Patent ID: 8668659

Claim:
A finger motion assisting apparatus for assisting the motion of a finger comprising: a finger holding member configured to be disposed on an outer periphery of phalanxes including a distal phalanx, a middle phalanx and a proximal phalanx, the finger holding member comprising a spring-like member configured to encircle the outer periphery of the phalanxes, such that a neutral axis of the spring matches with a center axis of the finger to be assisted; a wire guide group provided on the finger holding member; a wire inserted through the wire guide group; and a driving unit that pulls or loosens the wire, with which the finger motion assisting apparatus is configured to bend and stretch the phalanxes, the driving unit comprising an artificial muscle that extends and contracts along a longitudinal length of the finger by supplying or discharging a gas, a liquid, a solid material, or a mixture thereof, wherein the wire guide group comprises a first wire guide group configured to be located on a palm side of the phalanxes, and a second wire guide group configured to be located on a back side of the phalanxes, the wire is fixed to the finger holding member configured to be disposed on the distal phalanx, the wire comprises a first wire inserted through the first wire guide group, and a second wire inserted through the second wire guide group, the driving unit loosens the first wire when the second wire is pulled in a stretched state, and the driving unit loosens the second wire when the first wire is pulled such that a shape of the spring-like member is changed from the shape of the spring-like member in the stretched state, such that a portion of the spring-like member on the palm side is compressed and a portion of the spring-like member on the back side is stretched in a bent state.