Hand prosthesis
A prosthetic hand system may include a plurality of prosthetic fingers and a prosthetic thumb. The prosthetic hand system may include a thumb drive mechanism that may be used to actuate the prosthetic thumb. In some examples, the thumb drive mechanism may be configured to enable the prosthetic thumb to perform a pinching or grasping motion and a release motion. The prosthetic hand system may also include a backlock that enables the prosthetic thumb to maintain pinching or gripping pressure after a motor has been disengaged. The prosthetic hand system may also include a gear lock that may be configured to lock a finger joint. The prosthetic hand system may also include an adaptive gripping joint that may be located on each prosthetic finger. In some examples, the adaptive gripping joint may be configured to passively adapt the plurality of prosthetic fingers to one or more differently shaped objects.
1. A gear locking mechanism for a prosthetic hand, comprising:
a first internal gear attached to a distal finger link of a finger member;
a second internal gear attached to a proximal finger link of the finger member;
an external gear coupled to a button, wherein the external gear forms a bridge between the first internal gear and the second internal gear to lock a finger joint of the finger member; and
a spring configured to return the button to a locked position,
wherein the first internal gear or second internal gear is coupled to a servo clamp attached to a respective distal finger link or proximal finger link, thereby providing an overload protection for the gear locking mechanism.
2. A gear locking mechanism for a prosthetic hand as in claim 1 , further comprising a compliant member that is attached to a finger link and an internal gear, wherein the compliant member acts as a series-elastic-element providing flexibility within the finger link.