EP3171844A1

EP3171844A1 - Device for assisting the grip of the thumb of the hand

Info

Publication number: EP3171844A1
Application number: EP15741177.8A
Authority: EP
Inventors: Nicolas TARRIN; Arthur TREMEAU; Adrien LESPINASSE
Original assignee: Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Current assignee: Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Priority date: 2014-07-25
Filing date: 2015-07-22
Publication date: 2017-05-31
Also published as: WO2016012480A1; FR3024030A1; FR3024030B1

Abstract

The invention primarily relates to a device (1) for assisting the grip of the thumb (2) of the hand (3), comprising an orthosis (5) having a recess (12) for inserting the thumb (2) defined by at least one rigid portion (5a) of the orthosis (5), extending around the base (2a) of the thumb (2) and configured to allow the flexion/extension of the thumb (2) and to limit the other movements of the thumb (2), an attachment element (6) to be placed around the thumb (2), first (7) and second (8) flexible link elements linking the first portion (5) to the second portion (6), each comprising a first end (7a, 8a) fixed to the second portion (6), the first end (7a) of the first flexible link element (7) being fixed to the outer face (2e) of the thumb (2) and the first end (8a) of the second flexible link element (8) being fixed to the inner face (2i) of the thumb (2), at least one actuator (10, 11), fixed to the first portion (5), comprising at least one rotating shaft (10a, 11a) for actuating the first (7) and second (8) flexible link elements by winding and/or unwinding the first (7) and second (8) flexible link elements to respectively allow the flexion/extension of the thumb (2), and at least one guide member (13, 14), located on the first portion (5), to constrain the path of each of the first (7) and second (8) flexible link elements between the first (7a, 8a) and second (7b, 8b) ends of same, the second flexible link element (8) extending at least in part substantially along the base (2a) of the thumb (2) so as to leave the palm (9) of the hand (3) free.

Description

DEVICE FOR THE ASSISTANCE FOR HAND PRINTING

DESCRIPTION

TECHNICAL FIELD The present invention relates to the general field of apparatus designed to allow assistance in gripping, or even the return of the grip capacity, for persons with a disability affecting the hand grasping functions, and in particular grasping made between thumb and forefinger. She is particularly interested in the field of such devices using robotics techniques. More specifically, the invention is concerned with the field of hand orthoses, able to compensate for deficit functions of the hand to allow movement of the fingers, and in particular of the thumb towards the index.

The invention finds multiple applications for persons suffering from a hand handicap, temporary or permanent. It can in particular be applied to cases of paralysis of the tetraplegia or hemiplegia type, or in the context of rehabilitation after a stroke or cerebral palsy (cerebral palsy).

The invention thus proposes a device for assisting the gripping of the thumb of a handicapped person's hand, an assembly comprising such a device and a positioning pedestal allowing in particular the setting up or removal of the device, as well as a method of using such a device.

STATE OF THE PRIOR ART

Several factors can cause the appearance of a disability on the hand of a person, affecting the gripping functions of it. Such a handicap can for example occur as a result of the loss of the mobility function of his wrist and / or his fingers, including the thumb.

People with disabilities can then have a poor grip ability in their hand, insufficiently effective, even totally ineffective. It is therefore desirable to be able to assist them with the design of specific equipment provided for at least partially recovering the lost grip functions of the hand.

Several solutions have already been envisaged in the prior art to allow restitution of at least part of the lost hand grasping functions of a handicapped person.

Most of these solutions implement the use of hand orthoses, which correspond to elements attached to the hand, wrist and / or forearm to provide support and / or help the movement of a limb, and especially one or more fingers of the hand.

For example, US Pat. No. 4,875,469 A describes the attachment of an electrical box to the inside of the forearm from which four traction / extension rods connected to the ends of the arm index, middle finger, ring finger and little finger of the hand; European Patent Application EP 2 417 941 A1 which discloses the use of a glove threaded on the hand and the handle of a disabled person, comprising linear elements extending along the five fingers and the back of the hand to a control device on the forearm, so as to allow grasping of an object in the palm of the hand; international application WO 2011/117901 A1 which describes another embodiment of a pull-on orthosis on the wrist and forearm of a handicapped person and comprising actuating rods between the ends of the fingers and an actuating device on the outside of the forearm.

The invention is however particularly concerned with the gripping movement of the hand which consists of moving the thumb towards the index finger, so that it comes into contact with the face of the index finger facing the thumb, and in particular in contact with the middle phalanx (P2) of the index. Such a gripping movement is known by the name of "key grip" in English, that is to say "key entry", or even "key pinch" in English, in other words "pinch a key" . Figure 1 illustrates such a natural grip of the hand type "key grip". The thumb 2 of the hand 3 is supported on the average phalanx 4a of the index 4 to allow the gripping of a key K.

In order to allow the realization of such a gripping movement between the thumb and forefinger of the hand of a disabled person, solutions have also been described in the prior art.

Thus, for example, the international application WO 2013/036925 A2 discloses an orthosis for the actuation of the thumb. The orthosis is placed on the hand, wrist and forearm of the disabled person, and includes a control device associated with a user interface for controlling thumb movement with an actuator. The orthosis allows the movement of the trapezio-metacarpal joint (TMC) of the handicapped person's hand. In addition, the management of the operation of the orthosis is done through the presence of sensors of muscle activity.

Furthermore, the international application WO 2008/027002 A1 discloses a glove threaded on the fingers of the hand of a disabled person, incorporating cables extending on the palm of the hand and connected to the fingers, the actuation allows the restitution of hand grasping functions. The cables are particularly similar to artificial tendons placed in guide ducts. They are connected to an electrical control device that allows to exert traction or extension of these cables to allow strengthening of the grip of an object.

In addition, the international application WO 2006/137748 A1 teaches the realization of a mechanical orthosis intended to allow the restitution of the movement of the thumb towards the index of the hand for the seizure of an object. A cable, extending along the palm of the hand, connects a ring placed around the thumb and a mechanical control device placed on the inside of the forearm. The mechanical control device comprises a control pad which is placed in different notches depending on the desired force for gripping the thumb. According to one variant, the orthosis may comprise an electrical control device comprising an actuation button to enable the disabled person to exert traction of the cable connected to the thumb and to the electrical control device. Nevertheless, devices known from the prior art for assisting the movement of the thumb of the hand for gripping an object are not entirely satisfactory. They have several disadvantages and do not meet some of the needs of people with disabilities who have hand-grip disabilities.

Indeed, most of these devices is not designed to release the inside of the hand, including the palm of the hand. However, this can be an inconvenience when gripping an object and also complicate the use of the palm of the hand to push a wheelchair, for example. Furthermore, these devices generally do not allow to achieve a finger lock, and in particular a locking of the trapezio-metacarpal joint (TMC) and the distal interphalangeal joint (IPD), which may be at the origin difficulty in achieving correct movement of the thumb to the index finger of the hand. In addition, the majority of these devices are not suitable in terms of simplicity of implementation and use, cost of production and overall size around the hand of the disabled person.

STATEMENT OF THE INVENTION

There is therefore a need to provide an alternative device of the type of orthosis, allowing assistance in gripping the thumb of the hand.

The object of the invention is to remedy at least partially the needs mentioned above and the drawbacks relating to the embodiments of the prior art.

The invention thus has, according to one of its aspects, a device for assisting the grasping of the thumb of the hand, comprising at least:

a first portion forming an orthosis of the hand, comprising a recess for the insertion of the thumb, this recess being delimited by at least a rigid part of the first part, which extends at least partially substantially around the base of the thumb; and which is configured to allow thumb movement in flexion / extension and limit other thumb movements,

a second part forming a fastening element to be placed around the thumb, first and second flexible connecting elements connecting the first part to the second part, each having a first end fixed to the second part, the first end of the first flexible connecting element being fixed on the outer face of the thumb, oriented to the first part; opposite the palm of the hand, and the first end of the second flexible connecting element being fixed on the inner face of the thumb, facing the palm of the hand,

at least one actuator, fixed on the first part, comprising at least one rotation shaft for actuating the first and second flexible connecting elements by winding / unfolding the first and second flexible connecting elements around said at least one shaft; rotation to respectively allow the extension of the thumb, for example away from the index finger of the hand or the palm of the hand, and the sagging of the thumb, for example towards the index of the hand or the palm of the hand the first and second flexible connecting elements each having a second end fixed to said at least one rotation shaft of said at least one actuator,

at least one guide member, located on the first part, for constraining the path of each of the first and second flexible connecting elements between their first and second ends, the second flexible connecting element extending at least in part substantially the same. along the base of the thumb, between the palm of the hand and the proximal phalanx of the thumb, so as to leave the palm of the hand free.

Throughout the description, the term "palm" also refers to the metacarpal of the hand.

In addition, "base" of the thumb means the proximal end of the thumb, or more precisely the proximal end of the proximal phalanx (PI) of the thumb.

Furthermore, by "configured to allow movement of the thumb in flexion / extension and to limit other movements of the thumb" is meant that said at least one rigid portion of the first portion is capable of locking the trapezoid joint. metacarpal (TMC) and leave free the metacarpophalangeal joint (MCP). In this way, guidance can be provided in flexion / extension, especially only thumb to the index, the other degrees of freedom being blocked. In other words, the movement of the thumb can in particular be essentially possible in a plane substantially perpendicular to the longitudinal axis of the thumb, containing the thumb.

Thanks to the invention, it may be possible to provide a grip aid, or even restore the grip capacity of the thumb of the hand of a disabled person against the index finger. The device according to the invention can allow maximum clearance of the inside of the hand, including the palm of the hand and the lower part of the forearm, thus facilitating the use of this internal part for d other features, and for example to act on the wheel of a wheelchair. In addition, the actuation of the movement of the thumb can be simplified to the extent that the device can allow blockage of the trapezio-metacarpal (TMC) and distal interphalangeal (IPD) joints.

The device according to the invention may further comprise one or more of the following characteristics taken separately or in any possible technical combination.

The actuator (s) may include one or more geared motors. Said at least one rigid part of the first part can be configured to allow only the movement of the thumb in flexion / extension, particularly in the direction of the index.

The device according to the invention can allow the articular or muscular assistance of the thumb, so that it can move in the direction of the index, and in particular so as to come into contact with the face of the index located opposite thumb.

The device according to the invention can be used for the rehabilitation of the movement of the thumb towards the index, but preferentially for functional replacement to the thumb grasping functions in case of partial or total loss of the thumb's mobility capacity. a disabled person.

Advantageously, the device according to the invention does not include a sensor to enable its operation. In particular, it may be devoid of a torque, force, pressure or speed sensor. The constituent elements of the device according to the invention may be designed, especially dimensioned, so as to prevent any injury to the disabled person. In particular, the tensile force exerted by the actuator (s) on the first flexible element or the second flexible connecting element may be limited so as not to cause the inversion of the thumb.

Advantageously, the second flexible connecting element has a curvature configured to substantially conform to the contour of the base of the thumb, between the palm of the hand and the proximal phalanx of the thumb.

The first end of the first flexible connecting element and the first end of the second flexible element of connections may advantageously be fixed on the thumb substantially diametrically opposite.

The second part forming the attachment element advantageously extends over the distal phalanx (P2) and the proximal phalanx (PI) of the thumb.

The first part preferably comprises attachment means to allow its attachment to the hand, and possibly the wrist and / or forearm. Such attachment means may for example extend all around a portion of the hand, and possibly the wrist and / or the forearm. They may for example be in the form of self-gripping fastening strips, including the Velcro type. These attachment means may for example extend around the palm and the back of the hand and / or around the wrist of the hand.

The first part forming the orthosis of the hand can be made of a thermoformable material.

The first part may include a holding plate in the position of the hand and / or wrist. It can be custom made for the disabled person to use the device according to the invention. The first part can provide comfort and adaptability to the disabled person.

According to one embodiment, the first portion forming the orthosis of the hand may advantageously be designed to maintain a functional position of the wrist of the disabled person, particularly provided so that the disabled person can position his thumb screwed his index finger, or in opposite the palm of his hand, so that he can seize an object. For example, the first portion forming the orthosis may be provided to hold the wrist in a position so as to have a natural thumb approach towards the index finger.

The first part forming the orthosis of the hand can in particular be configured to maintain the wrist in extended position, with an extension angle of between 10 and 30 °, preferably of the order of 20 °.

The extension of the wrist corresponds to a dorsal flexion of the wrist. It marks the movement of the wrist towards the outside of the forearm. It is thus opposed to the flexion of the wrist, or palmar flexion. The extension angle is defined substantially by the angle between the longitudinal direction of the arm of the handicapped person and the direction of the metacarpal of the hand, measured in a plane perpendicular to the lateral plane of the hand.

The use of such an orthosis of the hand to maintain a wrist extension position can particularly find its usefulness for people with disabilities suffering from an inability to move their wrist.

The first portion forming the orthosis of the hand may further be configured to maintain the wrist in the adduction position.

The adduction position may be light, and for example be characterized by an angle of adduction less than 5 °. This angle of adduction is defined substantially by the angle between the longitudinal direction of the arm of the handicapped person and the direction of the metacarpal of the hand, measured in the lateral plane of the hand. The position of adduction corresponds to an ulnar inclination qualifying a movement of laterality of the wrist approaching the median plane of the body. It opposes the abduction relating to a radial inclination.

Advantageously, the use of a first portion forming the orthosis of the hand capable of providing a locking position in the extended position and the adduction position of the wrist can facilitate the movement of the thumb towards the index, or towards the palm of the hand, for the handicapped person. More particularly, the first part can thus block the trapezo-metacarpal joint (TMC) and leave the metacarpophalangeal joint (MCP) free, so that the thumb is only guided in flexion / extension, especially towards the index or the palm of the hand, the other degrees of freedom being blocked.

According to yet another embodiment, the first part forming the orthosis of the hand may allow freedom of movement of the wrist.

In particular, the first part forming the orthosis of the hand can extend only on the hand so as to allow any movement of the wrist.

This embodiment may especially be useful for a disabled person who has kept the freedom of movement of his wrist.

Moreover, the first and second flexible connecting elements may be constituted by flexible wires.

These flexible son may for example be protected by guide sleeves, for example made of polytetrafluoroethylene (PTFE) or Teflon.

They can allow an anthropomorphic reproduction of the actuation of the hand. In particular, they can be assimilated to anthropomorphic tendons. In addition, the flexible wires, and any guiding sheaths surrounding them, may be provided so as to minimize the friction of the son during their movements to allow the extension or the deflection of the thumb. In particular, the flexible wires may be arranged to extend substantially linearly, with a reduced or zero number of curvatures.

Moreover, the flexible connecting elements can be flexible and light, and in particular designed to break under a certain force applied to them, especially beyond a load of about 8 kg, this load being adapted to each case. The mechanical breaking of the flexible connecting elements beyond this value can help to protect the hand from too much traction, for example.

The second portion forming a fastener element to be placed around the thumb may be in the form of a ring. Fixing the first and second flexible connecting elements on this second part can be performed so as to substantially immobilize the distal interphalangeal joint (IPD) of the thumb in slight flexion. Thus, it may be possible to obtain a certain distribution of the pressure on the thumb to limit or prevent the appearance of pressure ulcers. The second portion forming a fastening element to be placed around the thumb may be in the form of a continuous piece, arranged around the thumb.

The first and second flexible connecting elements are attached to the second part, possibly reversibly. The fact of being able to easily detach the first and second flexible connecting elements of the second part makes it easy to remove an assembly comprising the first part and the flexible connecting elements.

Each flexible connecting element is attached to the second part by an attachment point. The attachment points associated respectively with the first flexible connecting element and the second flexible connecting element are preferably diametrically opposed. The attachment point associated with the first flexible connecting element is able to be disposed on the outer face of the thumb, while the attachment point associated with the second flexible connecting element is adapted to be disposed on the inner face of the thumb, that is, adjacent to the palm of the hand.

The continuous part forming the second part may for example be made of a thermoformable material. It may comprise a plurality of orifices allowing aeration in contact with the thumb.

Alternatively, the second portion forming a fastener element to be placed around the thumb may be in the form of at least two rings extending around the thumb, including a first ring extending all the way around the thumb. distal phalanx (P2) of the thumb and a second ring extending all around the proximal phalanx (PI) of the thumb.

The first and second rings may be made of fabric, for example thermoformable fabric.

Fixing the first and second flexible connecting elements can be carried out on the first ring, while the second ring can make it possible to ensure the guiding, for example by means of a guiding means present on the second ring, elements flexible connecting so that they are held closer to the thumb. Advantageously, the use of a second part forming a fastener element in the form of at least two separate rings may allow to exert a greater force than by the use of a continuous part.

Said at least one guide member may be in the form of an insert on the first part forming the orthosis of the hand, in the form of a passage bridge under which are positioned the first and second flexible elements of liaison to help guide and constrain their journey.

The device may also comprise at least one fixing housing of said at least one actuator on the first part forming the orthosis of the hand, in which at least one actuator is at least partially introduced.

As indicated above, the actuator may comprise one or more geared motors, in particular electric geared motors. The electric gearmotor (s) of the device according to the invention may be designed so as to be able to generate, on the first and / or second flexible connecting elements, a traction force necessary and sufficient to move the thumb, without, however, generating a risk of Injury to the thumb. The intensity of this force is for example less than 20 N. They may for example correspond to electric DC motors of Maxon ^® type, for example with a diameter of 6 mm and power of 0.3 W. They can also be used with a reducer.

The housing or the housing of the actuator (s) may include orifices to allow their attachment, for example by screws, on the first part forming the orthosis of the hand.

Advantageously, the one or more fixing housings are disposed on said first part, adjacent to the outer face of the hand. By "outer face of the hand" is meant the face opposite to the palm of the hand, in other words the back of the hand. Having the mounting housings adjacent to this outer face releases the palm of the hand of any bulky item. In general, the first part comprises an upper section, adjacent to the outer face of the hand, and, at the level of the recess allowing the thumb to pass, a lower section, adjacent to the palm of the hand. It is important that the housings are disposed on said upper portion.

The fixing case or cases may for example be made of brass. Advantageously, the use of brass can limit the friction between the rotation shaft of the actuator and the fixing housing.

Each fixing housing can be fixed on the first part by a fixing means, for example screws. The fixing means is preferably reversible. In particular, they may be Velcro type strips. Indeed, it has emerged that this type of adhesive has a sufficient resistance to shear. The use of such reversible adhesive tapes, or their equivalents, allows the easy removal of the housings, which facilitates the cleaning of the first part. In such a case, the first and second flexible connecting elements are detachable either from the first part or, preferably, from the second part as already indicated.

The fixing casing (s) may allow mechanical reinforcement of the actuator (s). In particular, they can prevent the rotation shafts of the actuators from bending during the winding / unfolding of the flexible connecting elements. To do this, said at least one fixing housing may in particular comprise a reinforcing shell provided with a contact orifice in which the rotation shaft of said at least one actuator is inserted. Thus, the radial forces that can be exerted on the rotation shaft (s) of the actuator (s) can be compensated by the contact orifice of the reinforcing shell.

The reinforcing shell may include a lateral passage opening for the first and / or second flexible connecting elements.

The lateral passage orifice of the reinforcing shell may be formed on the lateral part of the shell, so as to allow a tangential positioning of the first and / or second flexible connecting elements with respect to the rotation shaft of said at least an actuator.

The positioning of the actuator (s) on the first part can be realized so that the first and second flexible connecting elements extend substantially perpendicular to the shaft or the rotation shafts of the actuator (s).

The winding / unfolding of the first and second flexible connecting elements is advantageously achieved by the rotation shaft of the actuator (s). Fixing the flexible connecting elements on the rotation shaft of the actuator or actuators can for example be achieved by the use of a washer, for example aluminum, placed on the rotation shaft, which allows to maximize the force for a given engine torque.

Furthermore, the device according to the invention may comprise a first actuator and a second actuator, fixed on the first part, in particular at the forearm and / or the hand, respectively comprising first and second rotation shafts. , respectively for the actuation of the first and second flexible connecting elements, the rotation shafts of the first and second actuators extending in particular substantially parallel and / or perpendicular manner.

In a variant, the device according to the invention may comprise a single actuator, fixed on the first part, comprising a single rotation shaft having at least a first portion and a second portion of different diameters, the first portion having in particular a diameter greater than diameter of the second portion, one of the first and second flexible connecting elements, in particular the first flexible connecting element, being fixed on the first portion of the rotation shaft and the other of the first and second flexible connecting elements. , in particular the second flexible connecting element, being fixed on the second portion of the rotation shaft, the first and second flexible connecting elements being wound on the first and second portions of the rotation shaft in different directions of rotation. , so that the winding of one causes the unfolding of the other, and vice versa.

In this way, the first and second flexible connecting members can be mounted relative to the actuator rotation shaft in a "crossed" manner.

The difference in winding length between the first and second flexible connecting elements is a few centimeters. For example, the length of second flexible connecting element is of the order of 5 cm while the length of the first flexible connecting element is of the order of 7 cm. This difference in winding length can thus be managed by the difference in the diameters between the first and second portions of the rotation shaft. The upper diameter of the first portion may for example be obtained by adding a pulley on the rotation shaft of the actuator at which is wound the first flexible connecting element.

According to this variant, the invention can therefore make it possible to obtain a winding of the flexible flexor connection element and of the flexible extensor connection element in opposite directions of rotation on the same rotation shaft of an actuator, thanks to with the use of different diameters of the rotation shaft.

In another variant, the device may comprise a single actuator, fixed on the first part, possibly formed by the juxtaposition and the assembly of two distinct actuators, comprising a first rotation shaft and a second rotation shaft for respectively actuating the actuators. first and second flexible connecting elements, the first and second rotation shafts extending substantially parallel to each other, the device comprising a deflection element, in particular in the form of a pulley, fixed on the first part; , to make it possible to constrain the path of the first flexible connecting element of an elongation substantially perpendicular to the first rotation shaft to an elongation substantially parallel to the first rotation shaft in the direction of the second part forming a fastening element.

The device may further include an onboard power source. The power source may for example comprise a rechargeable battery, for example via the supply source of the positioning base described below.

The device may also include an electronic control system to enable control of the operation of the device.

The electronic control system may for example be an integrated circuit, for example that known as Arduino Nano. In addition, the device may comprise a user interface element to allow a disabled person to act on the device, in particular by means of control pushbuttons.

The user interface element may for example be located on the forearm of the disabled person.

Alternatively, the second portion forming a fastener element to be placed around the thumb may have substantially a frustoconical shape.

In particular, the second part forming a fastening element can be made of a flexible material, cutable for adjustment to the thumb of the user.

The second part forming a fastening element may comprise means for securing the first and second flexible elements, in particular notches and / or racks.

Alternatively, the user interface element may include at least one pair of pressure control sensors for controlling the movement of the thumb.

The user interface element can then include a potentiometer for adjusting the sensitivity of the pressure control sensors.

According to another variant, the user interface element may comprise a joystick for controlling the device, comprising a handle on a base.

The joystick can be configured to be moved in a single direction to allow flexion and / or thumb extension.

According to another variant, the user interface element may comprise an elastic fabric support comprising surface electromyography electrodes for detecting muscle contractions of the user and controlling the device accordingly.

The electrodes can be configured to measure the contractions of the upper beams of the user's trapezoids.

According to another variant, the user interface element may comprise voice control means of the device. In particular, the user interface element may comprise a piezoelectric receiver for laryngophone voice control.

Furthermore, the user interface element may comprise one or more self-gripping strips, including the Velcro type, to allow its positioning in different places.

In addition, the user interface element may comprise wireless communication means with the rest of the device, in particular the electronic control system of the device.

In addition, the device may comprise an embedded box, fixed on the first part forming an orthosis of the hand, in which is integrated at least said at least one actuator.

The embedded box may include a connector, including a "jack" type jack, for its connection to a user interface element.

Said at least one actuator, the power source and the electronic control system can be integrated into the on-board housing.

Furthermore, the second part forming a fastening element to be placed around the thumb may comprise self-gripping fastening strips, in particular of the Velcro type. Similarly, the first ends of the first and second flexible connecting elements may also comprise self-gripping fastening strips, in particular of the Velcro type, cooperating with the self-gripping fastening strips of the second part to allow the attachment of the first ends. first and second flexible connecting elements on the second part.

The second portion forming a fastener element to be placed around the thumb may further comprise a pressure sensor element.

The second portion forming a fastener element to be placed around the thumb may also include a temperature sensing element.

The pressure sensor element and / or the temperature sensor element may be connected to one or more connection wires, additional to the first and second flexible elements. In a preferred manner, the pressure sensor element and / or temperature sensor may also be wireless communication. The subject of the invention is, according to another of its aspects, a set comprising:

a device as defined above, and

- A positioning base to receive the device in case of non-use for assistance in gripping the thumb of the hand.

The positioning base may comprise fixing means to a support on which it is placed, for example a table. These fixing means may for example comprise adhesive fixing suction cups.

Advantageously, the positioning base can allow the disabled person to facilitate donning and removal of the device itself.

The positioning base may comprise at least two threading tabs, able to come into contact with the second part on either side thereof and to allow the position of the second part to be maintained when a handicapped person introduces his thumb in the second part.

The positioning base can also comprise at least two tear-off tabs, able to come into contact with the second part on either side of the latter and to hold the second part on the positioning base when a person disabled takes off his thumb from the second part.

Said at least two threading tabs and two tear-off tabs can be designed to fit the dimensions of the second part of the device according to the invention.

The second part of the device may also include a lug adapted to be threaded between said at least two threading tabs and two tear tabs.

Furthermore, the positioning base may include a power source capable of reloading the device when it is in place on the positioning base.

According to another of its aspects, the subject of the invention is a method of using a device as defined above or of an assembly as defined above, in which a disabled person performs a movement of movement of the inch of the hand to the index or palm of the hand, or vice versa, by the biasing / unwinding of the first and second flexible connecting elements around said at least one rotation shaft of said at least one actuator.

The method may also comprise the step in which the disabled person puts on the device placed on the positioning base of the assembly by insertion of the hand in the first part of the device and the thumb in the second part of the device, and / or removes the device by positioning it on the positioning base and removing the thumb from the second part and the hand from the first part.

The device, the assembly and the method of use according to the invention may comprise any of the features set forth in the description, taken individually or in any technically possible combination with other characteristics.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be better understood on reading the following detailed description, non-limiting examples of implementation thereof, as well as on examining the schematic and partial figures of the appended drawing. on which :

FIG. 1 illustrates a natural gripping movement of the hand of the "key grip" type, to allow grasping between the thumb and the index finger of the hand of a key-type object,

FIG. 2 illustrates, in perspective, a first exemplary embodiment of a device for assisting the grasping of the thumb of the hand according to the invention, placed on the forearm, the wrist and the hand of 'a person,

FIG. 3 illustrates, in perspective, the device of FIG. 2 in a non-use configuration,

FIGS. 4 and 5 illustrate the device of FIG. 2 according to different viewing angles making it possible to see the palm of the hand,

FIG. 6 illustrates, in perspective, a second exemplary embodiment of a device for assisting the grasping of the thumb of the hand according to the invention, placed on the wrist and the hand of a handicapped person, FIGS. 7 and 8 illustrate the device of FIG. 6 according to different viewing angles allowing respectively to see the palm and the back of the hand,

FIG. 9 illustrates an alternative embodiment of the second part forming a fastening element of a device for assisting the gripping of the thumb of the hand according to the invention,

FIG. 10 illustrates an exemplary assembly comprising a device for assisting the gripping of the thumb of the hand according to the invention and a positioning base,

FIG. 11 represents, in plan view, a detail of embodiment of the first part of the device of FIG. 2,

FIGS. 12A and 12B illustrate, respectively in front view and in side view, an alternative embodiment of a rotation shaft of an actuator of a device for assisting the grasping of the thumb of the compliant hand. to the invention,

FIG. 13 illustrates, in plan view, another variant embodiment of an actuator of a device for assisting the grasping of the thumb of the hand according to the invention,

FIG. 14 illustrates, in perspective, an alternative embodiment of a device for assisting the grasping of the thumb of the hand according to the invention, comprising a box embedded on the first part forming an orthosis of the hand,

FIG. 15 illustrates, in perspective, the inside of the on-board box of FIG. 14,

FIG. 16 illustrates, in perspective and in an isolated manner, the electronic control system and the power source contained in the on-board box of FIG. 15,

FIG. 17 represents, in perspective, an alternative embodiment of a second part forming a fastener element to be placed around the thumb of a device for assisting the gripping of the thumb of the hand according to the invention; ,

FIG. 18 represents, in perspective, the second part forming an attachment element to be placed around the thumb of FIG. 17, positioned around the thumb of a user, FIGS. 19 and 20 further illustrate, in perspective, variant embodiments of a second part forming a fastening element to be placed around the thumb of a device for assisting the gripping of the thumb of the hand, in accordance with FIG. the invention, and

FIGS. 21 to 25B illustrate, in perspective, various alternative embodiments of a user interface element to enable a handicapped person to act on a device for assisting the gripping of the thumb of the hand in accordance with FIG. 'invention.

In all of these figures, identical references may designate identical or similar elements.

In addition, the different parts shown in the figures are not necessarily in a uniform scale, to make the figures more readable.

DETAILED PRESENTATION OF PARTICULAR EMBODIMENTS

Figure 1 has already been described in the section relating to the state of the art.

Referring to Figures 2 to 5, there is illustrated, in perspective, a first embodiment of a device 1 for assistance in gripping the thumb 2 of the hand 3 according to the invention.

More specifically, Figure 2 illustrates the device 1 placed on the forearm 15, the wrist 16 and the hand 3 of a disabled person. FIG. 3 illustrates the device 1 in a non-use configuration, and FIGS. 4 and 5 illustrate the device 1 according to different viewing angles making it possible to see the palm 9 of the hand 3.

The device 1 thus comprises a first part 5 forming an orthosis of the hand 3 and a second part 6 forming a fastening element to be placed around the thumb 2.

The orthosis 5 has a recess 12 for the insertion of the thumb 2. This recess 12 is delimited by a rigid portion 5a of the orthosis 5 which, in this example, extends around the base 2a of the thumb 2 and which is configured to allow only thumb movement 2 in flexion / extension towards the index 4. The orthosis 5 further comprises two self-gripping fastening strips 32 of the Velcro type to enable the device 1 to be secured to the hand 3, to the wrist 16 and to the forearm 15 of the handicapped person, in particular of the Velcro type. . These two Velcro strips 32 extend respectively around the palm 9 and the back 17 of the hand 3 and around the wrist 16 of the hand 3.

Moreover, in this example and in those which follow, the orthosis is in the form of a holding plate made of a thermoformable material. It is also made to measure for the disabled person.

The fastening element 6 is placed around the thumb 2. It advantageously extends on the distal phalanx (P2) and the proximal phalanx (PI) of the thumb 2.

Furthermore, the device 1 comprises first 7 and second 8 flexible connecting elements, in the form of flexible son 7 and 8, connecting the orthosis 5 to the fastening element 6. These flexible son 7 and 8 are protected by means of polytetrafluoroethylene (PTFE) guide sleeves, and allow an anthropomorphic reproduction of the actuation of the hand 3.

The flexible yarns of extension 7 and bending 8 each comprise a first end 7a and 8a fixed on the fastening element 6 diametrically opposite.

The first end 7a of the first flexible connecting element 7 is fixed on the outer face 2e of the thumb 2, via the fastening element 6. The outer face 2 of the thumb 2 is oriented opposite the palm 9 of the hand 3. The first end 8a of the second flexible connecting wire 8 is fixed on the inner face 2i of the thumb 2, facing the palm 9 of the hand 3.

In addition, the device 1 comprises two actuators 10 and 11 fixed on the orthosis 5. The first 7 and second 8 flexible wires each comprise a second end 7b, 8b fixed respectively to the rotation shafts 10a and 11a of the two actuators 10 and 11.

Each actuator 10, 11 comprises a rotation shaft 10a, 11a for actuating the first 7 and second 8 flexible wires by winding / unwinding the first 7 and second 8 flexible wires around the rotation shaft 10a, 11a. corresponding. In this way, the first 7 and second 8 flexible son respectively allow the extension of the thumb 2 away from the index 4 of the hand 3 and the deflection of the thumb 2 to the index 4 of the hand 3. In addition, the rotation shafts 10a, 11a of the first 10 and second 11 actuators extend substantially parallel, which makes it possible to gain compactness.

The device 1 also comprises two guide members 13 and 14, located on the orthosis 5, to constrain the path of each of the first 7 and second 8 flexible son between their first 7a, 8a and their second 7b, 8b ends. The guide members 13 and 14 are in the form of inserts forming passage bridges under which are positioned the first 7 and second 8 flexible son to allow to guide and constrain their path.

Furthermore, advantageously, the second flexible wire 8 extends in part substantially along the base 2a of the thumb 2, between the palm 9 of the hand 3 and the proximal phalanx 2b of the thumb 2, so as to leave the 9 palm of the hand 3 free.

In this first embodiment of device 1 according to the invention of Figures 2 to 5, the orthosis 5 is provided to confer a natural positioning of the wrist 15 to perform the movement of the type "key grip" by approximation of the inch 2 to the index 4.

Thus, as can be seen in Figure 4, the orthosis 5 is configured to maintain the wrist 16 in the extended position with an extension angle α of the order of 20 °. The extension of the wrist 15 corresponds to a dorsal flexion of the wrist 15.

The use of such an orthosis 5 for maintaining the wrist extension position 15 is useful for persons with disabilities suffering from an inability to move their wrist 15.

In addition, the orthosis 5 is configured to maintain the wrist 16 in the adduction position.

This embodiment thus makes it possible to ensure a locking in the extended position and in the adduction position of the wrist 15 facilitating the movement of the thumb 2 towards the index finger 4 for the handicapped person. More particularly, the orthosis 5 ensures a blockage of trapezo-metacarpal joint (TMC) and leave the metacarpophalangeal joint (MCP) free.

In addition, the device 1 also comprises an onboard power supply 28 comprising a rechargeable battery via the power source 27 of the positioning base 23 described below. It also includes an electronic control system 29 to allow the control of the operation of the device 1, and a user interface element 30 to allow a disabled person to act on the device 1 by means of control push buttons 31 This user interface element is for example intended to be located on the forearm of the handicapped person.

Furthermore, with reference to FIGS. 6 to 8, a second exemplary embodiment of a device 1 for assisting in grasping the thumb 2 of the hand 3 according to the invention has been illustrated in perspective.

More precisely, FIG. 6 illustrates the device 1 placed on the hand 3 of a handicapped person, and FIGS. 7 and 8 illustrate the device 1 according to different viewing angles allowing respectively to see the palm 9 and the back 17 of the hand 3.

In this second embodiment, the orthosis 5 of the hand 3 extends only on the hand 3 so as to allow any movement of the wrist 16. In this way, if the disabled person does not suffer from an incapacity of movement from her wrist 16, she can preserve all freedom in the way of moving it.

In this case, the actuators 10 and 11 are then placed on the orthosis 5, at the level of the hand 3.

In addition, the orthosis 5 comprises attachment means 32 in the form of a single self-gripping band 32 to allow its attachment to the hand 3, extending around the wrist 16.

In this second example also, the rotation shafts 10a, 11a of the first 10 and second 11 actuators extend substantially perpendicularly.

In the first and second examples of Figures 1 to 5 and 6 to 8, the fastening element 6 is in the form of a continuous piece, arranged all around the 2. This part is made of a thermoformable material and has a plurality of orifices for aeration in contact with the thumb 2. The orthosis 5 can also be performed in a similar manner.

FIG. 9 illustrates an alternative embodiment of the fastening element 6 of a device 1 according to the invention, for example of the type of FIG. 2 or the type of FIG. 6.

According to this variant, the fastening element 6 is in the form of a first ring 6a extending all around the distal phalanx (P2) of the thumb 2 and a second ring 6b extending all around. the proximal phalanx PI thumb 2. These first 6a and second 6b rings are made of thermoformable fabric.

The fixing of the first 7 and second 8 flexible son is performed on the first ring 6a, while the second ring 6b makes it possible to guide the flexible son 7 and 8 so that they are held closer to the thumb 2.

With reference to FIG. 10, an exemplary assembly 24 having a device 1 according to the invention, for example of the type shown in FIG. 2 or FIG. 6, and a positioning base 23 is illustrated.

The positioning base 23 is intended to receive the device 1 in the event of non-use for assistance in gripping the thumb 2 of the hand 3.

Advantageously, the positioning base 23 allows the disabled person to facilitate the threading and removal of the device 1 by itself.

It comprises at least four tabs, including at least two threading tabs 25, adapted to come into contact with the fastening element 6 on either side of the latter and to allow this element to be held in position. 6 when a person with a disability places a thumb into the person.

It also comprises at least two tear-off tabs 26, able to come into contact with the fastening element 6 on either side of the latter and to retain the fastening element 6 on the positioning base. 23 when a disabled person removes his thumb from it.

Although not shown, the fastening element 6 could comprise a lug adapted to be threaded between the threading tabs 25 and the tear tabs 26. Furthermore, the positioning base 23 comprises a power source 27 able to allow recharging of the device 1 when it is in place on the positioning base23.

FIG. 11 is a top view of a detail of the first part 5 of the device 1 of FIG. 2.

As can be seen more easily in this FIG. 11, the device 1 comprises two brass fixing casings 10b and 11b of the two actuators 10 and 11 on the orthosis 5, in which the actuators 10 and 11 are respectively partially inserted. .

Advantageously, the two fixing housings 10b and 11b are arranged on the orthosis 5 adjacent the back 17 of the hand 3. Indeed, the fact of arranging the fixing housings 10b and 11b adjacent to the back 17 hand 3 allows to release the palm 9 of the hand 3 of any bulky item. In general, the orthosis 5 has an upper section, adjacent to the back 17 of the hand 3, and a lower section, at the recess 12 allowing the thumb 2 to pass, and it is important that the housings 10b and 11b are arranged on this upper section.

These fixing cases 10b and 11b have orifices for fixing them with screws on the orthosis 5. They allow mechanical reinforcement of the actuators 10 and 11 and can prevent twisting of the rotation shafts 10a and 11a. Indeed, at least one of the fixing housings 10b and 11b, here the housing 10b, comprises a reinforcing shell 10c provided with a contact opening 19 in which the rotation shaft 10a is inserted. Thus, the radial forces that can be exerted on the rotation shaft 10a are compensated by the contact opening 19 of the reinforcing shell 10c.

Furthermore, this reinforcing shell 10c also comprises a lateral passage opening 20 for the first flexible wire 7. This lateral passage orifice 20 allows a tangential positioning of the first flexible wire 7 relative to the rotation shaft 10a.

In the first and second exemplary embodiments of a device 1 according to the invention according to FIGS. 2 and 6, the use of two separate actuators 10 and 11, placed on the orthosis 5 of the hand 3. However, it is also possible to envisage the use of a single actuator 10.

Thus, FIGS. 12A and 12B illustrate, respectively in front view and in side view, an alternative embodiment of a rotation shaft 10a for an actuator 10 of a device 1 according to the invention.

The rotation shaft 10a has a first portion 21a and a second portion 21b of different diameters. In particular, the first portion 21a has a diameter Da greater than the diameter Db of the second portion 21b.

In addition, the first flexible wire 7 is fixed on the first portion 21a of the rotation shaft 10a, and the second flexible wire 8 is fixed on the second portion 21b of the rotation shaft 10a, the first 7 and second 8 flexible son being wound on the first 21a and second 21b portions in different directions of rotation, so that the winding of one causes the unwinding of the other, and vice versa.

In this way, the first 7 and second 8 flexible connection wires may be mounted relatively to the rotation shaft 10a in a "crossed" manner.

According to this variant, it is therefore possible to obtain a winding of the flexor wire 8 and the expander wire 7 in opposite directions of rotation on the same rotation shaft 10a of an actuator 10.

Moreover, FIG. 13 illustrates, in view from above, another variant embodiment of a single actuator 10 for a device 1 according to the invention.

According to this variant, the device 1 comprises a single actuator 10, fixed on the orthosis 5, possibly formed by the juxtaposition and the coupling of two separate actuators.

This actuator 10 comprises a first rotation shaft 10a and a second rotation shaft 11a for respectively the actuation of the first 7 and second 8 flexible son.

These first 10a and second 11a rotation shafts extend substantially parallel to each other.

In order to allow the flexible wire 7 to travel to the fastening element 6, the device 1 comprises a deflection pulley 22, fixed on the orthosis 5, for to make it possible to constrain the path of the first flexible wire 7 by an elongation substantially perpendicular to the first rotation shaft 10a towards an elongation substantially parallel to the first rotation shaft 10a in the direction of the attachment element 6.

For the use of a device 1 according to the invention, a disabled person can perform a movement of movement of the thumb 2 of the hand 3 towards the index 4, or vice versa, through the winding and or unwinding the first 7 and second 8 flexible connecting son around the or rotation shafts 10a and 10b of the actuator (s) 10 and 11.

The positioning base 23 of the assembly 24 described with reference to FIG.

10 can be used as follows.

To put the device 1, it is placed on the base 23 and the disabled person passes his thumb 2 in the orthosis 5 by the recess 12, then in the fastener 6. The threading tabs 25 then allow to resist the push. The handicapped person then raises the device 1 to remove it from the base 23, and closes the fastening strip 32 of the Velcro type.

To remove the device 1, the disabled person places it on the base 23 which holds the fastening element 6. It removes the fastening strips 32 of the Velcro type, and removes its thumb 2 from the fastening element 6 and of the orthosis 5. The tear tabs 26 can retain the fastening element 6 during these operations.

The installation of the device 1 on the base 23 also makes it possible to recharge the on-board power supply 28 of the device 1.

In addition, FIG. 14 illustrates, in perspective, an alternative embodiment of a device 1 for assistance in gripping the thumb 2 of the hand 3 according to the invention, comprising an embedded box 43 on the first part 5. 3. In addition, FIG. 15 illustrates, in perspective, the inside of the embedded box 43 and FIG. 16 illustrates, in perspective and in an isolated manner, the electronic control system 29 and the source of the 28 power supply in the embedded box 43. In order to be easily usable daily, during all the activities of the user, it may be desirable to have a device 1 which is of reduced size and weight, and therefore easily transportable.

For this purpose, it is possible for the device 1 to have an embedded box 43 fixed to the first part 5 forming an orthosis of the hand 3.

Advantageously, this embedded box 43 may comprise the actuator (s) 10, 11 of the device 1, as well as a power source 28 and an electronic control system 29. In addition, the embedded box 43 may comprise a connector 44. including a jack type jack for connection to a user interface element or control element.

Thus, for example, as shown in Figures 15 and 16, the embedded box 43 may comprise two adjacent compartments C1 and C2.

The first compartment C1 comprises both the electronic card 29 and its battery 28 which powers it. As can be seen in FIG. 16, the battery 28 is connected to the electronic card 29 by means of a power supply connector 45. In addition, the electronic card 29 comprises the connector 44, of the "jack" type, for example of size 2.5 mm, and a connection port 46, for example of the micro-USB type. This connection port 46 allows for example to recharge the battery 28. The electronic card 29 is of reduced size, for example 2.5 cm x 3.5 cm.

As results from FIG. 15, the electronic card 29 and the battery 28 are superimposed on one another within the first compartment C1 of the embedded box 43.

Furthermore, the second compartment C2 makes it possible to position the actuator or actuators 10, 11, which are then contained in a motor casing 47 making it possible to protect them.

The embedded box 43 may be fixed in different ways on the first part 5 forming an orthosis of the hand 3, and for example by a system of self-gripping fastening strips, in particular of the Velcro type. Advantageously, the embedded box 43 provides optimum protection for the actuator or actuators 10, 11, of the battery 28 and of the electronic card 29. On the other hand, there is shown in FIG. 17, in perspective, an alternative embodiment of a second part 6 forming a fastener element to be placed around the thumb 2 of a device 1 for assisting the grip of the thumb. 2 of the hand 3 according to the invention, and in Figure 18, in perspective, this fastener 6 positioned in use around the thumb 2 of a user.

According to this variant, the fastening element 6 has a generally frustoconical shape, designed to fit on the thumb of any user. Thus, the fastening element 6 has substantially a conical ring shape.

In particular, the fastening element 6 is advantageously made of a flexible material and can thus be cut to fit the size of the thumb 2 of the user. This attachment element 6 may for example be derived from a three-dimensional (3D) printing. It may for example have a height of about 5 cm, a thickness of about 3 mm and / or a diameter of, for example, between 2 and 3 cm.

The fastening element 6 comprises a hollow body 40, with lower surfaces 401 and upper 40S recessed so as to create a through opening 41 for the passage of the thumb 2.

Furthermore, the fastening element 6 comprises, on its lateral surface 40L, securing means 42 of the first 7 and second 8 flexible elements, in particular notches and / or racks, on either side of the fastening element.

Thus, in the case of a rack system as represented for example, the first 7 and second 8 flexible elements comprise balls which fit into the respective rack of the fastening element 6 and which thus remain integral with the one -this.

Advantageously, such an attachment element 6 can be provided to each new user of a device 1 according to the invention. In this way, this new user only has to cut the right portion of attachment element 6 to obtain a ring adapted to the size of his thumb.

Moreover, this type of fastening element 6 can be easily detached from the first 7 and second 8 flexible elements. Then, the block formed by the actuator (s) 10, 11 and the electronic part, in particular a power source 28 and an electronic control system 29, can be easily transposed from one user to another.

FIG. 19 illustrates, in perspective, another variant embodiment of a second part forming a fastening element 6 to be placed around the thumb 2 of a device 1 for assistance in gripping the thumb 2 of the hand 3 according to the invention.

As for the securing means 42 of the fastening element 6 described with reference to FIG. 17, the solution of FIG. 19 aims to make the fastening element 6 independent of the electronic part of the device 1.

In addition, this solution provides additional security insofar as in case of excessive tension of the flexible elements 7, 8, the fastener will become detached ("désécratcher") so as not to hurt the user.

Thus, the fastening element 6 comprises self-gripping fastening strips 48a and 48b of the Velcro type. Similarly, the first ends 7a and 8a of the first 7 and second 8 flexible connecting elements comprise hook-and-loop fastening strips 49a and 49b of the Velcro type. These self-gripping fastening strips 48a, 48b and 49a, 49b cooperate together to allow the attachment of the first ends 7a and 8a of the first 7 and second 8 flexible connecting elements to the fastening element 6.

To do this, the flexible elements 7 and 8 can be sewn on Velcro elements 49a and 49b, and two Velcro elements 48a and 48b can be fixed, in particular glued, on the fastening element 6. Preferably, one Velcro elements are chosen to be velvet while the other is chosen to be hooked so as not to make any mistakes when positioning.

The fastening element 6 may be of any type, for example of thermoformed plastic or of a frustoconical flexible material as described above with reference to FIGS. 17 and 18.

In addition, advantageously, the Velcro element 49a at the end 8a of the flexible element 8 may be covered with a non-slip on its use face to prevent an object from slipping between the fingers of the user. FIG. 20 further illustrates, in perspective, another variant embodiment of a second part forming a fastening element 6 to be placed around the thumb 2 of a device 1 for assisting the grasping of the thumb 2 of the hand 3 according to the invention.

In this example, the fastening element 6, for example made of thermoformable fabric, advantageously comprises a pressure sensor element 50 and a temperature sensor element 51. The pressure sensor 50 may for example consist of a polymer sheet , in particular of the velostat type with a resistance decreasing with the pressure received, taken between two sheets of copper.

Indeed, the target users of the device 1 according to the invention having a priori little or no sensitivity in their hand, it may be advantageous to provide the device 1 such temperature sensors 51 and pressure 50 to overcome to this lack of sensitivity.

Thus, the temperature sensor 51 prevents the user from getting burnt by handling an object that is too hot, for example. In addition, the temperature sensor 51 is advantageously chosen to have a very short response time so that the user can test the temperature of an object by approaching his hand, to know whether he can enter it or not.

The pressure sensor 50 plays a dual role: on the one hand, it allows the user to know the force it exerts and adjust the fineness of its grip; on the other hand, it prevents the user from getting hurt by remaining unconsciously in a tight position, because then a risk of pressure ulcers can occur.

In order to obtain feedback from pressure sensors 50 and temperature 51, a light-emitting diode (LED) system may be provided on the second part 5, the user naturally having the view towards the hand 3. he uses. Thus, for example, an LED can light if the measured temperature exceeds a predefined threshold. Another LED can also light up to inform the user of the pressure exerted by the thumb: for example, it can flash at a frequency proportional to the pressure measured. In addition, reference will now be made, with reference to FIGS. 21 to 25B, to various variants of embodiment and operation of a user interface element 30 to enable a disabled person to act on a device 1 for assistance with grasping the thumb 2 of the hand 3 according to the invention.

Indeed, in order to function effectively, the control of the device 1 through the user interface element 30 must be both simple to use, very robust and discrete. In addition, it must also be analog to allow the user to choose the force to apply.

Thus, two control modes can be used in particular, namely: pressure control sensors, as described hereinafter with reference to FIG. 21, and "joystick" type sensors (or else of the handle type placed on a base), described below with reference to Figure 22. These sensors must be able to be easily placed in different parts of the body of a user, according to its capabilities.

Moreover, two other control modes have also been envisaged, namely of the electromyography (EMG) type by the interpretation of the electrical activity of the muscles, described hereinafter with reference to FIGS. 23A and 23B, and of the laryngophone type, described later with reference to FIG. 24. These commands are then placed on the muscles still innervated for the EMG, and on the neck for the laryngophone.

Thus, Fig. 21 first illustrates, in perspective, a user interface element 30 in the form of a pair of pressure control sensors 52a, 52b.

In this example, the two pressure control sensors 52a, 52b are in the form of flat squares about 5 cm apart. They can be manufactured on the same principle as the pressure sensor 50 described with reference to FIG. 20, namely by a polymer sheet, in particular of the velostat type, taken between two sheets of copper.

The two pressure control sensors 52a and 52b are connected to each other by means of a cable 53, in particular of the 3.5 mm jack type, and to the electronic card 29 of the device 1 via a plug 55, including jack type also. The number of pressure control sensors can be variable and greater than two. However, such pressure control sensors always go in pairs: in fact, one of the sensors 52a, 52b will make it possible to control the flexion of the thumb 2, while the other of the sensors 52a, 52b will make it possible to control the thumb extension 2. The force exerted by the activation system is proportional to the pressure applied to a sensor.

The target users of the device 1 can not contract their triceps, they can not press down with their hands. Then, they rest their hand on the pressure control sensor 52a or 52b and more or less hold their arms by contracting the biceps. However, each user having a different arm weight, there is provided a potentiometer 54 for adjusting the sensitivity of the device 1.

Furthermore, FIG. 22 illustrates, in perspective, the possibility of having the user interface element 30 in the form of a joystick 56, ie a computing device comprising a handle 57 articulated on a base 58.

Advantageously, the joystick 56 is a potentiometer, also used with a voltage divider mounting. The handle 57 of the joystick 56 is approximately 2 cm.

When released, the joystick 56 returns to the center. It is used in a single direction, the inclination of one side controlling the flexion of the thumb 2 and the inclination of the other side controlling the extension of the thumb 2.

In addition, the force exerted by the activation system is proportional to the inclination of the joystick 56. When the joystick 56 is in the central position, the actuator (s) 10, 11 are stopped. The size of the joystick 56 can be chosen to constitute a compromise between discretion and ease of use. The joystick 56 also includes a socket type jack 59 for its connection to the electronic card 29 of the device 1.

With reference to FIGS. 23A and 23B, the use of a user interface element 30 using the principle of surface electromyography (sEMG), which consists in placing electrodes on the surface, is now shown in a view from above. skin of the user to detect the contraction of the underlying muscles. A contraction or a combination of contractions can therefore control the actuator (s) 10, 11 of the device 1. In the control mode envisaged here, the intensity of the contraction, possibly coupled with another triggering signal, can make it possible to control the speed of the actuator (s) 10, 11.

In addition, medical electrodes used in sEMG may leave marks and cause irritation in the long term, they require external assistance to be positioned on a quadriplegic person. For this purpose, electrodes in the form of fabric strips 61 are used on which a pressure button 62 is sewn with conductive thread.

These strips 61 can be used on a cuff, being sewn on an elastic fabric support 60 facilitating the introduction by a quadriplegic person.

By plugging on the pressure buttons 62, the device 1 can then measure the electrical activity of the muscle.

Furthermore, the fabric support 60 may also comprise notches and / or self-gripping Velcro type strips to allow tightening the cuff.

Advantageously, the measurement of the contractions of the upper bundles of the trapezius is preferred, one of these two muscles controlling the flexion and the other the extension of the thumb 2.

With such an embodiment of the user interface element 30, it is possible to obtain a discrete control, the cuff being hidden under clothing, even when they are short-sleeved or slightly low-cut. In addition, this principle has a certain universality since all target users (C5 or C6 level quadriplegic persons) can contract the upper trapezium beam.

In addition, it allows simultaneous use since contracting this muscle only slightly modifies the position of the forearm and thus hinders very little use of the device 1.

Furthermore, with reference to FIG. 24, the possibility of having a user interface element 30 based on the principle of a voice command has been illustrated in perspective.

Thus, a piezoelectric receiver 64 is placed against the trachea of the user. When he speaks, the mechanical vibrations of his throat are then transformed electrical current through the receiver 64. This current is then amplified and filtered before being sampled by a microcontroller 65. This microcontroller 65 may include a connection 67, for example to a Bluetooth communication module, and may be associated with a circuit power supply, amplification and filtering 66.

The actuator or actuators 10, 11 are controlled not by pronunciation of words but by singing notes, for example on the basis of a two-note command. Indeed, the user interface element 30 detects and interprets voice frequencies, when they are maintained. One frequency range corresponds to the extension of the thumb 2, while another frequency range corresponds to the flexion of the thumb 2. The height of the frequency within these ranges controls the speed of movement. However, any type of voice command can be adapted, and for example a command from words, such as "open" and "close".

Calibration of the threshold frequencies is quick and can be done at any time. The frequency to be maintained to activate the user interface element 30, the actuator (s) 10, 11 are not likely to rotate unintentionally if the user speaks at normal speed. In addition, the vibrations of the air do not affect the piezoelectric receiver 64, and thus the user interface element 30 is insensitive to external noise.

The commands of the joystick type 56 and pressure control sensors 52a, 52b, described above with reference to FIGS. 21 and 22, may be interchangeable, in a manner that is transparent to the user. In a wired version, it is then sufficient to connect the jack of the device 1 to the jack command of the user interface element 30, joystick 56 or pressure control sensors 52a, 52b, so that the device 1 is ready to work.

This modularity can be obtained in two different ways, depending on the type of joystick:

- if the joystick has two outputs (that is to say it contains two potentiometers and only the resistance of one of the two is modified when one inclines the handle on one side, and vice versa), then one manufactures pressure control sensors so that the values they return correspond to the values returned by the joystick, in playing on the conductive material surface and on the resistance of the potentiometer connected to the pressure control sensors; we can then use the same code without difficulty;

- if the joystick has only one output (that is to say that it contains a single potentiometer, whose value increases when one leans the joystick on one side, and decreases on the other), then one directly connects the second channel (the one that would have been connected to the second pressure control sensor) to ground; the program then detects this configuration and interprets the value read on the first channel differently.

Furthermore, with reference to FIGS. 25A and 25B, the possibility for the pressure control sensors 52a, 52b and the joystick 56 to include self-gripping strips 70, in particular of the Velcro type, for perspective, respectively, has been illustrated in perspective. to be positioned where the user wishes.

In particular, the Velcro type strips 70 may be positioned beneath the user interface elements 30 to allow the user to place them wherever he wishes. This makes it possible to respond to a request from patients to have a modular order, adaptable to the constraints related to their disability.

In addition, it may be provided to have a user interface element 30 provided with wireless communication means with the electronic card 29 of the device 1. Thus, a module consisting of a microcontroller and a radio frequency transceiver can be integrated with each user interface element 30, which can then sample the value of a sensor and transmit it to the same module integrated on the electronic card 29 of the device 1. The electronic card 29 of the device 1 could then interpret this value to activate or not the actuator (s) 10, 11.

However, the device 1 could retain connections, including the jack type, so that the user can connect a cable and disable wireless communication if desired.

Of course, the invention is not limited to the embodiments which have just been described. Various modifications may be made by the skilled person. The expression "having one" shall be understood as being synonymous with "having at least one", unless the opposite is specified.

Claims

1. Device (1) for assistance in gripping the thumb (2) of the hand (3), comprising at least:

a first part (5) forming an orthosis of the hand (3), comprising a recess (12) for the insertion of the thumb (2), this recess (12) being delimited by at least one rigid part (5a) of the first portion (5), which extends at least partially substantially around the base (2a) of the thumb (2) and which is configured to allow movement of the thumb (2) in flexion / extension and to limit other movements of the inch (2),

a second part (6) forming a fastening element to be placed around the thumb (2),

first (7) and second (8) flexible connecting elements connecting the first portion (5) to the second portion (6), each having a first end (7a, 8a) fixed to the second portion (6), the first end (7a) of the first flexible connecting element (7) being fixed on the outer face (2e) of the thumb (2), facing away from the palm (9) of the hand (3), and the first end (8a) of the second flexible connecting element (8) being fixed on the inner face (2i) of the thumb (2), facing the palm (9) of the hand (3),

- at least one actuator (10, 11), fixed on the first part (5), comprising at least one rotation shaft (10a, 11a) for actuating the first (7) and second (8) flexible connecting elements by winding / unfolding the first (7) and second (8) flexible connecting elements around said at least one rotation shaft (10a, 11a) to respectively allow the extension of the thumb (2) and the deflection of the thumb (2) the first (7) and second (8) flexible connecting elements each having a second end (7b, 8b) fixed to said at least one rotating shaft (10a, 11a) of said at least one actuator (10, 11),

at least one guide member (13, 14), located on the first part (5), for constraining the path of each of the first (7) and second (8) flexible connection elements between their first (7a, 8a) and second (7b, 8b) ends, the second flexible connecting element (8) extending at least in part substantially along the base (2a) of the thumb (2), between the palm (9) of the hand (3) and the proximal phalanx (2b) thumb (2) so that the palm (9) of the hand (3) is free.

2. Device according to claim 1, characterized in that the first part (5) forming the orthosis of the hand (3) is made of a thermoformable material.

3. Device according to claim 1 or 2, characterized in that the first part (5) forming the orthosis of the hand (3) is configured to hold the wrist (16) in extended position, with an angle of extension (a) between 10 and 30 °, preferably of the order of 20 °.

4. Device according to any one of the preceding claims, characterized in that the first (7) and second (8) flexible connecting elements are constituted by flexible son.

5. Device according to any one of the preceding claims, characterized in that the second part (6) forming a fastening element to be placed around the thumb (2) is in the form of a continuous piece, arranged all around thumb (2).

6. Device according to any one of claims 1 to 4, characterized in that the second part (6) forming a fastening element to be placed around the thumb (2) is in the form of at least two rings ( 6a, 6b) extending around the thumb (2), in particular a first ring (6a) extending all around the distal phalanx (P2) of the thumb (2) and a second ring (6b) extending around the proximal phalanx (PI) of the thumb (2).

7. Device according to any one of claims 1 to 4, characterized in that the second portion (6) forming a fastening element to be placed around the thumb (2) has substantially a frustoconical shape.

8. Device according to claim 7, characterized in that the second part (6) forming a fastening element is made of a flexible material, cutable for adjustment to the thumb (2) of the user.

9. Device according to claim 7 or 8, characterized in that the second portion (6) forming a fastening element comprises means for securing (42) the first (7) and second (8) flexible elements, including notches and / or racks.

10. Device according to any one of the preceding claims, characterized in that said at least one guide member (13, 14) is in the form of an insert (13, 14) on the first part (5). forming the orthosis of the hand (3), in the form of a passage bridge under which are positioned the first (7) and second (8) flexible connecting elements to allow to guide and constrain their path.

11. Device according to any one of the preceding claims, characterized in that it comprises at least one fixing housing (10b, 11b) of said at least one actuator (10, 11) on the first portion (5) forming the orthosis of the hand (3), wherein at least partially said at least one actuator (10, 11) is introduced.

12. Device according to claim 11, characterized in that said at least one fixing housing (10b) comprises a reinforcing shell (10c) provided with a contact orifice (19) in which the rotation shaft (10a). said at least one actuator (10) is inserted.

13. Device according to claim 12, characterized in that the reinforcing shell (10c) has a lateral passage opening (20) for the first (7) and / or the second (8) flexible connecting elements.

14. Device according to any one of the preceding claims, characterized in that it comprises a first actuator (10) and a second actuator (11), fixed on the first part (5), particularly at the front-end. arm (15) and / or hand (3), respectively comprising first (10a) and second (11a) rotation shafts, respectively for the actuation of the first (7) and second (8) flexible connecting elements, the rotation shafts (10a, 11a) of the first (10) and second (11) actuators extending in particular substantially parallel and / or perpendicular manner.

15. Device according to any one of claims 1 to 13, characterized in that it comprises a single actuator (10), fixed on the first portion (5), having a single rotation shaft (10a) having at least one first portion (21a) and a second portion (21b) of different diameters, the first portion (21a) having in particular a diameter (Da) greater than the diameter (Db) of the second portion (21b), one of the first (7b) ) and second (8) flexible connecting elements, in particular the first flexible connecting element (7), being fixed on the first portion (21a) of the rotation shaft (10a) and the other of the first (7) and second (8) flexible connecting elements, in particular the second flexible connecting element (8), being fixed on the second portion (21b) of the rotation shaft (10a), the first (7) and second (8) elements connecting hoses being wound on the first (21a) and second (21b) portions of the rotational shaft n (10a) in different directions of rotation, so that the winding of one causes the unwinding of the other, and vice versa.

16. Device according to any one of claims 1 to 13, characterized in that it comprises a single actuator (10), fixed on the first part (5), possibly formed by the juxtaposition and assembly of two separate actuators. , having a first rotational shaft (10a) and a second rotational shaft (11a) for respectively actuating the first (7) and second (8) flexible connecting members, the first (10a) and second (11a) bearing shafts rotation extending substantially parallel to each other, the device (1) comprising a deflection element (22), in particular in the form of a pulley (22), fixed on the first part (5), for to make it possible to constrain the path of the first flexible connecting element (7) by an elongation substantially perpendicular to the first rotary shaft (10a) towards an elongation substantially parallel to the first rotary shaft (10a) in the direction of the second part (6) forming a fastening element.

17. Device according to any one of the preceding claims, characterized in that it comprises an onboard power supply (28).

18. Device according to any one of the preceding claims, characterized in that it comprises an electronic control system (29) to allow the control of the operation of the device (1).

19. Device according to any one of the preceding claims, characterized in that it comprises a user interface element (30) to allow a disabled person to act on the device (1), including via control push buttons (31).

Device according to claim 19, characterized in that the user interface element (30) comprises at least one pair of pressure control sensors (52a, 52b) for controlling the movement of the thumb (2).

21. Device according to claim 20, characterized in that the user interface element (30) comprises a potentiometer (54) for adjusting the sensitivity of the pressure control sensors (52a, 52b).

22. Device according to claim 19, characterized in that the user interface element (30) comprises a joystick (56) for controlling the device (1), comprising a handle (57) on a base (58).

23. Device according to claim 22, characterized in that the joystick

(56) is configured to be moved in a single direction to allow flexion and / or extension of the thumb (2).

The device of claim 19, characterized in that the user interface element (30) comprises a resilient tissue support (60) including surface electromyography electrodes (sEMGs) for detecting contractions of muscles of the body. user and control the device (1) accordingly.

25. Device according to claim 24, characterized in that the electrodes are configured to measure the contractions of the upper beams of the trapezoids of the user.

26. Device according to claim 19, characterized in that the user interface element (30) comprises voice control means of the device (1).

27. Device according to claim 26, characterized in that the user interface element (30) comprises a piezoelectric receiver (64) for voice control by laryngophone.

28. Device according to any one of claims 19 to 27, characterized in that the user interface element (30) comprises one or more self-gripping strips (70), in particular of Velcro type, to allow its positioning at different places.

29. Device according to any one of claims 19 to 28, characterized in that the user interface element (30) comprises wireless communication means with the rest of the device (1), in particular the electronic control system. (29) of the device (1).

30. Device according to any one of the preceding claims, characterized in that it comprises an embedded box (43), fixed on the first part (5) forming an orthosis of the hand (3), in which is integrated at least said at least one actuator (10, 11).

31. Device according to claim 30, characterized in that the embedded box (43) comprises a connector (44), including a jack type jack for connection to a user interface element (30).

32. Device according to claim 30 or 31 and according to the claims

17 and 18, characterized in that said at least one actuator (10, 11), the power source (28) and the electronic control system (29) are integrated in the onboard housing (43).

33. Device according to any one of the preceding claims, characterized in that the second part (6) forming a fastening element to be placed around the thumb (2) comprises self-gripping fastening strips (48a, 48b), in particular of the Velcro type, and in that the first ends (7a, 8a) of the first (7) and second (8) flexible connection elements also comprise self-gripping fastening strips (49a, 49b), in particular of the Velcro type , cooperating with the self-gripping fastening strips (48a, 48b) of the second part (6) to allow the attachment of the first ends (7a, 8a) of the first (7) and second (8) flexible connecting elements to the second part (6).

34. Device according to any one of the preceding claims, characterized in that the second part (6) forming a fastening element to be placed around the thumb (2) comprises a pressure sensor element (50).

35. Device according to any one of the preceding claims, characterized in that the second part (6) forming a fastening element to be placed around the thumb (2) comprises a temperature sensing element (51).

36. Assembly (24) comprising:

a device (1) according to any one of the preceding claims, and

- a positioning base (23) for receiving the device (1) in case of non-use for assistance in gripping the thumb (2) of the hand (3).

37. The assembly of claim 36, characterized in that the positioning base (23) comprises at least two threading tabs (25), adapted to come into contact with the second part (6) on either side of it and to allow a maintenance in position of the second part (6) when a disabled person introduces his thumb in the second part (6).

38. An assembly according to claim 36 or 37, characterized in that the positioning base (23) comprises at least two tear-off tabs (26), able to come into contact with the second part (6) on both sides. other of the latter and to hold the second part (6) on the positioning base (23) when a handicapped person removes his thumb from the second part (6).

39. An assembly according to claims 37 and 38, characterized in that the second portion (6) of the device (1) comprises a lug adapted to be threaded between said at least two threading tabs (25) and two tear-off tabs. (26).

40. An assembly according to any one of claims 36 to 39, characterized in that the positioning base (23) comprises a power source (27) adapted to allow recharging of the device (1) when in place on the positioning base (23).