CN101340867B - 具有两个驱动装置的手假肢 - Google Patents

具有两个驱动装置的手假肢 Download PDF

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CN101340867B
CN101340867B CN200680048380XA CN200680048380A CN101340867B CN 101340867 B CN101340867 B CN 101340867B CN 200680048380X A CN200680048380X A CN 200680048380XA CN 200680048380 A CN200680048380 A CN 200680048380A CN 101340867 B CN101340867 B CN 101340867B
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hands
driving device
prostheses
finger prosthesis
force transfering
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CN101340867A (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)，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驱动装置绕至少一个摆动轴(15，31)相对于该基架(2)运动。第一驱动装置(6)设置在该基架(2)中并且通过力传递装置(10)与所述手指假肢(3，4，5)相耦合并且使得所述手指假肢能够绕第一摆动轴(15)摆动。第二驱动装置设置在所述手指假肢(3，4，5)中，该第二驱动装置使得至少所述手指假肢(3，4，5)的一部分能够绕第二摆动轴(31)相对于该第一摆动轴(15)摆动。

Description

具有两个驱动装置的手假肢
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驱动装置绕至少一个摆动轴运动。
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 2004/00195638 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，该手假肢具有近似手自然形态的造型和改善的功能。
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：第一驱动装置设置在基架中并且通过力传递装置与手指假肢相耦合，该第一驱动装置使得所述手指假肢能够绕第一摆动轴摆动。另外，第二驱动装置设置在手指假肢中，该第二驱动装置使得至少手指假肢的一部分能够绕第二摆动轴相对于第一摆动轴摆动。由此可足够好地模拟手指的复杂运动，而手假肢本身不会变得非常大或不需要用来从中心驱动装置起将不同运动引入的复杂机构。优选这些驱动装置彼此间脱耦，以便可彼此无关地控制对应的部件或假肢部分或使其移位。
本发明的一个进一步构型提出，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或天然纤维制造。此外，也可使用其它合成纤维。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、敞开的或扭转的回线。
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或纤维部件，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或纤维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。
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。
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。
驱动装置可构造成电动机，其中，第一驱动装置构造成相对大的、缓慢运转的扁平电机，该扁平电机用于使手指假肢相对于手基架移位。设置在对应的手指假肢中的第二驱动电机被设置用于手指弯曲或用于朝手心指向的运动。
为了具有用于安置第二驱动装置的足够空间，该第二驱动装置优选设置在自然手指的近节指骨的区域中，其中，应确定优选在拇指假肢中使用，因为拇指基节比其余手指的其余基节厚并且由此存在更大的空间供安置该驱动装置使用。
因为用于第二驱动装置的结构空间受到限制，所以优选使用快速运转的结构小的电机。为了可提供足够的调节力，第二驱动装置具有一个传动装置、尤其是一个斜螺旋传动装置，该传动装置与从动元件相耦合。在快速运转的驱动装置与从动元件之间已经存在第一降速，由此，从动元件以比该驱动装置显著小的转速转动。由此，除了转动方向偏转之外还可提供较高的驱动力矩。
从动元件本身可构造成蜗杆，该蜗杆嵌接到齿轮段中并且与该齿轮段相啮合，由此，从动元件与齿轮段构成蜗杆传动装置。为了避免第二驱动装置连同蜗杆传动装置绕第二摆动轴不期望地移位，该蜗杆传动装置构造成自锁的。
为了可实现优选彼此相对有角度地取向的第一摆动轴和第二摆动轴的组合运动，第二驱动装置可摆动地支承在齿轮段上，该齿轮段又可绕第一摆动轴摆动地支承在基架上。由此，手指假肢可绕两个轴摆动，其中，完整的驱动装置连同蜗杆传动装置和齿轮段可绕第一摆动轴摆动一次，而为了实现第二运动而仅设置绕齿轮段上的轴的摆动。这些轴彼此间的角度位置可以通过基于第二驱动装置的摆动来改变，以便或者实现侧握、无握持功能的中性位置，该中性位置在视觉上留下自然印象，或者实现手假肢的捏。
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3c一个力传递装置的不同视图；以及
图4一个手指假肢的功能结构。
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。呈电驱动装置、例如扁平转子电机构型的驱动装置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。
另外，在图2中还可看到，拇指假肢3除了第一摆动轴15之外还具有一个第二摆动轴31，至少拇指假肢3的远中端部可绕该第二摆动轴摆动地被支承着。通过仅在图4中示出的第二驱动装置30和斜螺旋传动装置32使从动蜗杆33运动，该从动蜗杆与一个齿轮段34啮合并且因此使得手指假肢3与驱动装置30和传动装置32绕摆动轴31移位。如果两个驱动装置6、30同时被激活，则按照移位速度实施拇指假肢3朝手掌和尺骨的组合运动，这相应于自然的拇指运动性。
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。
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中示出了拇指假肢3的功能结构的详细视图，该拇指假肢具有一个成形体36，该成形体模拟自然拇指的轮廓。在构造成空心体的成形体36内部是一个自由空间，第二驱动装置30设置并且固定在该自由空间中。成形体36由此耦合例如粘接或固定地夹紧在驱动装置30上。驱动装置30通过一个呈斜螺旋传动装置32构型的倾角传动装置和图2中所描述的蜗杆33与齿轮段34相耦合。当驱动装置30被激活时，蜗杆33在一个或另一个方向上转动。由于绕转动轴31可摆动地支承在齿轮段34上，可实现绕摆动轴31在双箭头方向上运动。在此可实施径向的或朝尺骨的运动。齿轮段34本身可绕第一摆动轴15摆动地被支承着并且可通过转盘7的转动和力传递元件10的由此引起的移位而朝手掌或背侧摆动。这种摆动运动也通过绕摆动轴15的双箭头来指示。
第二驱动装置30也是一个电驱动装置、例如电动机或压电电机并且优选处于鞍状关节与指骨间关节之间的纵向轴线上。由于小的结构形式以及必要时所需的高的驱动力矩，驱动装置30构造成快速转子，其中，变速传动装置32可构造成斜螺旋传动装置并且产生从动轴相对于第二驱动装置30的纵向轴线大致直角的偏转。由于从动轴的这种偏角，与齿轮段34啮合的蜗杆33可引起相应的拇指运动。作为基本上直角的偏转的替换方案，也可通过传动装置的相应构型来实现任意的角度位置，例如相对于直角取向±45°的角度位置。
设置在手基架2中的第一驱动装置6优选是一个缓慢运转的具有高转矩的扁平转子电机，该扁平转子电机与高降速的传动装置相耦合，以便可实施相应缓慢的握持运动。控制信号或者可由远程控制装置或者由肌电信号或控制装置来产生。通过该第一驱动装置6和转盘7可使齿轮段34连同蜗杆33以及被成形体36遮盖住的传动装置32和驱动装置30移位。

Claims (17)

1.手假肢，具有一个手基架，手指假肢铰接地支承在该手基架上，所述手指假肢可通过驱动装置绕至少一个摆动轴相对于该手基架运动，其中，第一驱动装置(6)设置在该手基架(2)中并且通过力传递装置(10)与所述手指假肢(3，4，5)相耦合，该第一驱动装置使得所述手指假肢(3，4，5)能够绕第一摆动轴(15)摆动；并且设置有第二驱动装置(30)，该第二驱动装置使得至少所述手指假肢(3，4，5)的一部分能够绕第二摆动轴(31)相对于该第一摆动轴(15)摆动，其特征在于：该第二驱动装置(30)设置在所述手指假肢(3)中并且通过传动装置(32)以不相交的轴与从动元件(33)相耦合，该从动元件(33)构造成蜗杆，该蜗杆与齿轮段(34)相啮合并且构成蜗杆传动装置(35)。
2.根据权利要求1的手假肢，其特征在于：该第一驱动装置(6)和该第二驱动装置(30)彼此间脱耦。
3.根据权利要求1或2的手假肢，其特征在于：所述力传递装置(10)构造成在拉力下呈刚性并且在压力下呈挠性或者弯曲弹性。
4.根据权利要求1的手假肢，其特征在于：所述力传递装置(10)具有绳索或纤维部件(11)或绞线。
5.根据权利要求4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。
6.根据权利要求1的手假肢，其特征在于：所述力传递装置(10)具有弹性体部件(12)。
7.根据权利要求6的手假肢，其特征在于：所述力传递装置(10)具有绳索或纤维部件(11)或绞线，并且该弹性体部件(12)至少部分地包围该绳索或纤维部件(11)或绞线。
8.根据权利要求1的手假肢，其特征在于：所述力传递装置(10)具有用于接收设置在该手基架(2)上的耦合轴以及设置在所述手指假肢(3，4，5)上的耦合轴的轴承套，这些轴承套配置给该手基架(2)和所述手指假肢(3，4，5)。
9.根据权利要求1的手假肢，其特征在于：所述力传递装置(10)构造成有弹簧弹性。
10.根据权利要求9的手假肢，其特征在于：这样确定所述力传递装置(10)的弹簧刚度的大小，使得当所述力传递装置(10)被加载以压力时所述手指假肢(3，4，5)复位到初始位置中。
11.根据权利要求1的手假肢，其特征在于：该第一驱动装置(6)和该第二驱动装置(30)构造成电动机。
12.根据权利要求1的手假肢，其特征在于：该第二驱动装置(30)设置在一个自然手指的近节指骨的区域中。
13.根据权利要求1的手假肢，其特征在于：该第二驱动装置(30)可摆动地支承在该齿轮段(34)上。
14.根据权利要求1的手假肢，其特征在于：该蜗杆传动装置(35)构造成自锁的。
15.根据权利要求1的手假肢，其特征在于：该齿轮段(34)可摆动地支承在该手基架(2)上。
16.根据权利要求1的手假肢，其特征在于：该第二驱动装置(30)使所述手指假肢(3，4，5)在多个固定的位置之间移动。
17.根据权利要求12的手假肢，其特征在于：该自然手指是拇指。
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WO2007076764A3 (de) 2007-10-11
JP5074414B2 (ja) 2012-11-14
AU2006332317A1 (en) 2007-07-12
KR101169834B1 (ko) 2012-07-30
BRPI0619380B1 (pt) 2017-12-05
EP1962737A2 (de) 2008-09-03
EP1962737B1 (de) 2009-06-10
CA2631970A1 (en) 2007-07-12
RU2427348C2 (ru) 2011-08-27
WO2007076764A2 (de) 2007-07-12
DE502006003954D1 (de) 2009-07-23
JP2009519796A (ja) 2009-05-21
US20080262634A1 (en) 2008-10-23
CA2631970C (en) 2011-07-26
BRPI0619380B8 (pt) 2021-06-22
CN101340867A (zh) 2009-01-07
BRPI0619380A2 (pt) 2011-09-27
AU2006332317B2 (en) 2011-07-28
ATE433309T1 (de) 2009-06-15
DE102005061312A1 (de) 2007-08-16
RU2008125982A (ru) 2010-01-27
US8343234B2 (en) 2013-01-01

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