JP2002345861A - Finger motion auxiliary device - Google Patents

Finger motion auxiliary device

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Publication number
JP2002345861A
JP2002345861A JP2001160074A JP2001160074A JP2002345861A JP 2002345861 A JP2002345861 A JP 2002345861A JP 2001160074 A JP2001160074 A JP 2001160074A JP 2001160074 A JP2001160074 A JP 2001160074A JP 2002345861 A JP2002345861 A JP 2002345861A
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Prior art keywords
section
joint
arm
connecting member
knuckle
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Pending
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JP2001160074A
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Japanese (ja)
Inventor
Tsukuhide Harada
証英 原田
Original Assignee
Harada Denshi Kogyo Kk
原田電子工業株式会社
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Abstract

PROBLEM TO BE SOLVED: To provide a finger motion auxiliary device for those who unable to bend or stretch their fingers.
SOLUTION: This device has a base 1 attached to the back of a hand, a third knuckle section 3 of the fingers, the rear end of which is connected to the forward end of such base in a swinging manner, a second knuckle section 5 attached to the back of the second knuckles of the fingers, the rear end of which is connected to the forward end of such third knuckle section in a swinging manner and a first knuckle section 7 of the fingers, the rear end of which is connected to the forward end of the second knuckle section in a swinging manner via a first joint section 6. It acts in such a manner that, if an actuator 8 makes the third joint section 2 move forward, each joint bends inwardly stretching between a joint section transmission means to be rotated and both ends of the knuckle section through the joint transmission means transmitting the rotary motion of a posterior arm and an anterior arm, at the same time it bends inwardly to make the fingers bend inwardly through a joint section bending restraint means, which makes the knuckles before and behind each joint rotate to the posterior arm and the anterior arm, on the contrary, stretching the fingers when the third joint section 2 is moved backward.
COPYRIGHT: (C)2003,JPO

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【発明の属する技術分野】この発明は、手に装着されてその手の指の曲げ伸ばし動作を補助する装置に関するものである。 [Field of the Invention The present invention relates to a device for assisting in bending and stretching operations of the finger of the hand is attached to the hand.

【0002】 [0002]

【従来の技術】事故や病気等により、手の指の曲げ伸ばし動作に支障をきたしたり握力を喪失したりする場合があるが、このような場合に、従来は指の曲げ伸ばし動作を補助する方法が無く、それ故、指の曲げ伸ばし動作に支障をきたしたり握力を喪失したりした人は非常に不自由な生活を強いられることとなっていた。 2. Description of the Prior Art accident or illness, etc., there is a case or to loss of flexion and extension grip or disturbed the behavior of the fingers, in such a case, conventionally assists operation bending and stretching of a finger the method is not, therefore, a person or has lost its grip or hindered in bending and stretching operations of the finger had become that forced a very inconvenient life.

【0003】 [0003]

【発明が解決しようとする課題】この発明は、かかる不自由を解消すべく、手の指の曲げ伸ばし動作の補助や握力の付加を目的としてなされたものである。 BRIEF Problem to be Solved] The present invention, to solve such inconvenience, it has been made for the purpose of addition of auxiliary and grip strength bending and stretching operation of the fingers.

【0004】 [0004]

【課題を解決するための手段およびその作用・効果】上記課題を有利に解決したこの発明の指動作補助装置は、 Means and its functions and effects to an aspect of the finger motion assisting apparatus advantageously resolved the invention the above-mentioned problems,
手に装着されてその手の指の曲げ伸ばし動作を補助する装置であって、前記手の甲に装着される基部と、その基部の先端部に第3関節部を介して揺動可能に後端部を連結された、前記手の前記指の第3節の背に装着される第3節部と、その第3節部の先端部に第2関節部を介して揺動可能に後端部を連結された、前記手の前記指の第2 A device is attached to a hand to assist the bending and stretching operations of the finger of the hand, a base which is mounted on the back of the hand, swingably rear portion via a third joint portion to the distal end of the base portion the coupled, and a third section part which is mounted on the back of the third section of the finger of the hand, a swingably rear end through a second joint to the distal end portion of the third section part linked, second the fingers of the hand
節の背に装着される第2節部と、その第2節部の先端部に第1関節部を介して揺動可能に後端部を連結された、 A second section part which is mounted on the back of the sections are connected to swingably rear portion via a first joint to the distal end of the second knuckle section,
前記手の前記指の第1節の背に装着される第1節部と、 A first section part which is mounted on the back of the first section of the finger of the hand,
を具え、前記第3関節部が、第3連結部材と、前記基部とその第3連結部材とに両端部をそれぞれ揺動可能に連結された第3後側アームと、前記第3節部とその第3連結部材とに両端部をそれぞれ揺動可能に連結された第3 The comprises the third joint portion, and the third connecting member, the base and its third rear arm third connecting member and the opposite ends pivotably connected respectively to the third knuckle section third of the both end portions are swingably coupled to each of its third connecting member
前側アームとを有し、前記第2関節部が、第2連結部材と、前記第3節部とその第2連結部材とに両端部をそれぞれ揺動可能に連結された第2後側アームと、前記第2 And a front arm, the second joint portion, a second connecting member, and the second rear arm where the third knuckle section and the its second coupling member opposite ends being swingably coupled to each the second
節部とその第2連結部材とに両端部をそれぞれ揺動可能に連結された第2前側アームとを有し、前記第1関節部が、第1連結部材と、前記第2節部とその第1連結部材とに両端部をそれぞれ揺動可能に連結された第1後側アームと、前記第1節部とその第1連結部材とに両端部をそれぞれ揺動可能に連結された第1前側アームとを有し、前記基部に、前記第3連結部材を進退移動させるアクチュエータが配置され、前記第3関節部に、前記第3 Has a node portion and the second front arm second coupling member and the both ends of which is swingably connected respectively, the first joint portion, a first connecting member, said second knuckle section and its a first rear arm and both end portions pivotably connected respectively to the first connecting member, the said first knuckle section both ends in its first connecting member is swingably connected respectively 1 and a front arm, to the base, an actuator for advancing and retracting the third connecting member is disposed in the third joint portion, the third
後側アームと前記第3前側アームとの前記第3連結部材側の端部を互いに逆方向に回動させる第3関節部伝動手段が配置され、前記第3節部に、前記第3前側アームと前記第2後側アームとの前記第3節部側の端部を互いに逆方向に回動させる第3節部伝動手段が配置され、前記第2関節部に、前記第2後側アームと前記第2前側アームとの前記第2連結部材側の端部を互いに逆方向に回動させる第2関節部伝動手段が配置され、前記第2節部に、前記第2前側アームと前記第1後側アームとの前記第2節部側の端部を互いに逆方向に回動させる第2節部伝動手段が配置され、前記第1関節部に、前記第1後側アームと前記第1前側アームとの前記第1連結部材側の端部を互いに逆方向に回動させる第1関節部伝動手段が配置され、前記第3 Third joint portion transmission means is arranged to rotate the end portion of the third connecting member side in opposite directions between the rear arm and the third front arm, the third section part, the third front arm and the third section part transmission means for rotating in opposite directions the end of the third section end side of the second rear arm is disposed on the second joint portion, and the second rear arm second joint transmission means for rotating in opposite directions the end of the second coupling member side of the second front arm is disposed on the second knuckle section, the first and the second front arm section 2 unit transmission means for rotating in opposite directions the end of the second section part side of the rear arm is disposed, the the first joint portion, the first front and first rear arm the first joint transmission means for rotating in opposite directions to each other the ends of the first connection member side of the arm been arranged, the third 節部に、前記第3後側アームに対する前記基部の回動を減速して同一方向の回動として前記第3連結部材に伝動しその第3連結部材を前記第3後側アームに対して回動させるとともに、前記第3前側アームに対する前記第3連結部材の回動を増速して同一方向の回動として前記第3節部に伝動しその第3節部を前記第3前側アームに対して回動させる第3関節部曲り拘束手段が配置され、前記第2関節部に、前記第2後側アームに対する前記第3節部の回動を減速して同一方向の回動として前記第2連結部材に伝動しその第2連結部材を前記第2後側アームに対して回動させるとともに、前記第2前側アームに対する前記第2連結部材の回動を増速して同一方向の回動として前記第2節部に伝動しその第2節部を前記第2前側アームに対し The knuckles, the third rear decelerating the rotation of the base relative to the arm and transmitted to the third connecting member as a rotation in the same direction round the third connecting member to said third rear arm causes the movement, to said third the relative front arm 3 connecting the third section portion and the transmission thereof wherein the third knuckle section third front arm as a rotation in the same direction by accelerating the rotation of the member third joint portion bending restraining means for rotating Te been arranged, the second joint portion, the second as the rotation in the same direction by decelerating the rotation of the third section portion to the second rear arm with rotating and transmitted to the connecting member and the second coupling member relative to the second rear arm, as the rotation in the same direction by accelerating the rotation of the second coupling member relative to the second front arm the second knuckle section is transmitted to the second knuckle section relative to the second front arm 回動させる第2 The rotating 2
関節部曲り拘束手段が配置され、前記第1関節部に、前記第1後側アームに対する前記第2節部の回動を減速して同一方向の回動として前記第1連結部材に伝動しその第1連結部材を前記第1後側アームに対して回動させるとともに、前記第1前側アームに対する前記第1連結部材の回動を増速して同一方向の回動として前記第1節部に伝動しその第1節部を前記第1前側アームに対して回動させる第1関節部曲り拘束手段が配置されていることを特徴としている。 It is disposed joints bending restraining means, the first joint portion, and transmitted to the first connecting member as a rotation in the same direction by decelerating the rotation of said second knuckle section relative to the first rear arm thereof with rotating the first coupling member to the first rear arm, the first knuckle section as a rotation in the same direction by accelerating the rotation of the first coupling member relative to the first front arm It is characterized in that the first joint bending restraining means for transmission to rotate the first knuckle section relative to the first front arm is disposed.

【0005】かかる指動作補助装置にあっては、基部が手の甲に装着されるとともに、その基部の先端部に第3 [0005] In the take finger motion assisting apparatus, together with the base portion is attached to the back of the hand, the third to the distal end of the base portion
関節部を介して揺動可能に後端部を連結された第3節部がその手の少なくとも一本の指の第3節の背に装着され、その第3節部の先端部に第2関節部を介して揺動可能に後端部を連結された第2節部が手のその指の第2節の背に装着され、その第2節部の先端部に第1関節部を介して揺動可能に後端部を連結された第1節部が手のその指の第1節の背に装着される。 It mounted on the back of the third section part Section 3 of at least one finger of the hand which is connected to swingably rear end via a joint portion, the second to the distal end of the third section part section 2 part connected to swingably rear end via a joint portion is mounted on the back of the second section the finger of the hand, through a first joint portion to the distal end of the second knuckle section section 1 portion which is swingably connected to the rear end portion is attached to the back of the first section of the finger of the hand Te.

【0006】そしてその状態で、基部に配置されたアクチュエータが第3連結部材を前進移動させると、第3関節部に配置された第3関節部曲り拘束手段が第3後側アームに対する基部の回動を減速して同一方向の回動として第3連結部材に伝動しその第3連結部材を第3後側アームに対して回動させることで、第3後側アームに対し第3連結部材が回動するとそれより大きい角度分基部に対し第3後側アームが回動することから、第3連結部材の上記前進移動が第3後側アームを基部および第3連結部材の両方に対して回動させ、その第3後側アームの第3連結部材に対する回動が、第3関節部に配置された第3関節部伝動手段により逆方向の回動として第3前側アームに伝動されて、第3連結部材が指の第3節を内側に曲げる方向に回動 [0006] Then, in this state, when the actuator disposed in the base portion is moved forward a third connecting member, the third joint portion bending restraining means disposed in the third joint portion of the base with respect to the third rear arm times the third and transmission to the coupling member the third connecting member as a rotation in the same direction by decelerating the movement by rotating the third rear arm, with respect to the third rear arm third connecting member since the pivot for relative a larger angle component base portion third rear arm rotates, the forward movement of the third connecting member round the third rear arm for both the base and the third connecting member is dynamic, rotating with respect to the third connecting member of the third rear arms, are transmission as a third joint transmission means by a reverse rotation which is arranged in the third joint portion to the third front arm, the 3 the coupling member rotates in a direction of bending the third section of the finger on the inside ると同時に第3後側アームと第3前側アームとが第3連結部材に対しハの字形に開くように回動し、これにより第3関節部が指の第3関節の背に沿って伸長しつつ内側に曲がり、さらに、第3関節部に配置された第3関節部曲り拘束手段が第3前側アームに対する第3連結部材の回動を増速して同一方向の回動として第3節部に伝動しその第3節部を第3前側アームに対して回動させることで、第3前側アームに対し第3連結部材が回動するとそれより大きい角度分第3前側アームに対し第3節部が回動することから、上記第3連結部材に対する第3前側アームの開き回動が増速されて第3節部に伝動され、これにより第3節部が指の第3節を内側に曲げる。 That when rotated to open shape Ha and rear arms and the third front arm 3 is to the third linking member at the same time, thereby extending the third joint portion along the back of the third joint of the finger to turn inward while, further, section 3 as a third joint bending restraining means rotation of the third third same direction rotated by accelerating the coupling member with respect to the front arm which is arranged in the third joint portion and transmission in part the third knuckle section by rotating the third front arm and to third front arm third coupling member rotates with respect to an angle greater fraction third front arm than a third since the node portions is rotated, said third opening rotation of the third front arm with respect to the coupling member is transmitted to the third section part is accelerated, inside this by section 3 of the third knuckle section finger bend.

【0007】また、第3連結部材に対する第3前側アームの上記回動は、第3節部に配置された第3節部伝動手段によって第2後側アームに伝動され、第2後側アームは第3節部に対して第3前側アームとは逆方向、すなわち第2連結部材を内側に回動させる方向に回動し、その際、第2関節部に配置された第2関節部曲り拘束手段が第2後側アームに対する第3節部の回動を減速して同一方向の回動として第2連結部材に伝動しその第2連結部材を第2後側アームに対して回動させることで、第2後側アームに対し第2連結部材が回動するとそれより大きい角度分第3節部に対し第2後側アームが回動することから、第2後側アームの上記回動が第2後側アームを第2連結部材に対しても回動させ、その第2後側アームの第2連結部材に対 Further, the rotation of the third front arm to the third connecting member, the third section part transmission means disposed in the third section part is transmitted to the second rear arm, the second rear arm third direction opposite to the front arm with respect to the third knuckle section, i.e. rotated in a direction to rotate the second coupling member inwardly, whereby the second joint bending constraints placed on the second joint portion means that rotates the third decelerating the rotation of the knuckle section is transmitted to the second connecting member as a rotation in the same direction that the second coupling member relative to the second rear arm relative to the second rear arm in, since the relative second rear arm and the second connecting member is rotated to a larger angle fraction third knuckle section and the second rear arm pivots, the above rotation of the second rear arm the second rear arm also rotates relative to the second coupling member, against the second connecting member of the second rear arm る回動が、第2関節部に配置された第2関節部伝動手段により逆方向の回動として第2前側アームに伝動され、第2連結部材が指の第2節を内側に曲げる方向に回動すると同時に第2後側アームと第2前側アームとが第2連結部材に対しハの字形に開くように回動し、これにより第2関節部も指の第2関節の背に沿って伸長しつつ内側に曲がり、さらに、第2関節部に配置された第2関節部曲り拘束手段が第2前側アームに対する第2連結部材の回動を増速して同一方向の回動として第2節部に伝動しその第2節部を第2前側アームに対して回動させることで、第2前側アームに対し第2連結部材が回動するとそれより大きい角度分第2前側アームに対し第2節部が回動することから、上記第2連結部材に対する第2前側アームの開き回動 That rotation is as reverse rotation by the second joint transmission means disposed in the second joint portion is transmitted to the second front arm, in the direction in which the second coupling member bending the second section of the fingers inwardly When rotated to the second rear arm simultaneously with the second front arm is rotated to open shape Ha relative to the second coupling member, thereby also the second joint portion along the back of the second joint of the finger while extending bend inward, further as a second joint bending restraining means rotate in the same direction by accelerating the rotation of the second connecting member relative to the second front arm disposed on the second joint second the second knuckle section is transmitted to the knuckle by rotating with respect to the second front arm and to the second front arm and the second connecting member is rotated to an angle greater partial second front arm than the since the 2 knuckle section is rotated, rotating the opening of the second front arm with respect to the second connecting member 増速されて第2節部に伝動され、これにより第2節部が指の第2節を内側に曲げる。 Is transmitted to the second knuckle section is accelerated, whereby the second section part is bent second section of the fingers inwardly.

【0008】さらに、第2連結部材に対する第2前側アームの上記回動は、第2節部に配置された第2節部伝動手段によって第1後側アームに伝動され、第1後側アームは第2節部に対して第2前側アームとは逆方向、すなわち第1連結部材を内側に回動させる方向に回動し、その際、第1関節部に配置された第1関節部曲り拘束手段が第1後側アームに対する第2節部の回動を減速して同一方向の回動として第1連結部材に伝動しその第1連結部材を第1後側アームに対して回動させることで、第1 Furthermore, the rotation of the second front arm relative to the second coupling member, the second knuckle section transmission means disposed in the second knuckle section is transmitted to the first rear arm, after the first side arm opposite direction to the second front arm relative to the second knuckle section, i.e. rotated in a direction to rotate the first coupling member to the inner, where the first joint portion bend restraint arranged on the first joint portion means that rotates the second knuckle section decelerates the rotation of is transmitted to the first connecting member as a rotation in the same direction a first connection member relative to the first rear arm relative to the first rear arm in, first
後側アームに対し第1連結部材が回動するとそれより大きい角度分第2節部に対し第1後側アームが回動することから、第1後側アームの上記回動が第1後側アームを第1連結部材に対しても回動させ、その第1後側アームの第1連結部材に対する回動が、第1関節部に配置された第1関節部伝動手段により逆方向の回動として第1前側アームに伝動され、第1連結部材が指の第1節を内側に曲げる方向に回動すると同時に第1後側アームと第1 Since the first coupling member to pivot relative to a larger angle partial second knuckle section is first rear arm pivots relative to the rear arm, the rotation of the first rear arm first rear the arm is also rotated relative to the first connecting member, rotating with respect to the first connecting member of the first rear arm, opposite the direction of rotation by the first joint transmission means disposed in the first joint portion as it is transmitted to the first front arm, when the first coupling member rotates in a direction of bending the first section of the finger inside the first rear arm simultaneously first
前側アームとが第1連結部材に対しハの字形に開くように回動し、これにより第1関節部も指の第1関節の背に沿って伸長しつつ内側に曲がり、さらに、第1関節部に配置された第1関節部曲り拘束手段が第1前側アームに対する第1連結部材の回動を増速して同一方向の回動として第1節部に伝動しその第1節部を第1前側アームに対して回動させることで、第1前側アームに対し第1連結部材が回動するとそれより大きい角度分第1前側アームに対し第1節部が回動することから、上記第1連結部材に対する第1前側アームの開き回動が増速されて第1 And a front arm rotates to open shape Ha relative to the first coupling member, whereby the first joint portion is also bent inwardly while extending along the back of the first joint of the finger, further first joint the first joint bending restraining means located on part is then accelerated the rotation of the first coupling member relative to the first front arm and transmitted to the first knuckle section as a rotation in the same direction the first knuckle section first 1 by rotating with respect to the front arm, since the first knuckle section relative angle greater fraction first front arm than the relative first front arm first coupling member pivots rotates, the first 1 to open the rotation of the first front arm is accelerated relative to the coupling member first
節部に伝動され、これにより第1節部が指の第1節を内側に曲げる。 It is transmitted to the node portions, whereby the first section part is bent first section of the finger on the inside.

【0009】一方、基部に配置されたアクチュエータが上記と逆に第3連結部材を後退移動させると、上記と逆の過程をたどって逆方向の回転が伝動され、これにより第1関節部、第2関節部および第3関節部が各々、前側および後側アームを揃えるように縮小しつつ基部に対して真っ直ぐな状態に戻ってゆき、また第1節部、第2節部および第3節部も各々、基部に対して真っ直ぐな状態に戻って行って、指を手の甲に対して真っ直ぐに伸ばした状態に戻す。 On the other hand, when the actuator disposed in the base portion retracts moving the third connecting member in the reverse, reverse rotation following the reverse the above process is the transmission, whereby the first joint, the second 2 joint and the third joint portion are each Yuki back in a straight state with respect to the base shrinking so as to align the front and rear arms, also first knuckle section, the second knuckle section and the third section part also each go back to the straight state relative to the base, returning to the state straightened the finger against the back of the hand.

【0010】従って、この発明の指動作補助装置によれば、手の少なくとも一本の指の曲げ伸ばし動作を補助するとともにその指に握力を付加することができるので、 [0010] Therefore, according to the finger motion assisting apparatus of the present invention, it is possible to add a grip on the finger as to assist the bending and stretching operation of the at least one finger of the hand,
事故や病気等により、手の指の曲げ伸ばし動作に支障をきたしたり、握力を喪失したりした人でも、比較的不自由なく生活することができるようになる。 Due to an accident or illness, etc., or hindered in the bending and stretching motion of the hand of the finger, even those who were or loss of grip strength, will be able to live relatively comfortably.

【0011】なお、この発明の指動作補助装置においては、前記第1関節部伝動手段、前記第2関節部伝動手段および前記第3関節部伝動手段は各々等速伝動を行い、 [0011] Note that, in the finger motion assisting apparatus according to the present invention, the first joint transmission means, said second joint transmission means and the third joint portion transmission means performs each constant velocity transmission,
前記第3節部伝動手段は増速伝動を行い、前記第2節部伝動手段は減速伝動を行うものであっても良く、このようにすれば、第2節部と第3節部との間の屈曲角を常に、第1節部と第2節部との間の屈曲角および第3節部と基部との間の屈曲角よりも大きくし得て、各節部に、 The third knuckle section transmission means performs speed increasing transmission, the second knuckle section transmission means may be one that performs deceleration transmission, in this manner, the second knuckle section and the third section part always bending angle between and obtained larger than the bending angle between the first knuckle section bending angle and the third section portion and the base between the second knuckle section, each knuckle,
より人の手に近い自然な動きをさせることができる。 It can be a natural movement closer to the hand of man.

【0012】また、この発明の指動作補助装置においては、前記第1関節部伝動手段、前記第2関節部伝動手段および前記第3関節部伝動手段の少なくとも一つは、互いに噛合する少なくとも部分的な歯車を有するものであっても良く、このようにすれば、関節部で滑りが生じないので、より確実に握力を与えることができる。 Further, in the finger motion assisting apparatus according to the present invention, the first joint transmission means, at least one of the second joint transmission means and the third joint portion transmission means is at least partially of mesh with each other may be those having a gear, in this manner, since the slip joint does not occur, it is possible to provide a more reliable grip.

【0013】さらに、この発明の指動作補助装置においては、前記第2節部伝動手段および前記第3節部伝動手段の少なくとも一つは、複数のプーリとそれらのプーリに巻き掛けられたワイヤとを有するものであっても良く、このようにすれば、比較的長い間隔で伝動する節部における伝動手段を軽量かつコンパクトに構成することができる。 Furthermore, in the finger motion assisting apparatus of the present invention, at least one of said second knuckle section transmission means and said third knuckle section transmission means, wire and wound around a plurality of pulleys and their pulleys may be those having, in this manner, the transmission means in the node portions of the transmission at relatively long intervals can be configured light and compact.

【0014】そしてこの発明の指動作補助装置においては、前記第1関節部曲り拘束手段、前記第2関節部曲り拘束手段および前記第3関節部曲り拘束手段の少なくとも一つは、複数のプーリとそれらのプーリに巻き掛けられるとともに両端部を伝動対象部材に固定されたワイヤとを有するものであっても良く、このようにすれば、関節部曲がり拘束手段を軽量かつコンパクトに構成することができるとともに、ワイヤの両端部を伝動対象部材に固定してあるので、指の曲げ伸ばし動作をより確実に行わせることができかつ、握力をより確実に与えることができる。 [0014] Then, in the finger motion assisting apparatus of the present invention, at least one of the first joint portion bending restraining means, said second joint bending restraining means and the third joint portion bending restraining means includes a plurality of pulleys be one having a wire which is fixed at both ends to the transmission target member with wound around their pulley may, in this manner, the joint portion bending restraining means can be configured light and compact together, since both ends of the wire is fixed to the transmission target member, and it is possible to perform the bending and stretching operations of the finger more reliably, it is possible to provide a grip more reliably.

【0015】 [0015]

【発明の実施の形態】以下に、この発明の実施の形態を実施例によって、図面に基づき詳細に説明する。 DETAILED DESCRIPTION OF THE INVENTION Hereinafter, embodiments of the examples of the present invention, will be described with reference to the drawings in detail. ここに、図1は、この発明の指動作補助装置の一実施例の構成を伝動系を除いて示す斜視図、図2は、上記実施例の指動作補助装置の構成を伝動系を除いて示す平面図、図3は、上記実施例の指動作補助装置の構成を伝動系を除いて示す側面図、図4は、上記実施例の指動作補助装置の伝動系としての関節部伝動手段および節部伝動手段を示す説明図、図5は、上記実施例の指動作補助装置のこれも伝動系としての関節部曲がり拘束手段を示す説明図、そして図6は、上記実施例の指動作補助装置のそれら伝動系を図5のA−A線に沿って示す展開断面であり、この実施例の指動作補助装置は、手に装着されてその手の5本の指の曲げ伸ばし動作を補助する装置である。 Here, FIG. 1 is a perspective view showing the structure of an embodiment of a finger motion assisting apparatus of the present invention with the exception of the transmission system, Figure 2, the configuration of the finger motion assisting apparatus of the above embodiment except for the transmission system plan view illustrating, FIG. 3 is a side view showing except a transmission system configuration of the finger motion assisting apparatus of the above embodiment, FIG. 4, and joint transmission means as transmission system of the finger motion assisting apparatus of the above embodiment explanatory view showing a knurl transmission means, FIG. 5 is an explanatory view which also shows the restraining means bending joint as driveline finger motion assisting apparatus of the above embodiment, and FIG. 6, the finger operating aid of the examples their transmission system of the apparatus is a developed sectional showing along line a-a of FIG. 5, the finger motion assisting apparatus of this embodiment, the auxiliary five fingers of bending and stretching operation of the hand is attached to the hand it is a device that.

【0016】先ず、親指以外の4本の指の動作を補助する部分について説明すると、この実施例の指動作補助装置は図1〜図6に示すように、手の甲の形に沿って曲げられた板状の、手の甲に装着される基部1と、その基部1の端部から各指に向けて突出するようにその基部1上に一体的に固着された第4節部1aと、その第4節部1 [0016] First, to explain parts to assist the operation of the four fingers other than the thumb, finger motion assisting apparatus of this embodiment as shown in FIGS. 1 to 6, bent along the back of the hand shape plate-shaped, the base 1 is mounted on the back of the hand, and a fourth knuckle section 1a which is integrally fixed on its base 1 so as to protrude toward each finger from the end of the base portion 1, the fourth section section 1
aの先端部に第3関節部2を介して揺動可能に後端部を連結された、手の指の第3節の背に装着される第3節部3と、その第3節部3の先端部に第2関節部4を介して揺動可能に後端部を連結された、手の指の第2節の背に装着される第2節部5と、その第2節部5の先端部に第1関節部6を介して揺動可能に後端部を連結された、手の指の第1節の背に装着される第1節部7とを具えている。 Linked to swingably rear portion via a third joint portion 2 to the tip of a, a third knuckle section 3 which is mounted on the back of the third section of the fingers, the third knuckle section 3 of the distal end portion through the second joint portion 4 is connected to swingably rear portion, and the second knuckle section 5 mounted on the back of the second section of the fingers, the second knuckle section 5 of the distal end portion is connected swingably to a rear end portion via a first joint portion 6, and comprises a first section part 7 is mounted on the back of the first section of the fingers.

【0017】ここで、第3関節部2は、第3連結部材2 [0017] Here, the third joint unit 2, a third connecting member 2
aと、基部1とその第3連結部材2aとに両端部をそれぞれ軸部材を介して揺動可能に連結された第3後側アーム2bと、第3節部3とその第3連結部材2aとに両端部をそれぞれ軸部材を介して揺動可能に連結された第3 a and the base 1 and its third connecting member 2a and the third rear arm 2b which both ends swingably connected through a respective shaft member, and the third section 3 the third connecting member 2a third to both ends swingably connected through a respective shaft member in preparative
前側アーム2cとを有し、第2関節部4は、第2連結部材4aと、第3節部3とその第2連結部材4aとに両端部をそれぞれ軸部材を介して揺動可能に連結された第2 And a front arm 2c, the second joint portion 4, and a second connecting member 4a, swingably connected through a respective shaft member end portions to the third section 3 and the second connecting member 4a the second, which is
後側アーム4bと、第2節部5とその第2連結部材4a A rear arm 4b, a second knuckle section 5 that second connecting member 4a
とに両端部をそれぞれ軸部材を介して揺動可能に連結された第2前側アーム4cとを有し、第1関節部6は、第1連結部材6aと、第2節部5とその第1連結部材6a DOO to a second front arm 4c of the opposite ends swingably connected through a respective shaft member, the first joint portion 6, a first connection member 6a, and the second knuckle section 5 that the 1 connecting member 6a
とに両端部をそれぞれ軸部材を介して揺動可能に連結された第1後側アーム6bと、第1節部7とその第1連結部材6aとに両端部をそれぞれ軸部材を介して揺動可能に連結された第1前側アーム6cとを有している。 A first rear arm 6b to both ends swingably connected through a respective shaft member to preparative, swinging through the respective shaft members both end portions in a first section part 7 and a first connecting member 6a and a first front arm 6c which is rotatably coupled.

【0018】上記基部1には、各指に対応して第3連結部材2aを進退移動させるアクチュエータ8が配置されており、各アクチュエータ8は図4に示すように、基部1に固着されたフレーム8aと、指に整列するようにそのフレーム8aに取り付けられた減速機付きモータ8b The above base portion 1 is disposed an actuator 8 for advancing and retracting the third connecting member 2a in correspondence with each finger, each actuator 8, as shown in FIG. 4, frame secured to the base 1 8a and, with the reduction gear mounted on the frame 8a so as to align the finger motor 8b
と、減速機付きモータ8bの出力軸に取り付けられた駆動ギヤ8cと、減速機付きモータ8bと平行に配置されて上記フレーム8aに回転自在に支持されたネジ軸8d When the drive gear 8c mounted on the output shaft of the reduction gear with a motor 8b, arranged in parallel with the reduction gear with a motor 8b and is rotatably supported on the frame 8a screw shaft 8d
と、ネジ軸8dの被支持端部側に取り付けられて上記駆動ギヤ8cと噛合する従動ギヤ8eと、ネジ軸8dの自由端部側に螺合されてそのネジ軸8dの回転によりネジ軸8dに沿って上記第4節部1a上を進退摺動するスライドブラケット8fと、そのスライドブラケット8fと上記第3関節部2の第3連結部材2aとを連結するレバー8gと、を有している。 When the screw shaft 8d and the driven gear 8e which is attached to the supported end side the drive gear 8c and the meshing of the screw shaft 8d, screwed to the free end of the screw shaft 8d by rotation of the screw shaft 8d along has a slide bracket 8f for advancing and retracting slide on the fourth knuckle section 1a, a lever 8g for connecting the third connecting member 2a of the slide bracket 8f and the third joint portion 2, the .

【0019】また、図4に示すように、第3関節部2には、第3後側アーム2bと第3前側アーム2cとの第3 Further, as shown in FIG. 4, the third joint portion 2, the third and the third rear arm 2b and the third front arm 2c
連結部材2a側の端部を互いに逆方向に回動させる、第3関節部伝動手段としての互いに噛合する二つの部分歯車9が配置され、第3節部3には、第3前側アーム2c Rotating the ends of the connecting member 2a side in opposite directions, the two partial gear 9 to each other engaged as a third joint transmission means is arranged, in the third section 3, the third front arm 2c
と第2後側アーム4bとの第3節部3側の端部を互いに逆方向に回動させる、第3節部伝動手段としてのワイヤ式第1伝動機構10が配置され、第2関節部4には、第2後側アーム4bと第2前側アーム4cとの第2連結部材4a側の端部を互いに逆方向に回動させる、第2関節部伝動手段としての互いに噛合する二つの部分歯車11 Is rotated in the opposite directions the end of the third section part 3 side of the second rear arm 4b, the wire type first transmission mechanism 10 as a third knuckle section transmission means is arranged, second joint the 4, rotates the end of the second connecting member 4a side and the second rear arm 4b second front arm 4c in opposite directions to each other, the two parts which mesh with each other as the second joint transmission means gear 11
が配置され、第2節部5には、第2前側アーム4cと第1後側アーム6bとの第2節部5側の端部を互いに逆方向に回動させる、第2節部伝動手段としてのワイヤ式第2伝動機構12が配置され、第1関節部6には、第1後側アーム6bと第1前側アーム6cとの第1連結部材6 There is disposed, in the second knuckle section 5 is rotated end of the second knuckle section 5 side of the second front arm 4c and the first rear arm 6b in opposite directions to each other, the second knuckle section transmission means arranged wire type second transmission mechanism 12 as in the first joint portion 6, the first coupling member and the first rear arm 6b and the first front arm 6c 6
a側の端部を互いに逆方向に回動させる、第1関節部伝動手段としての互いに噛合する二つの部分歯車13が配置されている。 The end portion of a side to be rotated in opposite directions, the two partial gear 13 to each other meshes of the first joint transmission means are arranged.

【0020】ここで、二つの部分歯車9は、第3後側アーム2bと第3前側アーム2cとの第3連結部材2a側の端部に一体に形成され、二つの部分歯車11は、第2 [0020] Here, two partial gear 9 is integrally formed on the end portion of the third connecting member 2a side and the third rear arm 2b third front arm 2c, two partial gear 11 includes a first 2
後側アーム4bと第2前側アーム4cとの第2連結部材4a側の端部に一体に形成され、そして二つの部分歯車13は、第1後側アーム6bと第1前側アーム6cとの第1連結部材6a側の端部に一体に形成されており、また、ワイヤ式第1伝動機構10は、第3前側アーム2c It is formed integrally on an end portion of the second connecting member 4a side to the rear arm 4b and the second front arm 4c, and two partial gear 13, first of the first rear arm 6b first front arm 6c It is integrally formed on the end portion of the first connecting member 6a side, also, wire type first transmission mechanism 10, the third front arm 2c
と第2後側アーム4bとの第3節部3側の端部にそれぞれ結合された大径(図示例ではφ5)側プーリ10aおよび小径(図示例ではφ4)側プーリ10bと、第3節部3の中間部に回転自在に支持された径違い(図示例ではφ5およびφ4)プーリ10cと、大径側プーリ10 When the pulley 10b (.phi.4 in the illustrated example) the respective end of the third section 3 side combined large diameter (in the illustrated example .phi.5) pulley 10a and the small diameter of the second rear arm 4b, Section 3 rotatably supported different diameters in an intermediate portion of the parts 3 and (.phi.5 and φ4 in the illustrated example) the pulleys 10c, the large diameter side pulley 10
aと径違いプーリ10cの小径側とに順方向に巻き掛けられた環状ワイヤ10dと、径違いプーリ10cの大径側と小径側プーリ10bとにたすき掛けに巻き掛けられた環状ワイヤ10eとを有し、そしてワイヤ式第2伝動機構12は、第2前側アーム4cと第1後側アーム6b An annular wire 10d wound around the forward direction and the small diameter side of a and the diameter difference pulley 10c, an annular wire 10e wound around crosswise to the large diameter side and the small diameter pulley 10b of different diameters pulley 10c a, and wire type second transmission mechanism 12, the second front arm 4c and the first rear arm 6b
との第2節部5側の端部にそれぞれ結合された小径(図示例ではφ4)側プーリ12aおよび大径(図示例ではφ5)側プーリ12bと、第2節部5の中間部に回転自在に支持された径違い(図示例ではφ5およびφ4)プーリ12cと、小径側プーリ12aと径違いプーリ12 A pulley 12b (.phi.5 in the illustrated example) the respective end portions of the two knuckle section 5 side bonded smaller diameter (in the illustrated example .phi.4) pulley 12a and a large diameter and, rotating the intermediate portion of the second knuckle section 5 and (.phi.5 and φ4 in the illustrated example) pulley 12c rotatably supported different diameters, the small diameter pulley 12a and the diameter difference pulley 12
cの大径側とにたすき掛けに巻き掛けられた環状ワイヤ12dと、径違いプーリ12cの小径側と大径側プーリ12bとに順方向に巻き掛けられた環状ワイヤ12eとを有している。 Has c an annular wire 12d wound around crosswise to the large diameter side of an annular wire 12e wound around in a forward direction and a small diameter side and a large diameter side pulley 12b of different diameters pulley 12c .

【0021】さらに、図5に示すように、第3関節部2 Furthermore, as shown in FIG. 5, the third joint portion 2
には、第3後側アーム2bに対する基部1の回動を減速して同一方向の回動として第3連結部材2aに伝動しその第3連結部材2aを第3後側アーム2bに対して回動させる、第3関節部曲り拘束手段の後半部としてのワイヤ式第3伝動機構14とともに、第3前側アーム2cに対する第3連結部材2aの回動を増速して同一方向の回動として第3節部3に伝動しその第3節部3を第3前側アーム2cに対して回動させる、第3関節部曲り拘束手段の前半部としてのワイヤ式第4伝動機構15が配置され、また、第2関節部4には、第2後側アーム4bに対する第3節部3の回動を減速して同一方向の回動として第2連結部材4aに伝動しその第2連結部材4aを第2 The decelerates the rotation of the base 1 with respect to the third rear arm 2b is transmitted to the third linking member 2a as a rotation in the same direction round the third connecting member 2a to the third rear arm 2b is dynamic, the as-wire third with transmission mechanism 14, the third connecting member 2a rotating in the same direction rotate in accelerating the relative third front arm 2c of the second half portion of the third joint portion bending restraining means and transmission 3 knuckle section 3 is rotated the third section part 3 with respect to the third front arm 2c, wire type fourth transmission mechanism 15 as a front half portion of the third joint portion bending restraining means is arranged, also , the second joint portion 4, the second connecting member 4a decelerates the third section part 3 of the rotation relative to the second rear arm 4b is transmitted to the second connecting member 4a as a rotation in the same direction the 2
後側アーム4bに対して回動させる、第2関節部曲り拘束手段の後半部としてのワイヤ式第4伝動機構15とともに、第2前側アーム4cに対する第2連結部材4aの回動を増速して同一方向の回動として第2節部5に伝動しその第2節部5を第2前側アーム4cに対して回動させる、第2関節部曲り拘束手段の前半部としてのワイヤ式第5伝動機構16が配置され、そして、第1関節部6 It is rotated relative to the rear arm 4b, together with the wire type fourth transmission mechanism 15 as a second half portion of the second joint bending restraining means, Hayashi increasing the rotation of the second linking member 4a relative to the second front arm 4c and transmitted to the second knuckle section 5 as a rotation in the same direction to rotate the second knuckle section 5 thereof relative to the second front arm 4c Te, wire type as the first half of the second joint bending restraining means 5 transmission mechanism 16 is arranged, and, the first joint part 6
には、第1後側アーム6bに対する第2節部5の回動を減速して同一方向の回動として第1連結部材6aに伝動しその第1連結部材6aを第1後側アーム6bに対して回動させる、第1関節部曲り拘束手段の後半部としてのワイヤ式第5伝動機構16とともに、第1前側アーム6 The, the first connection member 6a by decelerating the rotation of the second knuckle section 5 relative to the first rear arm 6b is transmitted to the first connecting member 6a as a rotation in the same direction to the first rear arm 6b rotate against, with wire type fifth transmission mechanism 16 as a second half portion of the first joint portion bending restraining means, the first front arm 6
cに対する第1連結部材6aの回動を増速して同一方向の回動として第1節部7に伝動しその第1節部7を第1 A first connecting member 6a rotate in accelerating the by transmission to the first knuckle section 7 as the pivot in the same direction the first knuckle section 7 thereof to c first
前側アーム6cに対して回動させる、第1関節部曲り拘束手段の前半部としてのワイヤ式第6伝動機構17が配置されている。 Turning, wire type sixth transmission mechanism 17 as a front half portion of the first joint portion bending restraining means are arranged with respect to the front arm 6c.

【0022】ここで、ワイヤ式第3伝動機構14は、第3後側アーム2bの第3連結部材2a側の端部およびそれと反対側の端部にそれぞれ同軸に配置されて第3連結部材2aおよび第4節部1aの先端部にそれぞれ結合された大径側プーリ13aおよびその大径側プーリ13a [0022] Here, wire type third transmission mechanism 14, the third connecting member 2a side of the end and therewith are arranged coaxially respectively at the opposite end a third connecting member 2a of the third rear arm 2b and large-diameter pulley 13a and the large-diameter pulley 13a is coupled respectively to the distal end of the fourth section portion 1a
の1/2のプーリ径の小径側プーリ13bと、一端部を伝動対象部材としての第4節部1aに固定されて小径側プーリ13bに指曲げ外側(図では上側)から巻き付けられた後大径側プーリ13aの後側に巻き掛けられて他端部をこれも伝動対象部材としての第3連結部材2aに固定された固定ワイヤ13cと、一端部を伝動対象部材としての第4節部1aに固定されて小径側プーリ13b And a small-diameter pulley 13b 1/2 of the pulley diameter of the large after wound from (upper in the figure) finger bent outward is fixed to the fourth section portion 1a on the small-diameter pulley 13b of the one end portion as a transmission target member a fixed wire 13c the wound around a side other end also fixed to the third connecting member 2a as the transmission target member after diameter pulley 13a, section 4 portions 1a of the one end portion as a transmission target member It is fixed to the small-diameter pulley 13b
に指曲げ内側(図では下側)から巻き掛けられた後大径側プーリ13aの前側に巻き掛けられて他端部をこれも伝動対象部材としての第3連結部材2aに固定された固定ワイヤ13dと、それら固定ワイヤ13c,13dの中間部を弾性的に押圧してそれら固定ワイヤ13c,1 Finger bent inner fixed wires (in the figure lower) fixed to the third connecting member 2a as also transmission target member and the other end is wound on the front side of the large-diameter pulley 13a after being wound from the 13d and their fixed wire 13c, the intermediate portion of the 13d elastically pressing their fixed wire 13c, 1
3dに張力を与えるテンショナ13eとを有している。 And a tensioner 13e tensioning to 3d.

【0023】また、ワイヤ式第4伝動機構15は、第3 Further, wire type fourth transmission mechanism 15, the third
前側アーム2cの第3連結部材2a側の端部およびそれと反対側の端部にそれぞれ同軸に配置されて第3連結部材2aおよび第3節部3にそれぞれ結合された大径側プーリ14aおよびその大径側プーリ14aの1/2のプーリ径の小径側プーリ14bと、第2後側アーム4bの第2連結部材4a側の端部およびそれと反対側の端部にそれぞれ同軸に配置されて第2連結部材4aおよび第3 Large-diameter pulley 14a and respectively coupled to the third connecting member 2a and the third section 3 to the third end portion of the connecting member 2a side of the end and it opposite the front arm 2c are arranged coaxially, respectively and the small diameter pulley 14b of the half pulley diameter of the larger diameter pulley 14a, a are arranged coaxially respectively on the end portions of the opposite end of the second linking member 4a side and that of the second rear arm 4b 2 connecting members 4a and the third
節部3にそれぞれ結合された大径側プーリ14cおよびその大径側プーリ14cの1/2のプーリ径の小径側プーリ14dと、一端部を伝動対象部材としての第3連結部材2aに固定されて大径側プーリ14aに前側から巻き掛けられた後小径側プーリ14bに指曲げ内側(図では下側)から巻き付けられて第2連結部材4a側へ延在し、もう一つの小径側プーリ14dに指曲げ外側(図では上側)から巻き付けられた後もう一つの大径側プーリ14cの後側に巻き掛けられて他端部をこれも伝動対象部材としての第2連結部材4aに固定された固定ワイヤ14eと、一端部を伝動対象部材としての第3連結部材2aに固定されて大径側プーリ14aに後側から巻き掛けられた後小径側プーリ14bに指曲げ内側(図では下側)から巻き掛け A large-diameter pulley 14c and the small diameter pulley 14d of the half pulley diameter of the large-diameter pulley 14c respectively coupled to the knuckle 3, is fixed to one end of the third connecting member 2a as the transmission target member Te extends to the second connecting member 4a side is wound from the (lower side in the figure) finger bent inward to the small diameter pulley 14b after being wound around from the front side to the large diameter side pulley 14a, another small pulley 14d fixed to the second connecting member 4a as another also transmission target member to be wound around the side other end portion after the large-diameter pulley 14c after wound from (upper in the figure) finger bent outward a fixed wire 14e, bending finger on the small diameter side pulley 14b after being wound from the rear side to the third fixed to the connecting member 2a and the large diameter side pulley 14a of the one end thereof as a transmission target member inner (lower in the figure) winding from れて第2連結部材4a側へ延在し、 It is extending into the second connecting member 4a side,
もう一つの小径側プーリ14dに指曲げ内側(図では下側)から巻き掛けられた後大径側プーリ14cの前側に巻き掛けられて他端部をこれも伝動対象部材としての第2連結部材4aに固定された固定ワイヤ14fと、それら固定ワイヤ14e,14fの中間部を弾性的に押圧してそれら固定ワイヤ14e,14fに張力を与えるテンショナ14gとを有している。 Second coupling member as another smaller diameter also transmission target member and the other end is wound on the front side of the large-diameter pulley 14c after being wound from (lower side in the figure) finger bent inward pulley 14d a fixed wire 14f fixed to 4a, their fixed wire 14e, and has them fixed wire 14e elastically pressing the middle portion of 14f, and a tensioner 14g tensioning to 14f.

【0024】さらに、ワイヤ式第5伝動機構16は、第2前側アーム4cの第2連結部材4a側の端部およびそれと反対側の端部にそれぞれ同軸に配置されて第2連結部材4aおよび第2節部5にそれぞれ結合された大径側プーリ15aおよびその大径側プーリ15aの1/2のプーリ径の小径側プーリ15bと、第1後側アーム6b Furthermore, the fifth transmission mechanism 16 wire type, the second connecting member 4a is disposed and coaxially at the opposite end an end portion of the second connecting member 4a side and that of the second front arm 4c and the large-diameter pulley 15a and a small-diameter pulley 15b of the half pulley diameter of the large-diameter pulley 15a, the first rear arm 6b to 2 knuckle section 5 are respectively coupled
の第1連結部材6a側の端部およびそれと反対側の端部にそれぞれ同軸に配置されて第1連結部材6aおよび第2節部5にそれぞれ結合された大径側プーリ15cおよびその大径側プーリ15cの1/2のプーリ径の小径側プーリ15dと、一端部を伝動対象部材としての第2連結部材4aに固定されて大径側プーリ15aに前側から巻き掛けられた後小径側プーリ15bに指曲げ内側(図では下側)から巻き付けられて第1連結部材6a側へ延在し、もう一つの小径側プーリ15dに指曲げ外側(図では上側)から巻き付けられた後もう一つの大径側プーリ15cの後側に巻き掛けられて他端部をこれも伝動対象部材としての第1連結部材6aに固定された固定ワイヤ15eと、一端部を伝動対象部材としての第2連結部材4aに固定され The first connection member 6a side of the end and therewith larger diameter pulley 15c respectively at the opposite end are respectively coupled to the first coupling member 6a and the second knuckle section 5 are arranged coaxially and large diameter side of the and a small-diameter pulley 15d of the half pulley diameter of the pulley 15c, the small-diameter pulley 15b after being wound around from the front side to the second fixed to the connecting members 4a and the larger diameter pulley 15a of the one end thereof as a transmission target member Mashimashi finger bend extends into the first connection member 6a side is wound from the (lower side in the drawing) inside, another large after wound from (upper in the figure) finger bent outwardly to another small diameter pulley 15d the second connecting member 4a of the fixed wire 15e also fixed to the first connecting member 6a as transmission target member to be wound around the side other end portion after the diameter pulley 15c, the one end thereof as a transmission target member It is fixed to 大径側プーリ15aに後側から巻き掛けられた後小径側プーリ15bに指曲げ内側(図では下側)から巻き掛けられて第1連結部材6a側へ延在し、もう一つの小径側プーリ15dに指曲げ内側(図では下側)から巻き掛けられた後大径側プーリ15cの前側に巻き掛けられて他端部をこれも伝動対象部材としての第1連結部材6aに固定された固定ワイヤ15fと、 (In FIG lower) finger bent inward to the small diameter pulley 15b after being wound from the rear side to the large-diameter pulley 15a extends to the first connecting member 6a side is wound from another small pulley fixed (in the figure lower) finger bent inward 15d fixed to the first connecting member 6a as also transmission target member and the other end is wound on the front side of the large-diameter pulley 15c after being wound from and the wire 15f,
それら固定ワイヤ15e,15fの中間部を弾性的に押圧してそれら固定ワイヤ15e,15fに張力を与えるテンショナ15gとを有している。 They fixed wire 15e, their fixed wire 15e elastically pressing the middle portion of 15f, and a tensioner 15g tensioning to 15f.

【0025】そして、ワイヤ式第6伝動機構17は、第1前側アーム6cの第1連結部材6a側の端部およびそれと反対側の端部にそれぞれ同軸に配置されて第1連結部材6aおよび第1節部7にそれぞれ結合された大径側プーリ16aおよびその大径側プーリ16aの1/2のプーリ径の小径側プーリ16bと、一端部を伝動対象部材としての第1連結部材6aに固定されて大径側プーリ16aに前側から巻き掛けられた後小径側プーリ16b [0025] Then, a sixth transmission mechanism 17 wire type, the first connection member 6a is arranged coaxially to the first connection member 6a side of the end and therewith the opposite end of the first front arm 6c and the stationary and the small diameter pulley 16b of the half pulley diameter of large-diameter pulley 16a and the large-diameter pulley 16a is coupled respectively to one knuckle section 7, the one end portion to the first connection member 6a as transmission target member diameter pulley 16b after being wound around from the front side has been large-diameter pulley 16a
に指曲げ内側(図では下側)から巻き付けられて他端部をこれも伝動対象部材としての第1節部7に固定された固定ワイヤ16cと、一端部を伝動対象部材としての第1連結部材6aに固定されて大径側プーリ16aに後側から巻き掛けられた後小径側プーリ16bに指曲げ内側(図では下側)から巻き掛けられて他端部をこれも伝動対象部材としての第1節部7に固定された固定ワイヤ1 First connection of the second end portion wound around the also fixed wire 16c which is fixed to the first knuckle section 7 as the transmission target member, as the transmission target member one end portion (the lower side in the figure) finger bent inwardly It is fixed to the member 6a as also transmission target member and the other end is wound from (lower side in the figure) finger bent inward to the small diameter pulley 16b after being wound from the rear side to the large diameter side pulley 16a fixed wire 1 fixed to the first knuckle section 7
6dと、それら固定ワイヤ16c,16dの中間部を弾性的に押圧してそれら固定ワイヤ16c,16dに張力を与えるテンショナ16eとを有している。 And 6d, their fixed wire 16c, and has them fixed wire 16c and elastically presses the middle portion of the 16d, the 16d and a tensioner 16e tensioning. なお、図6 It should be noted that, as shown in FIG. 6
中、B部にはワイヤ式第1伝動機構10が、そしてC部にはワイヤ式第3伝動機構14およびワイヤ式第4伝動機構15が示されており、このようにワイヤ式第1伝動機構10,ワイヤ式第2伝動機構12と、ワイヤ式第3 In the wire type first transmission mechanism 10 in the B section, and the C unit is shown a third transmission mechanism 14 and the wire type fourth transmission mechanism 15-wire is thus wire type first transmission mechanism 10, a wire type second transmission mechanism 12, wire type third
伝動機構14,ワイヤ式第4伝動機構15,ワイヤ式第5伝動機構16,ワイヤ式第6伝動機構17とは、互いに離間されて配置されて、構造を簡易なものとしている。 Transmission mechanism 14, wire type fourth transmission mechanism 15, wire type fifth transmission mechanism 16, the wire type sixth transmission mechanism 17, are arranged spaced apart from each other, it is made simple structure.

【0026】さらにこの実施例の指動作補助装置は、親指の指の動作を補助する部分も有しており、この部分は、基部1の親指側の側部に、互いに組み合わせた二個の三角柱状ブラケット18,19を介して親指の向きに対応した角度になるよう斜め下向きに一体的に固着された、上記第4節部1aと同様の構成の第3節部3と、その第3節部3の先端部に、上記第3関節部2と同様の構成の第2関節部4を介して揺動可能に後端部を連結された、親指指の第2節の背に装着される第2節部5と、その第2節部5の先端部に第1関節部6を介して揺動可能に後端部を連結された、親指の第1節の背に装着される第1節部7とを具えるとともに、三角柱状ブラケット1 Furthermore finger motion assisting apparatus of this embodiment, the portion for assisting the operation of the thumb finger also has, this part, the thumb side of the side of the base portion 1, two triangular in combination with each other are integrally fixed obliquely downward so that the angle corresponding to the orientation of the thumb through the columnar brackets 18 and 19, a third section 3 of the same configuration as the fourth knuckle section 1a, the third section the distal end parts 3, are connected to swingably rear end through a second joint portion 4 of the same structure as the third joint portion 2, is mounted on the back of the second section of the thumb finger a second knuckle section 5, linked to swingably rear portion via a first joint portion 6 to the distal end of the second knuckle section 5, first is attached to the back of the first section of thumb 1 together comprise a knurl 7, triangular bracket 1
9上に配置されて二個の三角柱状ブラケット18,19 Arranged on the 9 two triangular shaped brackets 18 and 19
を介し基部1に固着されたたアクチュエータ8を具え、 Comprising an actuator 8 that is fixed to the base 1 via,
そのアクチュエータ8のスライドブラケットは、第2関節部4に連結されている。 Slide bracket of the actuator 8 is connected to the second joint portion 4. そして、第2関節部4から第1節部7までは、伝動手段および曲がり拘束手段としての各伝動機構を含めて、親指以外の4本の指に対応する先に述べた部分と同様に構成されている。 Then, the second joint portion 4 to the first section part 7, including the transmission mechanism as a transmission means and bending restraining means, similar to the portion described above corresponding to the four fingers other than the thumb configuration It is.

【0027】さらにこの実施例の指動作補助装置は、手首の動作を補助する部分も有しており、この部分は、基部1の手首側の端部に揺動可能に連結された、腕に装着される延長部20と、その延長部20上に固着されたアクチュエータ21と、そのアクチュエータ21のスライドブラケットを基部1に揺動可能に連結するレバー22 Furthermore finger motion assisting apparatus of this embodiment, the portion for assisting the wrist operation also has, this part, pivotably connected to an end of the wrist side of the base 1, the arm an extension portion 20 which is mounted an actuator 21 that is fixed thereon extension 20, the lever 22 swingably connected to a slide bracket of the actuator 21 to the base 1
とを具えており、ここにおけるスライドブラケットは上記アクチュエータ8と異なり、減速機付きモータの出力軸に直結されたネジ軸で進退移動される。 Equipped with a preparative, slide bracket here is different from the actuator 8, it is moved forward and backward in a directly coupled screw shaft to the output shaft of the reduction gear with a motor.

【0028】かかる実施例の指動作補助装置は、親指以外の4本の指の動作を補助する部分については図7および図8に示すように、基部1に配置されたアクチュエータ8が第3連結部材2aを図では右方へ前進移動させると、第3関節部2に配置されたワイヤ式第3伝動機構1 [0028] Such an embodiment the finger motion assisting apparatus is, portions to assist the operation of the four fingers other than the thumb, as shown in FIGS. 7 and 8, the actuator 8 arranged on the base 1 and the third connection When the drawing member 2a is moved forward to the right, wire type which is arranged in the third joint portion 2 a third transmission mechanism 1
4が第3後側アーム2bに対する基部1の回動を減速して同一方向の回動として第3連結部材2aに伝動しその第3連結部材2aを第3後側アーム2bに対して回動させることで、第3後側アーム2bに対し第3連結部材2 4 is transmitted to the third linking member 2a as a rotation in the same direction by decelerating the rotation of the base 1 with respect to the third rear arm 2b rotate the third connecting member 2a to the third rear arm 2b It is to, the third connecting member to the third rear arm 2b 2
aが回動するとそれより大きい角度分基部1に対し第3 When a is rotated to the angle fraction base 1 greater than the third
後側アーム2bが回動することから、第3連結部材2a Since the rear arm 2b is rotated, the third coupling member 2a
の上記前進移動が第3後側アーム2bを基部1および第3連結部材2aの両方に対して回動させ、その第3後側アーム2bの第3連結部材2aに対する回動が、第3関節部2に配置された二個の部分歯車9により逆方向の回動として第3前側アーム2cに伝動されて、第3連結部材2aが指の第3節を内側に曲げる方向に回動すると同時に第3後側アーム2bと第3前側アーム2cとが第3 Of the forward movement rotates the third rear arm 2b for both the base 1 and the third connecting member 2a, is rotated to the third connection member 2a of the third rear arm 2b, the third joint the two partial gears 9 arranged in part 2 is transmitted to the third front arm 2c as reverse rotation, at the same time when the third connecting member 2a is rotated in a direction of bending the third section of the finger on the inside the third rear arm 2b and the third front arm 2c and the third
連結部材2aに対しハの字形に開くように回動し、これにより第3関節部2が指の第3関節の背に沿って伸長しつつ内側に曲がり、さらに、第3関節部2に配置されたワイヤ式第4伝動機構15が第3前側アーム2cに対する第3連結部材2aの回動を増速して同一方向の回動として第3節部3に伝動しその第3節部3を第3前側アーム2cに対して回動させることで、第3前側アーム2c Connecting member 2a to rotate so as to open the shaped wafer, thereby becoming the third joint portion 2 is extended along the back of the third joint of the finger bends inwardly, and further, disposed in the third joint portion 2 the wire type fourth transmission mechanism 15 is a third connecting member 2a section 3 3 to transmission section 3 part 3 thereof as a rotation in the same direction by accelerating the rotation of the relative third front arm 2c which is by rotating the third front arm 2c, the third front arm 2c
に対し第3連結部材2aが回動するとそれより大きい角度分第3前側アーム2cに対し第3節部3が回動することから、上記第3連結部材2aに対する第3前側アーム2cの開き回動が増速されて第3節部3に伝動され、これにより第3節部3が指の第3節を内側に曲げる。 Since the third section 3 is turned to an angle greater fraction third front arm 2c than the third connecting member 2a is rotated with respect to, Kai opening of the third front arm 2c with respect to the third connecting member 2a dynamic is transmitted to the third section 3 is accelerated, thereby the third knuckle section 3 is bent section 3 finger inside.

【0029】また、第3連結部材2aに対する第3前側アーム2cの上記回動は、第3節部3に配置されたワイヤ式第1伝動機構10によって第2後側アーム4bに伝動され、第2後側アーム4bは第3節部3に対して第3 Further, the rotation of the third front arm 2c to the third connecting member 2a is by the wire-type first transmission mechanism 10 disposed in the third section 3 is transmitted to the second rear arm 4b, the 2 rear arm 4b first to the third knuckle section 3 3
前側アーム2cとは逆方向、すなわち第2連結部材4a Opposite direction of the front arm 2c, i.e. the second connecting member 4a
を内側に回動させる方向に回動し、その際、第2関節部4に配置されたワイヤ式第4伝動機構15が第2後側アーム4bに対する第3節部3の回動を減速して同一方向の回動として第2連結部材4aに伝動しその第2連結部材4aを第2後側アーム4bに対して回動させることで、第2後側アーム4bに対し第2連結部材4aが回動するとそれより大きい角度分第3節部3に対し第2後側アーム4bが回動することから、第2後側アーム4bの上記回動が第2後側アーム4bを第2連結部材4aに対しても回動させ、その第2後側アーム4bの第2連結部材4aに対する回動が、第2関節部4に配置された二個の部分歯車11により逆方向の回動として第2前側アーム4cに伝動され、第2連結部材4aが指の第2節を内側に曲げる方向に回 The rotated in a direction to rotate inwardly, whereby the wire type fourth transmission mechanism 15 disposed in the second joint portion 4 decelerates the third section part 3 of the rotation relative to the second rear arm 4b Te is transmitted to the second connecting member 4a as a rotation in the same direction that the second connecting member 4a by rotating the second rear arm 4b, the second connecting member 4a relative to the second rear arm 4b There since the to the a larger angle component with respect to the third section 3 second rear arm 4b is rotated rotated, the rotation of the second rear arm 4b is a second rear arm 4b second connection also is rotated relative to the member 4a, rotated relative to the second connecting member 4a of the second rear arm 4b is, as a reverse direction of rotation by two of the partial gear 11 disposed on the second joint portion 4 is transmitted to the second front arm 4c, times in the direction in which the second connecting member 4a is bent second section of the fingers inwardly すると同時に第2後側アーム4b Then, at the same time the second rear arm 4b
と第2前側アーム4cとが第2連結部材4aに対しハの字形に開くように回動し、これにより第2関節部4も指の第2関節の背に沿って伸長しつつ内側に曲がり、さらに、第2関節部4に配置されたワイヤ式第5伝動機構1 When the second front arm 4c pivots to open shape Ha relative to the second connecting member 4a, whereby the second joint portion 4 also flex inwardly while extending along the back of the second joint of the finger further, wire type disposed on the second joint portion 4 fifth transmission mechanism 1
6が第2前側アーム4cに対する第2連結部材4aの回動を増速して同一方向の回動として第2節部5に伝動しその第2節部5を第2前側アーム4cに対して回動させることで、第2前側アーム4cに対し第2連結部材4a 6 the second connecting member 4a rotates by accelerating the then transmitted to the second knuckle section 5 as a rotation in the same direction the second knuckle section 5 thereof relative to the second front arm 4c with respect to the second front arm 4c by rotating, the second connecting member 4a with respect to the second front arm 4c
が回動するとそれより大きい角度分第2前側アーム4c Angle partial second front arm 4c but greater than the pivots
に対し第2節部5が回動することから、上記第2連結部材4aに対する第2前側アーム4cの開き回動が増速されて第2節部5に伝動され、これにより第2節部5が指の第2節を内側に曲げる。 Since the second knuckle section 5 is rotated to open the rotation of the second front arm 4c is transmitted to the second knuckle section 5 is accelerated relative to the second connecting member 4a, whereby the second knuckle section 5 bend the Section 2 of the finger on the inside.

【0030】さらに、第2連結部材4aに対する第2前側アーム4cの上記回動は、第2節部5に配置されたワイヤ式第2伝動機構12によって第1後側アーム6bに伝動され、第1後側アーム6bは第2節部5に対して第2前側アーム4cとは逆方向、すなわち第1連結部材6 Furthermore, the rotation of the second front arm 4c with respect to the second connecting member 4a is by the wire-type second transmission mechanism 12 disposed in the second knuckle section 5 is transmitted to the first rear arm 6b, the 1 rear arm 6b opposite direction to the second front arm 4c with respect to the second knuckle section 5, i.e. the first coupling member 6
aを内側に回動させる方向に回動し、その際、第1関節部6に配置されたワイヤ式第5伝動機構16が第1後側アーム6bに対する第2節部5の回動を減速して同一方向の回動として第1連結部材6aに伝動しその第1連結部材6aを第1後側アーム6bに対して回動させることで、第1後側アーム6bに対し第1連結部材6aが回動するとそれより大きい角度分第2節部5に対し第1後側アーム6bが回動することから、第1後側アーム6bの上記回動が第1後側アーム6bを第1連結部材6aに対しても回動させ、その第1後側アーム6bの第1連結部材6aに対する回動が、第1関節部6に配置された二個の部分歯車13により逆方向の回動として第1前側アーム6cに伝動され、第1連結部材6aが指の第1節を内側に曲げる方向に Rotated in a direction to rotate the a inward, whereby the wire type fifth transmission mechanism 16 disposed on the first joint 6 is decelerated rotation of the second knuckle section 5 relative to the first rear arm 6b and by rotating the first and transmitted to the connecting member 6a that the first connection member 6a as a rotation in the same direction with respect to the first rear arm 6b, the first coupling member to the first rear arm 6b since 6a is first rear arm 6b to be the angle partial second knuckle section 5 greater than rotation rotates, the rotation of the first rear arm 6b is a first rear arm 6b first also coupled to rotate with respect to member 6a, the rotation relative to the first connecting member 6a of the first rear arm 6b, reverse rotation by two partial gear 13 disposed on the first joint part 6 as is transmitted to the first front arm 6c, in the direction of first connecting member 6a is bent first section of the finger on the inside 動すると同時に第1後側アーム6b Moving to simultaneously first rear arm 6b
と第1前側アーム6cとが第1連結部材6aに対しハの字形に開くように回動し、これにより第1関節部6も指の第1関節の背に沿って伸長しつつ内側に曲がり、さらに、第1関節部6に配置されたワイヤ式第6伝動機構1 When the first front arm 6c rotates to open shape Ha relative to the first connecting member 6a, thereby also the first joint part 6 bends inwardly while extending along the back of the first joint of the finger further, wire type which is arranged on the first joint portion 6 sixth transmission mechanism 1
7が第1前側アーム6cに対する第1連結部材6aの回動を増速して同一方向の回動として第1節部7に伝動しその第1節部7を第1前側アーム6cに対して回動させることで、第1前側アーム6cに対し第1連結部材6a 7 the first coupling member 6a rotate in accelerating the by transmission to the first knuckle section 7 as the pivot in the same direction the first knuckle section 7 thereof to the first front arm 6c to the first front arm 6c by rotating the first connecting member 6a with respect to the first front arm 6c
が回動するとそれより大きい角度分第1前側アーム6c Angle component first front arm 6c but greater than the pivots
に対し第1節部7が回動することから、上記第1連結部材6aに対する第1前側アーム6cの開き回動が増速されて第1節部7に伝動され、これにより第1節部7が指の第1節を内側に曲げる。 Since the first section part 7 is rotated relative to, the opening rotation of the first front arm 6c is transmitted to the first knuckle section 7 is accelerated relative to the first connecting member 6a, whereby the first knuckle section 7 bend the first section of the finger on the inside.

【0031】一方、基部1に配置されたアクチュエータ8が上記と逆に第3連結部材2aを図では左方へ後退移動させると、上記と逆の過程をたどって逆方向の回転が伝動され、これにより第1関節部6、第2関節部4および第3関節部2が各々、前側および後側アーム6b,6 On the other hand, in the figure the third connecting member 2a actuator 8 disposed on the base 1 is opposite to the above-described retracting moved leftward, reverse rotation following the reverse the above process are transmission, Thus, the first joint portion 6, a second joint portion 4 and the third joint portion 2 are each, front and rear arms 6b, 6
c、4b,4c、2b,2cを揃えるように縮小しつつ基部1に対して真っ直ぐな状態に戻ってゆき、また第1 c, 4b, 4c, 2b, Yuki back to upright relative to the base 1 while reduced to align 2c, also first
節部7、第2節部5および第3節部3も各々、基部1に対して真っ直ぐな状態に戻って行って、指を手の甲に対して真っ直ぐに伸ばした状態に戻す。 Each node portion 7, the second knuckle section 5 and the third section 3 is also performed back to upright relative to the base 1, back to the state straightened the finger against the back of the hand.

【0032】そして、親指の動作を補助する部分についても同様に、基部1に配置されたアクチュエータ8が第2連結部材4aを指先方向へ前進移動させると、第1関節部6および第2関節部4が各々、前側および後側アーム6b,6c、4b,4cをハの字上に開いて伸長しつつ基部1に対して内側に曲がってゆき、また第1節部7 [0032] Then, similarly the portion to assist the thumb operation, the actuator 8 arranged on the base 1 is moved forward a second linking member 4a to the fingertip direction, the first joint portion 6 and the second joint portion 4 each, front and rear arms 6b, 6c, 4b, 4c Yuki bent inwardly against the base portion 1 with elongated open on shape Ha, also first knuckle section 7
および第2節部5も各々、基部1に対して内側に曲がって行って、親指を手の甲に対して内側に曲げる。 Each and also the second knuckle section 5, go bent inwardly relative to the base 1, bend inward thumb against the back of the hand. 一方、 on the other hand
基部1に配置されたアクチュエータ8が上記と逆に第2 Actuator 8 arranged on the base 1 and the second to the opposite
連結部材4aを手首方向へ後退移動させると、上記と逆の過程をたどって逆方向の回転が伝動され、これにより第1関節部6および関節部4が各々、前側および後側アーム6b,6c、4b,4cを揃えるように縮小しつつ基部1に対して真っ直ぐな状態に戻ってゆき、また第1 Retracting move the connecting member 4a to the wrist direction, the the following the reverse process of the reverse rotation is transmission, whereby the first joint 6 and the joints 4 are each, front and rear arms 6b, 6c , 4b, Yuki back to upright relative to the base 1 while reduced to align 4c, also first
節部7および第2節部5も各々、基部1に対して真っ直ぐな状態に戻って行って、親指を真っ直ぐに伸ばした状態に戻す。 Each also the section 7 and the second knuckle section 5, go back to the upright relative to the base 1, back to when fully extended thumb straight.

【0033】従って、この実施例の指動作補助装置によれば、手の5本の指全ての曲げ伸ばし動作を補助するとともにそれらの指に握力を付加することができるので、 [0033] Therefore, according to the finger motion assisting apparatus of this embodiment, it is possible to add a grip on their fingers with assisting the five fingers all bending and stretching motion of the hand,
事故や病気等により、手の指の曲げ伸ばし動作に支障をきたしたり、握力を喪失したりした人でも、比較的不自由なく生活することができるようになる。 Due to an accident or illness, etc., or hindered in the bending and stretching motion of the hand of the finger, even those who were or loss of grip strength, will be able to live relatively comfortably.

【0034】しかも、この実施例の指動作補助装置によれば、部分歯車9,11,13は各々等速伝動を行い、 [0034] Moreover, according to the finger motion assisting apparatus of this embodiment, partial gear 9, 11 and 13 performs each constant velocity transmission,
ワイヤ式第1伝動機構10は増速伝動を行い、ワイヤ式第2伝動機構12は減速伝動を行うことから、第2節部5と第3節部3との間の屈曲角を常に、第1節部7と第2節部5との間の屈曲角および第3節部3と基部1との間の屈曲角よりも大きくし得て(例えば上記図示例のプーリ径によれば第1節部7と第2節部5との間の屈曲角および第3節部3と基部1との間の屈曲角が57.6° Wire type first transmission mechanism 10 performs speed increasing transmission, wire type second transmission mechanism 12 from carrying out the reduction transmission, always a second knuckle section 5 the bending angle between the third section 3, the According section 1 part 7 and the pulley diameter of obtained larger than the bending angle (for example, the illustrated embodiment between the bending angle and the third section 3 and the base 1 between the second knuckle section 5 first bending angle between the node portions 7 and the bent angle and the third section 3 and the base 1 between the second knuckle section 5 is 57.6 °
のときに第2節部5と第3節部3との間の屈曲角が90 Bending angle between the second section 5 and the third section 3 is 90 when the
°となるようにし得て)、各節部に、より人の手に近い自然な動きをさせることができる。 ° become so obtained), each node portion, can be a natural movement closer to the hand of man.

【0035】また、この実施例の指動作補助装置によれば、前記第1関節部伝動手段、前記第2関節部伝動手段および前記第3関節部伝動手段が、互いに噛合する部分的な歯車9,11,13をそれぞれ有するものであることから、各関節部2,4,6で滑りが生じないので、より確実に握力を与えることができる。 Further, according to the finger motion assisting apparatus of this embodiment, the first joint transmission means, said second joint transmission means and the third joint portion transmission means, partial gear 9 meshing with each other since those having 11 and 13 respectively, since no slip at each joint 2, 4, 6, it is possible to provide a more reliable grip.

【0036】さらに、この実施例の指動作補助装置によれば、前記第2節部伝動手段および前記第3節部伝動手段が、複数のプーリ10a〜10c,12a〜12cとそれらのプーリに巻き掛けられたワイヤ10d,10 Furthermore, according to the finger motion assisting apparatus of this embodiment, the second knuckle section transmission means and said third knuckle section transmission means, winding a plurality of pulleys 10a to 10c, the 12a~12c and their pulleys hung wire 10d, 10
e,12d,12eとを有するものであることから、比較的長い間隔で伝動する節部3,5における伝動手段を軽量かつコンパクトに構成することができる。 e, 12d, since those having a 12e, the transmission means in the node portions 3 and 5 for transmission at relatively long intervals can be configured light and compact.

【0037】そしてこの実施例の指動作補助装置によれば、前記第1関節部曲り拘束手段、前記第2関節部曲り拘束手段および前記第3関節部曲り拘束手段が、複数のプーリ14a,14b,15a〜15d,16a〜16 [0037] Then, according to the finger motion assisting apparatus of this embodiment, the first joint portion bending restraining means, said second joint bending restraining means and the third joint portion bending restraining means, a plurality of pulleys 14a, 14b , 15a~15d, 16a~16
d,17a,17bとそれらのプーリに巻き掛けられるとともに両端部を伝動対象部材に固定されたワイヤ14 d, 17a, 17b and the wire is fixed at both ends to the transmission target member with wound around their pulleys 14
c,14d,15e,15f,16e,16f,17 c, 14d, 15e, 15f, 16e, 16f, 17
c,17dとを有するものであることから、関節部曲がり拘束手段を軽量かつコンパクトに構成することができるとともに、ワイヤの両端部を伝動対象部材に固定してあるので、指の曲げ伸ばし動作をより確実に行わせることができかつ、握力をより確実に与えることができる。 c, since those having a 17d, together with the joint bending restraining means can be configured light and compact, since both ends of the wire is fixed to the transmission target member, the bending and stretching operations of the finger and it is possible to more reliably performed, it is possible to provide a grip more reliably.

【0038】さらに、この実施例の指動作補助装置によれば、手首の動作を補助する部分も有しており、その部分のアクチュエータ21の作動によって延長部20に対し基部1を揺動させることができるので、手首の曲げ伸ばし動作も補助することができる。 [0038] Furthermore, according to the finger motion assisting apparatus of this embodiment, portions to aid the wrist operation also has, swinging the base portion 1 to extension 20 by the operation of the actuator 21 of the part since it is, it can also assist operation flexion and extension of the wrist.

【0039】最後に、この実施例の指動作補助装置の各部を手および腕に装着する手段の構成例を図9〜図11 [0039] Finally, FIGS. 9 a configuration example of a means for attaching the respective portions of the finger motion assisting apparatus of this embodiment to the hand and arm 11
に示す。 To show. この例では、手Hの甲への基部1の装着と、手Hの各指の、第1節(指先)を除く各節への各節部3, In this example, hands and mounting of the base 1 to the instep of H, of each finger of the hand H, the sections of the sections except the first section (fingertip) 3,
5の装着と、腕ARへの延長部20の装着とは面ファスナPFを用いて行い、その一方、手Hの各指の第1節(指先)への第1節部7の装着は指キャップFCを用いて行っている。 A mounting 5, carried out using a surface fastener PF is the mounting of the extension 20 of the arm AR, while the mounting of the first section part 7 of the first section of each finger of the hand H (fingertip) finger It is performed by using the cap FC. かかる装着手段によれば、この実施例の指動作補助装置を容易かつ確実に手に装着することができる。 According to the mounting means it can be fitted with a finger motion assisting apparatus of this embodiment easily and reliably in the hand.

【0040】以上、図示例に基づき説明したが、この発明は上述の例に限定されるものでなく、例えば、第4節部1aを基部1と一体に形成しても良く、また、関節部の前側アームと後側アームとをハの字に開かせるのと連動させて、前側アームと後側アームとにそれぞれ連結された節部同士あるいは節部と基部とを関節部の連結部材に平行な状態からハの字に曲げるために、前記第1関節部曲り拘束手段、前記第2関節部曲り拘束手段および前記第3関節部曲り拘束手段として、上記実施例のワイヤ式第3〜第5伝動機構14〜17に代えて、歯車組や、 The above has been explained with reference to the illustrated examples, the invention is not limited to the examples described above, for example, a fourth knuckle section 1a may be formed in the base 1 integrally, also joint of the front arm and the rear arm in conjunction as to open the letter Ha, parallel the front arm and the rear arm and the respectively connected the node portion or between the node portions and the base portion to the connecting member of the joint to bend-shaped wafer from a state, the first joint portion bending restraining means, as the second joint bending restraining means and the third joint portion bending restraining means, wire type third to fifth of the above examples instead of the transmission mechanism 14 to 17, and gear set,
前側および後側アームにそれぞれ非平行の補助アームを一本ずつ追加した非平行リンク機構のものや、前側および後側アームにそれぞれ補助アームを一本ずつ併設してそれらの補助アームを前側および後側アームの回動に伴い確動カムで駆動する機構のものを用いても良い。 Objects or non-parallel link mechanism added one by one the auxiliary arm of the non-parallel, respectively front and rear arms, the front and after their auxiliary arm and features one by one each auxiliary arm to the front and rear arms it may also be used as a mechanism for driving in positive motion cam with the rotation of the side arms.

【0041】また、指動作補助装置の各部を手および腕に装着する手段として、上記実施例の面ファスナPFおよび指キャップFCに代えて、指動作補助装置の各部を固着した通気性の良い手袋状のものを用いても良い。 Further, as means for attaching the respective portions of the finger motion assisting apparatus in hand and arm, the embodiment in place of the surface fastener PF and finger cap FC of finger motion assisting each section of the device was secured breathable gloves Jo of may also be used.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】 この発明の指動作補助装置の一実施例の構成を伝動系を除いて示す斜視図である。 1 is a perspective view showing the structure of an embodiment of a finger motion assisting apparatus of the present invention with the exception of the transmission system.

【図2】 上記実施例の指動作補助装置の構成を伝動系を除いて示す平面図である。 2 is a plan view showing except for the configuration of the finger motion assisting apparatus of the above embodiment the transmission system.

【図3】 上記実施例の指動作補助装置の構成を伝動系を除いて示す側面図である。 3 is a side view showing except for the configuration of the finger motion assisting apparatus of the above embodiment the transmission system.

【図4】 上記実施例の指動作補助装置の伝動系としての関節部伝動手段および節部伝動手段を示す説明図である。 4 is an explanatory view showing a joint transmission means and the node portion transmission means as transmission system of the finger motion assisting apparatus of the above embodiment.

【図5】 上記実施例の指動作補助装置のこれも伝動系としての関節部曲がり拘束手段を示す説明図である。 5 is an explanatory diagram also illustrating the restraining means bending joint as driveline finger motion assisting apparatus of the above embodiment.

【図6】 上記実施例の指動作補助装置の上記伝動系を図5のA−A線に沿って示す展開断面である。 6 is an exploded cross-section shown along the line A-A of FIG. 5 the transmission system of the finger motion assisting apparatus of the above embodiment.

【図7】 上記実施例の指動作補助装置の関節部伝動手段および節部伝動手段の作動状態を示す説明図である。 7 is an explanatory view showing an operation state of the joint transmission means and the node portion transmission means of the finger motion assisting apparatus of the above embodiment.

【図8】 上記実施例の指動作補助装置の関節部曲がり拘束手段の作動状態を示す説明図である。 8 is an explanatory view showing an operation state of the joint portion bending restraining means of the finger motion assisting apparatus of the above embodiment.

【図9】 上記実施例の指動作補助装置の各部を手および腕に装着する手段の構成例を手の甲側から見た状態にて示す斜視図である。 9 is a perspective view showing in a state where an example of the configuration of a viewed from the back of the hand means for attaching to each unit hands and arms of the finger motion assisting apparatus of the above embodiment.

【図10】 上記実施例の指動作補助装置の各部を手および腕に装着する手段の構成例を示す側面図である。 10 is a side view showing a configuration example of a means for mounting the various parts of the hand and arm of the finger motion assisting apparatus of the above embodiment.

【図11】 上記実施例の指動作補助装置の各部を手および腕に装着する手段の構成例を手の平側から見た状態にて示す斜視図である。 11 is a perspective view showing in a state where a configuration example as viewed from the palm side of the means for mounting the various parts of the hand and arm of the finger motion assisting apparatus of the above embodiment.

【符号の説明】 DESCRIPTION OF SYMBOLS

1 基部 1a 第4節部 2 第3関節部 2a 第3連結部材 2b 第3後側アーム 2c 第3前側アーム 3 第3節部 4 第2関節部 4a 第2連結部材 4b 第2後側アーム 4c 第2前側アーム 5 第2節部 6 第1関節部 6a 第1連結部材 6b 第1後側アーム 6c 第1前側アーム 7 第1節部 8 アクチュエータ 9 部分歯車 10 ワイヤ式第1伝動機構 11 部分歯車 12 ワイヤ式第2伝動機構 13 部分歯車 14 ワイヤ式第3伝動機構 15 ワイヤ式第4伝動機構 16 ワイヤ式第5伝動機構 17 ワイヤ式第6伝動機構 18 三角柱状ブラケット 19 三角柱状ブラケット 20 延長部 21 アクチュエータ 22 レバー AR 腕 FC 指キャップ H 手 PF 面ファスナ 1 base 1a fourth knuckle section 2 third joint portion 2a third connecting member 2b third rear arm 2c third front arm 3 Section 3 4 second joint 4a second connecting member 4b second rear arm 4c second front arm 5 second knuckle section 6 first joint portion 6a first connecting member 6b first rear arm 6c first front arm 7 first knuckle section 8 actuator 9 partial gear 10 wire type first transmission mechanism 11 partially toothed gear 12-wire second transmission mechanism 13 partial gear 14 wire type third transmission mechanism 15 wire type fourth transmission mechanism 16 wire type fifth transmission mechanism 17 wire type sixth transmission mechanism 18 triangular bracket 19 triangular bracket 20 extension 21 actuator 22 lever AR arm FC finger cap H hand PF surface fasteners

Claims (5)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】 手に装着されてその手の指の曲げ伸ばし動作を補助する装置であって、 前記手の甲に装着される基部(1)と、その基部の先端部に第3関節部(2)を介して揺動可能に後端部を連結された、前記手の前記指の第3節の背に装着される第3 1. A device is attached to a hand to assist the bending and stretching operations of the finger of the hand, a base (1) to be attached to the back of the hand, third joint portion to the distal end of the base portion (2 ) linked to swingably rear portion via a third that is mounted on the back of the third section of the finger of the hand
    節部(3)と、その第3節部の先端部に第2関節部(4)を介して揺動可能に後端部を連結された、前記手の前記指の第2節の背に装着される第2節部(5)と、 Section portion (3), linked to swingably rear end through a second joint portion (4) to the distal end portion of the third section part, the back of the second section of the finger of the hand second knuckle section mounted and (5),
    その第2節部の先端部に第1関節部(6)を介して揺動可能に後端部を連結された、前記手の前記指の第1節の背に装着される第1節部(7)と、を具え、 前記第3関節部が、第3連結部材(2a)と、前記基部とその第3連結部材とに両端部をそれぞれ揺動可能に連結された第3後側アーム(2b)と、前記第3節部とその第3連結部材とに両端部をそれぞれ揺動可能に連結された第3前側アーム(2c)とを有し、 前記第2関節部が、第2連結部材(4a)と、前記第3 Linked to swingably rear portion via a first joint portion (6) at the distal end of the second knuckle section, Section 1 unit mounted on the back of the first section of the finger of the hand and (7), the comprising the third joint portion, and the third connecting member (2a), said base and its third third rear arm connecting member and the opposite ends are swingably coupled to each (2b), and is transported and a third front arm section 3 portions and both end portions in its third connecting member is swingably connected respectively (2c), the second joint portion, a second a connecting member (4a), the third
    節部とその第2連結部材とに両端部をそれぞれ揺動可能に連結された第2後側アーム(4b)と、前記第2節部とその第2連結部材とに両端部をそれぞれ揺動可能に連結された第2前側アーム(4c)とを有し、 前記第1関節部が、第1連結部材(6a)と、前記第2 Each swings node portions and the second rear arm both ends in its second connecting member is swingably connected respectively (4b), said second knuckle section and its second connection member and the opposite ends capable and a linked second front arm (4c), the first joint portion, a first connecting member (6a), the second
    節部とその第1連結部材とに両端部をそれぞれ揺動可能に連結された第1後側アーム(6b)と、前記第1節部とその第1連結部材とに両端部をそれぞれ揺動可能に連結された第1前側アーム(6c)とを有し、 前記基部に、前記第3連結部材を進退移動させるアクチュエータ(8)が配置され、 前記第3関節部に、前記第3後側アームと前記第3前側アームとの前記第3連結部材側の端部を互いに逆方向に回動させる第3関節部伝動手段(9)が配置され、 前記第3節部に、前記第3前側アームと前記第2後側アームとの前記第3節部側の端部を互いに逆方向に回動させる第3節部伝動手段(10)が配置され、 前記第2関節部に、前記第2後側アームと前記第2前側アームとの前記第2連結部材側の端部を互いに逆方向に回動させる第 Each swings node portions and a first first rear arm connecting member and the opposite ends are swingably coupled to each (6b), the first knuckle section and its first coupling member to the opposite end portions capable and a linked first front arm (6c), to the base, said actuator (8) to a third connecting member advancing and retracting is disposed, the third joint portion, the third rear third joint portion transmission means (9) is arranged to rotate the end portion of the third connection member side of the arm and the third front arm in opposite directions, the third section part, the third front section 3 unit transmission means for rotating in opposite directions the end of the third section end side of the arm and the second rear arm (10) is disposed on the second joint portion, the second the rotating in opposite directions the end of the second connecting member side of the rear arm and the second front arm 2関節部伝動手段(11)が配置され、 前記第2節部に、前記第2前側アームと前記第1後側アームとの前記第2節部側の端部を互いに逆方向に回動させる第2節部伝動手段(12)が配置され、 前記第1関節部に、前記第1後側アームと前記第1前側アームとの前記第1連結部材側の端部を互いに逆方向に回動させる第1関節部伝動手段(13)が配置され、 前記第3関節部に、前記第3後側アームに対する前記基部の回動を減速して同一方向の回動として前記第3連結部材に伝動しその第3連結部材を前記第3後側アームに対して回動させるとともに、前記第3前側アームに対する前記第3連結部材の回動を増速して同一方向の回動として前記第3節部に伝動しその第3節部を前記第3前側アームに対して回動させる第3関節部曲り拘 2 is arranged joint transmission means (11), said second knuckle section is rotated in the opposite directions the end of the second section part side of the second front arm and the first rear arm section 2 unit transmission means (12) is disposed, said the first joint portion, pivot the end of the first connection member side of the first front arm and the first rear arm in opposite directions is the first joint portion transmission means (13) is arranged to be, the third joint, transmitted to the third connecting member as a rotation in the same direction by decelerating the rotation of the base relative to the third rear arm the third connecting member perilla with rotating relative to the third rear arm, the third section by accelerating the rotation of the third connecting member relative to the third front arm as a rotation in the same direction and transmitted to the part contracture third joint portion bends for rotating the third knuckle section relative to the third front arm 手段(1 Means (1
    4,15)が配置され、 前記第2関節部に、前記第2後側アームに対する前記第3節部の回動を減速して同一方向の回動として前記第2 4, 15) is disposed on the second joint portion, the second as the rotation in the same direction by decelerating the rotation of the third section portion to the second rear arm
    連結部材に伝動しその第2連結部材を前記第2後側アームに対して回動させるとともに、前記第2前側アームに対する前記第2連結部材の回動を増速して同一方向の回動として前記第2節部に伝動しその第2節部を前記第2 With rotating and transmitted to the connecting member and the second coupling member relative to the second rear arm, as the rotation in the same direction by accelerating the rotation of the second coupling member relative to the second front arm wherein the second knuckle section is transmitted to the second knuckle section second
    前側アームに対して回動させる第2関節部曲り拘束手段(15,16)が配置され、 前記第1関節部に、前記第1後側アームに対する前記第2節部の回動を減速して同一方向の回動として前記第1 Second joint bending restraining means for rotating (15, 16) are arranged with respect to the front arm, the first joint portion, and decelerates the rotation of the second knuckle section relative to the first rear arm Examples same direction of the rotating first
    連結部材に伝動しその第1連結部材を前記第1後側アームに対して回動させるとともに、前記第1前側アームに対する前記第1連結部材の回動を増速して同一方向の回動として前記第1節部に伝動しその第1節部を前記第1 And transmission to the coupling member the first coupling member with rotating relative to the first rear arm, as the rotation in the same direction by accelerating the rotation of the first coupling member relative to the first front arm wherein the first knuckle section that is transmitted to the first knuckle section first
    前側アームに対して回動させる第1関節部曲り拘束手段(16,17)が配置されていることを特徴とする、指動作補助装置。 Wherein the first joint bending restraining means for rotating (16, 17) are arranged with respect to the front arm, the finger motion assisting apparatus.
  2. 【請求項2】 前記第1関節部伝動手段(9)、前記第2関節部伝動手段(11)および前記第3関節部伝動手段(13)は、各々等速伝動を行い、 前記第3節部伝動手段(10)は、増速伝動を行い、 前記第2節部伝動手段(12)は、減速伝動を行うものであることを特徴とする、請求項1記載の指動作補助装置。 Wherein said first joint transmission means (9), the second joint transmission means (11) and the third articulation transmission means (13) performs each such speed transmission, wherein the third section part transmission means (10) performs a speed-increasing transmission, the second knuckle section transmission means (12) is characterized in that performs a speed reduction gear, the finger motion assisting apparatus according to claim 1.
  3. 【請求項3】 前記第1関節部伝動手段、前記第2関節部伝動手段および前記第3関節部伝動手段の少なくとも一つは、互いに噛合する少なくとも部分的な歯車(9, Wherein said first joint transmission means, said at least one second joint transmission means and the third joint portion transmission means is at least partially gear (9 to mesh with each other,
    11,13)を有することを特徴とする、請求項1または2記載の指動作補助装置。 Characterized by having a 11 and 13), the finger motion assisting apparatus according to claim 1 or 2 wherein.
  4. 【請求項4】 前記第2節部伝動手段および前記第3節部伝動手段の少なくとも一つは、複数のプーリ(10a At least one of wherein said second knuckle section transmission means and said third knuckle section transmission means, a plurality of pulleys (10a
    〜10c,12a〜12c)とそれらのプーリに巻き掛けられたワイヤ(10d,10e,12d,12e)とを有することを特徴とする、請求項1から3までの何れか記載の指動作補助装置。 ~10c, 12a~12c) and wound about the wire to those pulleys (10d, 10e, 12d, 12e) and characterized by having a finger motion assisting apparatus as set forth in any one of the claims 1 to 3 .
  5. 【請求項5】 前記第1関節部曲り拘束手段、前記第2 Wherein said first joint bending restraining means, the second
    関節部曲り拘束手段および前記第3関節部曲り拘束手段の少なくとも一つは、複数のプーリ(14a,14b, At least one joint bending restraining means and the third joint portion bending restraining means includes a plurality of pulleys (14a, 14b,
    15a〜15d,16a〜16d,17a,17b)とそれらのプーリに巻き掛けられるとともに両端部を伝動対象部材に固定されたワイヤ(14c,14d,15 15a~15d, 16a~16d, 17a, 17b) and wire that is fixed at both ends to the transmission target member with wound around their pulleys (14c, 14d, 15
    e,15f,16e,16f,17c,17d)とを有することを特徴とする、請求項5記載の指動作補助装置。 e, 15f, 16e, 16f, 17c, 17d) and characterized by having a finger motion assisting apparatus according to claim 5, wherein.
JP2001160074A 2001-05-29 2001-05-29 Finger motion auxiliary device Pending JP2002345861A (en)

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