ES2358251A1 - Actuator device for a disabled hand - Google Patents

Abstract

The invention relates to an exoskeleton (1) formed by longitudinal series of segments (3, 5, 7, 9) hingedly connected to one another at the ends thereof by means of respective intermediate pieces (11a, 11b, 11c) in turn hingedly connected to respective raised mountings (S) attached by the bases (20) thereof to various predetermined points of each finger. The free end of the first (3) of the segments (3, 5, 7, 9) is attached to a mobile part (40) of the user. In addition, part of the segments (5, 7, 9) include a projecting push portion (E1, E2, E3) for pushing the respective finger at different points when the aforementioned mobile part (40) is moved, triggering the simultaneous movement of the segments (3, 5, 7, 9), such that the hand is directed towards a more closed position, in which the fingers retract towards the thumb, or vice-versa.

Description

Drive device for one hand disabled

Technical sector

The present invention concerns, in general, a drive device for a disabled hand, and in particular a drive device for one hand unable to be closed in particular in an operation of held by the body of an individual who possesses it.

It is characteristic of the device that proposes that the user of said device can, with the help from this, close a diseased hand to take, grab or grab from some object and then reopen it.

Prior art

There are people who for some reason determined, whether pathological, accidental or other, have affected your muscles and / or flexor / extensor nerves of your fingers so that are unable to close one of their hands, or both, what which prevents them from taking, grabbing or grabbing an object determined. An example of this is in accidents suffered by some motorists who experience a neuronal condition that it makes them impossible for the execution of said pressing movement. For To alleviate this disability, some devices are known that help actuate the hand in the sense of impossibility.

These devices include the one of the US Patent 4,167,044 describing means for operating a member of an incapacitated or artificial arm whose mechanism of control can be used either to control the operation of a artificial hand or a prosthesis attached to an incapacitated arm. Such means or device comprise, in combination: a prosthesis adapted to be secured to one hand, said prosthesis comprising a rigid thumb support portion and a flexible portion of finger support, said finger support portion having a normal flexure whereby the fingers are supported by the same and normally held in an open position with respect to the supported thumb; an elongated flexible cable element that has an end operatively secured to said support portion of the fingers to move said fingers to a closed position, in relationship with the thumb, when said cable element is operated in one direction, the other end of said element being adapted of cable to be operatively secured to a mobile portion of the body of the person; and an operationally connected mechanical control to said cable element to open said supported fingers, maintaining a fixed position of said fingers by closing them at make a simple impulse on the part of the person. Said control mechanical includes control means to block said fingers supported in a fixed closed position when it quickly loosens and instantly said cable and to relax said supported fingers to allow them to move to an open position when said cable is slowly and gradually loosened.

To achieve the described series of movements and positions, the device of US 4,167,044 in addition to the cited cable set is completed with a kind of box housed over the user's wrist, on which a series of mechanical elements such as a zipper, a ratchet and some poleítas for conduction and government of the mentioned ones cables.

The aforementioned US patent 4,167,044 thus implies a certain complexity of mechanical elements that complicate both its construction as its installation and, ultimately, its price of cost.

On the other hand, the aforementioned document does not explain clearly the mobile portion of the person's body or the type of impulse that the user must make to operate the device that the sick member will move.

Brief Explanation of the Invention

In view of what is described above appears it is necessary to offer an alternative to the state of the art, which overcome the drawbacks noted above, and in particular provide a device for a disabled hand that is simple, practical to install and effective at the same time.

For this, the present invention concerns a drive device for a disabled hand, of the type comprising means for moving, by means of an impulse from a part mobile of the user's body, one or more fingers of said hand disabled, from a first position in which the hand is partially open to a second position in which said or said fingers have folded in the direction of the thumb, for the purpose of grab or grab an object, said device comprising drive an exoskeleton applicable to the dorsal side of said hand.

Unlike conventional proposals, in the device proposed by the present invention said Exoskeleton comprises at least one longitudinal series of segments articulated with each other at some ends, at a first height with respect to the dorsal side of the finger, through respective intermediate pieces articulated in turn, through two joints, at a second height relative to the face dorsal finger, to respective raised supports fixed by its bases at different predetermined points of said finger, preferably coinciding with the knuckles, the end being free of a first of said segments fixed to said moving part, and some of the segments comprising a respective portion protruding thrust in contact with said finger, to push the same for different points when said moving part moves triggering the simultaneous movement of the transmitted segments by pivoting each of the intermediate pieces around its respective joint, so that said finger is directs to said second position, or vice versa.

An application of the device proposed by the present invention is to help a person with one hand disabled that, although I can close it in part to try take, for example, a glass, can't close it enough, or keep it in said partial closed position with sufficient force, as to be able to raise the glass without dropping it.

To that end, starting from said position partially closed in which said person has almost taken the glass, the device proposed by the present invention allows that, exercising this one small movement, for example of wrist, this one is activated so that it pushes the fingers to adopt said second position, in which the vessel is held sufficiently as to be able to raise it.

Advantageously the device proposed by the invention comprises a brake mechanism that blocks the segments when they are in said second position, to prevent the finger or fingers from moving away from the thumb, that is, so which refers to the application described in the previous paragraphs, to prevent the hand from opening by dropping the glass.

Brief description of the drawings

For a better understanding of the nature of the invention, attached sheets of drawings, by way of example non-limiting, in which:

Figure 1 represents a perspective view of the brief exoskeleton, in a position corresponding to that of An open or extended hand.

Figure 2 illustrates a view of the present device applied to a disabled hand and wrapped all of it by a glove, representing two positions: a first position with the fine line exoskeleton and corresponding to a position open or extended hand, and other device position complete corresponding to the position of the device itself with said partially closed hand.

Figure 3a is a perspective view that illustrates one of the articulation plates shown in the figures 1 and 2, mounted on a pillar-shaped support articulated, in a resting position.

And Figure 3b illustrates, also in perspective, to the plate and support of figure 3a, in an operative position where one of the segments articulated to the plate has rotated it by push.

Detailed description of the invention

According to the figures described, the device object of the invention mainly comprises an exoskeleton 1 constituted by a set formed by a series of segments 3, 5, 7, 9 for each of the index, major, ring and little fingers, which series cited for each finger consists of a first 3, a second 5, a third 7 and a corresponding fourth segment 9 respectively to the metacarpal bone, proximal phalanx, phalanx middle and distal phalanx of a corresponding finger.

According to a preferred embodiment example, each segment cited 3, 5, 7, 9 of the same finger is attached so articulated, at its ends, at a first height with respect to the dorsal side of the finger, with the next segment for one piece intermediate or articulation plate 11a, 11b, 11c. So the first segment 3 is linked to the second segment 5 by a first plate 11a, the second segment 5 is linked to the third segment 7 by a second plate 11b, and the third segment 7 is attached to the fourth segment 9 by a third plate 11c.

Each of said plates 11a to 11c is located articulated in turn, through paths 19, to a second height with respect to the dorsal side of the finger, about respective raised supports S fixed by their bases 20 a different predetermined points of each finger, in particular at knuckles

For the illustrated embodiment example the mentioned second height is higher than said first height, although for another exemplary embodiment, it may be at reverse.

All first segments 3 are linked each other, at its free or proximal end, along a transverse axis 13, fixed to the mobile part 40 (in this case an area of the forearm adjacent to the wrist), while the distal end of the fourth segments 9 is applied on the corresponding phalanx distal

Considering the aforementioned exoskeleton 1 applied to the dorsal part of a hand 30, said segments 3, 5, 7, 9 they run parallel over said bones and phalanges and the same cited segments consist essentially of rigid strips longitudinally elongated, with the particularity that the second and third segments 5 and 7 present approximately in their middle a remarkable widening or protrusion directed towards the surface dorsal of a corresponding finger, whose bump has at minus one hole 15.

These bumps constitute respective protruding thrust portions E1, E2 which, together with the thrust portion E3, are in contact with the respective finger, to push it through different points (in areas that do not coincide with the knuckles) when the moving part 40 moves triggering the simultaneous movement of segments 3, 5, 7, 9 transmitted by pivoting each of the pieces intermediate 11a, 11b, 11c around their respective articulation 19, so that said finger is directed to said second position.

The protruding thrust portions E1, E2, E3 are, for said second 5 and third 7 segments, portions intermediate E1, E2 thereof, and, for said fourth segment 9 an E3 distal end portion thereof.

It can be seen in Fig. 3a how the support S It is shaped like a pillar (illustrated in part with a broken line), each of the joints 19 comprising configurations 19a at the free end of the support S, in the form of some pins, and complementary configurations 19b, in the form of some holes, arranged close to one end of each of said intermediate pieces 11a, 11b, 11c.

According to the same embodiment example each of the plates mentioned 11a, 11b, 11c is elongated as a lug in the palmar-dorsal direction of the hand 30, in this case forming a hollow housing with two through holes 19b, one on each major face, although for another embodiment, no illustrated, the plates are solid and only have a larger face with a through hole 19b to be inserted in a corresponding pin 19a of support S.

From about the middle of a face greater than said plates extend transversely two pivots of articulation 16, 17 which are articulated in corresponding ones end holes of two consecutive segments, such as It is illustrated in Figures 3a and 3b, with respect to segments 3 and 5.

In Fig. 3a the plate 11a is illustrated in resting position with respect to the support S, and in Fig. 3b it has been illustrated once it has turned, in a clockwise direction indicated by the arrow illustrated on plate 11a, due to the thrust that has exerted on it the segment 3, which has caused the articulation pivot 16, and therefore the end of segment 5 articulated to it, has risen, causing it to move according to the direction of the arrow illustrated in Fig. 3b associated to it.

For an embodiment example the device proposed includes a glove 22 that tightly wraps around the hand 30, the bases 20 of the raised supports S being fixed to different predetermined points of a first wall 22i of said glove 22 arranged just above said different points finger defaults

For the illustrated embodiment example, said bases 20 of the raised supports S comprise holes interns 18, through which they are fixed to said points predetermined of a first wall 22i of said glove 22, each one of which rests on a corresponding knuckle, by means of conventional fixing elements or systems, for example by sewing.

While with a glove 22 that wraps only at hand 30 is sufficient to carry out the invention, the aesthetic effect of the exoskeleton being visible from the Outside may not be considered desired. That is why, for the exemplary embodiment illustrated by Fig. 2 the glove 22 wraps tightly to both, the set of exoskeleton 1 and hand 30, presenting for this a dorsal face 22d and a palmar face 22p, and said first wall 22i being an intermediate internal wall 22i which divides it into two cavities: one for the exoskeleton itself said 1 and a second cavity, formed by said inner wall 22i and the palmar face 22p of the glove 22, which wraps the hand 30 proper.

For another embodiment, not illustrated, the device proposed by the present invention does not comprise a glove, and is fixed to the fingers through another class of elements fixed to these, such as rings inserted in the fingers and positioned coinciding with said predetermined points of the fingers

It can be seen in Fig. 2 how the portions protruding thrust E1, E2, E3 are fixed to the first wall 22i of glove 22 by corresponding ones fixing elements or systems. Particularly in portions holes E1 and E2 of segments 5 and 7 define holes 15 that are fixed to corresponding points of the inner wall 22i of the glove 22, and the thrust portion E3 of the fourth segment 9, which is none other than that constituted by the free end itself or distal of this one, it has a hole 15a that serves to fix to a corresponding point of the inner wall 22i of the glove, point which rests against the dorsal face of the distal phalanx of the corresponding finger, with all of which exoskeleton 1 remains fixed to said glove 22, for example by sewing.

According to the embodiment example of Fig. 2, the hand 30 of the user in question is fitted between the wall internal 22i and the palmar face 22p of the same glove 22, forming all this, exoskeleton 1 and hand 30, a compact set. Note that thumb 24 may optionally be wrapped by it glove, although it could also be out of it for which a hole (not shown) should be made in said glove 22 to Thumb exit mentioned.

As for the transverse axis 13 that joins and string all the proximal ends of the first segments 3, it is fixed by appropriate means (not illustrated) on a movable part 40 of the forearm adjacent to the wrist of the user, which will also be wrapped by glove 22.

In use, when the user makes a movement, around the wrist-defined joint, already be out of hand 30 in the direction indicated by the arrow B indicated in Fig. 2, or part 40 of the forearm adjacent to the wrist, in the direction of arrow A (case illustrated in Fig. 2, where the initial position of the moving part 40), the moving part 40 pushes to the proximal end of the first segment 3 (in the direction indicated by the arrow illustrated in said segment 3), which, at its distal end, pushes the plate 11a that oscillates in the direction of the arrow "C", pushing the proximal end of the second segment 5 upwards (according to the hand position illustrated in Fig. 2), which makes the push portion E1 scroll down pushing the finger by the portion thereof to which it is attached. The extreme distal of the second segment 5 swings plate 11b by pushing the proximal end of the third segment 7 upwards, and therefore the push portion E2 down to push the finger part corresponding, and making the distal end of the third segment 7 pivot plate 11c in the same way, so that the room segment 9 shifts its proximal end up and its end distal to the dorsal side of the finger, pressing the portion of push E3 to the finger through its distal phalanx.

As a result of all these movements that cause the mentioned finger thrusts for different points, gets a curvature of the hand 30 that closes it towards the thumb 24, by the way to grab or grab an object (not visible). Performing a movement of the hand or forearm, around the wrist, in the opposite direction to that mentioned previously, the opening of the hand 30 and the release are achieved of the mentioned object.

For an exemplary embodiment not illustrated for which, contrary to the one illustrated, each joint 19 is arranged below the pivot pivots 16, 17, will be it is necessary to make movements of the mobile part 40 in a opposite direction to those described, to perform the same functions.

Unlike the prior art and in sight from what is described the simplicity of the present becomes evident exoskeleton 1 compared to those mechanical complications of said prior art exposed to the principle, simplicity that It makes construction easier and more economical to obtain.

A subject matter expert could introduce changes and modifications in the described embodiments, such as the fixing system of exoskeleton 1 to glove 22, but without departing from the scope of the invention as defined in the appended claims.

Claims (16)

1. Drive device for a disabled hand, of the type comprising means for moving, by an impulse from a mobile part of the user's body, at least one finger of said disabled hand, from a first position in which the hand is partially open to a second position in which at least said finger has been retracted in the direction of the thumb, or vice versa, said drive device comprising an exoskeleton applicable to the dorsal face of said hand and being characterized in that said exoskeleton (1) comprises at least a longitudinal series of segments (3, 5, 7, 9) articulated with each other by ends, at a first height with respect to the dorsal face of the finger, through respective intermediate pieces (11a, 11b, 11c) articulated to its time, through two joints (19), at a second height with respect to the dorsal face of the finger, to respective raised supports (S) fixed by their bases (20) at different points pred terminated from said finger, the free end of a first (3) of said segments (3, 5, 7, 9) fixed to said mobile part (40), and comprising at least part of the segments (5, 7, 9 ) an protruding thrust portion (E1, E2, E3) in contact with said finger, to push it through different points when said movable part (40) moves triggering the simultaneous movement of the segments (3, 5, 7, 9 ) transmitted by pivoting each of the intermediate pieces (11a, 11b, 11c) around its respective articulation (19), so that said finger is directed to said second position, or vice versa. 2. Device according to claim 1, characterized in that said second height is greater than said first height. Device according to claim 2, characterized in that said supports (S) have a pillar shape and that each of said joints (19) comprises configurations (19a) at the free end of said support (S) and complementary configurations ( 19b) arranged close to one end of each of said intermediate pieces (11a, 11b, 11c). Device according to claim 1, characterized in that said predetermined points of said finger correspond to the knuckles thereof or areas immediately thereto. Device according to any one of the preceding claims, characterized in that said exoskeleton comprises several of said longitudinal series of segments (3, 5, 7, 9), each one associated with a respective finger. Device according to any one of the preceding claims, characterized in that each longitudinal series of articulated segments consists of four successive segments: said first segment (3) that runs substantially parallel and above a respective metacarpal bone and links said mobile part ( 40) of the user's body with a second segment (5); said second segment that runs substantially parallel and above a respective proximal phalanx and links to a third segment (7); said third segment that runs substantially parallel and above a middle phalanx and links to a fourth segment (9) that runs substantially parallel and above a distal phalanx. Device according to claim 6, characterized in that said protruding thrust portions (E1, E2, E3) are, for said second (5) and third (7) segments, intermediate portions (E1, E2) thereof, and , for said fourth segment (9) a distal end portion (E3) thereof. Device according to claim 1, characterized in that said intermediate parts (11a, 11b, 11c) are respective elongated articulation plates (11a, 11b, 11c), according to a palmar-dorsal direction, extending transversely from a major face of each one of them two articulation pivots (16, 17): one to connect the distal end of the immediately preceding segment and another to connect the proximal end of the next immediate segment, through respective holes defined at said ends. Device according to any one of the preceding claims, characterized in that it comprises a glove (22) that wraps tightly at least to the hand (30), the bases (20) of the raised supports (S) being fixed at different predetermined points of a first wall (22i) of said glove (22) arranged just above said different predetermined points of the finger. Device according to claim 9, characterized in that said glove (22) tightly wraps both the exoskeleton assembly (1) and the hand (30), presenting for this a dorsal face (22d) and a palmar face (22p ), and said first wall (22i) being an intermediate internal wall (22i) that divides it into two cavities: one for the exoskeleton itself (1) and another for the hand itself properly disabled (30). Device according to claim 9 or 10, characterized in that said bases (20) of the raised supports (S) comprise through holes (18), through which they are fixed to said predetermined points of a first wall (22i) of said glove (22) by means of fixing elements or systems. 12. Device according to claim 9 or 10 when dependent on 7, characterized in that said protruding thrust portions (E1, E2, E3) are fixed to said first wall (22i) of the glove (22) by means of corresponding elements or systems Fixing. 13. Device according to claim 5, characterized in that all the first segments (3) of said longitudinal series of segments meet in a transverse axis of rotation (13) conveniently fixed to the movable part of the user's body (40). 14. Device according to claim 1 or 9, characterized in that said movable part of the user's body (40) is an area adjacent to the wrist of the disabled hand. 15. Device according to claim 1, characterized in that said segments (3, 5, 7, 9) are constituted by strips of a rigid material. 16. Device according to any of the preceding claims, characterized in that it comprises a brake mechanism that blocks said segments (3, 5, 7, 9) when they are in said second position, to prevent the finger or fingers from moving away from the thumb .