel bar; Described receptive cavity is fixed on the rivet hole of palm finger print piece.
2, the machine emulated finger apparatus of chatting according to claim 1 of Worn type, it is characterized in that: the described first finger tip module (1) comprises hollow cuboid groove (25), connecting axle (12), axis hole (19), described connecting axle pass the axis hole that is positioned on the first finger tip module and with link block front-axle hole (26) and power drive bar before connecting hole (29) together be connected in the hollow cuboid groove.
3, the machine emulated finger apparatus of chatting according to claim 2 of Worn type, it is characterized in that: dead slot (28), connecting axle (13), front-axle hole (26), back axis hole (27) in the middle of described link block (2) comprises, the dead slot purpose is in order not stop that the power drive bar is connected with link block in the middle of described, described connecting axle is connected after finger tip joint rotation hole (20) and the link block on the axis hole (27), simultaneously link block is fixed on fixedly dead slot (16a) lining, second finger print piece the place ahead, its structural parameters meet following relation:
If the length of link block is L, because of the width a of link block equals the width of the second finger print piece inwall, and connection mode height h=a, then: L: a: h=2～4: 1: 1.
4, the machine emulated finger apparatus of chatting according to claim 1 of Worn type, it is characterized in that: comprised fixedly dead slot (16), finger tip joint rotation hole (20), axis hole (21), the second articulations digitorum manus rotation hole (22) on the described second finger print piece (4), the described finger tip joint rotation hole and the second articulations digitorum manus rotation hole are positioned on same the centrage, and axis hole is positioned at the front lower place of the second articulations digitorum manus rotation hole.
5, the machine emulated finger apparatus of chatting according to claim 1 of Worn type is characterized in that: described power drive bar (3) comprises preceding connecting hole (29) and back connecting hole (30), and its structural parameters meet following relation:
If the length of power drive bar is L1, the height h1 of power drive bar equals the width of the second finger print piece inwall, then: L1: h1=2～5: 1.
6, the machine emulated finger apparatus of chatting according to claim 4 of Worn type, it is characterized in that: the described palm refers to that link block (6) has comprised connection fluting (34), preceding connecting axle (14), back connecting axle (15), preceding connecting hole (31), back connecting hole (32), hyperextension stopper (33), left side slotted eye (35), right slotted eye (36), preceding riveted holes (17), back riveted holes (18), connecting axle is connected with connecting hole (30) behind the power drive bar by preceding connecting hole before described, the power drive bar is fixed in the connection fluting, described back connecting axle is connected the back connecting hole and is connected on the axis hole (21) with the second finger print piece, make the palm refer to that link block is fixed on fixedly dead slot (16b) lining, the second finger print piece rear, the described palm refers to that link block hyperextension stopper and the second finger print piece outer wall are wide, and is positioned at its back lower place.
7, the machine emulated finger apparatus of chatting according to claim 6 of Worn type, it is characterized in that: described driven in parallel bar (7) passes the second articulations digitorum manus rotation hole (22), implement parallel bending according to the second finger print piece outer wall width, pass left slotted eye (35) and right slotted eye (36) that the described palm refers to link block respectively, the two ends of driven in parallel bar connect by the pore (39) on the stationary pipes (10).
8, the machine emulated finger apparatus of chatting according to claim 7 of Worn type, it is characterized in that: described helping stretched spring and comprised a left side and help and stretch spring (8a) and the right side and help and stretch spring (8b), help about described and stretch spring and be positioned at the palm and refer to link block left side slotted eye and right slotted eye rear, be separately fixed on the driven in parallel bar.
9, the machine emulated finger apparatus of chatting according to claim 7 of Worn type, it is characterized in that: described spring positioning sleeve (9) comprises locating hole (37) and locating hole (38), two holes are fixed on the driven in parallel bar, lay respectively at a left side and help and stretch spring (8a) and the right side and help and stretch spring (8b) rear side, the spring positioning sleeve and the palm refer to that link block left side slotted eye and right slotted eye are wide.
10, the machine emulated finger apparatus of chatting according to claim 6 of Worn type, it is characterized in that: described receptive cavity (11) comprises deformed limb parcel groove (40), suspention recessed (41), preceding riveted holes (23) and back riveted holes (24), described deformed limb parcel groove is used for fixing the residual position of finger, recessed of described suspention is fixed on the finger root position of residual finger, play the effect of suspending in midair and preventing to point play between residual position and the receptive cavity, riveted holes and back riveted holes refer to preceding riveted holes, the back riveted holes riveted joint of link block respectively with the palm before described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200506085U CN201299671Y (en) | 2008-07-14 | 2008-07-14 | Wearable mechanical artificial-finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200506085U CN201299671Y (en) | 2008-07-14 | 2008-07-14 | Wearable mechanical artificial-finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201299671Y true CN201299671Y (en) | 2009-09-02 |
Family
ID=41083282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200506085U Expired - Fee Related CN201299671Y (en) | 2008-07-14 | 2008-07-14 | Wearable mechanical artificial-finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201299671Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012009735A1 (en) * | 2010-07-16 | 2012-01-19 | Vaal University Of Technology | Articulating prosthesis |
| WO2012175038A1 (en) * | 2011-06-22 | 2012-12-27 | The Chinese University Of Hong Kong | Finger prosthesis |
| CN102883689A (en) * | 2010-05-06 | 2013-01-16 | 因文康公司 | Grasping aid device including a tool and an attaching of the tool |
| CN103552085A (en) * | 2013-09-23 | 2014-02-05 | 中国科学院电工研究所 | Mechanical finger without exogenetic force |
-
2008
- 2008-07-14 CN CNU2008200506085U patent/CN201299671Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102883689A (en) * | 2010-05-06 | 2013-01-16 | 因文康公司 | Grasping aid device including a tool and an attaching of the tool |
| CN102883689B (en) * | 2010-05-06 | 2015-06-03 | 因文康公司 | Grasping aid device including a tool and an attaching of the tool |
| WO2012009735A1 (en) * | 2010-07-16 | 2012-01-19 | Vaal University Of Technology | Articulating prosthesis |
| WO2012175038A1 (en) * | 2011-06-22 | 2012-12-27 | The Chinese University Of Hong Kong | Finger prosthesis |
| CN103552085A (en) * | 2013-09-23 | 2014-02-05 | 中国科学院电工研究所 | Mechanical finger without exogenetic force |
| CN103552085B (en) * | 2013-09-23 | 2016-01-06 | 中国科学院电工研究所 | A kind of external power-free mechanical finger |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090902 Termination date: 20120714 |