Five started hand-operated device in question

摘要

Five started hand-operated device in question, the one hand, a human hand mime hand body (2) and a drive unit (3), wherein the hand body (2) a base (4) with a surface of the hand and a back, a thumb mechanism (5), an index finger mechanism (6), a means fingers mechanism (7), a ring finger mechanism (8) and a small - fingers mechanism (9), which correspond to the five fingers of a human being and in each case bend - and expanded functions are, wherein the drive unit (3) the five finger mechanisms of the hand body (2) independently from each other drives,wherein the drive unit (3) comprises:a plurality of output fluid pressure cylinders (23, 24, 28, 29, 30, 34), which in the hand body (2) are arranged, and the finger mechanisms (5, 6, 7, 8, 9) for mutually independent bending and stretching actuating;a plurality of drive fluid pressure cylinders (37), the outside of the hand body (2) are arranged and are each connected by way of fluid pressure transfer tubes (45) with the power take-off fluid pressure cylinders (23, 24, 28, 29, 30, 34) are connected, whereby the drive fluid pressure cylinder (37) on the output fluid pressure cylinder (23, 24, 28, 29, 30, 34) are each independently of the work fluid pressures; anda control unit (36), is configured for the purpose of the of the drive fluid pressure cylinders (37) on the corresponding output fluid pressure cylinder (23, 24, 28, 29, 30, 34) transmitted work fluid pressures must be set, in order, as a result, the bending and stretching of the finger mechanisms (5, 6, 7, 8, 9) for controlling / regulating,characterized in thatthe thumb mechanism (5) and one or both of the index finger mechanism (6) and of the middle finger mechanism (7) are considered as a skillful fingers, which are each provided with a force sensor (21) are provided, which is configured to set a on the finger tips (22) acting force to be detected, and the through the ..