JP2007275486A - Joint driving device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To assist the movability of joints in hands and feet smoothly and downsize the device simultaneously. <P>SOLUTION: The joint driving device 20 has a first gripping member 22, a second gripping member 24, and a third gripping member 26 which are mounted on the back of a hand, and the first driving body 40 is mounted on the first and second gripping members 22, 24 to make the second gripping member 24 drive toward the first gripping member 22, and a second driving body 50 is mounted on the second and third gripping members 24, 26 to make the third gripping member 26 drive toward the second gripping member 24. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a joint drive device that moves a finger joint of a limb.

  Conventionally, a hand rehabilitation device for a person with a hand movement disorder has been proposed. For example, in the rehabilitation device of Patent Document 1, a driving device is installed on the wrist, a wire is laid from the driving device to the fingertip, and the fingertip is forcibly moved by moving the wire in and out of the driving device.

Further, for example, in the rehabilitation device of Patent Document 2, a balloon-like movable bag is expanded and contracted using an air pump, and the finger is forcibly moved by interlocking the finger with the expansion and contraction operation of the movable bag. .
JP 2004-298573 A JP 10-33604 A

  However, in these rehabilitation devices, the drive device and power transmission mechanism are enlarged and difficult to carry because the entire finger is moved by a drive device installed on the wrist side or an air pump arranged outside. There was also a problem of being. Furthermore, since these rehabilitation devices try to move the entire finger with a single power source, it is difficult to move each finger joint independently (MP joint, PIP joint, etc.). There was a problem that it was difficult to move the joint to be trained intensively.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a joint driving device capable of realizing sufficient joint movement while having a small and light structure.

  The above object is achieved by the following means.

  (1) A first holding member arranged on the back side of the hand, a second holding member arranged on the back side of the hand, a third holding member arranged on the back side of the hand, and the first or second holding member. A first driving body that moves the second holding member relative to the first holding member; and a second drive member that is disposed on the second or third holding member, and that moves the third holding member relative to the second holding member. And a second driving body to be provided.

  (2) An MP joint is located between the first holding member and the second holding member, and a PIP joint is located between the second holding member and the third holding member. The joint drive device according to (1) above.

(3) The first driving body connects the first holding member and the second holding member, and the second holding member with respect to the first holding member using the first arm. And a second arm for connecting the second holding member and the third holding member, and the second holding using the second arm. The joint driving device according to (1) or (2), further comprising a second rotating shaft that rotates the third holding member with respect to the member.
(4) Said (1), (2) or (3) description characterized by the said 1st drive body being provided with the 1st slide mechanism which changes the distance of a said 1st holding member and a said 2nd holding member. Joint drive device.
(5) The above-mentioned (1) to (4), wherein an angle between the wrist holding member and the first holding member can be adjusted by further providing a wrist holding member disposed on the wrist. Any one of the joint drive devices.
(6) The wrist side edge of the second holding member is curved in a concave state, and the fingertip side edge of the second holding member is curved in a convex state (1) The joint drive device in any one of thru | or (5).
(7) The joint driving device according to any one of (1) to (6), wherein the second holding member holds at least the index finger, the middle finger, and the ring finger at the same time.
(8) The joint driving device according to any one of (1) to (7), wherein a holding cover capable of storing a fingertip of a hand is installed on the third holding member.
(9) The moving force generation direction of the first driving body or the second driving body is inclined with respect to the extending direction of the middle finger, as described in any one of (1) to (8) above Joint drive device.
(10) The joint driving device according to any one of (1) to (9), wherein the joint driving device is installed on a foot instead of the hand.
(11) a first holding member arranged on the back side of the hand, a second holding member arranged on the back side of the hand, a turning mechanism for turning the second holding member with respect to the first holding member, A joint drive device comprising: a slide mechanism that changes a distance between the first holding member and the second holding member during initial turning by the turning mechanism.
(12) A first holding member arranged on the back side of the hand, a second holding member arranged on the back side of the hand, a motor installed on the first holding member, and a rotation shaft driven to rotate by the motor. And a power-side arm that is connected to the pivot shaft and swings, a member-side arm that is installed on the second holding member, and the power-side arm and the member-side arm are connected in a variable relative angle. An articulation drive device comprising: a joint; and an angle limiting mechanism that is provided at the joint and limits a relative angle between the power side arm and the member side arm within a predetermined range.
(13) The joint drive device according to (12), wherein a torque limiter is installed on the motor or the rotation shaft.
(14) The second holding member is disposed closer to the fingertip side than the first holding member, and one end of the member side arm is swingably held by a swing shaft disposed in the second holding member. The joint driving device according to the above (12) or (13), wherein
(15) The joint driving device according to (12), (13), or (14), wherein the swing shaft is disposed in the vicinity of the fingertip side of the second holding member.
(16) The joint driving device according to any one of (12) to (15), wherein the rotation shaft is disposed in a vicinity of a fingertip side of the first holding member.

  According to the joint driving device of the present invention, it is possible to smoothly assist the movement of the joints of the limbs, reduce the weight of the device, and obtain an excellent effect that a compact finger rehabilitation device and a finger auxiliary robot can be obtained. Can be played.

  First, names of bones, joints and the like of the hand 1 will be described with reference to FIG. The bones of the hand include the distal phalanx 2, the middle phalanx 4, the proximal phalanx 6, and the metacarpal bone 8 from the fingertip. Further, indirect is a DIP indirect 10 located between the distal phalanx 2 and the middle phalanx 4, a PIP indirect 12 located between the middle phalanx 4 and the proximal phalanx 6, and between the proximal phalanx 6 and the metacarpal bone 8. The MP indirect 14 located at the center and the CM indirect 16 located at the root of the metacarpal bone 8 are provided. Regarding the thumb, since there is one less joint, the joint on the tip side of the MP joint is called the IP joint 18.

  Next, the joint drive device 20 according to the first embodiment of the present invention will be described in detail with reference to the top view of FIG. 2, the side view of FIG. 3, and the bottom view of FIG. The joint drive device 20 includes a first holding member 22, a second holding member 24, and a third holding member 26 that are arranged on the back side of the hand. The first holding member 22 is fixed at a position corresponding to the metacarpal bone 8 of the hand, the second holding member 24 is fixed at a position corresponding to the proximal phalanx 6, and the third holding member 26 is fixed at the middle phalange 4 and It is fixed at a position corresponding to the distal phalanx 2. As a result, the MP joint 14 is positioned between the first holding member 22 and the second holding member 24, and the PIP joint 12 is positioned between the second holding member 24 and the third holding member 26. It has become.

  The first to third holding members 22 to 26 are respectively provided with belts 28A to 28D for fixing to the hand, and the lengths can be adjusted by Velcro fasteners formed on the belts 28A to 28D. It can be done. Accordingly, the first to third holding members 22 to 26 are fixed to the hand using the belts 28A to 28D. The third holding member 26 is provided with two belts 28C and 28D. The belt 28D disposed on the distal end side of the third holding member 26 fixes the index finger, the middle finger, and the ring finger, The little finger is fixed by the belt 28 </ b> C arranged on the side. Because the little finger is shorter than the other fingers, it is possible to move the little finger with certainty by fixing the finger in this way, which can enhance the movement of the finger and the rehabilitation effect. .

  The joint drive device 20 further includes a wrist holding member 30 fixed to the wrist, a wrist angle adjusting mechanism 32 that connects the wrist holding member 30 and the first holding member 22 in a variable angle, the first and second holding members 22, The first driving body 40 is disposed across the second driving body 40, and the second driving body 50 is disposed across the second and third holding members 24, 26.

  The wrist holding member 30 is a plate member having a curved shape along the wrist, and a wrist holding belt 31 is installed. A Velcro fastener is formed on the wrist holding belt 31, and the wrist holding member 30 can be fixed to the wrist by the wrist holding belt 31. The wrist holding member 30 is provided with a control box 36, and the operation of the joint driving device 1 can be stopped suddenly by pressing an emergency button 38 provided in the control box 36. Further, a control device 70 described later is housed in the control box 36.

  The wrist angle adjusting mechanism 32 includes a guide portion 33A installed on the wrist holding member 30, a slider portion 33C installed on the first holding member 22, and a fixing screw 34 for fixing the positions of the guide portion 33A and the slider portion 33C. The guide portion 33A is a cylindrical member having a partially arcuate guide groove 33B that protrudes outward from the wrist. Similarly, the slider portion 33C is a partially arc-shaped columnar member that protrudes outward from the wrist, and one end is fixed to the first holding member 22 and the other end is inserted into the guide groove 33B of the guide portion 33A. The slider portion 33C is formed with a plurality of positioning holes 33D, and the guide portion 33A and the slider portion 33C can be fixed by inserting a fixing screw 34 penetrating the guide groove 33B. Therefore, the angle of the wrist holding member 30 and the first holding member 22 can be adjusted by appropriately sliding the slider portion 33C along the guide groove 33B and then fixing it with the fixing screw 34. As described above, since the guide portion 33A and the slider portion 33C are curved outward, the guide portion 33A and the slider portion 33C can be positioned away from the wrist and do not hinder the movement of the wrist.

  The first driver 40 moves the second holding member 24 relative to the first holding member 22. Specifically, the first drive body 40 includes a servo motor 41, a rotation shaft 42, a power side arm 43, a member side arm 44, a joint 45, and an angle limiting cam 46. The servo motor 41 is fixedly disposed on the first holding member 22 and reciprocates the rotation shaft 42 within a certain angular range. The power side arm 43 is integrally connected to the rotating shaft 42 and swings by the reciprocating rotation of the rotating shaft 42. The member-side arm 44 is a member that is curved in a convex state outside the back of the hand, and one end of the member-side arm 44 is swingably held by a swing shaft 44A on which the second holding member 24 is disposed. The other end of the member side arm 44 is connected to the power side arm 43 via a joint 45. The joint 45 variably connects a relative angle between the power side arm 43 and the member side arm 44 by a pin, and transmits a force between the power side arm 43 and the member side arm 44. The angle limiting cam 46 is a cam mechanism formed at the joint 45 side end of the member side arm 44 and the power side arm 43, and uses the cam engagement and disengagement states to The relative angle of the member side arm 44 is limited within a predetermined range.

  The second driving body 50 has substantially the same structure as the first driving body 40 and is movable with the third holding member 26 with respect to the second holding member 24. Specifically, the second driving body 50 includes a servo motor 51, a rotation shaft 52, a power side arm 53, a member side arm 54, a joint 55, and an angle limiting cam 56. The servo motor 51 is fixedly disposed on the second holding member 24 and reciprocates the rotation shaft 52 within a certain angular range. The power side arm 53 is integrally connected to the rotating shaft 52 and swings by the reciprocating rotation of the rotating shaft 52. The member-side arm 54 is a member that is curved in a convex state on the outside of the back of the hand, and one end of the member-side arm 54 is swingably held by a swing shaft 54 </ b> A disposed on the third holding member 26. The other end of the member side arm 54 is connected to the power side arm 53 via a joint 55. The joint 55 variably connects a relative angle between the power side arm 53 and the member side arm 54 by a pin, and transmits a force between the power side arm 53 and the member side arm 54. The angle limiting cam 56 is a cam mechanism formed at the joint 55 side end of the member side arm 54 and the power side arm 53, and uses the cam engagement and disengagement states to The relative angle of the member side arm 54 is limited within a predetermined range.

  Next, the operation of the first driver 40 will be described. Since the operation of the second drive body 50 is substantially the same as that of the first drive body 40, the description thereof is omitted here to avoid redundant description.

  As shown in FIGS. 2 to 4, when the power side arm 43 is in the most pulled state, that is, when the power side arm 43 is tilted to the wrist side, the joint 45 is also on the wrist side on the first holding member 22. The member side arm 44 is pulled toward the wrist side. As a result, the first holding member 22 and the second holding member 24 are in a very close state. In this state, the angle limiting cam 46 is in an open state, and the angles of the power side arm 43 and the member side arm 44 in the joint 45 are variable.

  Next, when the power side arm 43 is slightly swung to the fingertip side, as shown in FIG. 5, the combination of the power side arm 43, the joint 45, the member side arm 44, the hand 1, and the MP joint 14 is a slider-link mechanism. Among them, the hand 1 serves as a fixed link, and the second holding member 24 slides forward with respect to the first holding member 22. As a result, a marginal space S is created in the area of the MP joint 14, and the MP joint 14 is easily bent. On the other hand, since the first and second holding members 22, 24 are fixed to the hand 1, there is a limit to the forward sliding distance of the second holding member 24. As a result, when the slide of the second holding member 24 is fixed, as shown in FIG. 6, the combination of the power side arm 43, the joint 45, the member side arm 44, the hand 1, and the MP joint is used as a lever crank mechanism. The second holding member 24 (the proximal phalanx 6 of the hand) is naturally pushed downward with respect to the MP joint 14 (the bending side of the joint), and the bending of the MP joint 14 starts. In the bent state, the servo motor 41 is not so heavily loaded.

  Thereafter, when the power side arm 43 further tilts toward the fingertip side, it approaches the dead center in the lever crank mechanism, and the second holding member 24 tries to push the proximal phalange 6 portion further, but the hand is gradually repelled. Strengthen. However, as shown in FIG. 7, when the lever crank mechanism reaches the vicinity of the dead center, the angle limiting cam 46 formed in the joint 45 is engaged at substantially the same timing, and the power side arm 43 in the joint 45 is engaged. And the member-side arm 44 are fixed in a relative angle to be integrated. Accordingly, when the angle limiting cam 46 is locked, the L-shaped arm in which the power-side arm and the member-side arm 44 are integrated performs a simple rotational movement around the rotation shaft 42. The holding member 24 is further pushed into the wrist side. As a result, as the power-side arm 43 tilts toward the fingertip side, the joint 45 disposed at the end of the power-side arm 43 protrudes forward from the fingertip-side edge of the first holding member 22, The member side arm 44 is pushed downward in FIG. 7 (the bending side of the joint). Here, the MP joint 14 is bent to approximately 90 degrees. By reciprocating this operation, a rehabilitation motion in which the MP joint 14 is bent and extended can be obtained. Note that if the rotation range of the servo motor 41 is controlled, the bending angle of the MP joint 14 can be freely adjusted.

  Note that the engagement timing of the angle limiting cam 46 (the lock angle between the power-side arm 43 and the member-side arm 44) assumes the maximum bending state that should be realized in each joint, and the power-side arm 43 in the maximum bending state. And the angle of the member side arm 44 is fixed (the joint is not opened). From another point of view, assuming a “lever crank mechanism” with the rotation shaft 41, the joint 45, the swing shaft 44A, and the MP joint 14 as four points, the swing shaft 44A, the MP joint 14, It can be said that the angle limiting cam 46 is preferably locked in the vicinity of the dead center where the moving shaft 41 is positioned substantially linearly.

  Next, the shapes of the first holding member 22, the second holding member 24, and the third holding member 26 will be described. Returning to FIG. 2 or 4, the first, second, and third holding members 22, 24, and 26 are plate-like members and have a width that can cover the index finger to the little finger. The first holding member 22 has a shape in which the wrist side edge 22A is curved in a concave state and the fingertip side edge 22B is curved in a convex state. Similarly, in the second holding member 24, the wrist side edge 24A is curved in a concave state, and the fingertip side edge 24B is curved in a convex state. The concave curved shape of the wrist side edge 24 </ b> A substantially matches the curved shape of the fingertip side edge 22 </ b> B of the first holding member 22. Similarly, in the third holding member 26, the wrist side edge 26A is curved in a concave state, and the fingertip side edge 26B is curved in a convex state. The concave curved shape of the wrist side edge 26 </ b> A substantially matches the curved shape of the fingertip side edge 24 </ b> B of the second holding member 24.

  In more detail, the curved shape of the fingertip side edges 22B and 24B of the first holding member 22 and the second holding member is set so that the vicinity of the middle finger protrudes most, and the index finger side is somewhat Recessed, and the shape of the little finger is larger than that of the index finger. By doing in this way, it becomes easy to match the joint drive device 20 with the shape of an actual hand. For example, the first holding member 22 can collectively cover the metacarpal bones 8 from the index finger to the little finger, and the second holding member 24 can collectively cover the proximal phalange 6 from the index finger to the little finger. It becomes possible. The third holding member 26 can also cover the middle phalange 4 and the distal phalanx 2 from the index finger to the little finger together. As a result, by using the joint driving device 20 of the first embodiment, it is possible to perform a so-called goo-par movement that simultaneously grasps and opens a total of four fingers from the index finger to the little finger.

  Next, hand rehabilitation movement by the joint drive device 20 will be described.

  As shown in FIG. 8, first, the joint driving device 20 is first fixed to the hand 1 in an open state by belts 28 </ b> A to 28 </ b> D. The belt 28A is wound around the metacarpal bone 8 from the index finger to the little finger, the belt 28B is wrapped around the proximal phalange 6 from the index finger to the little finger, and the belt 28D is the distal phalanx 2 or the middle phalanx from the index finger to the ring finger. 4 and the belt 28C is wound around the distal phalange 2 or the middle phalanx 4 of the little finger. Then, the wrist holding member 30 is fixed to the wrist by winding the wrist holding belt 31 around the wrist, and the wrist angle adjustment mechanism 32 adjusts the wrist angle to an appropriate state.

  Next, the joint drive device 20 is moved to perform rehabilitation. Specifically, as shown in FIGS. 9 and 10, the first driving body 40 and the second driving body 50 are operated simultaneously, and the second holding member 24 is bent with respect to the first holding member 22. Further, the third holding member 26 is bent with respect to the second holding member 24. As already described, the power transmission mechanism of the first and second drive bodies 40, 50 is bent at the same time while securing the space S between the holding members 22, 24, 26. The joint 14 and the PIP joint 12 can be smoothly bent. Here, the maximum bending angle of the MP joint is set to 90 degrees, and the maximum bending angle of the PIP joint is set to 100 degrees.

  Although the rehabilitation exercise is shown here, the joint drive device 20 can be used even when the hand is in a handicapped state or when holding an object with one's hand. For example, FIG. 11 shows a state where the present joint drive device 20 is mounted and the handrail 60 is gripped. In this case, by adjusting the bending angles of the MP joint 14 and the PIP joint 12, the handrail 60 can be gripped with an appropriate strength. Further, by providing the first drive body 40 and the second drive body 50 with a torque limiter mechanism or torque limiter control, the bending operation is automatically stopped when a predetermined pressure is applied to the fingertip, and objects of various sizes can be obtained. You may make it possible to grip freely. In particular, when the joint drive device 20 is used as an auxiliary device for daily hand movements, the wrist angle adjusting mechanism 32 is used to bend the angles of the wrist holding member 30 and the first holding member 22. This is because in everyday life, the wrist is often bent.

  Next, a control device used in the joint drive device 20 will be described.

  FIG. 12 shows a control device 70 used in the joint drive device 20. The control device 70 includes count means 72, count reset means 74, torque control means 76, speed control means 78, origin return means 80, origin setting means 82, and movable range setting means 84. The counting means 72 counts the number of rehabilitation exercises and stops the apparatus 20 when a preset target number is reached. The count reset means 74 returns the numerical value of the count means 72 to zero. The torque control means 76 controls the torque of the servo motors 41 and 51, and can adjust the load applied to the hand. The torque control means 76 also has a torque detection function, and stops the rotation of the servo motor 41 when the generated torque of the servo motor 41 reaches the upper limit of the set value. The speed control means 78 adjusts the rotation speed of the servo motor 41, and the user can adjust it to a desired speed. The origin adjustment means 80 is for initial setting of the origin of the servo motors 41 and 51. For example, when used by a person who does not return when the finger is bent, the origin of the joint driving device 20 is set to a bent state. Then, rehabilitation of the operation of extending the MP joint 14 and the PIP joint 12 is performed. On the other hand, when a person who does not bend enough when the finger is extended is used, rehabilitation of the bending operation is performed by setting the origin to a non-bending state. The origin returning means 82 is for returning to the origin when the emergency button 38 is pressed by the user.

  The movable range setting means 84 sets in advance how much the servo motors 41 and 51 are rotated in both directions with the origin as a reference. For example, a person with a small movable range of the joint of the hand needs to set the movable range of the servo motors 41 and 51 to be small. On the other hand, when the rehabilitation progresses and the movable range of the joint of the hand increases, the movable range of the servo motors 41 and 51 is also increased. By doing in this way, utilization according to the level of rehabilitation becomes possible.

  Various specific hardware configurations of the control device 70 can be used. As an example, a case where a general-purpose computer is used is shown in FIG. The control device 70 includes a storage device 90, a central processing unit 91, a transmission circuit 92, input / output means 93, a motor interface 94, and the like. The storage device 90 stores a software program to be realized by the control device 70. The central processing unit 91 reads and executes this software program, and realizes the functions of FIG. 12 by information processing. The transmission circuit 92 is a communication bus for connecting the storage device 90, the central processing unit 91, the input / output means 93, the motor interface 94, and the like to communicate data. The input / output means 93 is, for example, a touch panel display, and displays torque (strong, medium, weak), speed (speed, medium, slow), count, rotation range, etc. Make the configuration executable. The motor interface 94 is connected to each of the servo motors 41 and 51, and instructs and controls various movements for these.

  As described above, in the joint driving device 20 of the first embodiment, the first to third holding members 22, 24, and 26 are arranged in the hand, and the first holding member 22 and the second holding are used by using the first driving body 40. Since it is a distributed power structure in which a bending motion is performed between the members 24 and a bending motion is performed between the second holding member 24 and the third holding member 26 using the second driving body 50, each power source (here Then, the servo motors 41 and 51) can be made compact. Further, the third holding member is driven by using the second holding member 24 driven by the first holding member 22 as a base instead of manipulating all the joints from a driving source arranged at one place such as the wrist. Therefore, it is possible to increase the operating angle and the operating torque while having a simple structure. In addition, since the MP joint 14 and the PMP joint 12 are disposed between the first to third holding members 22, 24, and 26, it is possible to intensively move important joints.

  In the joint drive device 20, the first drive body 40 is provided with a (first) rotation shaft 42, and the first holding member 22 is moved to the first holding member 22 by using the arms 43 and 44. 2 Since the holding member 24 is rotated, the MP joint 14 can be bent using this rotational motion. Similarly, the second drive body 50 is provided with a (second) rotation shaft 42, and the PIP joint 12 can be bent by a rotational movement using the arms 53 and 54. Moreover, since the power side arm 43 and the member side arm 44 are locked by the cam mechanism, it is integrated into an L shape, so that a marginal space is secured around the MP joint 14 while moving toward the metacarpal bone 8 side. The power of the rotating shaft 42 positioned can be transmitted to the distal end side of the proximal phalanx 6.

  In addition, the finger joint has a feature that the skin on the back side of the hand located outside the joint greatly extends because the bending point is inside the hand. Therefore, in the present joint drive device 20, the first and second drive bodies 40, 50 partially function as a slider mechanism and also function as a rotation mechanism, and therefore the first holding member 22 and the second holding member 24. And the distance between the second holding member 24 and the third holding member 26 are simultaneously separated to follow the elongation of the skin, and further, a bending operation is performed. Accordingly, the MP joint 14 and the PIP joint 12 can perform a very natural bending motion. Further, in the joint drive device 20, one servo motor 41 is obtained by using two arms 43, 44, a joint 45 connecting the arms 43, 44, and an angle limiting cam 46 formed on the joint 45. Since the slider mechanism and the turning mechanism are compatible, the joint driving device 20 can be made extremely compact.

  In addition, by arranging the rotation shaft 42 side on the fingertip side of the first holding member 22, a large rotation angle of the power side arm 43, particularly a rotation angle on the bending side can be secured, and the swing shaft 44 </ b> A is further provided. By disposing the second holding member 24 on the fingertip side, it is possible to push a part away from the MP joint 14 and transmit a larger torque to the hand. The same applies to the second driver 50.

  Furthermore, in this joint drive device 20, the angles of the wrist holding member 30 and the first holding member 22 can be freely adjusted, so that an angle that is easy for an individual to use can be selected as appropriate. In particular, convenience is improved when the device is used as a device for assisting daily life, not as a rehabilitation device.

  Further, for the first to third holding members 22, 24, 26, particularly the second holding member 24, the wrist side edge 24A is curved in a concave state, and the fingertip side edge 24B is curved in a convex state. Therefore, when fixing at least the index finger, the middle finger, and the ring finger at the same time, the second holding member 24 can be fitted to the proximal phalanges 6 of all the fingers. As a result, a plurality of fingers can be rehabilitated simultaneously.

  In the joint driving device 20 according to the first embodiment, the case where the tip side of the finger is fixed by the belts 28C and 28D is shown, but the present invention is not limited thereto. For example, as shown in FIG. 14, a fingertip storage cover 58 is installed on the fingertip side of the third holding member 26, and the fingertip is stored in the fingertip storage cover 58 to fix the third holding member 26 and the finger. You may make it do. In this way, the work of winding the belt is reduced, so that the convenience is improved particularly for people who are handicapped.

  Next, with reference to FIG. 15, the joint drive device 120 according to the second embodiment will be described. In addition, about this joint drive device 120, about the same or similar member as the joint drive device 20 of 1st Embodiment, detailed description is abbreviate | omitted by making the last two digits of the code | symbol correspond, 1st implementation Differences from the form will be mainly described.

  In the joint drive device 120, the angles of the rotation shafts 142 and 152 of the first drive body 140 and the second drive body 150 are variable. Specifically, the servo motors 141 and 151 are arranged on a rotary table (not shown) that can be positioned and fixed, and the whole can be rotated in the surface direction of the hand. Further, arc-shaped slide grooves 124C and 126C extending in the width direction of the hand are formed in the vicinity of the fingertip side edges 124B and 126B of the second holding member 124 and the third holding member 126. The swing shafts 144A and 154A are movable along 124C and 126C. Accordingly, when the swing shafts 144A, 154A are moved along the slide grooves 124C, 126C around the servo motors 141, 151, the driving direction S (the bending of the joint) of the first driving body 140 and the second driving body 150 is achieved. The force generation direction) can be inclined with respect to the center direction T (the extension direction of the middle finger) of the hand. In particular, as in the second embodiment, it is possible to bend the little finger toward the thumb side by inclining the generation direction S of the bending force of the joint toward the little finger side toward the fingertip. In daily activities, the little finger has more opportunities to bend and grip an object facing the thumb than to bend it linearly in the center direction T, so that more practical rehabilitation and exercise assistance can be realized. .

  As described above, in the joint drive devices 20 and 120 according to the above-described embodiment, the control device is illustrated only when the torque control unit 76 is provided, but the present invention is not limited thereto. For example, it is possible to install a slip mechanism using friction on the rotating shaft of the servo motor and to control the torque by causing the slip mechanism to idle when a certain torque is reached. Further, an elastic region using a spring or the like may be formed on the power side arm or the member side arm, and the torque may be absorbed by bending the arm when a certain torque is reached.

Furthermore, in this embodiment, although it showed only when the joint drive device is arrange | positioned from the index finger of a hand to a little finger, this invention is not limited to it. For example, each joint of the thumb may be individually driven so as to be installed on the thumb. In particular, by combining the joint drive devices 20 and 120 shown in the embodiment and the joint drive device for the thumb, various objects can be grasped by the movement of the thumb and other fingers. In this way, convenience can be further enhanced as a tool for assisting daily life.
In the present embodiment, the joint drive device is shown only when it is installed in the hand. However, the present invention is not limited to this and can be used for the toes. In this embodiment, the slide motion and the rotational motion are realized by one servo motor. However, the present invention is not limited to this, and the rotational power source and the slide power source are separately prepared and combined. May be.

  It should be noted that the joint drive device of the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the gist of the present invention.

  The joint driving device of the present invention can be used as a small, light and compact finger rehabilitation device or a finger auxiliary robot.

Perspective view explaining names of hand joints etc. The top view of the joint drive device concerning a 1st embodiment. Side view of the joint drive device Bottom view of the joint drive device Partial enlarged view for explaining the drive state of the drive body of the joint drive device Partial enlarged view for explaining the drive state of the drive body of the joint drive device Partial enlarged view for explaining the drive state of the drive body of the joint drive device Side view showing the joint drive device installed in the hand The side view which shows the state which bent the finger joint of the hand using the joint drive device The side view which shows the state which bent the finger joint of the hand using the joint drive device Side view showing a state in which a handrail is gripped using the joint drive device The block diagram which shows the control apparatus of the joint drive device The block diagram which shows the member structure of the control apparatus of the joint drive device Side view showing another example of the joint drive device The top view which shows the joint drive device which concerns on 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Hand 20, 120 ... Joint drive device 22, 122 ... 1st holding member 24, 124 ... 2nd holding member 26, 126 ... 3rd holding member 30, 130 ... Wrist holding member 32, 132 ... wrist angle adjustment mechanism 40, 140 ... first driving body 50, 150 ... second driving body

Claims (16)

A first holding member disposed on the back side of the hand;
A second holding member disposed on the back side of the hand;
A third holding member disposed on the back side of the hand;
A first driving body installed on the first or second holding member and moving the second holding member relative to the first holding member;
A second driving body installed on the second or third holding member and moving the third holding member relative to the second holding member;
A joint drive device characterized by comprising:   The MP joint is located between the first holding member and the second holding member, and the PIP joint is located between the second holding member and the third holding member. The joint drive device described. The first driving body rotates the second holding member with respect to the first holding member by using the first arm connecting the first holding member and the second holding member, and the first arm. A first pivot shaft,
A second arm that connects the second holding member and the third holding member; and a second arm that rotates the third holding member relative to the second holding member using the second arm. The joint drive device according to claim 1, further comprising a rotation shaft.   4. The joint drive device according to claim 1, wherein the first drive body includes a first slide mechanism that changes a distance between the first holding member and the second holding member. 5.   The joint drive according to any one of claims 1 to 4, wherein a wrist holding member disposed on the wrist is further provided to adjust an angle between the wrist holding member and the first holding member. apparatus.   The wrist side edge of the second holding member is curved in a concave state, and the fingertip side edge of the second holding member is curved in a convex state. A joint drive device according to claim 1.   The joint driving device according to any one of claims 1 to 6, wherein the second holding member holds at least the index finger, the middle finger, and the ring finger at the same time.   The joint drive device according to any one of claims 1 to 7, wherein a holding cover capable of storing a fingertip of a hand is installed on the third holding member.   The joint drive device according to any one of claims 1 to 8, wherein a direction in which a movable force is generated by the first drive body or the second drive body is inclined with respect to an extending direction of the middle finger.   10. The joint drive device according to claim 1, wherein the joint drive device is installed on a foot instead of the hand. A first holding member disposed on the back side of the hand;
A second holding member disposed on the back side of the hand;
A rotation mechanism for rotating the second holding member with respect to the first holding member;
A joint drive device comprising: a slide mechanism that changes a distance between the first holding member and the second holding member during initial rotation by the rotation mechanism. A first holding member disposed on the back side of the hand;
A second holding member disposed on the back side of the hand;
A motor installed in the first holding member;
A pivot shaft that is pivotally driven by the motor;
A power-side arm connected to the pivot shaft and swinging;
A member-side arm installed on the second holding member;
A joint that variably connects a relative angle between the power side arm and the member side arm; and an angle limiting mechanism that is provided in the joint and limits a relative angle between the power side arm and the member side arm to a predetermined range;
A joint drive device comprising:   The joint drive device according to claim 12, wherein a torque limiter is installed on the motor or the rotation shaft.   The second holding member is disposed on the fingertip side with respect to the first holding member, and one end of the member side arm is swingably held on a swing shaft disposed on the second holding member. The joint drive device according to claim 12 or 13, characterized in that   The joint drive device according to claim 12, 13, or 14, wherein the swing shaft is disposed in the vicinity of a fingertip side of the second holding member.   The joint drive device according to claim 12, wherein the rotation shaft is disposed in the vicinity of a fingertip side of the first holding member.

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