IT202000016207A1 - “PROSTHETIC HAND WITH SEMI-AUTONOMOUS CONTROL SYSTEM AND TRAINING SYSTEM“ - Google Patents

Description

TITLE

?PROSTHETIC HAND WITH SEMI-AUTONOMOUS CONTROL SYSTEM AND TRAINING SYSTEM?

DESCRIPTION

Field of application of the invention

The present invention generally relates to the field of transradial prostheses. In particular, the present invention relates to a prosthetic hand having a semi-autonomous control system and a training system.

State of the art

Numerous studies have been carried out in recent years in order to provide an anthropomorphic prosthesis to people who have undergone a transradial amputation of the arm.

Various transradial prostheses are currently known, for example, active transradial prostheses with myoelectric activation are known. In particular, prosthetic hands are known capable of simulating the movements of a human hand, more precisely the gripping movements of a human hand.

As known, the human hand ? able to perform a large number of gripping movements by adapting to the surface of the object to be gripped. To simulate such movements, prosthetic hands are known which use a large number of joints driven by a large number of actuators, for example, a motor to move two phalanxes.

Disadvantageously, a large number of motors and respective connection cables cause the weight of the prosthetic hand to increase.

The Applicant has also noted that the known prosthetic hands have numerous rigid parts rigidly connected to each other which, on the one hand allow precise control of the movement, on the other hand they require a large number of actuators to create efficient gripping configurations causing the increased weight of the prosthetic hand itself. In addition, rigid parts that are rigidly connected are more prone to damage from accidental impact during use.

Has the Applicant noted that the control of rigid hands with a high number of motors ? complex resulting in a complication of the control interface and a workload that is often too high for the user. Disadvantageously, the aforementioned reasons, in addition to mechanical failures and high repair and/or replacement costs, are among the main reasons for the abandonment of transradial prostheses themselves.

Alternatively, ? known to use under-actuated prosthetic hands.

In particular, such under-actuated prostheses have fewer actuators than the number of joints. For example, under-actuated prostheses equipped with nineteen joints driven by three motors are known. Such prosthetic hands weigh less than 600 g. The implementation systems pi? popular for under-actuated prosthetic hands are based, for example, on elastic cord connections (artificial tendons); mechanical gear connections and hydraulic connections.

Disadvantageously, under-actuated prosthetic hands are unable to simulate the different gripping motions of a human hand.

Summary of the invention

Has the Applicant noticed that ? desirable to provide a transradial prosthesis which overcomes the above problems.

In particular, the Applicant has faced the problem of providing a prosthetic hand equipped with an active stiffness system which allows to adjust the mechanical stiffness of a plurality of of fingers of the prosthesis depending on the need? and/or the gripping movement to be performed.

Furthermore, the Applicant has faced the problem of providing an improved prosthetic hand equipped with an intuitive control system based on semi-autonomous movements of the prosthetic hand itself.

Furthermore, the Applicant has faced the problem of providing a simulator for patient training.

? object of the present invention to provide a prosthetic hand comprising:

- a frame comprising a plurality? of locations;

- a plurality? of fingers, each finger extending from a respective location;

- an actuation system including:

- a plurality? of tendons;

- an actuation motor;

in which each elastic tendon ? arranged longitudinally along a respective finger.

Each elastic tendon being equipped with a first end? and a second end?; each first end? of each elastic tendon being associated with said actuation motor; each second end? of each elastic tendon being engaged to a respective distal element of a respective finger;

- a rigidity control system? comprising:

- a plurality? of elastic ligaments;

- a pre-tensioning motor;

in which each elastic ligament ? equipped with a first end? and a second end?;

wherein a number N of elastic ligaments are associated with said pretensioning motor by means of a respective first end;

in which the respective second extremity? at least two elastic ligaments? engaged to a respective distal element of a respective finger;

wherein a number M of elastic ligaments are engaged to said frame by means of a respective first end;

- a memory in which are stored a plurality? of preset movements;

- an interface comprising at least one sensor, said sensor being able to be associated with a user's muscle and configured to generate a respective signal;

- a unit? controller, connected to this interface and configured for:

- selecting one of said preset movements as a function of at least one signal;

- piloting said actuation motor and said pre-tensioning motor as a function of said plurality? of preset movements.

A further object of the present invention ? provide a method of checking a prosthetic hand including:

- preparing a prosthetic hand according to the present invention;

- start a selection phase, in which the said unit? control reads a command signal and selects a preset movement as a function of said command signal;

- start a gripping phase including:

- a phase of pre-tension, in which said unit? control activates said pre-tensioning motor by varying the elastic constant k of each elastic ligament associated with said pre-tensioning motor as a function of the selected preset movement;

- a phase of actuation closing of the fingers, in which said unit? control activates said actuation motor as a function of said selected preset movement.

Preferably, said providing a prosthetic hand comprises:

- memorize a plurality? of pre-set movements in said memory, - associating at least two pre-set movements with a command signal; in which in this phase of selection, said unit? control reads a command signal and selects a preset movement as a function of said command signal and said proximity signal.

A further object of the present invention ? provide a training system including:

- a computer;

- a display device;

- at least one training sensor suitable for being placed on a user's arm and generating an electromyographic signal according to the activity? muscle of said arm;

in which said processor ? configured for:

- display a virtual environment on the display device;

- reproducing in said virtual environment a prosthetic hand according to embodiments of the present invention;

- reproducing at least one virtual object in said virtual environment;

- simulating in said virtual environment a pre-set movement of said prosthetic hand as a function of said electromyographic signal;

- showing in said display device the interaction of said prosthetic hand with said at least one virtual object as a function of the simulated preset movement.

Brief description of the figures

Will the present invention result? more clear from the following detailed description, to be read with reference to the attached drawings provided by way of example and not as a limitation, in which:

- Figure 1 ? a partial perspective view of a prosthetic hand according to an embodiment of the present invention, in which some elements are removed for clarity;

- Figure 2 ? a further partial perspective view of the prosthetic hand of Figure 1;

Figure 3a shows in detail a finger of the prosthetic hand of Figure 1 according to the present invention;

- Figures 3b shows in detail a portion of the finger of Figure 2a;

Figure 3c shows in detail a finger element of Figure 2a according to an embodiment of the present invention;

- Figure 4 ? an exemplary diagram of the prosthetic hand according to embodiments of the present invention;

- Figure 5 ? an exemplary diagram showing a movement performed by a finger of the prosthetic hand according to embodiments of the present invention;

- Figure 6 ? a block diagram showing the operation of a prosthetic hand according to the present invention;

- Figure 7 ? a flowchart of the method of activating a prosthetic hand according to the present invention;

- Figure 8 ? a flowchart showing a method of gripping a prosthetic hand according to the present invention;

- Figures 9a-9i show some examples of preset movements of the prosthetic hand according to the present invention;

- Figure 10 shows a block diagram of a simulator suitable for patient training.

In the attached Figures the elements which are substantially the same and/or perform substantially the same functions are indicated with the same reference number.

Detailed description of examples of implementation

In the following, with reference initially to Figures 1, 2 and 5, ? disclosed a prosthetic hand 100 according to the present invention.

Prosthetic Hand 100 includes:

- a frame 101;

- a plurality? of fingers 10a, 10b, 10c, ?, 10e;

- an actuation system 20;

- a rigidity control system? 30.

Preferably, the frame 101 has a substantially flat shape. Preferably, the 101 frame? made with a plastic material by means of 3D printing techniques.

The frame 101 comprises a plurality of locations 102a, 102b, 102c, ..., 102e. Preferably, each seat 102a, 102b, 102c, ..., 102e ? associated with a respective finger 10a, 10b, 10c, ?, 10e.

In other words, the number of locations ? equal to the number of fingers.

For example, as shown in Figure 1, the frame 101 comprises five seats 102a, 102b, 102c, 102d, 102e associated with a respective finger 10a, 10b, 10c, 10d, 10e. In other words, each finger 10a, 10b, ?, 10e extends from a respective seat 102a, 102b, ?, 102e.

Preferably, each finger 10a, 10b, ?, 10e - associated with the respective seat 102a, 102b, ?, 102e - ? basically arranged like the fingers of a human hand. In other words, with reference to Figure 1 , the prosthetic hand 100 comprises a "thumb" finger 10a, an "index" finger 10b, a "middle" finger 10c, a "ring" finger 10d and a "little finger" 10e.

Preferably, the 10th thumb ? associated with a rotatable seat 102a.

Preferably, the rotatable seat 102a is integrally engaged with a rotation shaft. The shaft of rotation? associated with a feed motor 121. For example, operating the feed motor 121 causes the rotation shaft to rotate around its own longitudinal axis causing a feed movement of the thumb 10a.

For reasons of clarity hereinafter, as shown in Figure 3a, a finger 10a, 10b, ?, 10e of the prosthetic hand 100 and the respective seat 102a, 102b, ?102e will be indicated respectively by the reference numbers 10i and 102i.

As visible in Figure 3a, the finger 10i preferably comprises a proximal element 11i, a central element 12i and a distal element 13i.

Preferably, the proximal element 11i, the central element 12i and the distal element 13i of a respective finger 10i are disjointed.

Preferably, the proximal element 11i, the central element 12i and the distal element 13i are made of plastic material by means of 3D printing techniques.

The actuation system 20 comprises a plurality of elastic tendons 21a, 21b, 21c, 21d, 21e. Preferably, each elastic tendon 21a, 21b, ?, 21e ? equipped with a first end? and a second end? (Figure 1).

According to the present invention, the actuation system 20 comprises an actuation motor 22.

Preferably, the actuation engine 22 ? arranged on a surface of the frame 101.

This implementation engine 22 ? associated with each first end? of each elastic tendon 21a, 21b, ?, 21e. For example, a spool? splined on an output shaft of the motor of actuation 22 itself and the first extremity? of each elastic tendon 21a, 21b, ?, 21e ? committed to this spool.

By operating the actuation motor 22, each elastic tendon 21a, 21b, ?, 21e ? wound on or unwound from the spool.

Each finger 10a, 10b, ..., 10e ? associated with the actuation system 20. In particular, each finger 10a, 10b, ..., 10e ? connected to the second end? of a respective elastic tendon 21a, 21b, ?, 21e.

Preferably, the elastic tendon 21a associated with the thumb 10a is connected, through the respective first end, to a dedicated actuation motor 22a. Preferably, the dedicated 22a actuation engine ? positioned on a surface of the frame 101.

Preferably, each elastic tendon 21a, 21b, ?, 21e, associated with a respective finger 10a, 10b, ..., 10e, extends longitudinally through said finger 10a, 10b, ..., 10e.

In the following, with reference to Figures 3a and 3b, an elastic tendon 21a, 21b, ?, 21e will be denoted by the reference number 21i for the sake of clarity.

As shown in Figure 3a , when each finger 10i comprises the proximal element 11i, the central element 12i and the distal element 13i, the respective elastic tendon 21i longitudinally crosses the proximal element 11i, longitudinally crosses the central element 12i and ? inserted into the distal element 13i.

Preferably, the second end? of the elastic tendon 21i ? locked inside the distal element 13i, for example in an opening 13i', by means of a glue or a knot.

Will you notice? therefore that, by operating the actuation motor 22 ? possible to loosen or pull each elastic tendon, 21b, ?, 21e associated therewith. In particular, by operating the actuation motor 22 and/or the dedicated actuation motor 22a, ? possible to pull or loosen the respective elastic tendons 21a, 21b, ?, 21e.

As mentioned above, the prosthetic hand 100 includes a stiffness control system. 30.

As shown in Figure 4, the stiffness control system? 30 includes a plurality? of elastic ligaments 31a', 31a'', 31b', 31b'', ?, 31e', 31e''. Each elastic ligament 31a', 31a'', 31b', 31b'', ?, 31e', 31e'' ? equipped with a first end? and a second end?.

According to the present invention, the stiffness control system? 30 includes a pre-tension motor 32 ( Figure 4 ).

As shown in Figures 3a and 3b, for reasons of clarity, the reference numbers 31i' and 31i'' indicate the elastic ligaments associated with a respective finger 10i.

Preferably, the respective second extremity? of at least two elastic ligaments 31i', 31i'' ? associated with a respective 10i finger. In particular, the respective second extremity? of at least two elastic ligaments 31i', 31i'' ? engaged to a respective distal element 13i of a respective finger 10i.

Preferably, each elastic ligament 31i', 31i'', associated with a respective finger 10i, extends longitudinally through said finger 10i.

In particular, as visible in Figure 3a, when the finger 10i comprises the proximal element 11i, the central element 12i and the distal element 13i, each elastic ligament 31i', 31i'' longitudinally crosses the proximal element 11i, crosses longitudinally the central element 12i and ? inserted into the distal element 13i. Preferably, the second end? of each elastic ligament 31i', 31i'' ? locked inside the distal element 13i, for example in a respective locking opening 13'', by means of a glue or a knot.

Preferably, the at least two elastic ligaments 31i', 31i'' are parallel to each other. Advantageously, the at least two elastic ligaments 31i', 31i'' do not allow rotation about the longitudinal axis of the elements of the finger 10i.

Preferably, a number N of elastic ligaments ? associated with the pretensioning motor 32 by means of a respective first end.

Preferably, a number M of elastic ligaments ? engaged to said frame 101 by means of a respective first end.

Preferably, the at least two elastic ligaments 31a', 31a'' of the "thumb" finger 10a and the at least two elastic ligaments 31b', 31b'' of the "index" finger 10b are associated with the pre-tensioning motor 32.

even more preferably, the at least two elastic ligaments 31a', 31a'' of the thumb 10a, the at least two elastic ligaments 31b', 31b'' of the index finger 10b and the at least two elastic ligaments 31c', 31c'' of the middle finger 10c are associated with the pre-tension motor 32.

Alternatively, each elastic ligament 31a', 31a'', 31b', 31b'', ?, 31e', 31e'' ? associated with the pre-tensioning motor 32 by means of a respective first end.

For example, with reference to Figure 3a and Figure 3c, considering two elastic ligaments 31i', 31i'' associated with a respective finger 10i, the proximal element 11i ? provided with two longitudinal holes 11'. In each hole 11' longitudinal ? inserted a respective elastic ligament 31i', 31i''. Once the elastic ligaments 31i', 31i'' have been inserted into the respective holes 11', ? possible to slide the proximal element 11i towards the respective seat 102i. Preferably, the proximal element 11i is positioned, along the elastic ligaments 31i associated therewith, in such a way that a first surface of the proximal element 11i is in contact with an outer surface of the respective seat 102i.

The central element 12i ? fitted with two 12' longitudinal holes. Once the central element 12i has been positioned, in each longitudinal hole 12' ? inserted a respective elastic ligament 31i', 31i''. Once the elastic ligaments 31i', 31i'' have been inserted in the respective hole 12', ? It is possible to slide the central element 12i over them in such a way that a first surface of the central element 12i is in contact with a second surface of the proximal element 11i.

The distal element 13i ? equipped with two 13'' locking openings suitable for receiving the second end? of a respective elastic ligament 31i', 31i''.

Preferably, each elastic ligament 31i', 31i'' ? locked such that a lower surface of the distal member 13i contacts a second surface of the central member 12i.

In other words, each elastic ligament 31i', 31i'' ? placed under tension with an elastic constant k such as to maintain contact between:

- external surface of the seat 102i and first surface of the proximal element 11i;

- second surface of the proximal element 11i and first surface of the central element 12i;

- second surface of the central element 12i and lower surface of the distal element 13i.

maintaining the respective finger 10i in a substantially straight configuration. As shown in Figure 3b, each pair of contacting surfaces S1, S2; each elastic ligament 31i', 31i'' and the elastic tendon 21i form a respective joint.

In particular, each finger 10i, associated with the respective seat 102i ? equipped with: - a first articulation 130a (which corresponds to the pair: outer surface of the seat 102i - first surface of the proximal element 11i);

- a second joint 130b (which corresponds to the pair: second surface of the proximal element 11i - first surface of the central element 12i);

- a third articulation 130c (which corresponds to the pair: second surface of the central element 12i - lower surface of the distal element 13i).

Preferably, the contacting surfaces S1, S2 of each joint 130a, 130b, 130c are free to rotate about each other.

Preferably, the proximal element, the central element and the distal element have a substantially trapezoidal shape having rounded edges and the oblique sides have a respective support base.

It should be noted that, by activating the pre-tensioning motor 32, a number N of elastic ligaments ? wound onto or unwound from the respective spool, causing an increase or decrease in the elastic constant kv of each elastic ligament 31i', 31i'' associated therewith, determining the adjustment of the stiffness of the joints 130a, 130c. It should therefore be noted that, by connecting each elastic ligament to this pre-tensioning motor 32 ? it is possible to vary the stiffness of all the joints 130a, 130b, 130c of each finger 10i of the hand.

Conversely, the number M of elastic ligaments engaged in the frame 101 have a constant elastic constant kc.

As shown in Figure 5, you will notice furthermore, by acting on the elastic tendon 21i associated with a respective finger 10i, the closing movement of each joint 130a, 130b, 130c of this finger 10i is activated. For example, by operating the actuation motor 21, each elastic tendon 21b, 21c, ?, 21e associated therewith? wound on the spool of the actuation motor 21 and therefore ? pulled causing the closing movement of the respective fingers 10b, 10c, ?, 10e.

Preferably, the "thumb" finger 10a and the "index" finger 10b are equipped with a respective pressure sensor 15.

Alternatively, as shown in Figure 1 , each finger 10a, 10b, ?, 10e ? equipped with a respective pressure sensor 15a, 15b, ?, 15e. Each pressure sensor being configured to generate a respective pressure signal FSa, FSb, FSc, ?, FSe.

For reasons of clarity below, a respective pressure signal FSa, FSb, FSc, ?, FSe will be? indicated with the reference number FSi.

In the following, with reference to Figure 3c, a pressure sensor associated with a generic finger 10i of the prosthetic hand 100 ? denoted by the reference number 15i.

Preferably, the 15i pressure sensor? an optical pressure sensor. In particular, the 15i optical pressure sensor ? equipped with a 15i' silicone deformable surface, a 15i'' rigid grille and a plurality? of photodetectors 15i'''. The optical pressure sensor 15i generates a pressure signal FSi when the deformable silicone surface 15i' is deformed due to contact with an object.

Preferably, the 15i pressure sensor? positioned on the 13i distal element. Preferably, the 15i pressure sensor? positioned on the distal member 13i in a position substantially similar to the position of the pad of a human finger.

The optical pressure sensors are known, therefore it will not come? a detailed description of them is provided below.

Preferably, the prosthetic hand 100 comprises a proximity sensor? 180. Preferably, the proximity sensor? ? positioned in correspondence with the palm of the prosthetic hand 100. Preferably, this proximity sensor? 180 ? positioned on the palm of the prosthetic hand 100, in correspondence with the seat 102i of a finger 10i.

Preferably, the proximity sensor? 180 generates a proximity signal? PS. Preferably, the proximity sensor? 180 ? an optical sensor. The proximity signal? PS? generated as a function of an object positioned in front of this proximity sensor? 180 optical.

Proximity sensors? opticians are known, therefore it will not come? detailed description is provided below.

As shown in Figure 6 , according to embodiments of the present invention the prosthetic hand 100 comprises a unit of control 200.

Preferably, the unit? of control 200 ? positioned on frame 101.

The unit? of control 200 ? configured to drive each connected motor and it.

Preferably, the actuation engine 22 ? connected to the unit? of control 200.

Preferably, the dedicated actuation engine 22a ? connected to the unit? of control 200.

Preferably, the adduction motor 121 ? connected to the unit? of control 200. Preferably, the tensioning motor 32 is connected to the unit? of control 200.

According to the present invention, the prosthetic hand 100 comprises an interface 201.

The unit? of control 200 ? connected to interface 201.

Preferably, the interface 201 comprises at least one sensor 202 suitable for being associated with a user's muscle and ? configured for:

- reading at least one signal SM generated by the at least one sensor 202 associated with a user's muscle;

- send a CS command signal to the unit? of control 200, the command signal CS ? generated according to the SM signal generated by that user. Preferably, the 201 interface ? an electromyographic interface. In particular, the electromyographic interface 201 ? configured for:

- reading at least one electromyographic signal SM_EMG generated by at least one electromyographic sensor 202 positioned on a muscle of a user's arm;

- send a command signal CS, generated according to at least one electromyographic signal SM_EMG, to the unit? of control 200.

According to the present invention, the unit? of control 200 ? programmed to operate each motor connected to it according to the command signal CS received from the interface 201.

Preferably, the unit? of control 200 ? programmed to operate each motor connected thereto according to the control signal CS and at least one pressure signal FS received from a respective pressure sensor 15i.

Preferably, the unit? of control 200 ? programmed to operate each motor connected to it according to the command signal CS, at least one pressure signal FS and/or the proximity signal? PS.

The prosthetic hand 100 comprises a memory 400. Preferably, the memory 400 is a programmable memory. In memory 400 are stored the instructions that allow the unit? control 200 to drive the actuation motor 22 and/or the dedicated actuation motor 22a and/or the tensioning motor and/or the adduction motor 121 so as to cause the prosthetic hand 100 to perform a plurality of of preset movements.

For example, memory 400 contains instructions for performing the following preset moves:

- starting position, in which each finger 10i of the prosthetic hand 100 ? substantially in the open position (Figure 9a);

- cylindrical grip with opposing thumb, wherein each finger 10i of the prosthetic hand 100 ? closed (Figure 9b);

- cylindrical grip with extended thumb, in which the index finger, middle finger, ring finger and middle finger are closed; the thumb? kept in the starting position (Figure 9c);

- precision spherical socket, in which each finger 10i of the prosthetic hand 100 ? closed (Figure 9d);

- spherical power socket, in which each finger 10i of the prosthetic hand 100 ? closed (Figure 9e);

- pincer grip, in which the thumb, index finger and middle finger of the prosthetic hand 100 are closed (Figure 9f);

- three-finger grip, in which the thumb, index finger and middle finger of the prosthetic hand 100 are closed ( Figure 9g ).

It should also be noted that the prosthetic hand 100, when performing a three-finger gripping movement, allows for manipulation of the gripped object. For example, with reference to Figures 9h and 9i, the prosthetic hand 100, by means of the rotatable seat 102a (associated with the adduction motor 121) engaged with the thumb 10a, allows to perform a clockwise/counterclockwise manipulation. In particular, such clockwise/counterclockwise manipulation ? performed by operating the feed motor 121 which in turn drives the feed movement of the thumb 10a.

Preferably, for each preset movement the following are stored:

- an identification key that uniquely identifies a pre-set movement;

- an identification signal field, which associates the pre-set movement with a command signal CS;

- a motor field to be activated, which identifies the motors to be activated to perform the pre-set movement;

- a thumb adduction field, which indicates whether or not to activate the adduction motor 121.

Preferably, for each preset movement the following are also stored:

- a proximity field? which indicates the value of the signal proximity? PS associated with the respective preset movement; and/or

- a pressure field to be exerted, which indicates the value of the minimum and/or maximum pressure signal FS associated with the respective preset movement.

It should be noted that, according to the present invention, preferably, at least the opening movement in the direction of extension of the fingers (i.e., the return of the prosthetic hand 100 to the starting position of Figure 9a) and the closing movement in the direction of flexion of the fingers (i.e., the movement of the prosthetic hand 100 when performing any of the gripping movements described above) are associated with a single user-generated SM_EMG electromyographic signal.

As anticipated above, the command signals CS are generated as a function of the at least one electromyographic signal SM_EMG.

Preferably, each preset movement ? associated with a single command signal CS generated according to:

- of the at least one SM_EMG electromyographic signal;

- of the at least one pressure signal FS.

even more preferably, each preset movement ? associated with a single command signal CS generated according to:

- of the at least one SM_EMG electromyographic signal;

- of the at least one pressure signal FS; And

- of the proximity signal? PS.

With reference to Figure 7, ? disclosed a control method for driving the prosthetic hand 100.

The unit? control 200 starts a selection phase 700.

The selection phase 700 comprises a waiting phase 701 in which the unit? controller 200 waits to receive a command signal CS from interface 201. Once the command signal CS has been received, the unit? of control 200 starts a signal reading phase 702. The signal reading step 702 comprises:

- a first reading phase 702a, in which the unit? of control 200 reads the value of the command signal CS; And

- a second verification phase 702b, in which the unit? of control 200 checks if the command signal Cs ? a signal associated with a preset movement.

In particular, in phase 702b, the unit? control 200 verifies whether the command signal CS corresponds to a preset movement stored in the memory 400, for example, by means of the signal field identifying each preset movement.

If at phase 702b it doesn't ? identified no preset movement, the unit? of control 200 returns to the phase 700. If to the phase 702b ? identified a preset movement, this preset movement ? identified as conformal movement.

In other words, the unit? controller 200 selects a single preset movement as a function of the command signal CS.

Alternatively, at step 702b, the unit? control 200 checks whether the command signal CS corresponds to at least one preset movement stored in the memory 400, for example, by means of the signal field identifying each preset movement.

If at phase 702b it doesn't ? identified no preset movement, the unit? of control 200 returns to the phase 701. If to the phase 702b are identified a plurality? of preset motions, each preset motion ? identified as conformal movement.

Preferably, at the end of phase 702b, the unit? of control 200 starts a phase 703 of reading proximity signal? PS.

At stage 703, the unit? of control 200 reads the signal of proximity? PS generated by the proximity sensor? 180 and starts a step 704 for selecting conformal movement.

Preferably, at step 704, the unit? control knob 200 selects a single preset movement among the plurality? of compliant movements, identified in step 703, as a function of the proximity signal? PS (step 704).

In other words, preferably, the unit? controller 200 selects a single preset movement as a function of both the command signal CS and as a function of the proximity signal? PS.

At the end of phase 704, the unit? control 200 initiates a gripping phase 900. Referring to Figure 8 , during the gripping phase 900, the unit? of control 200 executes, preferably, one or more? of the following sub-phases:

- phase 901 of pre-tension, in which the unit? control 200 activates the pre-tensioning motor 32 by varying the elastic constant k of each elastic ligament 31i', 31i'' associated with the pre-tensioning motor 32 as a function of the pre-set movement selected at step 704;

- phase 902 of actuation closing of the fingers, in which the unit? control 200 activates the actuation motor 22 and/or the dedicated actuation motor 22a and/or the feed motor 121 according to the preset movement selected at step 704;

- phase 903 of verification taken, in which the unit? of control 200 waits to read at least one pressure signal FSi and checks if the at least one pressure signal FSi read ? conforming to the preset motion selected at step 704 (step 903b). For example, the unit of control 200 checks if the at least one pressure signal FSi ? less than or greater than the value of the pressure range to be exerted associated with the preset movement selected in step 704.

Preferably, at the end of step 903b, if the pressure signal FSi read? conforming to the preset movement selected in step 704, the unit? of control 200 starts a movement blocking phase 906.

Preferably, at the block movement step 906 the unit? control 200 blocks the pre-tensioning motor 32 and/or the actuation motor 22 and/or the dedicated actuation motor 22a and/or the feed motor 121.

Preferably, as anticipated above, the memory 400 ? programmable.

According to a further aspect, the present invention provides a training system 500.

Referring to Figure 10 , the 500 training system includes:

- a processor 501;

- a display device 502;

- at least one training sensor 503a, 503b, 503c.

The 501 processor ? configured to reproduce in a virtual environment the prosthetic hand 100 as described above and display this virtual environment on the display device 502.

The at least one training sensor 503a, 503b, 503c ? suitable to be placed on the arm of a user and detect the activity? user's arm muscle. Preferably, such at least one training sensor 503a, 503b, 503c ? equal to the sensor 202 of the interface 201 of the prosthetic hand 100. For example, the training sensor 503a, 503b, 503c ? an electromyography sensor.

For example, in the case of an EMG training sensor, is this sensor? suitable for detecting the activity? muscle electrical energy of the user's forearm.

Each training EMG sensor 503a, 503b, 503c ? connected to the 500 computer.

The processor 500 is input at least one signal generated by the at least one training sensor 503a, 503b, 503c. For example, the processor 500 receives at least one electromyographic signal SM_EMGa, SM_EMGb, SM_EMGc generated by at least one training sensor 503a, 503b, 503c as a function of the activity? electrical muscle of the user.

The 500 computer? configured to reproduce a set of objects in the virtual environment. For example, with reference to Figures 9a-9i, the computer 500 reproduces in the virtual environment at least one object chosen from among:

- a cylindrical body 1, for example, a glass;

- a spherical body 2, for example a ball;

- a disk 3, 5;

- a pencil 4.

The processor 500, once an object has been reproduced in the virtual environment, waits to receive at least one training electromyographic signal 503a, 503b, 503c generated by the contraction of a muscle in the user's arm. Subsequently, the computer 500 simulates in the virtual environment the preset movement associated with the received electromyographic signal and shows in the display device 502 the interaction of the virtual prosthetic hand 100 with the virtual object.

Preferably, the processor 500 is configured to simulate the pressure values exerted by at least one finger 10i of the virtual prosthetic hand 100 (i.e., a value proportional to the pressure signal FSi) and/or the distance between the palm of the virtual prosthetic hand 100 and the virtual object (i.e. , a value proportional to the proximity signal PS) and display them on the display device 502.

Preferably, the processor 500 simulates in the virtual environment the preset movement associated with the received electromyographic signal SM_EMGa, SM_EMGb, SM_EMGc and shows in the display device 502 the interaction of the virtual prosthetic hand 100 with the virtual object as a function of the pressure signal FSi simulated.

Preferably, the processor 500 simulates in the virtual environment the preset movement associated with the received electromyographic signal SM_EMGa, SM_EMGb, SM_EMGc and shows in the display device 502 the interaction of the virtual prosthetic hand 100 with the virtual object as a function of the proximity signal ? PS simulated.

even more preferably, the processor 500 simulates in the virtual environment the preset movement associated with the received electromyographic signal SM_EMGa, SM_EMGb, SM_EMGc and shows in the display device 502 the interaction of the virtual prosthetic hand 100 with the virtual object as a function of the proximity signal ? Simulated PS and the simulated FSi pressure signal.

Preferably, one or more objects are reproduced in the virtual environment in sequence.

Note that, reproducing in the virtual environment pi? objects in sequence, ? It is possible to check which electromyographic signals SM_EMGa, SM_EMGb, SM_EMGc are generated by the patient and consequently configure the interface 201 of the prosthetic hand 100 by associating the command signals CS to these electromyographic signals SM_EMGa, SM_EMGb, SM_EMGc.

The present invention has important advantages.

Advantageously, the prosthetic hand 100 makes it possible to obtain dexterous manipulation with a limited number of motors.

Advantageously, the prosthetic hand 100, thanks to the absence of mechanical elements in the joints 130a, 130b, 130c of each finger 10i, ? a low cost device.

Advantageously, by means of both the proximity sensor? 180 and of the pressure sensors 15i, the prosthetic hand 100 allows to implement a semi-autonomous control of the gripping movements, significantly reducing the effort of the user. Note that, the 100 prosthetic hand can? perform a number of gripping movements (for example, cylinder gripping and pincer gripping) actuated by means of the same electromyographic signal. The selection between different gripping movements activated by means of the same electromyographic signal? performed by means of the pressure sensors 15i and/or the proximity sensor? 180.

Advantageously, by means of the rigidity control system? 30 - in particular, of the elastic ligaments 31i', 31i'' of each finger driven by the pre-tensioning motor 32 - ? is it possible to vary the stiffness? of each finger 10i allowing to perform the gripping movements described above effectively.

Advantageously, the prosthetic hand allows the pre-set movements stored in the memory 400 to be programmed, in this way ? It is possible to customize the prosthetic hand according to the needs of the user.

Advantageously, by means of the training system (associated with the prosthetic hand 100) which reproduces the real movements and the real interactions with the object in terms of movements and interaction forces, the user can? familiarize yourself with the customized control system using a virtual prosthesis and a pre-set training program.

Advantageously, the virtual training system makes it possible to overcome the problems associated with autonomous control. In particular, the training system allows for guided patient training so that is able to use the Prosthetic Hand 100 optimally.

Claims (10)

1. A prosthetic hand (100) comprising: - a frame (101) comprising a plurality of seats (102a, 102b, ?, 102e); - a plurality? of fingers (10a, 10b, ?, 10e), each finger (10a, 10b, ?, 10e) extending from a respective location (102a, 102b, ?, 102e); - an actuation system (20) comprising: - a plurality? of tendons (21a, 21b, ?, 21e); - an actuation motor (22); in which each elastic tendon (21i) ? arranged longitudinally along a respective finger 10i; each elastic tendon (21i) being equipped with a first end? and a second end?; each first end? of each elastic tendon (21i) being associated with said actuation motor (22); each second end? of each elastic tendon (21i) being engaged to a respective distal element (13i) of a respective finger (10i); - a rigidity control system? (30) including: - a plurality? of elastic ligaments (31i', 31i''); - a pre-tensioning motor (32); in which each elastic ligament (31i', 31i'') ? equipped with a first end? and a second end?; wherein a number N of elastic ligaments (31i', 31i'') are associated with said pre-tensioning motor (32) by means of a respective first end; in which the respective second extremity? of at least two elastic ligaments (31i', 31i'') ? engaged to a respective distal element (13i) of a respective finger (10i); wherein a number M of elastic ligaments (31i', 31i'') are engaged to said frame (101) by means of a respective first end; - a memory (400) in which are stored a plurality? of preset movements; - an interface (201) comprising at least one sensor (202), said sensor (202) being able to be associated with a user's muscle and configured to generate a respective signal (SM); - a unit? controller (200), connected to said interface (201) and configured for: - selecting one of said preset movements as a function of at least one signal (SM); - piloting said actuation motor (22) and said pretensioning motor (32) as a function of said plurality? of preset movements. The prosthetic hand (100) according to claim 1 wherein each finger (10i) comprises: a proximal member (11i); a central member (12i) and a distal member (13i); wherein said proximal element (13i), said central element (12i) and said distal element (13i) are disjointed elements. 3. The prosthetic hand (100) according to any one of the preceding claims wherein the seat associated with the thumb (10a) is a rotatable seat (102a), said rotatable seat (102a) being associated with a feed motor (121); said unit? control (200) being configured to drive said feed motor (121). 4. The prosthetic hand (100) according to claim 3 wherein said elastic tendon (21a), associated with the thumb (10a), is associated with a dedicated actuation motor (22a); said unit? controller (200) being configured to drive said dedicated actuation motor (22a). 5. The prosthetic hand (100) according to any one of the preceding claims wherein said at least two elastic ligaments (31a', 31a'') of the thumb (10a), said at least two elastic ligaments (31b', 31b'') of the index finger (10b) and said at least two elastic ligaments (31c', 31c'') of the middle finger (10c) are associated with said pre-tensioning motor (32). 6. The prosthetic hand (100) according to any one of the preceding claims wherein said distal element (13a) of said thumb finger (10a) and said distal element (13b) of said index finger (13b) are equipped with a respective pressure (15a, 15b) configured to generate a respective pressure signal (FSa, FSb). The prosthetic hand (100) according to any one of the preceding claims wherein said prosthetic hand (100) comprises a proximity sensor? (180) configured to generate a proximity signal? (PS), said proximity sensor? (180) being positioned in correspondence with the palm of said prosthetic hand (100) 8. A method of checking a prosthetic hand including: - providing a prosthetic hand (100) according to any one of the preceding claims; - start a selection phase (700), in which said unit? control (200) reads a command signal (CS) and selects a pre-set movement as a function of said command signal (CS); - starting a gripping phase (900) comprising: - a pre-tensioning phase (901), in which said unit? control (200) activates said pre-tensioning motor (32) by varying the elastic constant k of each elastic ligament (31i', 31i'') associated with said pre-tensioning motor (32) according to the selected pre-set movement; - a phase (902) for actuating closing of the fingers, in which said unit? control (200) activates said actuation motor (22) according to said selected preset movement. The method of controlling a prosthetic hand (100) according to the preceding claim wherein said setting up a prosthetic hand (100) comprises: - memorizing a plurality of? of pre-set movements in said memory (400), - associating at least two pre-set movements with a command signal (CS); wherein in said phase (700) of selection, said unit? control (200) reads a command signal (CS) and selects a preset movement as a function of said command signal (CS) and said proximity signal? (PS). 10. A training system (500) including: - a computer (501); - a display device (502); - at least one training sensor (503a, 503b, 503c) suitable for being positioned on a user's arm and generating an electromyographic signal (SM_EMGa, SM_EMGb, SM_EMGc) as a function of the activity? muscle of said arm; wherein said computer (501) ? configured for: - displaying a virtual environment on the display device (502); - reproducing in said virtual environment a prosthetic hand (100) according to any one of claims 1 to 7; - reproducing at least one virtual object (1, 2, 3, 4, 5) in said virtual environment; - simulating in said virtual environment a pre-set movement of said prosthetic hand (100) as a function of said electromyographic signal (SM_EMGa, SM_EMGb, SM_EMGc); - showing in said display device (502) the interaction of said prosthetic hand (100) with said at least one virtual object (1, 2, 3, 4, 5) as a function of the simulated preset movement.