Shape-adaptive robotic prosthetic finger

5-Bar Linkage-Based Shape-Adaptive Finger Prosthesis Powered by User Movement

This technology is a robotic prosthetic structure based on a 5-bar linkage that attaches to the proximal phalanx of an amputated finger and is powered by the user's own movement.

Conventional robotic prosthetics often stop moving upon contact when grasping objects, leading to unstable grip, or require external actuators, which limits the implementation of prosthetics powered by the body's own movement.

This technology applies a 5-bar linkage mechanism designed to automatically adapt to the shape of an object upon contact by separating the links responsible for flexion/extension and grasping, and incorporating elastic members and angle-limiting elements. It can be applied to prosthetics, rehabilitation aids, and wearable devices, enhancing grasping capability by adapting to various shapes without the need for external actuators.

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Key Features:

• A proximal phalanx elastic member provided at the joint between the first and second proximal phalanx links to provide elastic force
• A middle phalanx body connected to the proximal phalanx body, serving the role of the middle phalanx of an amputated finger
• A distal phalanx body connected to the middle phalanx body, serving the role of the distal phalanx of an amputated finger
• A second proximal phalanx link joint-connected to the first proximal phalanx link at the lower side of the proximal phalanx body

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This invention was developed with support from the Ministry of Education for research on replaceable bio-finger systems.