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一、引言随着单自由度前臂电动假手临床评价的确定,且已在一般条件下使用之后,对于具有多自由度、多功能的假手,就有了强烈的要求。这个问题不仅仅是指有关为上臂截断和肩离断等更高部位截肢者使用的假手,而且还包括对单自由度动力假手有使用经验的某些截肢者需要有更高功能的假手。为此,尽管以前对多自由度动力假手已作了多次研究开发,然而可供实用的还很少。对于这个问题,不但需要研究在假手的有限重量和尺寸范围中,使之能具有尽可能多的自由度,且要对动力源与传动装置全部作重新研究设计,以提高各个自由度的输出能力,此外还有必要研制对使用者负担少的、用以控制多
I. INTRODUCTION With the clinical evaluation of single degree of freedom forearm electric hand prosthesis and its use under normal conditions, there is a strong demand for artificial hand with multiple degrees of freedom and versatility. This issue is not just about artificial hands that are used by taller amputees such as upper arm amputations and shoulder amputations, but also includes prosthetic hands that require more advanced functions for some amputees who have experience with single degree of freedom powered amputees. For this reason, although many studies and developments have been made on the multi-degree-of-freedom powered hand before, few are practical yet. To solve this problem, we must not only study the limited weight and the size range of the artificial hand so as to make it possible to have as many degrees of freedom as possible, but also re-design all the power sources and transmission devices to improve the output capability of each degree of freedom , In addition to the need to develop a less burdensome users, to control more