截肢患者需要外形与人手相似、重量轻、体积小，并且具有人手大部分抓取功能和适当操作功能的假手，基于对人手骨骼结构和功能的分析，提出了一种仿人型肌电假手
设计． 该假手具有 5 只手指和 4 个自由度，分别由 4 个独立的驱动器进行控制;手指的关节基于弹性铰链进行设计，相邻的指骨间通过螺旋弹簧连接;除拇指外，每只手指均为单自由度，关节之间的运动通过腱驱动耦合实现;驱动系统设计安装在手掌内，具有紧凑的结构，对各个手指的运动灵活控制． 通过对手指的运动学分析以及对假手功能的模拟证实，该假手能够实现日常生活中大部分的手势和抓取功能．

In the amputee rehabilitation,the anthropomorphic prosthetic hand of light weight,small size and most of the grasping and operating functions of human hands is needed.In this paper,by analyzing the skeletons and functions of human hands,a design of the anthropomorphic prosthetic hand is proposed.The prosthetic hand has five fingers and four degrees of freedom (DOFs),and is driven by four independent actuators.The joints of each finger are designed based on elastic joints,and the adjacent phalanxes are connected by using helical springs.Ex- cept for the thumb,each finger is of one DOF,and the movements among the joints are realized by using tendons to couple the joints.The compact drive system is settled in the palm to control the fingers.Through the analysis of the finger workspace and the simulation of the prosthetic hand,it is proved that the proposed prosthetic hand can execute most gestures and grasping tasks in the activities of daily life.