DE202016008872U1 - Automated hand - Google Patents

Abstract

Automated hand, comprising:
a. a palm of your hand
b. one or more elastically flexible and compressible brackets attached to the palm of the hand, and
c. one or more connectors, each having a finger extending therefrom that is movable relative to the palm, each connector being attached to a corresponding bracket so that each connector can rotate about the bracket when a lateral force is applied to a finger is exercised.

Description

TECHNICAL PART

The invention relates to an automated hand, for example a prosthetic hand, and components for an automated hand.

STATE OF THE ART

Automated hands are often used as prosthetic hands; they can be used to grab objects, shake someone else's hand, and perform other tasks that are usually performed by human hands.

However, conventional automated hands have several disadvantages. Many of these hands are necessarily large and bulky to fit the moving parts in the hand. This can make the hand look unnatural.

Conventional automated hands are typically unable to bend and curve around an object to reliably grip the object. This is particularly problematic if the object, for example a drinking glass or bottle, is curved or slippery. The motors of known automated hands can also reach their performance limits in order to ensure a sufficient grip and therefore wear out quickly. In addition, hands can feel unnatural when they shake hands because they do not bend or bend.

Due to the typical rigid characteristics of conventional automated hands, it is common for sensitive components of these hands, such as motors and electronics, to break under impact forces, particularly under a side impact force, where the side of the hand is struck against a hard surface near the little finger or where an outer edge of the thumb receives a side impact.

Another problem with known automated hands is that the hands themselves are not waterproof. Instead, a user must wear a waterproof glove over the hand to protect the sensitive moving parts and electronic components of the hand.

Known automated hands typically include complex finger actuation systems that include resistance springs to bias the fingers toward a particular position and absorb shocks. When the hand motors move the fingers to a non-preloaded position, the resistance of the springs causes the fingers to move more slowly than desired, and can put a heavy load on the drive motors and drain the battery quickly. Some designs include a directional coupling to absorb impact forces, but this does not protect against impacts in the opposite direction. Motors can also be provided within a finger with a worm gear that drives the fingers in relation to a stationary gear. This arrangement increases the mass that has to be moved when moving a finger, requires wiring along the fingers and limits the space available for articulated gears. Due to the narrow space, it is very difficult to accommodate clutch mechanisms.

The motors and moving parts of known automated hands are also prone to damage if the fingers of the hands are subjected to excessive traction or an end impact. This is because the fingers are usually connected directly to the motors and cannot be detached from the motors when subjected to high forces.

Conventional automated hands can offer a wrist positioning system; however, these systems are commonly complex, large, and clumsy, which extends the palm away from the arm and creates an extended, heavy, plump, and unnatural-looking wrist. In addition, the possibilities of hand movement in relation to the wrist are limited and the wrist is usually not liquid-compatible.

Although it is known that automated hands are used as training hands for new hand amputees, these hands give no indication that EMG (electromyography) signals have been received by the user and / or which handle was selected. Therefore, it can be frustrating for hand amputees to get used to the EMG algorithms required to change the hand's grip patterns, especially if they cannot see which grip pattern has been selected or whether EMG signals are being received.

A major disadvantage of known automated hands is that the moving parts, in particular the electronics, are sensitive to moisture. Therefore, the bare hands cannot be used in a wet environment such as can be used in a bath, shower or dishwashing without being damaged. Known hands can only be used in wet environments if a waterproof glove is pulled over the hand. This can be daunting for the user as it is difficult to put on a glove over a prosthetic hand. The gloves can also easily wear and tear.

Grip surfaces on automated hands can suffer excessive wear even if the contact surfaces are made of a material that is too soft, and may not provide sufficient grip if the material is durable and made of hard material.

The aim of the invention is therefore an automated hand which at least partially contributes to overcoming one or more disadvantages of the prior art or at least offers a useful alternative to existing automated hands.

SUMMARY OF THE INVENTION

In a first aspect, there is provided an automated hand comprising a palm, one or more resiliently flexible and compressible mounts attached to the palm, and one or more connectors, each having a finger extending therefrom that is in relation to the Palm is movable, with each connector attached to a corresponding bracket so that each connector can rotate about the bracket when a lateral force is applied to a finger.

Each connector can rotate in a palm plane or perpendicular to the palm plane. A single integrated bracket or a series of separate brackets can be provided. The brackets can be appropriately formed from a material with a DMTA damping factor between 0.05 to 0.8, preferably between 0.05 to 0.5, over a temperature range from -20 ° C to 100 ° C. The material preferably has a resilience between 20% to 60% and a Shore hardness A between 10 to 90 (more preferably a Shore hardness A between 30 to 60) or alternatively a Shore hardness D between 40 to 90. A metacarpal, which includes a number of brackets or a single bracket with a plurality of openings, preferably has such a spring-back force that at least two fingers due to the relative movement between the actuators and the palm, which is made possible by the elastic deformation of the metacarpal splint, by at least 5 degrees apart, preferably at least 10 degrees, and more preferably at least 20 degrees. The metacarpal splint preferably also provides shock absorption for forces acting on a finger in a direction perpendicular to the palm of the hand, so that each actuator is related by at least 2 degrees (preferably 5 degrees and more preferably 10 degrees) due to the elastic deformation of the metacarpal splint can turn to the palm of your hand. A force of 2.5 to 20 Newtons, which is applied laterally or perpendicularly to the tip of a finger, preferably results in an angular rotation in relation to the palm of the hand of at least 3 degrees in the plane of the palm, preferably of at least, due to an elastic deformation of the metacarpal splint 5 degrees.

The metacarpal splint can consist of elastomers, rubber, silicone, compressible polymers or thermoplastic material. Preferably the material is a thermosetting elastomer (either hydrocarbon, fluorocarbon or silica based), a thermoplastic elastomer, a thermosetting rubber, an inherently soft thermoplastic. It can also be an alloy, a mixture or a foamed composition of one of the above-mentioned polymers.

In a further aspect, an automated hand is provided, comprising: a palm, an elastic holder attached to the palm, including a recess for receiving an actuator, and a first actuator with a proximal end and a distal end, the proximal end being within the recess is attached and the distal end has a thumb extending therefrom, the elastic bracket allowing a relative angular displacement of the first actuator of at least 2 degrees relative to the palm. The first actuator can rotate the thumb in relation to the palm in a first plane of rotation, the hand having a first engagement surface attached to the thumb and a second engagement surface attached to the palm, so that the actuator during a Gripping movement of the thumb is displaced in relation to the palm to bring the engagement surfaces into contact to inhibit the movement in the first plane.

According to another aspect, there is provided an automated hand comprising: a palm, a first actuator having a proximal end and a distal end, the proximal end pivotally attached to the palm and having a thumb extending therefrom, the actuator rotates the thumb relative to the palm in a first plane of rotation; and a first engaging surface attached to the thumb and a second engaging surface attached to the palm so that the actuator is displaced relative to the palm during a gripping movement of the thumb to contact the engaging surfaces bring to inhibit the movement in the first level.

According to another aspect, there is provided an automated hand, comprising: a palm, a finger extending from the palm, an actuator that drives a gear, and an overload protection clutch that is driven by the gear at its input to effect that the finger connected to its output moves and has bidirectional overload protection so that when the torque applied to the clutch exceeds a limit, the clutch allows relative rotation between its input and its output.

According to another aspect, there is provided an automated hand, comprising: a palm, a gear connected to the palm via a clutch, and a finger extending from the palm and including an actuator that engages with the gear in Engages the stationary gear to cause the fingers to rotate in relation to the palm of the hand, the clutch being an overload protection clutch with bidirectional overload protection so that when the torque exerted by the gear on the clutch exceeds a limit, the clutch will cause relative rotation between the Finger and palm.

According to another aspect, there is provided an automated hand, comprising: a palm, and two or more fingers extending from the palm, one or more motors configured to cause at least one of the fingers to move, and a wrist configured to connect the palm to an arm member, the wrist including an axis with opposite ends that engage the palm to allow the palm to rotate about the axis, and one palm locking mechanism configured to lock the palm in a fixed position relative to an arm member.

According to another aspect, there is provided an automated hand, comprising: a sealed palm area that is waterproof when immersed in liquid, two or more sealed fork joints attached to the palm, two or more fingers that are sealed from each other Fork joints extend, and one or more actuators mounted within the sealed palm area that drive the sealed fork joints to cause the fingers to move.

In another aspect, the invention provides an automated hand, comprising: a palm, two or more fingers extending from the palm, and one or more drive motors configured to cause at least one of the fingers to extend emotional. Each finger is attached to the palm by a connector that includes a fork joint and a link arm. The automated hand also includes an elastically pliable and compressible metacarpal that extends between two or more connectors. The metacarpal rail includes a first end, a second end, and one or more support openings. Each support opening is configured to hold at least a portion of a link arm therein.

One or more support openings extend between the first end and the second end of the metacarpal.

If appropriate, each support opening is essentially cylindrical and each connecting arm is essentially cylindrical and is set up in such a way that it is embedded in a corresponding support opening.

In one form, the hand includes an anti-rotation system that is configured to prevent rotation of one or more finger supports within one or more support openings of the metacarpal rail.

In one form, at least one support opening comprises at least one stop, which is set up to engage in a corresponding stop of the connecting arm in order to prevent rotation of the connecting arm within the support opening. Preferably, the support opening includes at least one recess or opening that is configured to engage at least one protrusion to hold the protrusion within the recess or opening.

In one form, at least one connector comprises a connecting arm, a motor housing and a fork joint arranged between the connecting arm and the motor housing. The motor housing is inside one of the fingers; the link arm is inside the palm of your hand.

At least one connecting arm preferably comprises a motor housing for receiving a drive motor.

If appropriate, the metacarpal splint is made from one or more materials from the group consisting of: an elastomer, rubber, silicone, a compressible polymer.

In another aspect, the invention provides an elastically pliable and compressible metacarpal that includes a first end, a second end substantially opposite the first end, and further includes one or more openings that extend between the first end and the second end.

In another aspect, the invention provides an automated hand comprising: a palm, and two or more fingers extending from the palm, at least one finger forming a thumb that is on or near a first side of the palm of the hand Hand is attached, wherein the thumb substantially counteracts at least one other finger and wherein the hand comprises a compressible thumb buffer that is positioned in contact with a portion of the thumb. The compressible thumb buffer can be set up to dampen the lateral movement of the thumb in the event of a side impact and to ensure grip conformity.

Preferably, the thumb is connected to a base member that extends to one side of the thumb, and the compressible thumb buffer is attached to the base member.

Preferably, one side of the compressible thumb buffer is brought into contact with one side of the thumb.

In one form, the thumb includes a first motor configured to cause the thumb to curve and bend around a second axis. The first motor is preferably accommodated in the thumb.

In one form, the thumb includes a second motor configured to cause the thumb to pivot toward and away from a second side of the palm about a first axis, the second side being substantially opposite the first side. The second motor is preferably accommodated in the base element.

The hand may also include a thumb rest that includes a first surface, the base member configured to be located on the first surface of the thumb rest. Preferably, the thumb rest includes a first surface that includes an inclined first recess configured to receive at least a portion of the base member therein and the angle of the recess is inclined toward the thumb.

The first recess can have an opening at its deepest end.

The thumb rest may further include a second recess, and the thumb may include a bottom surface that includes a protrusion that extends from the bottom surface, the protrusion configured to be received within the second recess.

In one form, the protrusion and the second recess are both elongated and extend in a direction that is substantially perpendicular to the length of the base member. Both the projection and the recess are preferably semi-cylindrical.

In another aspect, the invention provides an automated hand, comprising: a palm, two or more fingers extending from the palm, one or more motors configured to cause at least one of the fingers to move , and at least one coupling device. The clutch device is configured to engage and disengage one of the motors by driving a first finger. The coupling device is also set up to engage the first finger. The clutch device includes a driven member that includes a contact surface and is configured to be rotated by the motor. The coupling device also includes a clamping member that includes a first surface configured to engage the contact surface of the driven member and a compression member configured to cause the first surface of the clamping member against the contact surface of the driven element.

The contact surface of the driven element preferably comprises one or more engagement plug elements and the clamping element one or more engagement socket elements. Each engagement plug element can be configured to be at least partially received in a respective engagement socket element in order to bring the driven element and the clamping element into engagement with one another.

In one form, each of the one or more engagement sleeve elements includes a substantially concave recess. Each of the one or more engaging plug elements preferably comprises a substantially convex or spherical projection.

The contact surface of the driven element preferably comprises one or more openings. Each opening has a closed end and is configured to receive an engagement plug at or near the contact surface so that the engagement plug protrudes from the contact surface and the compression member is held in the opening between the engagement plug and the closed end of the opening.

The compression element is preferably a spring which is kept under pressure.

In one form, the engagement plug element is a ball, for example a ball bearing. In another form, the engagement plug element can be a tip.

The contact surface of the driven element preferably comprises one or more engagement socket elements and the clamping element one or more engagement plug elements. Each engagement plug element can be configured to be at least partially received in a respective engagement socket element in order to bring the driven element and the clamping element into engagement with one another.

Preferably, each of the one or more engagement sleeve elements includes a substantially concave recess. More preferably, each of the one or more engagement male members includes a substantially convex or spherical projection.

In one form, the first surface of the clamping member includes one or more openings, each opening including a closed end and configured to receive an engagement plug at or near the first surface, and the compression member within the opening between the engagement plug and the closed End of the opening is held.

The compression element is preferably a spring which is kept under pressure.

In one form, the engagement plug element is a ball, for example a ball bearing. In another form, the engagement plug element can be a tip.

Preferably, the clamping element comprises a second surface, which is set up to engage the first finger.

In one form, the clamping element comprises a first element that comprises the first surface of the clamping element. The clamping element also includes a second element that includes a second surface of the clamping element. The compression element comprises a spring washer, which is located between the first and the second surface.

Preferably, one or more engaging plug elements protrude from the first surface of the clamping element and are designed to engage one or more engaging socket elements provided on the contact surface of the driven element.

In one form, the second surface of the clamping element is arranged to engage the body of the first finger. The body of the first finger includes an inner surface that includes a receiving member configured to receive the second surface of the clamping member therein.

The receiving element preferably comprises an opening, recess or an area which is delimited by at least one wall which delimits the area or by a plurality of projecting arms.

In one form, the contact surface of the driven member is substantially circular and the clamping member includes a body that includes two end portions and a substantially concave inner surface that includes and is configured the first surface of the clamping member by at least half the contact surface of the driven member essentially to surround. The compression element is configured to press at least one end section of the clamping element in the direction of the other end section in order to clamp the first surface of the clamping element against the contact surface of the driven element.

In another form, the contact surface of the driven element is substantially circular and the clamping element comprises a substantially annular body which comprises two end sections which extend from the annular body. The substantially annular body includes an inner surface that includes the first surface of the clamping element and is configured to substantially surround the contact surface of the driven element. The compression element is configured to press at least one end section of the clamping element in the direction of the other end section in order to clamp the first surface of the clamping element against the contact surface of the driven element.

The clamping element is preferably set up to come into engagement with the body of the first finger.

In one form, an inner surface of the body of the first finger includes a receiving member configured to receive at least a portion of the clamping member therein. The receiving element comprises a recess which is shaped such that it is wedged with the clamping element.

The drive element and the clamping element are preferably carried by a common axis which runs through an axis receiving opening formed in the drive element and the clamping element.

In another aspect, the invention provides an automated hand, comprising: a palm, two or more fingers extending from the palm, one or more motors configured to cause at least one of the fingers to move , and a wrist configured to connect the palm to an arm member. The wrist includes an axis with opposite ends that engage the palm so that the palm can rotate about the axis.

Preferably, the positioning system further comprises a positioning element that engages the axis and a lock that is configured to lock the palm in a fixed position in relation to the positioning element. The latch and at least a portion of the positioning element are within the palm of the hand.

In one form, the positioning system comprises an axis located within the palm of the hand, a positioning element comprising a locking arm located on the palm, and a locking element located within the palm. The locking element is arranged to engage the positioning element in order to lock the palm in a neutral position, a bending position or a stretching position.

Preferably, the locking arm comprises a plurality of openings and the locking element comprises a locking pin which is set up to be received within one of the openings.

Preferably, the axle is carried within the palm of the hand by a pair of substantially compressible axle mounts.

Preferably, the wrist further comprises a connector that is configured to be attached to the positioning element and the arm element.

The positioning element is preferably set up so that it rotates in relation to the connector.

In one form, the positioning element comprises at least one locking finger and the connector a series of indexing nodes which are arranged to engage the locking finger (s) in order to hold the positioning element in position in relation to the connector. The at least one locking finger is arranged to disengage from the indexing node as soon as the positioning element is caused to rotate in relation to the connector.

Preferably, the wrist further includes a waterproof seal disposed between the positioning member and the connector.

In another aspect, the invention provides a wrist for an electrical terminal, the wrist configured to be attached to the electrical terminal and an arm member, and the wrist includes a body having a first end and a second end The second end is configured to face the arm member and includes an opening that extends into a substantially hollow area of the wrist body to allow a portion of a user's stump to extend through at least one Section of the wrist extends.

Preferably, the opening extends between the first and second ends of the wrist.

In one form, the wrist further includes an axis that is rotatably attached to the palm so that the palm can pivot relative to the wrist.

The electrical terminal device preferably comprises a driven hook.

Alternatively, the electrical terminal comprises an automated hand.

In another aspect, the invention provides an automated hand, comprising: a palm, two or more fingers extending from the palm, one or more motors configured to cause the fingers to move, and a control system connected to one or more motors and configured to: one or more EMG signals from a user, one or more electronic signals from a user interface, or one or more EMG signals from a user and one or more electronic signals received by a user interface and to cause the fingers to take a predetermined grip pattern depending on the received signal (s), the control system being programmable to cause the hand to enter based on the received signals takes predetermined grip pattern. A selected grip pattern can be shown on a display.

The hand may also include one or more indicators that indicate that the control system has received a signal. At least one of the indicators can be a visual indicator. In one form, the hand may include at least one visual indicator that indicates that the control system has received a signal.

The hand preferably comprises a user interface, which comprises one or more input elements, by means of which a user can cause the hand to adopt a predetermined grip pattern.

The one or more input elements can comprise one or more keys. The user interface preferably includes a control panel that includes one or more input elements and one or more visual indicators.

In another aspect, the invention provides an automated hand, comprising: a palm, two or more fingers extending from the palm, and one or more motors configured to cause at least one of the fingers to extend moved with the automated hand set up to function when immersed in a liquid.

Preferably, the hand includes a wrist that is configured to attach the palm to a forearm element that includes a sleeve and is also configured to form a waterproof attachment to the sleeve.

The wrist preferably has an axis about which the palm can curve and bend and / or turn laterally.

In one form, the wrist is configured to receive electrical connectors that connect the electronics in the sleeve to the electronics in the palm and / or fingers of the hand.

In yet another aspect, the invention provides an automated hand, essentially as described in this document and with reference to the accompanying drawings, either individually or in combination with any feature and in any configuration.

A reference in this specification to documents according to the state of the art does not constitute an admission that this state of the art is generally known or forms part of the usual general knowledge in this field.

As used in this specification, the words "comprising", "comprehensive" and similar terms are not to be interpreted in an exclusive or exhaustive sense. In other words, they are meant to mean "including but not limited to".

Figure list

• 1 eine Seitenansicht einer Form der automatisierten Hand der Erfindung ist,
• 2 eine perspektivische Unteransicht der automatisierten Hand von 1 ist,
• 3 eine Explosionsansicht einer Form der automatisierten Hand der Erfindung ist,
• 4A eine perspektivische Seitenansicht einer Form der Mittelhandschiene der Erfindung ist,
• 4B eine perspektivische Vorderansicht der Mittelhandschiene von 4A ist,
• 4C eine weitere perspektivische Seitenansicht der Mittelhandschiene von 4A ist,
• 4D eine perspektivische Unteransicht der Mittelhandschiene von 4A ist,
• 5 eine partielle Schnittansicht einer Form der automatisierten Hand der Erfindung von oben ist,
• 6 eine perspektivische Ansicht der automatisierten Hand von 5 ist,
• 7 eine Explosionsansicht einer Form von Daumen, Daumenstütze und Daumenpuffer der Erfindung ist,
• 8 eine Explosionsansicht einer Handflächen- und Daumenkonfiguration der Erfindung ist,
• 9 eine Explosionsansicht einer Form von Finger- und Kupplungsvorrichtung der Erfindung ist,
• 10A eine Seitenansicht eines Teils eines Fingers und eines Knöchels der Erfindung ist,
• 10B eine Querschnittsansicht einer Form von Finger- und Kupplungsvorrichtung entlang der Linie A-A von 10A ist,
• 11A eine Draufsicht einer Form einer automatisierten Hand in einer Greifposition ist,
• 11B eine seitliche Querschnittsansicht der Hand entlang der Linie B-B von 11A ist,
• 12A eine Draufsicht einer Form der automatisierten Hand der Erfindung in einer offenen Position ist,
• 12B eine seitliche Querschnittsansicht der Hand entlang der Linie C-C von 12A ist,
• 13 eine Explosionsansicht einer anderen Form der Kupplungsvorrichtung der Erfindung ist,
• 14A eine Explosionsansicht einer weiteren Form der Kupplungsvorrichtung der Erfindung ist,
• 14B eine Seitenansicht eines Teils eines Fingers ist, der die Kupplungsvorrichtung von 14A trägt,
• 14C eine Querschnittsansicht durch die Linie G-G von 14B ist,
• 15 eine Explosionsansicht einer Form des Handgelenkpositionierungssystems der Erfindung ist,
• 16 eine Explosionsansicht des Handgelenkpositionierungssystems von 15 aus einem anderen Winkel ist,
• 17A eine partielle Draufsicht einer Form der automatisierten Hand der Erfindung mit einem Handgelenk in neutraler Position ist,
• 17B eine seitliche Querschnittsansicht der Hand entlang der Linie D-D von 17A ist,
• 17C eine Querschnittsseitenansicht der Hand entlang der Linie D-D von 17A, jedoch in gekrümmter Position ist,
• 17D eine Querschnittsseitenansicht der Hand entlang der Linie D-D von 17A, jedoch in gebogener Position ist,
• 18 eine Explosionsansicht des unteren Teils der Handfläche und des Schalters einer Form der Erfindung ist,
• 19 eine perspektivische Ansicht eines Teils einer Form der automatisierten Hand der Erfindung ist,
• 20A eine Draufsicht einer Handform der Erfindung mit der Handfläche in neutraler Position ist,
• 20B eine seitliche Querschnittsansicht der Hand entlang der Linie E-E von 20A ist,
• 20C eine vergrößerte Ansicht des Bereichs A von 20B ist,
• 21 eine perspektivische Ansicht einer Form von Positionierungselement ist, das an einer erfindungsgemäßen Form des Verbinders befestigt ist,
• 22A eine Seitenansicht einer Handform mit dem Handgelenk in neutraler Position ist,
• 22B eine Querschnitts-Endansicht des Handgelenks entlang der Linie F-F von 22A ist,
• 23 eine perspektivische Ansicht einer Form einer automatisierten Hand ist, die ein Handgelenk einer erfindungsgemäßen Form umfasst,
• 24 eine perspektivische Ansicht einer anderen Form von Positionierungselement der Erfindung ist, und
• 25 eine Draufsicht der automatisierten Hand von 24 ist und eine Benutzerschnittstelle für Trainingszwecke umfasst.
• 26 eine perspektivische Seitenansicht einer automatisierten Hand gemäß einer zweiten beispielhaften Ausführungsform ist, die die Drehrichtungen des Daumens zeigt,
• 27 eine Seitenansicht der automatisierten Hand von 26 mit entferntem Daumen ist,
• 28 eine perspektivische Ansicht des Daumens der in 26 dargestellten Hand ist,
• 29 eine Unteransicht der in 26 dargestellten Hand mit in Eingriff befindlicher Daumen-Drehverriegelung ist,
• 30 eine Unteransicht der in 26 dargestellten Hand mit gelöster Daumen-Drehverriegelung ist,
• 31 eine Draufsicht einer in 26 dargestellten automatisierten Hand ist, wobei die Schnitte die in den Fingern und dem Daumen untergebrachten Stellglieder zeigen,
• 32 eine Unteransicht einer alternativen Ausführungsform der Daumen-Drehverrieglung in einer in Eingriff befindlichen Position ist,
• 33 eine perspektivische Ansicht und Teilexplosion einer weiteren Ausführungsform einer Gelenkkupplung für eine automatisierte Hand ist,
• 34 eine Explosionsansicht der in 33 dargestellten Gelenkkupplung ist,
• 35 eine Seitenansicht der in 33 dargestellten Kupplung ist,
• 36 eine Schnittansicht entlang der Linie I-I von 35 ist,
• 37 eine Endansicht der in 33 dargestellten Kupplung ist,
• 38 eine vergrößerte Ansicht des Bereichs J in 37 mit der Kupplungsscheibe ist,
• 39 eine Seitenansicht der Kupplungsscheibe der Kupplung von 33 ist,
• 40 eine Draufsicht der Kupplungsscheibe der Kupplung von 33 ist,
• 41 eine perspektivische Ansicht der Kupplungsscheibe der Kupplung von 33 ist,
• 42 eine Seitenansicht einer Kupplung gemäß einer weiteren Ausführungsform mit einem Motorantrieb im Finger ist,
• 43 eine Unteransicht eines Handgelenkmechanismus gemäß einer weiteren Ausführungsform in neutraler Position ist,
• 44 eine Schnittansicht entlang der Linie H-H von 43 ist,
• 45 eine Unteransicht der in 43 gezeigten Hand in der Biegeposition ist,
• 46 eine Schnittansicht entlang der Linie H-H von 45 ist,
• 47 eine Unteransicht der in 43 gezeigten Hand in der Streckposition ist,
• 48 eine Schnittansicht entlang der Linie H-H von 47 ist,
• 49 eine perspektivische Ansicht des Handrückens der automatisierten Hand von 43 ohne den Handgelenkabschnitt ist,
• 50 eine perspektivische Explosionsansicht von 49 ist,
• 51 eine perspektivische Explosion des Handgelenks der in 43 dargestellten Hand ist,
• 52 eine Explosionsansicht der kompletten hinteren Baugruppe der in 43 dargestellten Hand ist,
• 53 eine Perspektive des in 51 dargestellten Handgelenks ist,
• 54 eine Draufsicht einer automatisierten Hand ist, die einen alphanumerischen Indikator anzeigt,
• 55 eine Perspektive einer weiteren Ausführungsform des Handgelenks ist,
• 56 eine perspektivische Explosionsansicht der in 55 dargestellten Ausführungsform des Handgelenks ist,
• 57 eine Hinteransicht einer Mittelhandschiene gemäß einer weiteren Ausführungsform ist,
• 58 eine Seitenansicht der in 57 dargestellten Mittelhandschiene ist,
• 59 eine Draufsicht der in 57 dargestellten Mittelhandschiene ist,
• 60 eine perspektivische Vorderansicht der in 57 dargestellten Mittelhandschiene ist,
• 61 eine perspektivische Hinteransicht der in 57 dargestellten Mittelhandschiene ist,
• 62 eine perspektivische Hinteransicht einer oberen Handfläche ist,
• 63 eine perspektivische Hinteransicht einer Reihe von Fingern und Stellgliedern ist,
• 64 eine perspektivische Hinteransicht einer unteren Handfläche ist,
• 65 eine perspektivische Explosionsansicht von Hand und oberer Handflächenabdeckung ist, und
• 66 eine perspektivische Explosionsansicht von Hand und unteren Handflächenabdeckung ist.

The invention will be described in more detail with reference to the following drawings, in which:

• 1 Figure 3 is a side view of one form of the automated hand of the invention.
• 2nd a bottom perspective view of the automated hand of 1 is
• 3rd Figure 3 is an exploded view of one form of the automated hand of the invention.
• 4A Figure 3 is a side perspective view of one form of the metacarpal splint of the invention,
• 4B a front perspective view of the metacarpal of 4A is
• 4C another perspective side view of the metacarpal of FIG 4A is
• 4D a bottom perspective view of the metacarpal of 4A is
• 5 Figure 3 is a partial sectional top view of one form of the automated hand of the invention,
• 6 a perspective view of the automated hand of 5 is
• 7 FIG. 3 is an exploded view of a form of thumb, thumb rest and thumb buffer of the invention,
• 8th Figure 3 is an exploded view of a palm and thumb configuration of the invention.
• 9 Figure 3 is an exploded view of one form of finger and clutch device of the invention.
• 10A Figure 3 is a side view of part of a finger and ankle of the invention.
• 10B a cross-sectional view of a form of finger and coupling device along the line AA of 10A is
• 11A Figure 4 is a top view of a form of an automated hand in a gripping position.
• 11B a side cross-sectional view of the hand along the line BB from 11A is
• 12A Figure 4 is a top view of one form of the automated hand of the invention in an open position.
• 12B a side cross-sectional view of the hand along the line CC from 12A is
• 13 FIG. 2 is an exploded view of another form of the coupling device of the invention,
• 14A FIG. 2 is an exploded view of another form of the coupling device of the invention,
• 14B FIG. 4 is a side view of part of a finger holding the coupling device of FIG 14A wearing,
• 14C a cross-sectional view through the line GG from 14B is
• 15 Figure 3 is an exploded view of one form of the wrist positioning system of the invention.
• 16 an exploded view of the wrist positioning system of FIG 15 from a different angle,
• 17A Figure 3 is a partial top view of a form of the automated hand of the invention with a wrist in a neutral position,
• 17B a side cross-sectional view of the hand along the line DD from 17A is
• 17C a cross-sectional side view of the hand along the line DD from 17A but in a curved position,
• 17D a cross-sectional side view of the hand along the line DD from 17A but in a bent position,
• 18th Figure 3 is an exploded view of the lower part of the palm and switch of a form of the invention.
• 19th Figure 3 is a perspective view of part of a form of the automated hand of the invention,
• 20A 4 is a top view of a hand shape of the invention with the palm in a neutral position,
• 20B a side cross-sectional view of the hand along the line EE from 20A is
• 20C an enlarged view of area A of 20B is
• 21st Figure 3 is a perspective view of a form of positioning element attached to a form of connector according to the invention,
• 22A is a side view of a hand shape with the wrist in a neutral position,
• 22B a cross-sectional end view of the wrist along the line FF of 22A is
• 23 FIG. 3 is a perspective view of a form of an automated hand that includes a wrist of a form according to the invention,
• 24th Figure 3 is a perspective view of another form of positioning element of the invention, and
• 25th a top view of the automated hand of 24th and includes a user interface for training purposes.
• 26 4 is a side perspective view of an automated hand according to a second exemplary embodiment, showing the directions of rotation of the thumb,
• 27 a side view of the automated hand of 26 with the thumb removed,
• 28 a perspective view of the thumb of the in 26 illustrated hand is
• 29 a bottom view of the in 26 shown hand with thumb thumb lock engaged,
• 30th a bottom view of the in 26 shown hand with released thumb twist lock,
• 31 a top view of one in 26 automated hand shown, the cuts showing the actuators housed in the fingers and the thumb,
• 32 FIG. 4 is a bottom view of an alternative embodiment of the thumb twist lock in an engaged position,
• 33 2 is a perspective view and partial explosion of a further embodiment of a joint coupling for an automated hand,
• 34 an exploded view of the in 33 articulated coupling shown,
• 35 a side view of the in 33 clutch shown,
• 36 a sectional view along the line II from 35 is
• 37 an end view of the in 33 clutch shown,
• 38 an enlarged view of the area J in 37 with the clutch disc,
• 39 a side view of the clutch disc of the clutch of 33 is
• 40 a plan view of the clutch disc of the clutch of 33 is
• 41 a perspective view of the clutch disc of the clutch of 33 is
• 42 2 is a side view of a clutch according to a further embodiment with a motor drive in the finger,
• 43 4 is a bottom view of a wrist mechanism in a neutral position according to another embodiment,
• 44 a sectional view along the line HH from 43 is
• 45 a bottom view of the in 43 shown hand is in the bending position,
• 46 a sectional view along the line HH from 45 is
• 47 a bottom view of the in 43 shown hand is in the stretched position
• 48 a sectional view along the line HH from 47 is
• 49 a perspective view of the back of the automated hand from 43 without the wrist section,
• 50 an exploded perspective view of 49 is
• 51 a perspective explosion of the wrist of the in 43 illustrated hand is
• 52 an exploded view of the complete rear assembly of the in 43 illustrated hand is
• 53 a perspective of in 51 shown wrist,
• 54 is a top view of an automated hand displaying an alphanumeric indicator,
• 55 is a perspective of another embodiment of the wrist,
• 56 an exploded perspective view of the in 55 illustrated embodiment of the wrist is
• 57 3 is a rear view of a metacarpal splint according to another embodiment,
• 58 a side view of the in 57 shown metacarpal,
• 59 a top view of the in 57 shown metacarpal,
• 60 a front perspective view of the in 57 shown metacarpal,
• 61 a rear perspective view of the in 57 shown metacarpal,
• 62 is a rear perspective view of an upper palm,
• 63 Figure 3 is a rear perspective view of a series of fingers and actuators.
• 64 is a rear perspective view of a lower palm,
• 65 Figure 3 is an exploded perspective view of the hand and the top of the palm, and
• 66 an exploded perspective view of the hand and lower palm cover.

DETAILED DESCRIPTION

The invention relates to an automated hand, for example a prosthetic hand or a training hand for a prosthesis. Although the description is exemplary for electric motors, it can be seen that a number of suitable actuators can be used.

First exemplary embodiment

The automated hand 100 of the first exemplary embodiment is in 1 to 25th shown and includes a palm 200 and two or more fingers 300 that stand out from the palm of your hand 200 extend. Each finger can be attached to the palm of the hand with a fork joint. The fingers are arranged to move between an open, substantially curved (stretched) position and a substantially closed, gripping position. A finger 300 can be in the form of a finger 310 or a thumb 320 are available. In one example, the hand 100 two fingers 300 comprise, one of which is a finger 310 and the other a substantially opposite thumb 320 is. In another form, the hand can 100 four or more fingers 310 and an essentially opposite thumb 320 include. In yet another form, the hand can 100 only two or more fingers 310 include. It is intended that the hand 100 in yet another form one or more fingers 310 and two or more thumbs 320 , although this is not a preferred embodiment because it is an unnatural looking hand.

The hand 100 the invention also includes one or more drive motors 230 . Any engine 230 can be set up to move only one finger 300 to control one or more fingers. If the hand 100 For example, a single motor can consist of four fingers and a thumb 230 used to move the movement of the thumb from one position to another. Two engines 230 can be used to drive the movement of the fingers when each of the finger motors is set up to move two fingers. In a different form, each finger can 300 by an independent engine 230 Be driven, which is set up only the movement of the finger in question 300 to drive. In one form, the thumb may include two motors, the first motor configured to cause the thumb to curve and bend, and the second motor configured to cause the thumb to move from one side of the palm to the other other moves.

Every finger 300 comprises a body that can be formed as a single part or as two or more parts. A human finger, for example, includes a proximal phalanx, a middle phalanx, and a distal phalanx. The automated hand 100 The invention can also use one or more fingers 300 include the proximal 301 , medium 302 and distal phalanges 303 include, as in the thumb of 1 shown. Alternatively, one or more fingers of the hand can be set up around only the proximal phalanges 301 and the distal phalanges 303 to embrace as in the fingers of 1 shown. In this configuration, the proximal phalanx 301 or the distal phalanx 303 if necessary be angled or curved. In some forms, the point of the angle or the bend can give the appearance of a joint between a middle phalanx 302 and the proximal phalanx 301 or depending on the situation between the middle phalanges and the distal phalanges 303 resemble. In the in 1 The embodiment shown is the distal phalanx 303 of the finger 300 angled so that it resembles an articulated middle phalanx and the distal phalanx in a substantially relaxed, slightly curved position. In yet another form, the finger may only include a proximal phalanx. Here, too, the finger can comprise one or more bends or angles, so that the finger essentially resembles a curved / curved human finger.

In one form, the body of the finger 300 be a substantially hollow shell that may include moving parts within the hollow interior. The moving parts are set up to transmit the rotary movement of the motor to the finger. In another form, the body of the finger can be essentially solid.

The automated hand 100 the invention also includes a power supply configured to power the one or more drive motors 10 and operate other electronic components by hand. The power supply may be a battery or other energy storage device, such as a slow discharge capacitor. The power supply may be rechargeable.

The indicator preferably comprises 100 an indicator that gives an indication of when the load is becoming weak. For example, the indicator can be a visual indicator in the form of a flashing light or a lamp in a specific color. Additionally or alternatively, the indicator can be an acoustic indicator that emits a beep or a specific tone to indicate that the charge is weak.

The hand 100 The invention may also include a control system configured to control the operation of the hand motors. The control system can also be set up to control the operation of other handheld electronic components. The control system can be programmable to meet the needs and capabilities of the user. If necessary, the control system can also be reprogrammable in order to meet the needs and abilities of the user that change over time.

Metacarpal

In one in 1 to 6 The shape shown includes the palm 200 hand 100 a body in the form of an outer shell. The outer shell defines an inner area of the palm, in which moving parts and electronics can be accommodated. The outer shell can be formed in one piece. In another form, the outer shell of the palm comprises a first part 210 and a second part 220 that are set up to be attached to each other. The first part of the outer shell of the palm is set up to be the top part 210 of the hand, ie the back of the hand. The second part of the outer shell is set up so that it is the lower part 220 the hand, ie the gripping part of the palm. For the sake of clarity, the first and the second part 210 , 220 now as the upper or lower part 210 , 220 designated. However, this terminology must not be interpreted so that the first part is always in an upper position and the second part is always in a lower position. As can be seen, the hand can turn so that the upper part (the back of the hand) faces the floor and is therefore lower than the lower part of the palm.

The palm of your hand 200 hand 100 can also be an elastic, flexible and compressible metacarpal splint 250 include. The metacarpus 250 can be set up so that it carries the fork joints and thus the fingers of the hand.

In one form, one or more fork joints are directly or indirectly attached to a connector that is configured to be attached to the metacarpal rail. The connector 260 can be a fork joint 261 and a link arm 20 include. The fork joint 261 can be at a first end of the link arm 20 are located. The link arm 20 can be set up so that it is on the metacarpus 250 attached or at least carried by her. The link arm 20 is thus "free floating" on the metacarpal rail 250 attached so that each link arm 20 around the metacarpal 250 can turn as soon as a lateral force is exerted on a finger. The resilience of the metacarpal splint 250 Allows fingers to spread (twist apart in the plane of the palm) and provide shock absorption for forces exerted on a finger in a direction perpendicular to the palm. This eliminates the need for an inner frame, in which the fingers are attached to the palm only by means of the middle hand splint attached to the upper and lower half of the palm.

The metacarpus 250 is designed so that it extends essentially over the ankle area of the hand. For example, the metacarpal splint 250 extend between two or more connectors and be set up so that they the connectors (and thus the fork joints 261 and the distal part of the palm 200 ) allows you to spread apart slightly, compress slightly, and move slightly up and down to simulate (at least in part) the natural movement of the ankles of a human hand. The connectors 260 are set up around the finger (s) 300 with the palm of your hand 200 connect to. By the connector 260 The fingers can be spread due to the resilience of the metacarpal splint 300 therefore also able to move sideways and spread to a certain extent when, for example, an object such as a brush handle is placed between the fingers. The metacarpal splint preferably has a spring-back force such that at least two fingers can be spread by at least 5 degrees (more preferably at least 10 degrees and even more preferably at least 20 degrees), since a relative movement between the connector and the palm is possible due to the elastic deformation of the metacarpal splint. The word "spread" in this context refers to fingers that are generally parallel in their neutral position and the extent to which they are "spread" represents the angle between the center lines of the neighboring fingers. If the fingers are not parallel “spread” refers to the additional angular rotation between adjacent fingers. The rebound force of the metacarpal splint also provides shock absorption from lateral forces (that is, forces from both sides of the hand, such as an impact against the little finger that pushes it towards the third finger) and normal forces (that is, forces that act against one finger in one direction act perpendicular to the plane of the palm). This is because there is a connector 260 due to the elastic deformation of the metacarpal splint 250 can move in relation to the palm of your hand. The metacarpal splint can offer an elastic deformation, so that a lateral force exerted on the tip of a finger between 2.5 and 20 Newtons leads to an angle rotation in relation to the palm in the plane of the palm (finger spread) of at least 3 (preferably at least 5) degrees .

The metacarpal splint preferably provides shock absorption for forces exerted on a finger in a direction perpendicular to the palm so that each connector is in the plane of a finger's powered movement (finger rotation) due to elastic deformation of the finger Metacarpal rail can rotate at least 2 (preferably at least 5) degrees in relation to the palm. The metacarpal splint can provide elastic deformation so that a force between 2.5 to 20 Newtons, applied to the tip of a finger in a direction perpendicular to the plane of the palm, results in an angular rotation of the fingers in relation to the palm of at least 3 degrees leads.

Similarly, your fingers can 300 Adapt more easily and grab a small or round object, such as a tennis ball, by allowing the connector to come off 260 (and thus the fork joints 261 ) on both sides of the hand 100 move down. The compliant quality of the automated hand means that the hand is also able to offer a more natural grip when you shake hands.

Material properties of the metacarpal splint

The material chosen for use as a metacarpal splint should be able to maintain a high degree of flexibility when exposed to the normal cold and hot ambient temperatures in the end use. The hand can freeze icy water ( 0 ° C) or very hot water (60 ° C).

Dynamic-mechanical thermal analysis (DMTA) is a laboratory test that precisely describes the actual behavior of a polymeric material during its end use, for example when used as a "metacarpal splint". This is an ASTM protocol selected from D 2236, D 4065, D 4440 or D 5279. It includes "temperature" as a parameter for the material selection.

The DTMA test measures a material's ability to absorb and / or store energy during a mechanical process such as bending.

It describes flexibility and resilience (rebound) as the ratio of absorbed energy to stored energy. This unitless ratio is referred to as the "damping coefficient" or "tangential delta" for this material and can be generated over a wide temperature range.

In analytical terminology, the material used for a metacarpal splint, measured over a temperature range from minus 20 ° C to plus 100 ° C, would have a flexibility (damping factor / tangential delta) of less than 1.0, preferably between 0.05 and 0.8 , require.

In order to ensure the flexible, semi-compressible and elastic properties, the metacarpal splint can be made from any suitable material or any suitable combination of materials such as elastomers, rubber, silicone, compressible polymers and thermoplastic materials. Suitable for this application are thermosetting elastomers (based on hydrocarbons, fluorocarbons or silicon dioxide), thermoplastic elastomers, thermosetting rubbers, inherently soft thermoplastics or foamed compositions based on one of these polymers.

• Vernetzte duroplastische Elastomere (wie Ethylen-/Acrylat- oder Butylkautschuk), vernetzte duroplastische Polyurethane (Sorbothane^®), vernetzte duroplastische Polysiloxane, thermoplastische Polyurethane (Huntsman, Bayer), thermoplastische Elastomere (DuPont Hytrel^®, DSM Arnital^® Copolyester, Arkema Pebax^® Copolyamid). Legierungen und Mischungen dieser Polymere (mit anderen Polymeren sowie anorganischen Füllstoffen) und geschäumte Versionen dieser Familien von elastomeren Materialien wären ebenfalls geeignete Materialien. Ebenso können Verbundwerkstoffe wie kohlefaserverstärkte Polymere verwendet werden.

Tabelle 1. Kriterien für die Biegsamkeit von Mittelhandschienen-Polymeren DUROPLAST-POLYMER POLY- THERMOPLASTISCHES POLYMER POLY- RÜCKFEDERKRAFT (2632) HÄRTE (2240) DÄMPFUNGSFAKTOR (2236, 4065) (%) SILOXAN - 20-40 A 10-30 0,4 ETHYLEN/ ACRYLAT - 20-40 A 50-90 0,5 ISOBUTYLEN-/ISOPREN-[BUTYL]-KAUTSCHUK - 20-40- A 50-90 0,8 URETHAN* - 30-60 A 30-90 >0,1 URETHAN** - 20-38 A 30-70 0,2-0,5 - URETHAN*** 40-60 A 58-71 0,5 - URETHAN **** 40-60 A 70-95 0,35-0,6 - COPOLYESTER 30-50 D 63-72 0,08 - 0,1 - COPOLYAMID 30-50 D 40-90 <0,14 Bemerkungen * basierend auf der in USP 4,605,681 offenbarten Methodik ** Sorbothane^® *** basierend auf Daten von Huntsman Advanced Materials **** basierend auf den Daten des Army Research Lab TR 4296 Some typical polymeric materials that meet these criteria are listed in Table 1. These “families” of polymers can be described as follows:

• Crosslinked thermoset elastomers (such as ethylene / acrylate or butyl rubber), crosslinked thermoset polyurethanes (Sorbothane ^® ), crosslinked thermoset polysiloxanes, thermoplastic polyurethanes (Huntsman, Bayer), thermoplastic elastomers (DuPont Hytrel ^® , DSM Arnital ^® copolyester, Arkema Pebax ^® copolyamide ). Alloys and blends of these polymers (with other polymers as well as inorganic fillers) and foamed versions of these families of elastomeric materials would also be suitable materials. Composite materials such as carbon fiber reinforced polymers can also be used.

Table 1. Criteria for flexibility of metacarpal polymers DUROPLAST-POLYMER POLY- THERMOPLASTIC POLYMER POLY- SPRING FORCE (2632) HARDNESS (2240) DAMPING FACTOR (2236, 4065) (%) SILOXAN - 20-40 A 10-30 0.4 ETHYLENE / ACRYLATE - 20-40 A 50-90 0.5 ISOBUTYLENE / ISOPRENE [BUTYL] RUBBER - 20-40- A 50-90 0.8 URETHAN * - 30-60 A 30-90 > 0.1 URETHAN ** - 20-38 A 30-70 0.2-0.5 - URETHAN *** 40-60 A 58-71 0.5 - URETHAN **** 40-60 A 70-95 0.35-0.6 - COPOLYESTER 30-50 D 63-72 0.08-0.1 - COPOLYAMID 30-50 D 40-90 <0.14 Remarks * based on the in USP 4,605,681 disclosed methodology ** Sorbothane ^® *** based on data from Huntsman Advanced Materials **** based on data from the Army Research Lab TR 4296

The data in Table 1 demonstrate that a wide range of thermoset and thermoplastic polymers meet the criteria for selection as a material for producing the metacarpal splint.

The damping factor between minus 20 ° C and plus 100 ° C is preferably in the range of 0.05 to 0.80 and more preferably in the range of 0.05 to 0.5. The spring force is preferably between 20 to 60%. The hardness is preferably between Shore hardness A 10 to 90 (more preferably 30 to 60) or Shore hardness D 40 to 90. A metacarpal splint made of a material with a Shore hardness A of about 30 has proven to be particularly suitable.

It can be seen that the required functionality of the metacarpal block can be achieved in a different way than by using a fixed metacarpal block according to the examples above. For example, cuts can be made in a solid block or otherwise shaped in such a way that a smaller section of material is exposed to the rotational forces applied by the fingers. Foamed materials can have a different structure, e.g. the metacarpal rail can extend further along the actuators, where the foamed materials can be easily deformed.

As in 1 to 5 shown includes the metacarpal splint 250 a body 251 with a first ending 252 . The first end 252 can point essentially towards the wrist. The rail 250 also includes a second end 253 . The second end 253 may be positioned substantially opposite the first end and may be substantially the finger (s) 300 of the hand 100 be facing. The metacarpus 250 also includes an upper surface 254 that can be set up to be part of an upper surface 211 of the upper part 210 the palm of your hand. Preferably the top surface is the metacarpal 250 set up to be substantially flush with the top surface of the top part 210 the palm of your hand 200 is. The rail 250 also includes a substantially opposite lower surface 255 that can be set up to be part of a contact area 221 the palm of your hand. The contact surface is the outer surface of the lower part of the hand, which usually comes into contact with an object that is gripped in the palm of the hand. The lower surface of the metacarpal splint 250 can be essentially flush with the contact surface of the lower part 220 the palm of your hand 200 be.

The metacarpus 250 is between the fork joints 261 and the body of the palm 200 positioned. The upper part 210 and the lower part 220 the palm of your hand 200 can be set up so that they are connected to one another and at least part of the metacarpal splint 250 between the upper part 210 and the lower part 220 hold. For example, the first end is in a form 252 the metacarpal splint set up between the top 210 and the lower part 220 the palm of your hand 200 to be held and to be substantially flush with the top and bottom surfaces of the palm, so that the metacarpal 250 as an extension of the upper part 210 and the lower part 220 works.

In a shape, the palm of your hand 200 , including the metacarpal 250 , a fastening system for fastening the metacarpal rail 250 on the upper part 210 and at the bottom 220 the palm of your hand. In one embodiment, as shown, the upper part comprises 210 a first end of the palm 212 and a second end 213 . The lower part 220 the palm also includes a first end 222 and a second end 223 . The second end of both the upper part 210 as well as the lower part 220 can be a lip 214 which extends around all or substantially all of the second end, as in 3rd shown. The first end 252 the metacarpal 250 can have a flange 256 include, which is essentially the first page 252 extends. A channel 257 can between the flange 256 and the rest of the body of the metacarpal 250 be arranged as in 3rd , 4c and 4d best represented. The walls of the canal 257 are marked by an inner edge of the flange 256 and the rest of the body 251 the metacarpal 250 educated. The lip 214 each of the upper part 210 and the lower part 220 the palm of your hand 200 can be set up in the channel 257 protrudes and on the inner edge of the flange 256 is present. By connecting the first and second parts 210 , 220 the lip protrudes from the palm 214 in the channel 257 into it and the flange 256 prevents the lip from coming off 214 from the channel 257 pulls out even when the metacarpal splint from the first and second part of the palm 200 bent or pulled away.

It is envisaged that in other forms the channel 257 and the flange 256 not all or essentially all of the metacarpal splint 250 extend, but instead around part or parts of the metacarpal 250 extend. For example, the flange 256 be formed from a series of protrusions that extend around the first end of the metacarpal splint 250 are provided around so that between each projection and the rest of the bracket 250 a channel 257 is formed. In another form, the flange 256 on opposite sides of the first end of the metacarpal splint 250 be provided.

It can be seen that this is only one of several forms of the fastening system for fastening the metacarpal rail to the upper and lower part of the palm. Otherwise, any other suitable fastening system can be used. For example, the metacarpal and the upper and lower parts of the palm can include complementary male and female fasteners that fit together to secure the metacarpal to the palm. A clamp connection system can be another form of fastening system that could be used. Another one

Mold may have at least a portion of the metacarpal glued or integrally molded to one or both of the top and bottom of the palm.

As mentioned above, the metacarpal is 250 set up to one or more connectors 260 for indirect support of the fork joints 261 and the finger 300 to carry by hand.

In one form, the body of each connector 260 be set up to serve as a motor housing. For example, the link arm 20 include a motor housing. In another example, the connector may include a link arm, a motor housing, and a fork joint located between the link arm and the motor housing. With this arrangement, the motor housing can be located within the body of the fingers and the link arm within the palm. The motor housing can accommodate a drive motor and possibly one or more rotary encoders and / or sensors.

The metacarpal rail can be configured to hold the connector arm of each connector. For example, one or more support openings 258 through the metacarpal 250 from the first end 252 to the second end 253 extend. In one in 2nd shown form are four support openings 258 intended. Any support opening 258 is preferably set up around a connecting arm 20 a connector 260 to record in it.

In another form, the metacarpal splint 250 be set up around the one or more drive motors 10 hand 100 to support so that each support opening 258 is set up to to accommodate a drive motor in it. Any support opening 258 can be set up so that it forms a motor bay.

In a preferred form, each support opening is 258 essentially cylindrical and sized to have a substantially cylindrical motor 10 or link arm 20 keeps space. In one shape, essentially the entire curved wall of an engine 10 or link arm 20 in a support opening 258 being held. Alternatively, just a section of the engine 10 or the link arm 20 in a support opening 258 be held so that the metacarpus 250 hangs the motor / link arm in the space within the palm of your hand, as in 3rd displayed and in 5 and 6 shown.

The hand 100 can be attached so that the second end 253 the metacarpal 250 on the fork joint 261 each connector abuts and that the link arm 20 each connector in a corresponding support opening 258 is held.

In one form, the hand can be set up so that a first end of each link arm 20 in the palm of your hand 200 the hand hangs. For example, a section of a link arm 20 at or near a second end 23 the connecting arm within a support opening 258 held. The remaining section of the link arm 20 , near the first end 22 of the connecting arm, can extend from the support opening 258 extend to the inside of the body of the palm 200 to be hung up by hand, as in 5 and 6 shown.

In another form, the metacarpal splint is longer, so that essentially the entire connecting arm (s) is / are held within the support opening (s).

In one form the hand embraces 100 four fingers 300 and four drive motors 10 , with each drive motor 10 is set up to move a single finger 300 to drive. The metacarpus 250 hand 100 includes four support openings 258 , with each support opening between the first end 252 and the second end 253 the metacarpal 250 extends. The connecting arms are set up so that they are spatially fixed in a corresponding support opening 258 the metacarpal 250 fit.

Every drive is in one form 10 in a connecting arm 20 a corresponding connector 260 housed. The connecting arms are preferably 20 set up to act as a waterproof case for the drive motors 10 serve.

Typically includes a first end 22 an electrical connector for each motor and each motor housing 21st with the respective engine 10 is connected and is set up to be connected directly or indirectly to the power supply and / or a control system. The control system can be configured to determine when and how fast an engine 10 the movement of a finger 300 should drive and in which direction the finger should move. The second end of each drive motor 10 is at or near a second end 23 of the respective motor housing (if the drive motor 10 is arranged in a motor housing). A second end of each motor may include an output shaft, directly or indirectly, with an actuation system for a respective finger 300 is connected and set up so that an output of the motor 10 directly or indirectly with the finger 300 engages the movement of the finger 300 to drive.

In one form, encompass the metacarpal 250 and the link arms 20 an anti-rotation system in which the two parts 250 , 20 are engaged with each other to prevent the link arms 20 inside the support openings 258 turn while the drive motors cause the fingers to move. In one in 3rd to 4d The shape shown can have one or more support openings 258 include at least one stop that has an opening 259 , for example, a recess or notch, which is set up to at least one corresponding stop, for example in a projection 24th to intervene on one or more corresponding connecting arms 20 is trained. In this arrangement, each link arm 20 in a support opening 258 kept leaving a head start 24th of the motor housing in a corresponding one in the metacarpal rail 250 trained opening 259 is held. Alternatively, the motor bays of the metacarpal rail can be provided with one or more stops in the form of projections, which are set up so that they fit together with one or more stops in the form of openings / incisions on the respective connecting arms. When the fingers move, the connecting arms are prevented from moving 20 inside the support openings 258 turn when a torque from your fingers 310 on the connecting arms 20 is transmitted. The anti-rotation system can also prevent the link arms 20 inside the support openings 258 turn when hand 100 absorbs an impact force. Alternatively, the rotation can be prevented by providing an opening with a non-circular cross-section, for example a keyhole, and the actuator having a corresponding interlocking profile.

Optionally, one or more of the link arms 20 set up to one or more end stops 25th to press against the shell of the palm to prevent the respective fingers from bending back on the upper part of the palm and / or to prevent the finger from being pulled down too far. In other words, the end stops are 25th set up to represent maximum points of movement for the fingers, for extreme movement of the fingers 300 to prevent. In one form can be an end stop 25th be provided on an upper portion of the motor housing (the upper portion is the part facing the upper part of the palm). Additionally or alternatively, an end stop can be provided on a lower section of the motor housing 25th be provided (the lower section is the part that corresponds to the lower part 220 is facing the palm). If necessary, one or more electronics housings, which are located on or within the connecting arm, can also provide end stops 25th form.

Typically the metacarpal splint 250 semi-flexible and semi-compressible to the palms 200 and the fork joints 261 provide sufficient structural integrity and the ability to bend slightly. The measure of at different locations on the metacarpal 250 The flexibility and compressibility provided affect the range of motion of the hand 100 and the finger 300 .

In one form, the metacarpal splint 250 be set up to different compressibility and / or flexibility characteristics in different areas of the metacarpal rail 250 to offer. For example, the areas of the metacarpal splint 250 that with the gaps between your fingers 300 aligned, more flexible than other areas of the bracket 250 . The greater flexibility can be achieved by using these areas of the metacarpus 250 be made thinner and / or by these areas of the metacarpus 250 made of a more flexible material than other areas of the bracket 250 getting produced.

The metacarpal splint can also be substantially elastic, so that the metacarpal splint essentially returns to its original state after being compressed or bent.

The flexible and semi-compressible nature of the metacarpal splint 250 offers the automated hand 100 significant benefits. For example, if the fingers 300 hand 100 the metacarpal splint can form a gripping position 250 bend and curve so that the fingers 300 essentially spread around the gripped object and hand 100 can at least partially mold around the object. In this way the movement of the metacarpal splint 250 similar to the palm of a human hand that curves slightly (especially on the sides) to grab an object, such as a tennis ball. The hand is by slightly bending around an object 100 equipped with an increased number of contact points where the hand 100 touched the object. The more contact points the hand 100 the better the grip of the hand. In order for a conventional automated hand to achieve a good grip, the motors of the hand usually drive the fingers of the hand in order to clamp them on the surface of the object to be gripped. The stronger the clamping force, the less likely the object will slip out of your hand. To do this, however, the motors have to perform a lot of work, which places a heavy burden on the motors. Even if a strong clamping force is used, it can be difficult for conventional automated hands to grip some objects. For example, it can still be difficult for a conventional hand to reliably grip a slippery and curved object such as a glass bottle. However, since an automated hand that includes a metacarpal splint of the present invention can curve substantially around an object to create more contact points, the motors of the hand do not have to do so much work to apply the required gripping force. This increases the longevity of the motors and batteries and achieves a better grip.

Another advantage of the essentially flexible and compressible metacarpal rail is that when the automated hand according to the invention is subjected to an impact force, in particular lateral impacts on the small index finger, the hand can absorb part of the force in order to damage the movable parts of the Minimize hand. In particular, the damping effect of the compressible metacarpal rail helps to dissipate the impact force, which could otherwise damage sensitive components of the hand such as the motor transmission. In this way, the metacarpal splint helps to improve the longevity of the motors and other hand components.

A hand that includes the flexible and compressible metacarpal of the invention may also be quieter when the drive motors are housed in the link arms because the metacarpal essentially absorbs the vibrations of the drive motors.

Another advantage of the metacarpal splint is that a hand that holds the bracket may feel more natural when you shake hands. This is due to the hand's ability to slightly compress and bend slightly under the pressure of the handshake to grab the other person's hand.

Because the metacarpal splint extends across the ankle area of the hand, the splint supports the ankles and fingers, allowing better control and accuracy in the movement of the fingers.

Although the metacarpal splint is shown as an integrally formed block, it should be noted that a separate holder can be provided for each actuator - either attached to the palm of the hand or secured to one another after formation.

thumb

In one in 7 and 8th The form shown includes the automated hand 100 the invention a finger 300 in the form of a thumb 320 that is set up to hold at least one finger 310 to counteract the hand essentially. The automated hand preferably comprises 100 four fingers 310 and an essentially opposite thumb 320 in an arrangement similar to or similar to that of a human hand.

The thumb 320 is on or near a first page 201 the palm of your hand 200 attached by hand so that the thumb body 321 , which can be arranged to curve or bend, essentially at least one other finger 300 , for example an index finger, counteracts. The thumb 320 is arranged to extend from the palm of the contact surface to substantially resemble a human thumb and palm arrangement.

The thumb body encompasses in one form 321 a proximal phalanx 301 , a middle phalanx 302 and a distal phalanx 303 , as in 8th shown. In other forms, the thumb body may include only a proximal phalanx or a proximal and a distal phalange, as described above in relation to the various embodiments that the fingers of the hand can take.

The thumb is in a shape 320 set up to the upper part 210 the palm of your hand 200 hand 100 to be attached. The thumb 320 can directly on an inner surface of the shell of the upper part 210 the palm of your hand, or the thumb 320 can on an intermediate element, such as a thumb rest 330 , attached, which in turn on an inner surface of the upper part 210 attached to the palm. For example, the hand 100 a thumb rest 330 include that is set up around the thumb 320 at a desired location and orientation relative to the palm 200 to position. The thumb rest is in one form 330 set up to on the top part 210 to be attached to the palm of the hand, or to rest within or on top of it.

The thumb 320 can be set up on the thumb rest 330 is attached. For example, the thumb includes 320 in a form a body 321 and a basic element 322 that extends from one side of the thumb body 321 extends to a substantially L-shaped thumb 320 to build. The thumb 320 is on the palm of your hand 200 positioned so that the thumb body 321 with the hand open 100 from the contact area of the palm 200 at or near a first page 201 the palm extends and the base element 322 over the palm of your hand 200 to the second page 202 the palm of your hand. The second page 202 the palm is essentially opposite the first side 201 the palm of your hand. In this arrangement there is a distal end 322a of the base element 322 essentially the second side 202 facing the palm. The thumb 320 can be set up towards the distal end 322a of the base element 322 to turn and turn away from this so that it is facing towards the second side 202 of the palm turns and turns away from it, as described below.

In one form, the thumb rest includes 330 a first surface 321 with an inclined first recess 332 . In the form shown, the first recess tilts 332 along the length of the thumb rest 330 . The angle of the first recess 332 is preferably to the thumb body 321 inclined. The first recess 332 includes a first end 332a which is the flattest end of the recess 332 and a substantially opposite second end 332b which is the deepest end of the recess 332 is. The first recess may include 332 an opening. In one form, the opening at the second end 332a the first recess 332 be provided.

The first recess 332 can be set up to at least part of the base element 322 of the thumb 320 record so that the base element 322 essentially within the first recess 332 is held in position. The angle of the first recess 332 not only helps the thumb 320 on the thumb rest 330 hold in place but also allows the body 321 of the thumb 320 on the palm 200 positioned and angled in a substantially natural looking position around a substantially natural looking hand 100 to obtain.

The thumb rest 330 can also have a second recess 333 include that are on the first surface 321 located. The second recess is in the form shown 333 near the first end 332a the first recess 332 . The second recess 333 can be set up to a positioning element 323 record that from the base element 322 protrudes to ensure that the base element 322 its position on the thumb rest 330 maintains without swinging from side to side. The second recess 333 and the positioning element 323 can have any suitable complementary shape, for example a rectangular shape, a star shape, a hexagonal shape or a square shape.

In one in 7 and 8th the form shown forms the positioning element 323 a hinge around which the thumb is 320 on the distal end 322a of the base element 322 can turn towards and away from it. In this form, the outstanding hinge 323 essentially semi-cylindrical and the second recess 333 also be essentially semi-cylindrical, so that the hinge 323 in the second recess 333 embed and rotate within it. The hinge / positioning element 323 and the second recess 333 can be substantially perpendicular to the length of the base element 322 extend.

If necessary, the thumb support includes 330 a compressible material, such as rubber, silicone or an elastomer, around the thumb 320 To give shock resistance.

The thumb 320 is typically attached so that the base element 322 on the thumb rest 330 located on an inner surface of the upper part 210 the palm of your hand 200 located. If necessary, the thumb rest 330 on, and / or surrounded by, a seal 340 making the connection between the thumb rest 330 and the upper part 210 the palm of your hand 200 seals. The upper part 210 the palm of your hand 200 can have a substantially hollow housing between the thumb rest 330 and the upper part 210 include so that the thumb rest 330 forms a cover for the housing. The Electronic 240 for the hand 100 can if necessary in this housing 230 of the upper part 220 the palm of your hand. For example, the controller and other electronic components can be housed in the housing. The electronics housing is typically 230 at or near the base of the upper part 210 the palm, ie close to the connection between the palm 200 and the wrist 500 . By sealing the housing 230 for electronics, electronics can 240 be kept waterproof.

If the palm of your hand is facing up, as in 8th shown, the lower part sits 220 the palm of your hand 200 over the top part 210 , the thumb rest 330 and the base element 322 of the thumb. The lower part 220 the palm includes an opening 216 through which the body 321 of the thumb 320 protrudes. In this way, the base element 322 of the thumb 320 essentially inside the shell of the palm 200 held and the body 321 of the thumb protrudes from the contact surface 221 the palm of your hand 200 out.

The thumb 320 can be set up to be a substantially stationary finger 300 to be the one out of the palm of your hand 200 hand 100 protrudes, or the thumb 320 can be set up to perform controlled movements.

In one form, the thumb embraces 320 a first motor, which can be set up to cause the thumb body 321 towards the contact surface 221 the palm bends and straightens or bends away from the contact surface. The fingers of the thumb can bend over joints between the fingers, for example as a first joint 326 between the proximal and middle phalanges and a second joint 327 between the middle and distal phalanges.

The thumb 320 may also include a second motor configured to cause the thumb body to 321 towards the distal end of the base member 322 and moved away from it (ie the thumb towards the second side 202 the palm of the hand and away from it, close to the position of the little finger when the hand is around a little finger).

In fact, the thumb can 320 be set up to go to the second page at the same time 202 the palm of your hand 200 to pivot and to the contact surface 221 the palm of your hand 200 to bend to grab an object. Likewise, the thumb can 320 straighten and swing away from the second side of the palm to release an object.

The motor (s) can be hand in any suitable position 100 be arranged, for example in the palm of your hand 200 , in the base element 322 of the thumb or in the body 321 of the thumb. For example, the first motor in the housing 321 of the thumb. In one form, the second motor is in the base element 322 housed.

The motor (s) is / are preferably accommodated in a motor housing. For example, the first motor can be accommodated in a first motor housing and the second motor in a second motor housing. One or more encoders and / or sensors can also be accommodated in the first and / or second motor housing.

The automated hand 100 optionally includes a compressible thumb buffer 350 that is set up to between the base element 322 and the shell of the palm 200 placed to help absorb shock and thumb damage 320 and its components, especially the engine (s).

The thumb buffer is in one form 350 between the base element 322 and the lower part 220 the palm of your hand. The thumb buffer can be used in this form 350 on an inner surface of the lower part 220 the palm or an upper surface of the base member 322 attached (with the top surface facing the bottom of the palm) or the thumb buffer 350 can just be between the base element 322 and the lower part 220 the palm of your hand.

The thumb buffer is in one form 350 set up to on the base element 322 to be attached as in 7 and 8th shown so that it is between the base element 322 and the lower part 220 the palm of your hand. The basic element 322 can be a buffer bracket 324 with which the thumb buffer 350 on the base element 322 may be appropriate. For example, the buffer holder 324 in the form of an opening, for example an opening or recess, and the thumb buffer 350 may include an attachment surface with a protrusion configured to be received within the opening. Preferably, the protrusion is received within the opening in a spatially fixed manner, or the protrusion and the opening can be wedged or otherwise configured to hold the protrusion of the thumb buffer within the opening, so that the thumb buffer is held on the base element. In a further form shown, the base element comprises 322 a buffer holder in the form of a projection 324 and the thumb buffer 350 is set up to get over the head start 324 to fit to the base element 322 to be held.

In one form, the protruding buffer holder comprises a housing or at least part of a housing for the second thumb motor. For example, a first surface of the base element 322 a buffer holder in the form of a projection 324 in which the second motor is located, as in 7 and 8th shown. If the hand 100 is oriented so that their contact area 221 is the first surface of the base element 322 its upward surface, which is also the inner surface of the lower part 220 is facing the palm of your hand.

The compressible thumb buffer 350 can be set up so that it is on the protruding free end of the protruding motor housing / buffer bracket 324 or the thumb buffer 250 can be set up to hold the buffer 324 essentially surrounds.

In one in 7 and 8th the form shown is the basic element 322 set up a fork 325 to form in the outstanding buffer holder 324 is arranged. The thumb buffer 350 is set up to essentially within the fork 325 to be positioned and the outstanding buffer holder 324 essentially to surround.

If the thumb body 321 towards the second side 202 the palm turns and turns away from this, the thumb can pivot slightly within the thumb rest, so that the base element 322 is caused to move up and down slightly. For example, if the thumb body 321 towards the second side 202 the palm of your hand 200 moves the distal end 322a of the base element 322 in the first recess 332 the thumb rest 330 pressed. The thumb body moves 321 however from the second side 202 away from the palm of your hand, pushes the distal end 322a of the base element against the inner surface of the lower part 220 the palm of your hand 200 . So if the end of the thumb 320 absorbs an impact force that the base of the thumb body 321 towards the top 210 the palm of your hand 200 presses, the positioning element 323 of the base element 322 against the second recess 333 the thumb rest 330 pressed and the distal end 322a of the base element 322 is in a rocker arrangement towards the lower part 220 the palm of your hand. To prevent an impact force from causing damage when the substantially rigid structure of the base member 322 on the essentially rigid lower part 220 hitting the palm of your hand is the thumb buffer 350 between these two parts 322 , 220 . In this arrangement the base element presses 322 against the compressible thumb buffer 350 that absorbs at least part of the shock. Hence the compressible nature of the thumb buffer 350 do that between the thumb 320 and the palm 200 dampen transmitted power. As a result, the thumb, thumb motor (s), and other thumb components are less susceptible to damage from an impact force at the thumb end.

In one form, the thumb buffer 350 be set up to be attached to the base member and on an inside 320a of the thumb 320a to lie on. The inside of the thumb is the side from which the base element is made 322 extends. The thumb buffer is in this arrangement 350 able to move the thumb sideways 320 dampen significantly when the thumb has an impact force from the first side 201 the palm of your hand. It is therefore less likely that the thumb and its sensitive components will be damaged by a side impact.

The thumb buffer 350 can be made of any suitable damping material such as rubber, elastomer, silicone or the like. The material of the thumb buffer is preferably essentially elastic, so that the thumb buffer can essentially return to its original shape after the deformation.

Independent finger speed, position and / or force

In one form, the control system includes the hand 100 the invention one or more motor controls, which are configured to the movement of the fingers 300 hand control independently. In one form, the motor controller (s) can be configured to independently control the speed of one or more drive motors that drive the movement of the fingers. In particular, the motor controller (s) can be set up to control the motor speed and the pulse width modulation of one or more of the drive motors. Every motor control is directly or indirectly with a power supply and with one or more drive motors in hand 100 connected.

By controlling the movement of one or more fingers independently, it is possible to independently and consciously control the speed with which the controlled fingers move, the force with which the controlled fingers grip an object (s) and the position of the controlled fingers to control.

The hand 100 may include one or more drive motors, each drive motor configured to cause movement of at least one of the fingers. In one form, the hand can include five fingers and at least five motors. For example, a first motor can be connected to a first finger, for example the index finger, to drive the movement of the first finger, a second motor can be connected to a second finger, for example the middle finger, to drive the movement of the second finger, and so on as in 3rd , 5 and 6 shown. As described above, each motor can be arranged in a housing, which is preferably waterproof.

The motor controller (s) can be configured to use one or more of the fingers 300 to move at any speed you want. For example, the engine controller (s) may be configured to cause two or more fingers to be 300 at the same speed or move at a different speed, or that every finger 300 moved at the same speed or at different speeds.

In one form, each motor controller includes a PID controller.

At the speed of a single finger 300 , for example a finger 310 to control, a motor control can be used. For example, every finger 300 hand 100 be connected to a motor controller, which is set to the speed of movement of this finger only 300 to control. In one form, the hand can include five motor controls, five motors, and five fingers. For example, a first motor controller may be connected to a first motor to control the speed of movement of a first finger, for example the index finger, a second motor controller may be connected to a second motor to control the speed of movement of a second finger, for example control of the middle finger, and so on, so that the speed of movement of each finger can be determined independently of the respective control.

Alternatively, a single motor controller can be used to control the speed of two or more fingers 300 to control. For example, the hand 100 one thumb and four fingers 310 include, which correspond to an index finger, middle finger, ring finger and little finger. At least one motor controller can be used to control the speed of thumb movement and at least one other controller can be used to control the speed of index finger movement. Yet another motor controller can be used to control the speed of the middle finger, ring finger, and pinky. With this arrangement, the speed of the thumb as well as the index finger is controlled independently, while the middle finger, ring finger and pinky move at the same speed because these fingers are controlled by a single motor controller.

In one form, the thumb may include two drive motors: a first drive motor that causes the thumb to curve and bend back and forth toward the palm contact surface, and a second drive motor that causes the thumb to move from the first side of the palm pivots to the second side and back. The speed of each drive motor can be controlled by an independent motor controller so that the speed at which the thumb bends and flexes is equal to or different from the speed at which the thumb moves between the first and second sides of the palm .

The control system can be set up to determine the speed of the fingers suitable for the user. For example, if the hand consists of four fingers and is used to grasp small objects or rounded objects, one or more motor controls can be set up to cause the ring finger to move faster than the middle finger. The motor controller (s) may be configured to cause the middle finger to move at the same speed as the index finger or faster. Additionally or alternatively, the motor controller (s) can be configured to cause the little finger (or, if the hand does not include four fingers, the finger closest to the outer edge of the hand) to move at the same speed as the ring finger or moved faster.

In another form, the hand exists 100 from five fingers 300 that correspond to an index finger, middle finger, ring finger, little finger and thumb. One or more motor controls are set up to cause the ring finger and pinky to move at a higher speed than the index finger and middle finger.

The motor controls can be positioned on the hand at any suitable location. The control system and the motor controls are preferably located on a circuit board inside the electronics housing in the palm of the hand.

One or more of the engine control (s) can be pre-programmed before being in hand 100 to be built in. Alternatively, the user or a therapist can program one or more of the motor controller (s) according to the needs of the user and after the hand is made. If necessary, the one or more motor control (s) can be reprogrammed.

Precise gripping tasks can be carried out by providing a control system for independent finger speed and / or finger position and / or finger force. For example, the controller (s) can be programmed to determine the before-after grip positions for one To delimit the handshake grip, to provide a higher force of the little finger and the ring finger compared to the other fingers of the hand and to provide certain finger speeds in order to enable an essentially realistic, natural handshake grip.

Another advantage of a hand with independent finger speed is that the hand control system can be set up to provide a precise handle.

Another advantage is that the force with which an object is gripped can be varied between the fingers. For example, if the drive for the little finger causes that finger to move faster than an index finger, the grip force for the little finger will be stronger than the grip force for the index finger when the fingers are used to grip an object.

Another advantage is that the positions of the fingers can be controlled independently and deliberately determined. For example, the controller (s) can be set up such that the fingers move to a specific grip pattern, for example a handshake grip.

Coupling device

In one in 9 to 14 In the form shown, the automated hand of the invention may include one or more coupling devices 400 include. Each coupling device can be set up to fit into a drive motor 10 to intervene and disconnect from it so that the drive motor can be stopped from driving a finger when an end impact force acts on the finger or the finger is under a considerable tensile force. For example, if a curved finger 300 lifting a heavy weight, the drive motor of this finger reaches its performance limit to keep the finger in a curved configuration. Excessive load on the engine can damage the engine and otherwise wear the engine over time. The coupling device 400 The invention is designed to help prevent this damage by using your finger 300 from the driving force of the drive motor 10 separates as soon as the finger is excessively stressed by a final impact or a significant pulling force.

The drive motor is arranged to run in a first direction, which causes the finger in a gripping position towards the contact surface of the palm 200 hand 100 curves and run in an opposite second direction, causing the finger to straighten out and form an open position. An output shaft of the drive motor is set up to intervene directly or indirectly in at least one coupling device of the invention.

The hand can hold one or more coupling devices 400 for use with one or more fingers of the hand. For example, only index finger and thumb can be a coupling device 400 include. In another form, each finger can 300 hand, whether finger or thumb, at least one coupling device 400 include. In one form, a finger can have two coupling devices 400 include, one on each side of the finger's body. For the sake of simplicity, the configuration of a single clutch device 400 described in relation to a single finger, especially a finger that is not a thumb. However, it can be seen that the coupling device 400 of the invention can be used otherwise as a thumb. Because the thumb may include two drive motors, the thumb may include one or more coupling devices that engage each of the thumb drive motors. For example, in one embodiment, if the thumb includes two drive motors, the thumb may include four clutch devices (two clutch devices for each drive motor).

In one form, the coupling device may include a first portion configured to directly or indirectly engage a drive motor and a second portion configured to directly or indirectly engage a finger. For example, a first end of the coupling device, as described above, can engage a drive motor of a finger and a second end of the coupling can be set up to engage the finger.

The finger 310 is with a fork joint 261 connected that to the palm of your hand 200 the hand is connected. The fork joint 261 is set up so that the finger is around the fork joint 261 can pivot around so that the finger can bend and bend.

The finger 310 can be designed as separate, articulated parts (eg separate phalanxes), or the finger can be designed as a single part (eg a proximal phalanx), as described above.

The coupling device 400 can be set up within a joint between two adjacent phalanges 301 , 302 , 303 or inside the fork joint 261 between the palm 200 and the finger 300 to be. The coupling device is in a preferred form 400 inside the fork joint 261 between the palm 200 and the proximal phalanx 301 of the finger 300 .

The fork joint 261 can be formed from one or more parts. The fork joint is in one form 261 formed from two parts, a first part 261a and a second part 261b that can be connected, as in 9 shown.

The fork joint 261 may include a body with at least a partially curved outer surface to resemble the bends of a human ankle. The fork joint forms in one form 261 Part of a digital finger rest element 260 . The finger rest element 260 can also be a link arm 20 include. The fork joint is in one form 261 at or near a first end of the finger rest member 260 and a link arm 20 is located at or near a second end of the finger rest member. The link arm 20 can be set up so that it extends from the fork joint 261 extends out so that the fork joint 261 one end of the digital carrier element 260 forms and the connecting arm 20 the other end.

The drive motor of one or more fingers can be within the link arm 20 be included. If necessary, one or more encoders and / or sensors can also be accommodated in the motor housing. The link arm 20 can be substantially elongated and set up to be within the palm of your hand 200 hand 100 located. In one form, the connecting arm 20 and / or the engine 10 be set up in an engine bay of an metacarpal rail 250 to be held as described above. In another form, the connecting arm 20 and / or the engine 10 within a finger 300 , for example within the proximal phalanx.

The body of the fork joint 261 can have any suitable shape. In one form, the body includes 261 a substantially circular disc with opposing mounting surfaces 265a , 265b .

In one form, the coupling device comprises a driven element 410 , a clamping element 420 and a compression element 430 .

The driven element 410 can with a drive motor 10 be directly or indirectly engaged and is by the drive motor 10 caused to turn. For example, the driven element 410 be a worm wheel that is in a by an output shaft of the drive motor 10 driven worm gear engages. In another form, the driven element 410 be a bevel gear or another suitable gear or rotating element, so that when rotating an output shaft of the drive motor also the driven element 410 is caused to turn.

The driven element 410 can get inside the body of the fork joint 261 are located. The driven element 410 can have at least one contact area 411 comprise, which is set up with the clamping element 420 to come into engagement. In one form, the driven element comprises substantially opposite contact surfaces 411a , 411b .

The clamping element 420 can be a first surface 421 include, which is arranged to with the contact surface 411 of the driven element 410 to come into engagement. For example, the first surface 421 of the clamping element 420 be set up against the contact surface 411 of the driven element.

The compression element 430 may be configured to cause the first surface of the clamp to contact the contact surface 411 of the driven element 410 comes into engagement, for example by pressing against the contact surface 411 . The compression element 430 can therefore be set up to cause the clamping element 420 with the contact area 411 of the driven element 410 engages using a compressive force. In one form, the compression element 430 also be set up to the first surface 421 of the clamping element from the contact surface 411 to solve the driven element.

If a finger 300 a single coupling device 400 includes the clamping element 420 and the compression element 430 on one side of the driven element 410 . If the finger 300 however two coupling devices 400 are located on each side of the driven element 410 a clamping element 420 and a compression element 430 .

In one form, the clamping element (s) 420 adjacent to the contact surface (s) 411a, 411b of the driven element 410 be arranged.

The driven element 410 and the clamping element 420 can through a common axis 450 that is set up to stand out in the driven element 410 trained axle mounting opening 414 and one in the clamping element 420 trained axle mounting opening 425 to be extended, held in a position next to each other.

The axle receiving opening is in one form 414 of the driven element essentially centrally on the contact surface 411 arranged of the driven element. The axle receiving opening 414 can extend through the body of the driven element from the first contact surface 411a up to the second contact surface 411b extend.

The axle receiving opening 425 of the clamping element 420 can essentially be centered on the clamping element 420 be arranged. The axis receiving opening can be in one form 425 through the body of the clamping element from the first surface 421 up to a second surface 422 extend the clamping element.

In one form, the axis can be substantially cylindrical and extend through substantially circular axis receiving openings of the driven element and the clamping element.

In another form, the axis comprises an essentially cylindrical central region 451 and non-cylindrical ends 452 . The central area 451 the axis 450 can be set up through an axle receiving opening 414 of the driven element 410 protrude with a substantially circular cross-section. In this form, the driven element 410 free around the axis 450 rotate.

The non-cylindrical ends 452 the axis 450 can be of square, hexagonal, or other suitable shape that is configured to fit into a correspondingly shaped axis receiving opening 425 of the clamping element 420 to wedge. This is when turning the clamping element 420 also the axis 450 caused to turn. The driven element 410 can freely move around the axis 430 rotate while the axis 430 and the clamping element 420 are locked in relation to each other.

The axis contributes to the fact that the driven element and the clamping element remain essentially aligned with one another.

The fork joint 261 can have a coupling hole 266 include to receive at least a portion of the coupling device and to help align the driven member and the clamping member. The clutch receptacle opening 266 can extend through the body of the fork joint from the first outer surface 265a to the second outer surface 265b extend. The clutch receptacle opening 266 is preferably substantially centered on the outer mounting surfaces 265a , 265b of the fork joint 261 arranged. The coupling receptacle opening has a shape 266 a circular cross-section to form a cylindrical opening that either through one of the first part 261a and the second part 261b of the fork joint 261 or through both the first part 261a and the second part 261b extends. The driven element 410 can be inside the clutch receptacle opening 266 are located. In one form, at least part of the clamping element 420 also within the clutch opening 266 be included.

In one form, the coupling device 400 include an engagement system around the contact surface of the driven member 410 with the first surface of the clamping element 420 to engage so that the clamping element 420 when rotating the driven element 410 is caused to turn. The engagement system can also be set up around the clamping element 420 from the driven element 410 solve when the finger 300 is subjected to considerable force.

In one form, the engagement system includes one or more engagement male members configured to engage the one or more male engagement members. The engagement male members may include protrusions configured to engage male engaging members having recesses. The plug-in projections can be essentially convex or essentially spherical projections, for example protruding balls. The plug-in projections can be connected in one piece to the clamping element or, depending on the situation, to the driven element from which the projections protrude, fastened to it or otherwise connected. In one embodiment, at least one engagement bushing element can have a substantially concave recess, for example a depression. The recessed area may include one or more openings. For example, the recess may have a central opening with curved and chamfered edges to form a semicircular recess. In another form, an engagement sleeve member may include a concave depression that includes a plurality of openings within the recessed surface. The depression (s) can also be essentially flat. In other words, the depth of the recesses may be substantially flat or include chamfered edges with substantially flat taper angles.

The contact surface of the driven element can comprise one or more engagement plug elements or engagement socket elements, which are configured to engage with corresponding engagement socket elements or engagement plug elements on the first surface of the clamping element. In one form, the contact surface can comprise both engagement plug elements and engagement socket elements that are configured to engage corresponding engagement socket elements and engagement plug elements on the first surface of the clamping element.

The engagement system optionally comprises four engagement plug elements which are set up to engage with four engagement socket elements. The engagement plug-in elements and engagement bushing elements are set up so that, depending on the situation, from and around a central point of the contact surface 411 of the driven element 410 or a central point of the first surface 421 of the clamping element 420 are evenly spaced.

In one form, the contact surface 411 of the driven element 410 one or more engagement plug elements and the clamping element comprise one or more engagement socket elements. Each engaging plug element can be configured to be at least partially received in a corresponding engaging socket element, with the driven element 410 and the clamping element 420 to engage together.

The contact surface comprises in one form 411 of the driven element 410 one or more openings. Each opening consists of a closed end and an open end. The open end is on the contact surface 421 .

A compression element can be held in each opening. An engaging plug element can be arranged at the open end of the opening in order to at least partially protrude from the contact surface. In this arrangement, the compression member is held within the opening between the engagement plug and the closed end of the opening. The protruding engagement plug element presses against the first surface of the clamping element and against one end of the compression element. The compression element is therefore held under pressure within the opening and is arranged to engage the engagement plug element (s) against the first surface 421 of the clamping element 420 to press.

The compression member may be a spring, but in other forms the compression member may be formed from any substantially compressible, elastic material capable of compressing and then returning to its original shape.

In one form, the male engagement member may include a ball, such as a ball bearing, that is under pressure between the clamping member 420 and the driven element 410 is held.

The compressive force of the compression element 430 presses the engagement plug element, for example a ball bearing, against the first surface 421 of the clamping element 420 .

As described above, the engagement bushing elements can be on the first surface of the clamping element 420 have one or more recesses into which the respective engagement plug elements can embed as soon as the driven element 410 and the clamping element 420 are engaged. At this arrangement becomes the clamping element 420 when rotating the driven element 410 caused to turn. If the engagement plug-in element (s) comprise a ball bearing, the one or more recesses can be set up in such a way that a ball bearing can rotate slightly within a corresponding recess. In this configuration, the invention sees a spring-loaded ball bearing coupling device 400 before the clamping element 420 when rotating the driven element 410 caused to turn.

In another in 9 , 10A and 10B The shape shown includes the contact surface 411 of the driven element 410 one or more engagement bushing elements 413 and the clamping element 420 one or more engagement plug elements 423 . Any engagement plug 423 can be configured to at least partially in a corresponding engagement bushing element 413 to be included to the driven element 410 and the clamping element 420 to engage with each other.

The first surface comprises in one form 421 of the clamping element 420 one or more openings 424 . Every opening 424 includes a closed end and an open end. The open end is on the first surface 421 . The opening 424 can be formed with a closed end. Alternatively, the opening may extend between the first and second surfaces of the clamping element and a stop 440 , for example a grub screw, can be inserted into the opening on the second surface around the end of the opening 424 close.

In every opening 424 a compression element can be held. An engagement connector 423 can be at the open end of the opening 424 be arranged to at least partially from the first surface 421 stand out. In this arrangement the compression element 430 inside the opening 424 between the engagement plug 423 and the closed end of the opening 424 held. The outstanding engagement plug element 423 presses against the contact surface 411 of the driven element 410 and against the compression element 430 . The compression element 430 is therefore within the opening 424 kept under pressure and is set up to engage the engaging plug element (s) against the contact surface 411 of the driven element 410 to press.

If necessary, the compression element 430 a spring, but in other forms, the compression element can be formed from any substantially compressible elastic material that is capable of compressing and then returning to its original shape.

In one form, the engagement plug element 423 a ball, for example a ball bearing, which / under pressure between the clamping element 420 and the driven element 410 is held.

The compressive force of the compression element 430 presses the engagement plug element, for example a ball bearing 423 , against the contact surface 411 of the driven element 410 .

As described above, the engagement sleeve members can 413 on the contact surface 411 of the driven element 410 one or more recesses 413 include, in which the respective engagement plug elements 423 can embed once the driven element 410 and the clamping element 420 are engaged. With this arrangement, the clamping element 420 when rotating the driven element 410 caused to turn. If the engaging plug element (s) comprise a ball bearing, the one or more recesses can 413 be set up so that there is a ball bearing 423 within a corresponding recess 413 can rotate slightly. In this configuration, the invention sees a spring-loaded ball bearing coupling device 400 before the clamping element 420 when rotating the driven element 410 caused to turn.

The clamping element 420 also includes a second surface 422 that can be set up to directly or indirectly with your finger 310 to come into engagement. For example, the second surface 422 of the clamping element 420 be set up with a corresponding receiving element 305 to engage that in the body of the finger 300 is trained. In a further embodiment, the distal end of the axis 450 be set up to come into engagement with a corresponding receiving element which is formed in the body of the finger. The second surface 422 of the clamping element 420 and / or the distal end of the axis 450 can be the second end of the coupling device 400 form. The receiving element 305 may be an opening, such as a passage, a depression, or a non-recessed area that is bounded by at least one wall that delimits the non-recessed area, or by a plurality of protruding arms that delimit the edge of the non-recessed area . The clamping element is in one form 420 , as shown, set up with the proximal phalanx 301 a finger 310 comes into engagement. In one form, the clamping element engages the finger by attaching or connecting to the finger.

In one in 9 The shape shown can be the clamping element 420 a wave 426 that comprise the first surface 421 of the clamping element 420 includes. A flange 427 can be at or near one end of the wave 426 are located. The flange 427 can the second surface 422 of the clamping element 420 include. The wave 426 can be set up within the clutch receptacle opening 266 of the fork joint 261 to be held. The flange is in one shape 427 of the clamping element 420 set up to attach to an outer mounting surface 265 of the axle beam 261 abuts so that the flange 427 on the outer surface 265 of the fork joint 261 located. In this arrangement the shaft extends 426 of the clamping element 400 through at least part of the steering knuckle 261 , for example the first part 261a , to the driven element 410 . The flange 427 of the clamping element 420 can be set up to finger as described above 310 , for example with the body of the proximal phalanx 301 to engage. For example, the flange 427 be square, hexagonal or irregular in shape, with an appropriate receiving element 305 , for example a recess, opening or border of the proximal phalanx.

In this configuration, when the clamp member is engaged with the driven member and the driven member is caused to rotate by the drive motor, the finger is caused to rotate substantially simultaneously. The driving force between the drive motor and the finger can be separated by releasing the clamping element and the driven element as described in this specification below.

In yet another form of coupling device, as in 13 shown, includes the clamping element 420 several parts, including a first element 420a with the first surface 421 of the clamping element 420 and a second element 420b with the second surface 422 of the clamping element. The compression element 430 may comprise a spring washer or the like and is arranged to be between the first and second element 420a , 420b to be arranged.

As described above, the contact surface of the driven element 410 and the first surface 421 of the clamping element 420 comprise one or more engagement elements to connect the driven element to the clamping element. Here, too, the engagement elements can be engagement plug elements with projections and engagement socket elements with openings, for example with cutouts, as described above. The contact surface of the driven member may include one or more male engagement members, female engagement members, or both, configured to engage corresponding male engagement members, male engagement members, or both, located on the first surface of the clamping member.

In one form, one or more engagement male elements 423 from the first surface 421 of the clamping element 420 stick out in one or more recesses 413 intervene on the contact surface of the driven element 410 are trained. In another form, the driven element comprises 410 one or more engaging plug-in elements that protrude from the contact surface of the driven element and are configured to fit into one or more recesses on the first surface of the clamping element 420 intervention.

The compression element 430 is set up to the first surface 421 of the clamping element 420 against the driven element 410 to press. The corresponding engagement elements can therefore bed into one another in order to bring the driven element and the clamping element into engagement with one another.

The second element 420b of the clamping element comprises the second end of the coupling. The second element 420b can be set up with your finger 310 to come into engagement. With this arrangement, once the driven member and the clamping member are engaged, the clamp member and the finger rotate while the driven member rotates.

In one form, the second element includes 420b a first end that is configured to extend between the coupling receptacle opening 266 the first part of the fork joint 260a to extend and against the compression element 430 to press. A second end of the second element 420b is set up to attach to the surface 265a the first part of the fork joint 260a to lie on and with your finger 310 , for example the proximal phalanx. The finger preferably comprises 310 a receiving element 305 , which is set up with the second element of the clamping element 420 to wedge, for example with the second surface provided on the second element 422 to wedge the clamping element. The receiving element 305 can be on an inner surface of the body of the finger 310 are located. The receiving element 305 may include an opening, recess, or area bounded by at least one wall defining the area or by a plurality of protruding arms.

Therefore, the clamping element 420 be set up to work with the driven element 410 and the respective finger 300 to engage and the rotary motion of the drive motor 10 on the finger 300 transferred to. Because the drive motor 10 the driven element 410 caused to rotate, the engagement between the clamping member causes 420 and the driven element 410 the clamping element 420 to turn, and the finger is also caused to turn (bend or bend).

The coupling device 400 can be disengaged under certain conditions by the clamping element 420 from the driven element 410 is solved to the drive motor 10 from the finger 300 to separate. This can be achieved by detaching the first surface of the clamping element from the contact surface of the driven element. In one form, the mating male and female members of the driven member 410 and the clamping element 420 be separated from each other to these two parts 410 , 420 to separate. For example, if the finger is in a curved or slightly curved configuration and is under tension due to the lifting of a heavy weight, or if an end impact force acts on the finger, as from arrow "A" in 11B As shown, the pulling or pushing force can lead to the engagement plug element (s) being pulled or pushed out of the essentially flat recesses around the driven element 410 from the clamping element 420 to solve.

In the released state, the driven element can 410 continue to turn freely, the released clamping element 420 however, is no longer caused to turn. So the finger 300 also from the driving force of the engine 10 Cut. If the finger 300 was curved at the time of disengagement and lifts a heavy object, the finger can release its grip and extend into a substantially curved position, since the drive motor can no longer pull the finger into the curved position. Likewise, the impact force immediately disengages the clutch when an end impact is applied to the finger so that the finger can buckle under the impact to at least partially absorb the impact force without damaging the drive motor.

The disengaged finger 300 goes limp, like in 12A and 12B shown, and must be brought into an engaged position to be able to drive the motor 10 to come into engagement.

The compression element continues to press the engaging plug element (s) of the pin against the non-recessed area of the contact surface 411 of the driven element or, depending on the situation, against the first surface of the clamping element.

Therefore, a user can re-align the engaging plug element (s) with the respective engaging socket elements by using the fingers 300 manually around the joint 261 manipulated around. The compression element 430 automatically pushes the engaging plug element (s) into the aligned engaging socket element (s) around the coupling device 400 and the finger 300 with the drive motor 10 to engage again.

In another in 14A to 14C the shape shown is the contact area 411 of the driven element 410 essentially circular. For example, the driven element can have a disk shape or a cylindrical shape and the contact surface 411 can the outer peripheral surface of the driven member 410 be. The clamping element 420 can be a body with two end sections 426 and a substantially concave inner surface 421 include, which is configured to at least a portion of the contact area 411 of the driven element 410 to wrap around. Preferably the inner surface 421 set up to take up at least half of the contact area 411 of the driven element essentially encloses. The inner surface includes the first surface 421 of the clamping element 420 . In one form, the outer surface of the clamping element can form the second surface of the clamping element. In one form, the clamping element body is substantially U-shaped, with the two end sections 426 of the clamping element 420 extend from the arms of the U-shaped body. In another form, the clamping element body is substantially circular around a ring with two end sections 426 to form, which extend from the annular region of the body, as in 14A shown. The two end sections preferably extend 426 essentially perpendicular from the clamping element body 420 .

A compression element 430 is set up to at least one of the end sections 426 against the other end section 426 to tighten to tighten the clamp body around the driven member so that the first surface 421 of the clamping element against the contact surface 411 of the driven element is stuck.

The clamping element 420 can be the second end of the coupling device 400 include. The clamping element 420 can be set up to directly or indirectly with the finger 310 , for example with a receiving element located on the body of the finger. In one form, the clamping element can be designed to engage in the proximal phalanx of the finger.

The receiving element 305 can be on an inner surface of the body of the finger 310 are located. The receiving element 305 may include an opening, recess, or area bounded by at least one wall defining the area or by a plurality of protruding arms. The receiving element is in one form 305 set up to also include at least a portion of the compression member therein so that the compression member against one or both of the end portions 426 of the clamping element 420 can press. The receiving element 305 can be set up with the second surface of the clamping element 420 to wedge.

In one form, the compression element 430 include a screw that goes into the body of the finger 310 and against a first end portion 426a is screwed around the first end section in the direction of the second end section 426b to press. If necessary, the compression element 430 include a pair of screws from opposite sides in the body of the finger 310 are screwed in, so that both the first and the second end section 426 of the clamping element 420 inside the receiving element 305 pressed against each other.

Clamping the first surface of the clamping element against the contact surface of the driven element causes the clamping element to rotate as soon as the drive motor rotates the driven element. Since the clamping element is engaged with the finger, the finger is also caused to rotate.

The clamping element can be released from the driven element if a sufficiently high impact force hits the end of the finger, if it is curved or if the finger lifts a heavy object so that the finger is subjected to a sufficiently large tensile force. For example, a sufficiently large compressive or tensile force overcomes the frictional forces between the clamping element and the driven element, so that the clamping element begins to slide around the driven element and thus detaches from the driven element. In this way, the finger is separated from the drive motor in order to protect the drive motor from the large pushing / pulling force.

The above describes only some forms of the coupling device that can be used to engage and disconnect a finger in / from a drive motor. It can be seen that alternatively other forms of the coupling device can also be used.

The coupling device of the invention provides the automated hand with a safety function which reduces the load on the drive motors from excessively high forces.

Another advantage of the coupling device of the invention is that the fingers of the hand are able to curve and bend according to the direction of the motor with minimal friction between the fingers, the coupling device and the drive motor. In contrast to conventional automated indicators, the fingers of the hand do not need springs to bring the fingers into an open position. The springs of conventional automated hands are usually stiff, which slows down the speed of the fingers and wears out the drive motors. In contrast, the coupling device of the invention allows the fingers of the hand to move relatively quickly. Another positive effect is that the clutch device can allow the hand to achieve improved benefits from the drive motors. The coupling device also enables a controlled opening of the hand by a controlled movement of the fingers when the fingers bend. This is because the fingers are not subjected to a biasing force that pulls the fingers into a flexed position.

wrist

In one form, the invention includes a wrist that is configured to allow compact hand flexion on the wrist. In a further form, the invention comprises a wrist that is set up to enable a compact rotation of the hand on the wrist. Optionally, the wrist may be configured to attach to a conventional quick disconnect system that attaches the wrist of an electrical device (e.g., a powered hook or an automated hand) to an arm member. In yet another form, the invention includes a wrist configured to allow compact hand flexion and hand rotation.

In one in 15 to 24th The form shown includes the automated hand 100 the invention a wrist 500 attached to the palm of the hand and arranged to be attached to an arm member. The arm element can be a sleeve in which the stump of a user is located when the automated hand is in use. Alternatively, the arm element can also be a mechanical arm, for example.

The wrist may include a positioning system that is configured to adjust the position of the palm in relation to the arm element. For example, the wrist can be set up to allow the hand to rotate vertically.

In one form, the positioning system can include an axis that can be attached to the palm of the hand and directly or indirectly to an arm element. The palm of your hand 200 is set up to move around the axis 520 to rotate so that the palm can bend and bend in relation to the arm element. The axis is held in the shell of the palm so that the arm element comes as close as possible to the palm, making the wrist essentially compact.

In another in 15 Form shown, the positioning system can be a positioning element 510 , an axis 520 and a locking element 530 include. The positioning system is preferably located essentially within the palm of the hand. For example, the axis, the locking element and at least part of the positioning element can be located within the palm of the hand.

The axis 520 is with the palm of your hand 200 connected. The palm of your hand 200 is set up to move around the axis 520 to rotate so that the palm can bend and bend in relation to the arm element. For example, if the arm element extends horizontally to the floor and the contact surface 221 the palm of your hand 200 the palm facing the floor 200 Swing up (bend) and down (bend) in relation to the arm element.

In one form, the axis is set up so that it is held in the body of the palm. The axis 520 can essentially cover the palm of your hand from the first page 201 palm to the second side 202 extend. Every end 520a , 520b the axis 520 can be rotated on the palm 200 be attached. In one shape, the base portion of the palm 200 a pair of substantially opposite openings 205a , 205b comprise which can be openings, recesses or the like, which receive the axis 520 are set up. The receiving openings of the axis can be provided in the interior of the palm or in the palm shell. In one embodiment, each axis is the opening 205a , 205b records in the lower part 220 the palm shell.

In one form, each end can 520a , 520b the axle through an essentially compressible axle bracket 525 be supported. The essentially compressible axle brackets 525 give the wrist side shock absorption so that the hand can better withstand lateral impact forces.

In one form, each axle receiving opening can be formed in a substantially compressible material or lined with a substantially compressible material to form an axle holder.

In another form, as in 15 are shown at each end of the axis 510 essentially compressible axle mounts 525 attached and can in the axis receiving openings formed in the palm 205a , 205b be stored.

The positioning element 510 can on the axis 520 be attached so that at least part of the positioning element is inside the palm.

The positioning element 510 can be set up with the locking element 530 to engage the palm of your hand 200 lock in a desired position relative to the arm element.

As in 15 and 16 shown, the positioning element 510 a body with a first end facing the palm 510a and a second end 510b comprise, which is arranged to face the arm element.

In one form, the positioning element comprises 510 an axle receiving opening 514 to accommodate the axis 520 in this. The axis receiving opening can be formed at any suitable location on the body of the positioning element. In one embodiment, as in 16 best shown, includes the axle receiving opening 514 a substantially hollow shaft located at or near the first end 510a of the positioning element. The axis 520 passes through the wave 514 so that each end 520a , 520b the axis over the shaft 514 extends beyond and from the axle mounts 525 is held in the palm of the hand as described above.

The positioning element 510 may include one or more engaging members configured to engage the locking member 530 to come into engagement.

In one form, the engagement element (s) may include at least one locking pin or opening that is configured to engage one or more corresponding openings or locking pins of the locking element.

In one form, the positioning element comprises 510 a locking arm 515 , on which one or more engagement elements 516 are located. The locking arm 515 can from the first end 510a of the positioning element protrude. The locking arm is in one form 515 on the axle support shaft 514 attached or integrated with this and protrudes from the shaft 514 out. The locking arm 515 can protrude in a direction that is substantially perpendicular to the longitudinal direction of the axis 520 runs. With this arrangement, the locking arm projects into the body of the palm.

In one form, the locking arm includes 515 Engagement elements in the form of one or more openings 516 that can be openings, recesses, notches or the like. In one form, the locking arm includes 515 a first page 515a that have a series of openings 516 which are formed in a bend so that each opening is even from the axis 520 is spaced. In one form, the locking arm includes 515 a convex edge 517 that have a variety of notches 516 includes. The notches 516 are essentially equidistant from the axis 520 arranged to form a substantially curved line of openings / notches.

The openings 516 of the locking arm 515 are set up for the locking element 530 are accessible so that the locking element in the openings 516 can intervene.

The positioning element and the locking element are designed to engage with one another and to lock the palm in a specific position in relation to the arm element. For example, the positioning system can lock the hand in a neutral position, in which the palm and the arm element can be substantially aligned, as in FIG 17A and 17B shown in a curved position, in which the palm is inclined downwards in relation to the arm element, as in 17C shown, and in a bent position in which the palm bends upwards in relation to the arm element, as in 17D shown. These positions are described as if the user is holding the arm element substantially horizontally in front of his body with the palm of his hand facing down. However, the terminology is used only for better understanding and is not intended to limit the scope of the invention.

In one in 18th and 19th the shape shown is the locking element 530 on the palm 200 attached to the hand and is in this. The locking element comprises a locking pin 531 which is set up to enter one of the openings 516 of the locking arm 515 intervene. The locking pin 531 can towards the openings 516 of the locking arm protrude. The locking pin can be arranged to move towards the locking arm 515 to move so that the locking pin is in one of the openings 516 is added to the locking element 530 and the positioning element 520 lock together. With this arrangement, the locking pin locks 531 the palm of your hand 200 in a fixed position. The palm can be in any of several desired positions can be locked by the locking element 530 with one of the engaging elements 516 of the positioning element 510 is engaged. The locking pin 531 can also be set up to move away from the locking arm 515 move away so that the locking pin is out of the respective opening 516 is withdrawn to the locking element 530 and the positioning element 520 to release and allow the palm of your hand to bend and bend freely.

The positioning system may include a switch that is configured to switch the positioning system between a first mode and a second mode. In the first mode, the positioning system is set up to lock the palm in any of various positions relative to the wrist, as described above. In the second mode, the positioning system is set up so that the palm of the hand can pivot freely between two points of maximum movement, one point being a position of maximum flexion and the other point a position of maximum curvature.

In one form, the locking element comprises 530 the switch.

The switch is set to the locking pin 531 to move toward the positioning member (to engage the positioning member) and to move away from the positioning member (to disengage from the positioning member).

In one in 18th and 19th shown form, the switch comprises a slide arm 532 that extends over the inside of the palm shell from the first page 201 palm to the second side 202 extends.

The shell of the palm 200 can have essentially opposite openings in which the sliding arm can be located. In one embodiment, the lower part of the palm comprises a pair of substantially opposite openings 206 that are on each side 201 , 202 the palm of your hand. The openings 206 can be set up to form channels in which the ends of the sliding arm 532 are located. The slide arm can be set up to slide back and forth within the channels.

At each end of the slide arm 532 can be a stop 533 be provided. The openings 206 can be set up so that the sliding arm 532 inside the openings 206 can slide freely, however, to prevent the stops 533 out of the openings 206 out into the palm of your hand 200 to be pulled. For example, the diameter of the openings 206 that the inside of the palm 200 are facing, larger than the diameter of the slide arm 532 , but smaller than the diameter of the stops 533 be like in 19th shown.

The locking pin 531 is on the slide arm 532 attached. For example, the locking pin 531 on the slide arm 532 attached or integral with this. The locking pin 531 can be essentially in the longitudinal direction of the sliding arm 532 extend and through a spacer 534 from the sliding arm 532 be spaced. Preferably, the locking pin 531 set up to be essentially parallel to the slide arm 532 lies.

For the hand 100 Locking in a desired position relative to the arm element becomes the palm of your hand 200 around the axis 520 rotated until it reaches the desired position. The attacks 533 can serve as buttons of the switch, so the first button 533a can be pushed in a first direction to the sliding arm 532 to cause to the other side of the palm 200 to slide. The locking pin 531 is simultaneously caused to move towards the positioning element 510 to move into an opening 516 of the locking arm 515 intervene. The palm of your hand 200 the hand is now in relation to the positioning element 510 and locked to the arm element. The palm of your hand 200 cannot move around the axis in this locking position 520 rotate.

For the hand 100 To unlock from a fixed position, the second button 533b pressed in a second direction opposite to the first direction, so that the sliding arm 532 towards the other side of the palm 200 emotional. The locking pin 531 therefore moves from the respective opening 516 in the locking arm 515 away and detaches from this. In the unlocked / released position, the palm 200 free around the axis 520 swivel between a position of maximum diffraction and a position of maximum curvature. The maximum movement limits can be found by stops within the palm of your hand 200 that on the positioning element 510 or the axis should be set to prevent the palm 200 in relation to the positioning element 510 continues to bend or bend.

In one form, the wrist includes a tension element 540 to the palm 200 to keep it under tension. In this configuration, the palm of your hand 200 free around the axis 520 be articulated without being essentially limp. The tension element can differ from the positioning element 510 stretch and against the palm of your hand 200 press or intervene. In one in 20A to 20C shown form includes the tension element 540 a leaf spring extending from the locking arm 515 of the positioning element 510 extends and presses against an inner surface of the palm.

In one form, the wrist positioning system can be a connector 520 comprise, which is arranged to connect the hand with an arm element. The connector 520 can be set up to the palm of your hand 200 to be attached to an arm element so that the palm can turn left and right in relation to the arm element.

In one form, the positioning system can be, for example, a positioning element 510 , an axis 520 , a locking element 530 , as described above, and a connector 550 include.

The connector 550 includes a body with a first end 550a and a second end 550b . The first end of the connector faces the palm and the second end is arranged to face the arm element. In one form, the connector includes a receiving opening 551 that are between its first and its second end 550a , 550b extends. Preferably, the connector is substantially annular or tubular, so that the connector includes an opening in a substantially hollow body of the connector.

The positioning element 510 is set up to use the connector 550 to engage in a rotating arrangement so that the positioning member can rotate relative to the connector, which can be fixed to the arm member in a fixed position.

In one embodiment, the second end 510b of the positioning element 510 has a substantially circular periphery that is configured to fit into a substantially circular receiving opening 551 at the first end 550a of the connector 550 to fit. In one form, the positioning element comprises 510 an essentially cylindrical or conical body. The inside of the positioning element body 510 includes an opening 590 , so that the positioning element is essentially hollow. In one form, the interior of the body of the positioning element forms a substantially hollow tube.

The positioning element can be attached to the connector in any suitable arrangement. For example, the second end of the positioning member may be threaded to engage a first threaded end of the connector. In another form, fasteners can be used to interconnect the positioning member and the connector. In a preferred form, fastening means are used to fasten the positioning element and the connector to one another without reaching into the essentially hollow interior of the positioning element.

In one in 15 and 16 shown form includes the positioning element 510 a flange 518 coming from the body of the positioning element 510 protrudes. The flange is preferably positioned at or near the first end of the positioning element. At the first end 550a of the connector is the receiving opening 551 set up to have a smaller diameter than the diameter of the flange 518 having. The positioning element 510 can on the connector 550 be attached by the second end 510b of the positioning element within the receiving opening 551 the connector is positioned so that the flange is at the first end 550a of the connector, as in 21st shown. The positioning element can then be held loosely in the connector with the aid of fastening means, so that the positioning element can rotate in the connector, but cannot detach from the connector.

In one in 15 , 21st , 22A and 22B The shape shown is a pair of adjacent holes 552 on substantially opposite sides near the first end 550a of the connector provided. A fastener that holds a pen 553 is set up to fit between each pair of holes 552 to extend. Every pen 553 can be set up against the sides of the positioning element body 510 to pinch. In one form, compression elements 554 , such as spring-loaded protrusions, grub screws, or other suitable systems, be set up to pass through the holes 555 in the side wall of the connector 550 extend to against the pins 553 to press and the pins 553 loosely against the positioning element 510 to pinch. If necessary, the pins 553 comprise a receiving element against which the compression elements can press.

An advantage of using a spring loaded compression element is that the pins 553 press firmly against the body of the positioning element to hold the positioning element in place. However, if sufficient torque is applied to the palm of the hand, the positioning member can be caused to overcome the compressive and frictional forces exerted by the pins 553 for turning relative to the connector. In this way, the fasteners automatically release and engage again when the sufficient torque is removed.

An advantage of attaching the positioning member to the connector with fasteners that do not engage the inner surface of the positioning member is that the wrist maximizes the space in which a user's stump can protrude into the wrist. This enables the overall length and configuration of the arm element, wrist and hand to appear essentially anatomically correct.

However, this is only one way of arranging the positioning element 510 on the connector 550 can be attached. As can be seen, the two parts 510 , 550 be attached to each other in any suitable arrangement. In an alternative form, for example, the first end of the connector can be set up so that it fits into the second end of the positioning element.

The positioning element 510 can have at least one locking finger 570 which is configured to protrude from an outer surface of the body of the positioning element and to engage an inner surface of the connector. The positioning element preferably comprises two locking fingers 570 . In one in 22B shown shape, each locking finger can form a spring-loaded projection. For example, the locking finger can be a spring 571 , for example a ball or a ball bearing, which / in a chamber 572 is held in the body of the positioning element 510 can be formed, or which / in an opening formed in the body of the positioning element 519 can fit. A biasing element, for example a spring, can be between the spring 571 and a closed end of the chamber 572 be arranged. The feather 571 protrudes from an open end of the chamber 572 out and is between the free end of the compressed spring and the inner surface of the receiving opening 551 clamped. The connector 550 can have a variety of indexing nodes 556 in the form of openings or recesses on its inner surface. The indexing nodes 556 can line up around the inside surface of the receiving opening 551 of the connector near the first end 550a extend the connector. The summit 572 is set up to use one of the indexing nodes 556 to come into engagement. The positioning element can be used with sufficient force 510 however within the connector 550 be rotated so that the compressed spring is further compressed and the tip 572 from their respective indexing node 556 is pushed into the neighboring node. This way the palm of your hand 200 be turned laterally so that the positioning element 510 inside the connector 550 turns. If the palm 200 reached a desired position, the compressed spring presses the tip 572 in the respective indexing node 556 to hold the palm in place. The positioning system is preferably set up so that the palm can turn up to 45 degrees left and right.

Therefore, the positioning system can be set up so that the palm can curve and bend and / or turn laterally.

In another form, the wrist is designed to attach an electrical end device (e.g. a powered hook or an automated hand) to an arm element. In one form, the wrist may include a body that includes a first end that is configured to face the electrical end device and a second end that is configured to face the arm member. The wrist may also include an opening that extends into a substantially hollow area of the wrist body such that a portion of a user's stump extends through at least a portion of the wrist. The opening may extend between the first and second ends of the wrist. For example, in one form the body of the wrist can be substantially tubular or annular. The wrist may further include an axis that is rotatably attached to the palm so that the palm can be articulated relative to the wrist.

In one in 24th shown form, the wrist includes a positioning element 510 which comprises an essentially flat body. The positioning element can be set up to attach to a connector 520 to be attached to form the body of the wrist. The positioning member and / or the connector can be attached to an arm member to attach the wrist to a user's arm. In one form, the second end 510b of the positioning element in Have a substantially smooth surface. The positioning member may be attached to an arm member that includes a wrist quick disconnect system, such as one known in the art, or in the form of such a system. The positioning element and the arm element can be fastened to one another in a suitable manner, for example by using fastening means such as screws or adhesive or another suitable form of fastening. Preferably the second end 510b of the positioning element is screwed or screwed to one end of an arm element, for example a quick disconnect system. In one form, the connector can be located between the second end of the positioning system and the distal end of the arm member so that the connector is also attached to the arm member when the positioning member and the arm member are attached together. With this arrangement, the connector is clamped between the positioning element and arm element. The positioning element cannot rotate in relation to the connector. The arm element / quick disconnect system may have a rotating end, so that the palm can turn left and right in relation to the arm element. Therefore, the wrist positioning system can be configured to attach the palm to a conventional arm element or to a protected arm element.

If necessary, the positioning element and the connector are designed as a common individual part.

The wrist can have a cable opening 580 comprise, in which electrical connectors can be arranged to connect the palm to the arm member. For example, the positioning element and the connector can each have substantially aligned openings in order to form a cable opening between the palm of the hand and the arm element.

As in 21st and 23 shown, the second end of the connector 550 a sleeve fastening system 600 to attach the automated hand to an arm member in the form of a sleeve that fits over a user's stump.

An advantage of the wrist of the invention is that the wrist takes up very little space between the arm element and the palm, since at least a considerable part of the positioning system is accommodated in the palm. Consequently, when using the hand as a prosthesis, the wrist and the connection between the palm and arm element appear essentially anatomically correct.

The positioning member and connector can also be configured to be substantially hollow to maximize the length of a user's stump that can fit in the automated hand. This also helps the hand to look anatomically correct, as in 22B and 23 you can see.

In one form, the wrist can also have a waterproof seal 560 between the positioning member and the connector to prevent liquid from getting into the arm member or sleeve from the hand.

Training hand

In order for the hand to move into a desired position, a user of a prosthetic hand must generate the necessary EMG signals (electromyography signals). As a rule, it is necessary for a user of a prosthetic hand to practice with an exercise hand for a longer period of time before he receives the actual prosthetic hand to be used. In some forms, the exercise hand can be a computer-animated hand. However, the actual prosthetic hand used by the user may have different sensitivities than the exercise hand. This means that the actual hand may not work as expected, even though the user has been practicing with an exercise hand for a long time. Therefore, the automated hand of the invention can include a control system and can be configured to enable training of the user while using the hand.

In one in 25th the shape shown can be hand 100 include a control system connected to the drive motor (s) of the hand. The control system may be configured to receive one or more EMG signals from a user, one or more electronic signals from a user interface, or both. The control system can also be set up in such a way that the fingers assume a predetermined grip pattern depending on the received signal (s).

The control system may be programmable to cause the hand to assume a predetermined grip pattern based on the received signals.

The hand may include a display in the form of one or more indicators that indicate that the control system has received a signal. In one form, one or more indicators can be configured to indicate that an EMG signal from the user has been received. Additionally or alternatively, one or more indicators can be set up around the grip pattern of the hand 100 display. In yet another form, one or more indicators can be set up to indicate that a signal has come in from a user interface of the hand, for example via a WLAN or Bluetooth connection. An indicator can also indicate an alarm mode.

The one or more indicators can be one or more visual indicators 150 , acoustic indicators 160 or include both.

In one form, the hand includes at least one visual indicator and at least one acoustic indicator that indicates that the control system has received a signal.

The visual indicators 150 can be lights, for example LEDs, depending on the position of the hand 100 be of different colors and / or flash in different patterns. Alternatively, the display can also be an alphanumeric display 809 be like in 54 shown. An alphanumeric display enables the display of every selected grip pattern, specific error conditions and detailed areas of the EMG signal strength, etc.

The acoustic indicators 160 can be sounds generated by the controller and on hand by speakers 100 be issued.

In a form the hand can 100 one or more visual indicators 150 and / or include acoustic indicators located on any suitable part of the hand 100 located, for example on the upper part 210 the palm of your hand 200 or on the wrist area 500 . For example, one or more indicators 150 , 160 on the top surface 211 of the upper part 210 the palm of your hand 200 be arranged. Preferably are on the top surface 211 three lights in the palm of your hand 150 intended.

The hand can use a user interface 180 include, through which a user can enter instructions to the control system to cause the hand to take a predetermined grip pattern. The user interface 180 can have one or more input elements 170 include, through which a user can enter data to cause the hand to adopt a predetermined grip pattern. The one or more input elements 170 may include one or more keys, scales, or other suitable data entry system. The user interface can be touch sensitive, mechanically operated, or both.

In one form, the user interface includes 180 one or more push buttons 170 . In another form, the keys can be touch sensitive. The button's 170 can stick to any suitable part of your hand 100 located, for example on the upper part 210 , in the wrist area 500 or at the base of the lower part 220 hand. The buttons are in a form 170 on the top surface 211 of the upper part 210 hand. In a preferred form there are two or three buttons 170 provided as in 24th shown. However, four or more buttons can be used in other forms.

The user interface 180 can have a control panel on the shell of the palm 200 in your hand. One or more input elements 170 can be provided on the control panel. The electronics that make up the input element (s) 170 connected to the control system can be inside the shell. The control panel is preferably 180 sealed to prevent liquid from entering the electronics and control system. Alternatively, the electronics can be found in a sealed housing in the shell of the palm 200 are located.

If necessary, embrace the hand 100 one or more input elements 170 and one or more visual indicators 150 and / or acoustic indicators 160 . The one or more input elements, for example one or more keys 170 , can be in the same area of your hand 100 are like the visual indicator (s) 150 and / or the acoustic indicator (s) 160 . For example, one or more input elements 170 and one or more indicators on the control panel 180 are on hand as described above. In a form it can be next to any input element or key 170 an LED light 150 be arranged. In a form, the hand can have one or more input elements 170 include one or more visual indicators 150 include. For example, there can be an LED light on each key. In a further example, several LED lights can be provided on a dial.

In one form, the number of visual and / or acoustic indicators can be the same as the number of input elements, for example the buttons. In other forms, the number of input elements can exceed or fall short of the number of visual indicators and / or acoustic indicators.

The control system of the hand can be set up so that one or more input elements 170 received signals, EMG signals, or both can be used to cause the hand 100 changes from one grip pattern to another. For example, a user can use one or more buttons 170 Press in a specific pattern to select a grip pattern, for example a grip pattern with the thumb 320 is in an opposite position and the fingers 310 and the thumb 320 are curved in the hand.

A particular indicator or combination of indicators can be used to indicate that the signal received by the controller is an EMG signal or an input signal from one of the input elements. For example, a red lamp can indicate that an EMG signal has been received, and a green lamp can indicate that an input signal has arrived from the user interface. In one form, the brightness of a single LED indicator can vary in proportion to the strength of the received EMG signals to provide the user with an indicator of the strength of the received EMG signals.

The control system of the hand can be set up to store a certain number of grip patterns, for example the twenty most common grip patterns, which are entered by entering data into the control system via the input element (s). 170 hand, EMG signals or both can be obtained. In one, an indicator lights up as soon as the first grip pattern is selected, so that in this state a user can press an enter key several times to select a desired grip pattern.

The input element (s) 170 can be particularly useful when a user is unable to generate the EMG signal required to achieve a particular grip pattern.

In one form, the controller can be programmed to only recognize a few EMG signals. In this form, other grip patterns can be created by the input element (s). 170 the user interface 180 being controlled.

Hence the hand 100 The invention can be set up so that it can be used as a training tool to help train the user to get used to the hand, in particular to the different positions of the hand.

Liquid-compatible hand

In one form, the hand of the invention can be arranged to function when wet. For example, the hand can be set up to function when immersed in water without the need to use gloves or a waterproof cover over the hand.

It is very difficult to make an electrically powered automated hand with many moving mechanical parts liquid-compatible. It is even more difficult if the part of the hand is designed to be sufficiently small that the hand essentially appears to be anatomically correct. In order to obtain a water-compatible hand, the construction of a typical automated hand was developed from scratch by the inventor. As a result, the liquid-compatible automated hand of the invention is set up to operate both dry and wet. The hand is not waterproof since the inside of the hand can get wet if the hand is in liquid, e.g. Water being dipped. Instead, the hand is set up to be liquid-compatible, which means that the hand also works when immersed in liquid.

The hand is set up so that it is liquid or water-compatible in various ways. For example, the drive motors of the hand can be accommodated individually in closed housings. Electrical connections can be made with any suitable fluid-compatible connection, for example by remote connection or by ribbon cable. In one form, ribbon connectors are used to to cross the wrist between the palm and arm element in order to connect the electronics in the palm and / or fingers with the electronics in the arm element, for example a sleeve. The flat ribbon connectors are waterproof and can also be set up to withstand the moving characteristics of the hand when the palm bends, bends and / or rotates around the wrist.

The controls and electronics can be housed in one or more sealed housings, for example an electronics housing in the palm of your hand.

The palm and wrist may also include one or more waterproof seals. For example, a seal can be arranged between the positioning element and the connector of the wrist in order to prevent liquid from the automated hand from penetrating into the arm element or the sleeve. In particular, the wrist can comprise a positioning element which is attached to a connector as described above; an arm element with a sleeve can also be attached to the connector. There is a rubberized seal between the attached positioning element and the connector. The connector, the positioning element and the seal together form a sealed end of the sleeve, so that no liquid can get into the sleeve and damage electronic components in the sleeve. The stump of the user positioned in the sleeve during use is also kept dry.

When the hand is attached to an arm element with a positioning system of the invention and / or with a separation system, the hand can rotate in relation to the arm element. This ability to turn is particularly advantageous when combined with a liquid-compatible hand.

The hand can be set up so that it can be emptied. For example, the hand may include one or more drainage openings, for example openings in the palm and / or fingers through which liquid can drain after the hand has been immersed in liquid. Alternatively, the fluid may drain through one or more openings provided between adjacent parts of the hand, for example through openings formed around the fork joint and through finger joints.

The automated hand of the invention is therefore set up so that it can be flooded and emptied, so that a user can use his hand e.g. Can wash dishes.

To provide additional grip, a grip-supporting surface, for example a sticky, structured or high-friction surface, can be provided on the contact surface of the palm and the contact surfaces of the fingers. The contact surface of the fingers are areas of the fingers that are most likely to come into contact with an object to be gripped. For example, the fingertip area can be a contact area. In one form, the grip-supporting surface can be a rubberized surface that includes, for example, rubber, silicone or an elastomer.

Conventional automated hands require the use of a glove that helps with grip, water resistance and protection from general wear and tear. Known automated hands are unable to function when immersed in liquid. When using a glove, the drive motors of the hand are heavily loaded to move the fingers against the tight nature of the glove. In other words, the motors have to do more work to move the fingers than when not using gloves. These disadvantages can be avoided by the liquid hand of the invention since it is not necessary to use a glove with the hand. Therefore, higher power can be obtained from the drive motors and less energy may be used to move the fingers of the hand from one position to another. In addition, the fingers of the hand can move faster without constricting a glove. The automated hand of the invention is also less at risk of water damage or damage from other liquids.

Because the hand of the invention can be worn without a glove, it is possible to use the hand as a training hand as described above, where one or more LED lights can be placed on the hand and visible to the user.

The liquid hand of the invention is also arranged to be easy to maintain without affecting the liquid nature of the hand.

Second exemplary embodiment

The 26 to 66 show an automated hand according to a second embodiment that uses another thumb twist lock mechanism, a wrist lock mechanism, an overload clutch, removable handle plates and related features.

Those parts which are equivalent to the corresponding parts in the first embodiment have been given the same numbering; in relation to these parts, the above description should be used. The metacarpal rail has the same characteristics as those described in the previous exemplary embodiment. The actuator described below includes a connector that receives the actuator, although in alternative embodiments a connector does not necessarily have to receive an actuator.

Thumb twist lock

With reference to the 26 to 30th an alternative thumb design is now shown. The thumb 701 has an actuator at its proximal end (including the drive housing) 702 on that at the same time be its attachment point on the palm 704 is. An elastic bracket 703 is on the palm of your hand 704 attached and includes a cavity for receiving the actuator 702 is measured. By attaching the thumb 701 on the palm of the hand using an elastic holder 703 the thumb can absorb shock forces through elastic deformation of the elastic bracket 703 record, tape. The elastic bracket 703 preferably allows a relative angular displacement of the actuator 702 opposite the palm 704 by at least 2 degrees, preferably by at least 5 degrees. The elastic bracket 703 can have material properties as defined for the above-described metacarpal splint in relation to the first exemplary embodiment.

The relative movement of the thumb 701 to the palm of your hand 704 can also be used in a thumb lock mechanism. The actuator 702 turns his thumb 701 as indicated by arrow A around an axis, generally in the direction of extension of the hand. In this embodiment, the actuator enables 702 the thumb rotation for positioning purposes as soon as a user applies a torque (ie there is no gear drive, for example a worm drive, which would prevent reverse gear). This enables a user to turn the thumb into a desired position. This means that the thumb can also absorb forces caused by an accidental impact on the thumb. A second actuator 705 controls the closing and stretching of the thumb as indicated by arrow B.

Since the thumb can be rotated by the application of force, it is desirable to lock the thumb in a fixed rotational position during movements such as gripping an object (to prevent loosening by rotating the thumb). 29 and 30th illustrate how the thumb twist lock works. 30th represents the positions of the elements when no force is applied in the C direction. As soon as the thumb is closed against an object or another finger, a force indicated by arrow C causes the actuator 702 a force on the elastic bracket 703 exerts a rotation of the thumb and the actuator 702 causes, as in 29 shown (the distal end of the actuator 702 moves towards the wrist). This will make the block 708 against the ball of the hand 709 pressed. A first engagement surface 706 can on the block 708 and a second engagement surface 707 on the wrist pad 709 be provided. When the two engaging surfaces are brought into contact, this can prevent further rotation (ie, rotation in the direction A), thereby helping to maintain a grip without thumb rotation. This is particularly important when the actuator may move under force (as opposed to a worm drive that can prevent reverse rotation). The rotation of the thumb can help position the thumb and allow forces to be released without damaging the thumb. The engagement surfaces 706 as well as 707 can have profiles that interlock, for example a corrugated profile such as a gear surface. Alternatively, one surface can have a high coefficient of friction, for example like a brake lining material, while the other can, but does not have to, have a surface profile. A surface with a high coefficient of friction can also be profiled. In this example, the surface points 707 a tooth profile and is made of an elastic material to ensure a good grip.

This design allows the user to rotate the thumb to a desired position, but still enables reliable gripping through the thumb rotation locking mechanism described above. It also absorbs forces from accidental bumps on the thumb to prevent damage to the thumb or hand from accidental bumps.

A variant of this construction is in 32 shown in which the thumb rotation actuator 702 swiveling on the palm 704 attached and by the spring 711 is biased into a neutral position. As soon as a force is applied in direction C during a gripping movement, the actuator rotates 702 around the pivot point 710 , as indicated by double arrow D, so that the engagement surfaces 706 and 707 come into contact and restrict another rotation.

coupling

With reference to the 33 to 41 becomes an overload protection coupling integrated in a fork joint 720 described. With reference to 33 drives in the metacarpus 721 attached actuator 726 , which is located at the palm of your hand, a worm gear 722 on, which in turn is the gear 723 drives. The gear 723 drives the left and right finger elements 724 and 725 via the overload clutch assembly, as will now be described.

With reference to 34 is an exploded view of the overload clutch 720 shown. The gear 723 turns freely around the axis 730 and has a series of ramps on both sides 727 one of which is displayed. The ramps 727 engage in complementary ramps in the clutch discs 728 and 729 trained (see ramps 739 in 39 to 41 ). The clutch discs 728 and 729 are through the disc springs 731 and 732 to the gear 723 biased. The entire "assembly" of driven pulleys 733 and 734 , Disc springs 731 and 732 , Clutch plates 729 and 729 as well as axes 730 and 736 is from the screw 735 held together to form an integrated drive unit. The hinge is from the housing elements 737 and 738 enclosed.

The actuator rotates in normal operation 726 the worm wheel 722 which in turn is the gear 723 moves (which moves freely around the axis 730 turns). The ramps 727 of the gear 723 engage in complementary ramps of the clutch discs 728 and 729 one that drives the "build up" around the left and right finger elements 724 and 725 to turn. If an impact force is exerted on a finger or if the rotation of the finger is held back at a certain force level, the ramps become 739 the clutch discs 728 and 729 up against the ramps 727 of the gear driven to an outward force on the clutch discs 728 and 729 exercise that the disc springs 731 and 732 press together until the ramp surfaces no longer engage, so that the clutch discs rotate 728 and 729 in relation to the gear 723 relieves the applied overload force.

With reference to the 38 to 41 is the clutch disc 728 shown in more detail (clutch disc 729 is equal). In this example there are four ramp sections 739 shown, with any number of 3 to 8 ramp sections may be appropriate. As in 38 shown is the ramp area 740 at an angle of 55 ° to the flat surface of the ramp 739 arranged. Although the ramp areas 727 as integral to the gear 723 are shown, it should be noted that instead clutch discs on both sides of the gear 723 may be appropriate.

42 represents an alternative embodiment in which a gear 743 via a clutch 745 of the type described above on the palm 744 is appropriate. An engine 742 within the finger 741 drives the worm gear 746 to cause the finger to rotate around the palm. If there is excessive torque on the finger 741 is exercised, the clutch allows 745 a rotation of the gear 743 relative to the palm so that the finger 741 can be rotated in relation to the palm of the hand to reduce the overload force.

The integration of the clutch on the transmission side results in a compact and lightweight solution with reduced forces on ramp surfaces, which leads to less wear on the clutch discs. The clutch disengages under an overload release force and offers bidirectional protection.

wrist

With reference to the 43 to 53 and 55 to 56 an alternative design of the wrist is now shown. The hand 100 is about the axis 520 swiveling on the wrist 500 appropriate. In this embodiment, the locking mechanism of the wrist is in the form of a rod 750 executed that over the pen 751 swiveling on the wrist 500 is appropriate. The pole 750 has a number of notches 752 along its longitudinal axis, which are spaced appropriately to delimit a series of useful wrist rotations. The locking mechanism includes a Locking element 753 with a divergent opening 754 . The locking element 753 is by the bias spring 757 against the bar 750 biased. The one from the disc 756 outstanding pen 755 reaches into the diverging opening 754 a. If a stop 533 is pressed to the slide arm 532 to move to the right is the pen 751 on the left side of the divergent opening 754 and prevents the locking element 753 is pushed down into a notch 752 intervene. If a stop 533 is pressed to the slide arm 532 to the left is the pen 751 to the right of the divergent opening 754 and allows the locking element 753 by the spring 757 is pushed down into a notch 752 intervene (if the locking element 753 is not positioned adjacent to a notch, it remains against the bar 750 biased until it aligns with a notch - at which point it locks the wrist).

44 shows the wrist locked in neutral position. 46 shows the wrist locked in flexion. 48 shows the wrist locked in extension.

While in the above embodiment a variable-length linkage is provided with a number of separate positions, a continuously variable linkage can also be used with modifications according to 55 and 56 be provided. In this case there is a rod 760 swiveling with the wrist 500 connected. A collar made of an elastic material 762 is of metal half collar 763 and 764 surround. If a stop 533 is pressed to the slide arm 532 to move to the right is the pen 751 to the left of the angled opening 767 and lifts the locking element 765 on. If a stop 533 is pressed to the slide arm 532 to the left is the pen 751 to the right of the angled opening 767 and the positive locking element 765 is against the half collar 764 pressed by the elastic collar 762 squeezes and the position of the rod 760 locked to lock the wrist.

The arrangement of the locking mechanism in the palm of the hand makes it very short and compact. Its lightweight and compact design enables a natural looking and functioning wrist. The compact design offers space for other components in the wrist area and helps to reduce the overall size of the hand and to enable a liquid-compatible design.

Diving festival

With reference to the 57 to 64 features of the palm and metacarpal block design are described that enable the automated hand to be immersed in liquid. As in 61 , 62 and 64 shown, the palm consists of an upper part 210 , a lower part 220 and a metacarpal 770 . In this embodiment there are non-circular keyhole shaped openings in the metacarpal rail 771 provided that fit into each other with appropriately shaped actuator housings to prevent rotation. On the circumference of the metacarpal block 770 is a seal in the form of an O-ring 772 provided a waterproof seal with the lower palm part after attaching the parts together 220 to build. As the actuators 20 firmly with the elastic metacarpal block 770 are engaged, a liquid-tight seal is formed at this interface. The fork joints are designed to be liquid-tight to prevent water from entering the fork joints. In this way, a (completely or partially) sealed palm area can be provided to house the motors and electronics in an area that is waterproof when immersed in liquid. This allows water to penetrate other areas without affecting the functionality of the hand.

By providing a sealed palm area and by sealing critical components inside, liquid can penetrate the rest of the hand, making it immersible and liquid-resistant without the use of a glove.

Removable windows

With reference to the 65 and 66 Embodiments including removable disks are shown. In the 65 shown hand 800 contains a cavity 802 in the lower part of the immersible palm, which is used to hold a disc 803 is dimensioned. In the disc 803 are openings 805 provided so that they can be attached to the palm of your hand using suitable fasteners such as screws 801 can be attached. The disc 803 can be formed from a rigid material, the sections 804 made of softer material on the surface of the disc 803 are provided. The softer Material can have a Shore hardness A between 15 and 90, preferably 50 to 90, with a Shore hardness A of about 60 being considered very effective. The sections 804 of softer material can be molded by molding or can be attached thereto, etc. These softer sections offer an improved grip, but since they are softer they are susceptible to wear and it is expedient to provide interchangeable disks. 65 shows an interchangeable disc 808 that are in the upper part of a palm in the cavity 807 may be appropriate. In addition to interchangeable palm plates, the fingertips 806 the finger may also be provided with a soft layer of material to improve grip in a similar manner; these can also be interchangeable. Due to the immersible characteristics of the palm, the lenses can be easily attached without the need for a watertight seal between the lens and the palm.

Although the invention has been described by way of example, it is understood, however, that deviations and changes can be made without departing from the scope of the invention as defined in the claims. In addition, known equivalents to certain features, if any, are included as if they were expressly listed in this specification.

For example, the invention (s) can also be used in relation to other automated and / or prosthetic limbs, for example to a foot.

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• US 4605681 [0108]

Claims (20)

Automated hand, comprising: a. a palm of your hand b. one or more elastically flexible and compressible brackets attached to the palm of the hand, and c. one or more connectors, each having a finger extending therefrom that is movable relative to the palm, each connector being attached to a corresponding bracket so that each connector can rotate about the bracket when a lateral force is applied to a finger is exercised. Automated hand after Claim 1 , each connector can rotate in the plane of the palm. Automated hand after Claim 1 or Claim 2 , each connector can rotate in a plane perpendicular to the plane of the palm. Automated hand after one of the Claims 1 to 3rd , including a variety of connectors. Automated hand after one of the Claims 1 to 4th , including a variety of discrete mounts. Automated hand after one of the Claims 1 to 4th wherein the one or more brackets are a single integrally formed bracket. Automated hand after one of the Claims 1 to 6 wherein each bracket has an opening formed therein that is sized to receive a corresponding connector. Automated hand after one of the Claims 1 to 7 wherein each opening is non-circular in cross-section and each connector is non-circular in cross-section to prevent rotation between the connector and the bracket. Automated hand after one of the Claims 1 to 8th Each bracket is formed from a material with a DMTA damping factor between 0.05 and 0.8 over a temperature range from -20 ° C to 100 ° C. Automated hand after Claim 9 with a DMTA damping factor between 0.05 and 0.5. Automated hand after Claim 9 or Claim 10 with a springback between 20% and 60%. Automated hand after one of the Claims 9 to 11 , with a Shore hardness A of 10 to 90. Automated hand after one of the Claims 9 to 11 , with a Shore hardness A of 30 to 60. Automated hand after one of the Claims 9 to 11 , with a Shore hardness D of 40 to 90. Automated hand after one of the Claims 1 to 14 , wherein the brackets form a metacarpal rail with a plurality of connectors attached. Automated hand after one of the Claims 1 to 15 , wherein the metacarpal splint has such a spring-back force that at least two fingers can be spread apart by at least 5 degrees, preferably by at least 10 degrees, in particular by at least 20 degrees, due to a relative movement between the connector and the palm made possible by elastic deformation of the metacarpal splint. Automated hand after one of the Claims 1 to 16 , wherein the metacarpal offers shock absorption for forces exerted on a finger in a direction perpendicular to the palm, so that each connector is at least 2 degrees, preferably at least 5 degrees, in particular at least 10 degrees, relative to the palm due to elastic deformation of the metacarpal can turn. Automated hand after one of the Claims 1 to 17th , wherein the metacarpal is made of a material with a Shore A hardness of about 30. Automated hand after one of the Claims 1 to 18th , wherein a lateral force of between 2.5 and 20 Newtons, which is applied to the tip of a finger, to an angle rotation in relation to the palm in the plane of the palm of at least 3 degrees, in particular of at least 5 degrees, due to an elastic deformation of the Metacarpal leads. Automated hand, as in one of the Claims 1 to 19th is claimed, wherein a force of 2.5 to 20 Newtons, which is applied to the tip of a finger in a direction perpendicular to the palm, due to an angular rotation of the fingers in relation to the palm of at least 3 degrees, in particular of at least 5 degrees leads to an elastic deformation of the metacarpal splint.

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