A MODULAR MECHANICAL DEVICE RESEMBLING A HUMAN ARM AND HAND

摘要

The present invention consists of a limb including hand, wrist, lower arm, elbow and upper arm resembling in appearance and operation of a human upper limb. The hand includes an articulating thumb having a double-hinge at the carpo-metacarpal, metacarpophalangeal and distal inter-phalangeal joint having two ligament lines attached. The first ligament line is attached to the distal phalanx and metacarpal, the second ligament is attached to the middle phalanx and the hand skeleton frame. The metacarpal of the thumb is coupled to a tendon operated by a dedicated actuator located in the lower arm. Similarly, four independently articulating fingers, each having a knuckle-shaped hinge at both the metacarpophalangeal and proximal inter-phalangeal joints having a ligament line attached. The ligament line is attached to a fused structure of the distal and middle phalanx and the hand skeleton frame.