This technology is a finger prosthesis device utilizing an underactuated mechanism. It transmits rotational force from the first axis to the second body via an elastic element. When the rotation of a specific link is restricted, the deformation of the elastic element allows the third body to rotate independently, enabling an adaptive grasp that conforms to the shape of an object.
Conventional robotic prostheses require multiple actuators to mimic the movement of individual finger joints, leading to complex structures. These designs struggle to provide flexible grasping capabilities that adapt to object shapes and often lack user comfort.
This technology achieves multiple degrees of freedom with fewer actuators through an interlocking structure between the first and second bodies that incorporates elastic elements. It also features a rolling contact mechanism using wires and pulleys at the terminal device to ensure stable torque transmission through tension control. Applicable to prosthetics, rehabilitation aids, and wearable robots, it allows for flexible adaptation to object shapes with fewer actuators while enhancing wearer comfort.
This invention was developed with support from the Ministry of Science and ICT for the development of biomimetic bionic arm mechanisms.
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