CN101340865A - 手假肢以及力传递装置 - Google Patents

手假肢以及力传递装置 Download PDF

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CN101340865A
CN101340865A CNA2006800484605A CN200680048460A CN101340865A CN 101340865 A CN101340865 A CN 101340865A CN A2006800484605 A CNA2006800484605 A CN A2006800484605A CN 200680048460 A CN200680048460 A CN 200680048460A CN 101340865 A CN101340865 A CN 101340865A
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force transfering
hands
finger prosthesis
prostheses
transfering device
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CN101340865B (zh
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G·普奇哈默
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Otto Bock Healthcare GmbH
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Abstract

本发明涉及一种手假肢(1)，该手假肢具有一个基架(2)，至少一个手指假肢(3，4，5)铰接地支承在该基架上，所述手指假肢可通过与所述手指假肢(3，4，5)通过力传递装置(10)相连接的驱动装置绕至少一个摆动轴(15)运动。该驱动装置与所述手指假肢(3，4，5)之间的力传递装置(10)构造成在拉力下刚性的并且在压力下挠性的、尤其是弯曲弹性的。

Description

手假肢以及力传递装置
本发明涉及一种手假肢，该手假肢具有一个基架，至少一个手指假肢铰接地支承在该基架上，所述手指假肢可通过与所述手指假肢通过力传递装置相连接的驱动装置绕至少一个摆动轴运动；本发明还涉及这种力传递装置。
如果手必须被截肢或由于事故而不可逆地与臂断开了，则手的外观以及部分功能可通过手假肢来替代。为此，手假肢必须能够使可构造成手指模拟装置的握持装置彼此相对移位，以便可握持物体。
除了如由US 2004/0015240 A1公知的两指握持器之外，提出了具有驱动装置的手假肢，该驱动装置通过锥齿轮传动装置刚性地与手基架相连接。视驱动装置的转动方向而定，在此手指假肢彼此相向地或彼此背离地运动。该驱动装置可通过肌电信号来控制。在US 2005/0021154 A1中描述了这种手假肢。这种手假肢的感觉不太自然。
本发明的任务在于，提供一种手假肢和一种力传递装置，通过它可提供近似手自然形态的造型和功能。
根据本发明，该任务通过具有权利要求1的特征的手假肢以及具有权利要求9的特征的力传递装置来解决。本发明的有利构型和进一步构型在从属权利要求中描述。
根据本发明的手假肢具有一个基架，至少一个手指假肢铰接地支承在该基架上，所述手指假肢可通过与手指假肢通过力传递装置相连接的驱动装置绕至少一个摆动轴运动，该手假肢规定：驱动装置与手指假肢之间的力传递装置构造成在压力下挠性的或者弯曲弹性的并且在拉力下刚性的。传统手假肢提出驱动装置与手指假肢之间的刚性耦合，而通过驱动装置与手指假肢的在压力下挠性或弯曲弹性的耦合保证在力传递装置承受压力负荷下即在使得手合拢或手指假肢与手基架之间的角度减小的力作用下，手指假肢挠曲并且除了自然感觉之外还引起对机械部件的保护。对这些部件的保护基于：在手指假肢偶然碰撞到物体上时产生的有时显著的力不直接通过力传递装置传递给驱动装置。而是由于力传递装置的弯曲弹性的、优选回弹的构型而可使作用在手指假肢上的力移位或变换成运动。这种运动可进行直到手指假肢的最大屈曲角度。
而为了保证手指假肢从张开的基本位置起不受阻碍地且可靠地以及精确地进行合拢运动，力传递装置构造成在拉力下刚性的，即，尽可能在力传递装置不伸长的情况下传递拉力。为此提出，力传递装置优选具有绳索、绞线或纤维部件，通过该绳索、绞线或纤维部件来传递拉力。该绳索、绞线或纤维部件可用丝绳索或高强度的纤维如碳纤维、芳族聚酰胺或玻璃纤维制造。此外，也可使用其它合成纤维或天然纤维。为了可将高的拉力从驱动装置传递给手指假肢，绳索、绞线或纤维部件构造成闭合的回线。作为替换方案，提出敞开的回线或扭转的回线的构型。两个敞开的绳索端部或绞线端部的连接或在其余材料或在驱动装置或手指假肢上的固定可通过扭转、绞接或粘接来进行。如果下面谈及绳索部件，则纤维部件或绞线部件也一起包括在内。
本发明的一个进一步构型提出，力传递装置具有弹性体部件，通过该弹性体部件可在宽范围上调整力传递装置的弯曲弹性。弹性体材料优选至少部分地包围或完全接收绳索部件，通过合适地选择该弹性体材料可制造在无动作位置中形状稳定的本体，该本体一方面由于所衬入的绳索部件而具有非常高的拉力，另一方面由于弹性体部件而具有期望的弯曲弹性的且压力弹性的性能。
作为替换方案，力传递装置可构造成弹簧-减振器单元，尤其是构造成气动单元，在该气动单元中，在承受压力负荷下空气容积压缩，该空气容积在压力取消之后膨胀并且引起气动活塞以及由此手指假肢的逆向移位。作为替换方案，力传递装置可构造成弹簧，该弹簧必要时被预压紧。
为了将力传递装置耦合到驱动装置和手指假肢上，设置有轴承套，这些轴承套嵌入在力传递装置中。优选这些轴承套被弹性体元件或弹性体部件包围并且处于绳索或纤维部件内部，优选处于绳索或纤维回线内部。
为了可实现在朝手基架内面弯曲的手指假肢的复位运动，力传递装置构造成有弹簧弹性的，由此，手指假肢在没有通过驱动装置或通过与驱动装置相耦合的传递元件加载以拉力的情况下运动返回到初始位置中。该初始位置优选相应于稍微张开的手。力传递装置由此能够传递受限制的压力。通过力传递装置的相应铰接或构型，可实现手指假肢从基本位置起稍微过伸展。在此，这样确定力传递装置的弹簧刚度的大小，使得当力传递装置被加载以压力时、即在手指假肢在朝手基架内面的方向上摆动时使手指假肢复位到初始位置中。复位力因此必须这样大，使得克服手假肢内部的保持力或摩擦力。
本发明的一个进一步构型提出，多个力传递装置支承在一个公用的支承部位上并且该支承部位可相对于手指假肢的摆动轴移位，以便引起手指假肢的屈曲。该公用的支承部位可直接设置在驱动装置上或传动装置的从动元件上。通过公用的支承装置可简化屈曲运动的同步性。
两个力传递装置也可通过一个公用的绳索、纤维或绞线部件彼此相连接，其中，优选公用的绳索、纤维或绞线部件支承在公用的支承部位上和不同的手指假肢上。绳索、纤维或绞线部件由此将由驱动装置通过公用的支承部位由于相对于手指假肢的摆动轴的移位而产生的拉力传递给手指假肢并且引起手指假肢的屈曲。在此情况下，绳索、纤维或绞线部件可沿着支承部位滑动并且由此保证两个彼此相连接的手指假肢均匀地屈曲。
力传递装置可固定在一个摇摆件上，该摇摆件支承在公用的支承部位上。力传递装置可以以相对于公用的支承部位不同的距离固定在摇摆件上，以便可使对应的手指假肢与手假肢内部的几何条件或与使用条件相适配地移位。
力传递装置可在多个取向上构造成弯曲弹性的，由此在纵向轴线的方向上承受压力负荷时支承部位可彼此相对移位。可全面弯曲的力传递装置于是如球铰链那样起作用并且补偿与理想轴位置的偏差。必要时可放弃绕轴的可转动的支承装置。
用于将力从手假肢的驱动装置传递给铰接地支承在手基架上的手指假肢的力传递装置如上所述地那样构造并且可实现驱动装置和手指假肢的柔和且廉价的耦合以及拉力的有效传递。此外，通过该力传递装置获得抵抗不期望的负荷挠曲的支承和简单的复位。
下面借助于附图来详细描述本发明的实施例。不同附图中的相同参考标号标记相同元件。附图表示：
图1一个手假肢的示意性视图；
图2一个手假肢的功能结构的示意性部分视图；
图3a至图3d一个力传递装置的不同视图；
图4一个摇摆件的细节视图；
图5图2中的细节视图；以及
图6图5的变型方案。
图1中示出了一个手假肢1，该手假肢包括一个手基架2和至少三个铰接地支承在手基架2上的手指假肢3、4、5。手指假肢3、4、5相应于一个自然手的拇指、食指和中指。这三个手指假肢3、4、5的可运动的并且可通过一个驱动装置6促动的支承装置足够可实施手的多个握持工作。其余两个手指即无名指和小指可被动地一起运动并且由弹性体材料构成，以便获得尽可能自然的感觉。呈电动机构型的驱动装置6与属于它的传动装置支承在手基架2内部。一个用于驱动装置6的未示出的能量源也可设置在手基架2内部。驱动装置6的控制通过一个控制装置来进行，该控制装置也可设置在手基架2中。相应信号可通过一个远程操作装置来产生或构造成肌电信号。
图2中示出了手假肢1的工作原理的示意性视图。三个手指假肢3、4、5可绕铰接轴15摆动地支承在手基架2上。手指假肢3、4、5通过力传递装置10与一个转盘7相连接，这些力传递装置的结构在下面还要详细描述，该转盘由电动机6驱动。力传递装置10在转盘7上在轴16上或者直接地或者通过摇摆件8支承。食指4和无名指5通过摇摆件8彼此相耦合，该摇摆件可转动地支承在转盘7上。转盘7本身或者直接地支承在驱动装置6的从动轴上或者支承在传动装置输出轴上。如果驱动装置6被激活，则转盘7运动一个相应的转角。由此，轴16相对于手指假肢3的摆动轴15移位，这由于力传递装置10的在拉力下刚性的构型和力传递装置10在手指假肢3、4、5上的与转动轴15间隔开的铰接而使得手指假肢3、4、5摆动。如果驱动装置6反向并且转盘7运动到轴16相对于手指假肢3、4、5的摆动轴15具有最小距离的位置中，则达到张开的初始位置。通过力传递装置10的有弹簧弹性的特性，于是手指假肢3、4、5运动到它们的张开的初始位置中。在此提出，力传递装置10可传递比压力显著高的拉力。这相应于自然手的生理学事实，自然手在手合拢时比在张开时可施加显著大的力。出于清楚原因，没有示出无名指和小指，无名指和小指可被动地铰接在中指5上并且由此一起运动。
图3中以剖面视图示出了一个力传递装置10。该力传递装置包括一个绳索或纤维部件11，该绳索或纤维部件在当前情况下构造成回线。绳索部件11可由多个绞线或单回线构成并且作为钢绳索或塑料绳索或由其它高强度的纤维材料构成。绳索部件11嵌入到弹性体元件12中，由此，力传递装置10获得形状稳定的但弯曲弹性的构型。弹性体部件12可由硅树脂、橡胶或其它弹性材料构成。尽管具有形状稳定性，但通过绳索或纤维部件11的挠性和弹性体部件12的压力弹性的或弯曲弹性的性能可实现由于作用在力传递装置10上的压力而变形、尤其是弯曲。由此可使通过力传递装置10与驱动装置6或转盘7相耦合的手指假肢3、4、5在朝手基架内面的方向上移位，其中，当相应的反力发挥作用时，由于力传递装置10的有弹簧弹性的性能而进行逆向移位。
在构造成回线的绳索或纤维部件11内部设置有两个轴承套13、14，这些轴承套也嵌入在弹性体部件12、例如硅树脂材料中。轴承套13、14在相应的轴上支承在手指假肢3、4、5上并且在轴16上支承在转盘7或桥8上。轴承套13、14例如由青铜构成，以便与相应的轴16形成滑动支承装置。出于清楚原因，手指假肢3、4、5上的耦合轴没有示出。这些耦合轴相对于转动轴15间隔开，由此，通过经由力传递装置10施加拉力而产生绕转动轴15的力矩，这使得手指假肢3、4、5对应地移位。
在图3b和图3c中可看到，轴承套13、14的转动轴彼此相对垂直，这是由于转盘7和设置在该转盘上或配置给该转盘的轴16的具体布置。轴承套13、14的转动轴也可构造得彼此相对平行或成其它角度。
在图3a至图3c中也可看到，绳索或纤维部件11完全嵌入在弹性体12中，由此，一方面保护绳索或纤维部件11以免外部影响，另一方面提高力传递装置10的形状稳定性。图3d示出了力传递装置10的变形的构型，该力传递装置在纵向方向上承受了压力负荷并且弯了出来。轴承套14不再如图3a至图3c中所示的那样相对于轴承套13成直角，而是通过变形引起轴承套13、14彼此间的以及由此转动轴15、16的偏斜位置。力传递装置10由于在多个取向上的可弹性变形性而起到球铰链的作用并且也可补偿例如由于制造公差引起的轴倾斜位置。
作为所示实施形式的替换方案，力传递装置10也可用在压力下挠性的例如有弹簧弹性的并且在拉力下刚性的其它元件制造，例如用弹动的弯曲条或偏转条或相应设计的回形线材制造。
通过压力弹性的支承装置，不进行碰撞力通过手指假肢3、4、5到驱动装置6或转盘7的直接传递。而是无意的碰撞运动得到缓冲和阻尼。这除了手假肢1的自然感觉之外还提高支承装置和驱动装置部件例如在跌落情况下的寿命。
作为所示实施形式的替换方案，力传递装置也可构造成具有相应控制装置的弹簧-减振器单元，例如通过具有相应阀控制装置的气动的或液压的缸，可有效地传递拉力，但在压力情况下设置弹性的挠曲性。通过气动的构型使得向内弯曲的手指假肢逆向移位。
弹性体部件在绳索部件的足够弯曲弹性的构型中可省去；在弹性体部件的抗拉强度足够的情况下，该弹性体部件可构造成唯一的力传递装置。
图4中以放大的细节视图示出了摇摆件8。摇摆件8具有一个呈套构型的公用的支承部位18，该支承部位可套在未示出的转盘7的相对应的轴上。摇摆件8可绕公用的支承部位18转动地支承在该轴上并且在转动轴16上具有用于未示出的力传递装置10的固定部位。转动轴16或固定部位到公用的支承部位18的转动中心的距离a、b可构造得不同，以便可考虑手假肢内部的几何情况或机械情况。
图5中以放大的比例示出了图2的一个局部。相同参考标号标记相同构件。从图5中可获知，分开地构造的两个力传递装置10通过摇摆件8支承在公用的支承部位18上。作为根据图5的构型的替换方案，力传递装置10也可在无摇摆件8的情况下在转盘7上支承在一个公用的支承点或一个公用的轴上。配置给手指假肢4、5的轴承套14与摇摆件8上的转动轴16基本上成直角，但如食指4所表明的那样也可相对该转动轴倾斜地取向。
图6中示出了图5的构型的变型方案，在该变型方案中，绳索部件1构造成敞开的回线，该回线例如通过焊接或粘接固定在轴承套14上。绳索部件11使食指假肢和中指假肢4、5的两个轴承套14相连接，其中，该绳索部件部分地嵌入到力传递装置10的弹性体部件中。在摇摆件8的区域中，绳索部件11在公用的支承部位18后面绕过或绕转盘7上的转动轴绕行并且承受由于公用的支承部位18相对于转动轴15移位而引起的拉力。所述拉力通过绳索部件11传递给轴承套14并且由于轴承套14相对于转动轴15间隔开的支承而引起绕转动轴15的力矩，由此使手指假肢4、5屈曲。

Claims (16)

1.手假肢，具有一个基架，至少一个手指假肢铰接地支承在该基架上，所述手指假肢可通过与所述手指假肢通过力传递装置相连接的驱动装置绕至少一个摆动轴运动，其特征在于：该驱动装置(6)与所述手指假肢(3，4，5)之间的力传递装置(10)构造成在拉力下刚性的并且在压力下挠性的或者弯曲弹性的。
2.根据权利要求1的手假肢，其特征在于：该力传递装置(10)具有绳索或纤维部件(11)或绞线。
3.根据权利要求2的手假肢，其特征在于：该绳索或纤维部件(11)或绞线构造成闭合的、敞开的或扭转的回线。
4.根据上述权利要求中一项的手假肢，其特征在于：该力传递装置(10)具有弹性体部件(12)。
5.根据权利要求4的手假肢，其特征在于：该弹性体部件(12)至少部分地包围该绳索或纤维部件(11)或绞线。
6.根据上述权利要求中一项的手假肢，其特征在于：该力传递装置(10)构造成有弹簧弹性的。
7.根据权利要求6的手假肢，其特征在于：这样确定该力传递装置(10)的弹簧刚度的大小，使得当该力传递装置(10)被加载以压力时使所述手指假肢(3，4，5)复位到初始位置中。
8.根据权利要求1的手假肢，其特征在于：该力传递装置(10)构造成弹簧-减振器单元、尤其是气动单元或液压单元或构造成弹簧。
9.根据上述权利要求中一项的手假肢，其特征在于：该力传递装置(10)具有用于接收轴(15，16)的轴承套，这些轴承套配置给该手基架(12)和所述手指假肢(3，4，5)。
10.根据上述权利要求中一项的手假肢，其特征在于：多个力传递装置(10)支承在一个公用的支承部位(18)上并且该支承部位(18)可相对于所述手指假肢(3，4，5)的摆动轴(15)移位。
11.根据权利要求10的手假肢，其特征在于：两个力传递装置(10)通过一个公用的绳索、纤维或绞线部件(11)彼此相连接。
12.根据权利要求11的手假肢，其特征在于：该公用的绳索、纤维或绞线部件(11)支承在该公用的支承部位(18)上和不同的手指假肢(3，4，5)上。
13.根据权利要求10至12中一项的手假肢，其特征在于：这些力传递装置(10)固定在一个摇摆件(8)上，该摇摆件支承在该公用的支承部位(18)上。
14.根据权利要求13的手假肢，其特征在于：这些力传递装置(10)以相对于该公用的支承部位(18)不同的距离(a，b)固定在该摇摆件(8)上。
15.根据上述权利要求中一项的手假肢，其特征在于：所述力传递装置(10)在多个取向上构造成弯曲弹性的。
16.力传递装置(10)，用于将力从手假肢(1)的驱动装置(6)传递给根据上述权利要求中一项的铰接地支承在手基架(2)上的手指假肢(3，4，5)。
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CN105056548A (zh) * 2015-08-24 2015-11-18 杭州佳合舞台设备有限公司 佛手道具
CN108186171A (zh) * 2017-12-28 2018-06-22 中国科学院深圳先进技术研究院 一种仿生手装置及机器人
CN109278060A (zh) * 2018-10-31 2019-01-29 深圳市优必选科技有限公司 机器人及其手指传动结构

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CN104582641A (zh) * 2012-08-16 2015-04-29 奥托·博克保健有限公司 用于调整压力的方法
CN104582641B (zh) * 2012-08-16 2016-08-31 奥托·博克保健有限公司 用于调整压力的方法
CN104434349A (zh) * 2014-11-14 2015-03-25 北京理工大学 分类组合轻型假手
CN105056548A (zh) * 2015-08-24 2015-11-18 杭州佳合舞台设备有限公司 佛手道具
CN105056548B (zh) * 2015-08-24 2017-10-24 浙江佳合文化科技股份有限公司 佛手道具
CN108186171A (zh) * 2017-12-28 2018-06-22 中国科学院深圳先进技术研究院 一种仿生手装置及机器人
CN108186171B (zh) * 2017-12-28 2020-08-28 中国科学院深圳先进技术研究院 一种仿生手装置及机器人
CN109278060A (zh) * 2018-10-31 2019-01-29 深圳市优必选科技有限公司 机器人及其手指传动结构

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BRPI0619373A2 (pt) 2011-09-27
JP2009519795A (ja) 2009-05-21
EP1962733B1 (de) 2016-08-17
KR20080080363A (ko) 2008-09-03
CN101340865B (zh) 2012-01-04
US20080319553A1 (en) 2008-12-25
WO2007076763A2 (de) 2007-07-12
AU2006332316A1 (en) 2007-07-12
RU2416379C2 (ru) 2011-04-20
RU2008125983A (ru) 2010-01-27
KR101178679B1 (ko) 2012-08-30
EP1962733A2 (de) 2008-09-03
CA2632240A1 (en) 2007-07-12
BRPI0619373B8 (pt) 2021-06-22
WO2007076763A3 (de) 2007-10-11
JP4843055B2 (ja) 2011-12-21
CA2632240C (en) 2015-03-24
US8579991B2 (en) 2013-11-12
DE102005061266A1 (de) 2007-08-16
AU2006332316B2 (en) 2013-06-27

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