JP2014226550A - Apparatus and method for augmenting function of human hand using supernumerary artificial appendage - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a prosthesis configured to infer desired motion according to movement of a user's hand.SOLUTION: An apparatus for augmenting a function of a human hand using at least one supernumerary artificial appendage is provided. The apparatus includes: a brace configured to be coupled to a human arm; a supernumerary artificial appendage attached to the brace; a sensor configured to be coupled to different parts of the human hand and to detect information on at least one of posture, position, velocity, acceleration, force, and torque of the human hand; and a processor coupled to the sensor and the supernumerary artificial appendage. The processor determines, on the basis of an output from the sensor, at least one of the posture, position, velocity, acceleration, force, and torque of the supernumerary artificial appendage, and sends at least one control signal configured to operate the supernumerary artificial appendage according to the determined at least one of the posture, position, velocity, acceleration, force, and torque.

Description

This application claims priority to US Provisional Patent Application No. 61 / 824,509, filed May 17, 2013, entitled “Apparatus and Method of Supernumerary, Wearable Robotic Fingers”. The entirety of this document is hereby incorporated by reference.

  The solution of the present application relates to an excess artificial appendage that complements the function of the human hand.

  It is known in the prior art to form a prosthetic device that functions in place of a natural body part. For example, if a person loses a finger in an accident, the person can wear an artificial finger instead of the lost finger. In this way, the prosthetic device allows the user to regain some of the lost functionality from the entire previous hand. Also, such devices are designed to be controlled by specific hand muscle movements. For example, the prosthetic device includes a sensor that detects neural signals generated by the muscles of the user's hand and forms the basis for the movement of the prosthetic device based on such signals.

  Thus, in order to operate the prosthetic device, a new user needs to train his hand muscles to meet the requirements of the device. Thus, a user typically has to perform unnatural and unintuitive muscle exercises to control an artificial finger.

  In accordance with one embodiment of the present invention, an apparatus is provided for extending the function of a human hand using at least one excess artificial appendage. The device is connected to a brace configured to be coupled to a human arm, an excess artificial appendage attached to the brace, and various parts of the human hand, as well as to the human hand. And a sensor configured to detect information regarding at least one of attitude, position, speed, acceleration, force, and torque. The device also includes a processor coupled to the sensor and the excess artificial appendage. The processor determines at least one of the posture and position, velocity, acceleration, force, and torque of the excess artificial appendage based on the output from the sensor, and the determined posture, position, Transmit at least one control signal configured to activate the excess artificial appendage in accordance with at least one of speed, acceleration, force, and torque.

  The excess artificial appendage may be placed on the brace to connect the excess artificial appendage to the human wrist. In some embodiments, the excess artificial appendage exhibits multiple degrees of freedom. The excess prosthetic limb may also include at least one actuator for actuating the prosthesis based on at least one control signal from the processor.

  In various embodiments, one of the plurality of sensors detects the position of a human finger, a human palm, or a human wrist. In a further embodiment, the sensor detects the position of the thumb, index finger, or middle finger of a human hand. The sensor may detect the angle of (i) a human finger joint or (ii) a human wrist joint.

  This device can detect (i) a force sensor that detects the contact force applied by the tip of a human finger, (ii) a pressure sensor that detects pressure in a human palm, or (iii) detects torque in a human finger joint. Including at least one of the torque sensors. In these embodiments, the processor outputs from multiple sensors that detect information about the posture of the human hand, and output from force sensors, pressure sensors, torque sensors, or any combination thereof. To determine the posture of the excess artificial appendage.

  The apparatus may include at least one of (i) an accelerometer that detects the orientation of the human palm, or (ii) a gyroscope that detects movement of the human palm. In these embodiments, the processor is based on outputs from multiple sensors that detect information about the posture of the human hand and output from the accelerometer, output from the gyroscope, or both outputs. To determine the position of the excess artificial appendages.

  The processor may also send at least one control signal to position the excess artificial appendage and (i) grasp the object, (ii) manipulate the object, or (iii) with a human finger A human hand may be assisted to perform the work.

  According to one embodiment of the present invention, a method is provided for extending the function of a human hand using at least one excess artificial appendage. The method includes receiving output signals from a plurality of sensors. Each output signal indicates various information related to the posture of a human hand and / or at least one of position, velocity, acceleration, force, and torque. The method includes the step of determining at least one of posture, position, velocity, acceleration, force, and torque of the excess artificial appendage based on an output signal from the sensor. In addition, the method includes transmitting at least one control signal to actuate the excess artificial appendage according to the determined posture, at least one of position, velocity, acceleration, force, and torque. Including.

  The method includes receiving an output signal indicative of a position of a human finger, a human palm, or a human wrist. The method may include receiving an output signal indicating a position of a thumb, index finger, or middle finger of a human hand. In some embodiments, the method includes receiving an output signal indicative of an angle indication of (i) a human finger joint or (ii) a human wrist joint. The method may also include receiving an output signal from the force sensor, the output signal indicating a contact force applied by the tip of a human finger. Further, the method may include receiving an output signal from a torque sensor, the output signal indicating a torque at a human finger joint. In some embodiments, the method includes receiving an output signal from the accelerometer, the output signal indicating the orientation of a portion of a human hand. The method may include receiving an output signal from the gyroscope, the output signal indicating a movement of the human palm.

  Further, the method may include transmitting at least one control signal to the actuator to actuate the artificial joint of the excess artificial appendage. Send at least one control signal to position the excess prosthesis to (i) grasp an object, (ii) manipulate an object, or (iii) work with a human finger Assisting a human hand may be included.

  According to another embodiment of the present invention, an apparatus is provided for extending the function of a human hand using at least one excess artificial appendage. The device includes a brace configured to be coupled to a human arm and first and second excess artificial appendages attached to the brace. The first excess artificial appendage has a first plurality of actuators, each actuator corresponding to a different joint of the first excess artificial appendage. Similarly, the second excess artificial appendage has a second plurality of actuators, each actuator corresponding to a different joint of the second excess artificial appendage. The second excess artificial appendage is attached to the brace at a position opposite to the first excess artificial appendage.

  The device is coupled to various parts of the human hand and is configured to detect information about the posture of the human hand and / or at least one of position, velocity, acceleration, force, and torque. Includes sensors. In addition, the device includes a processor coupled to the sensor and the excess artificial appendage. The processor determines (i) at least one of posture, position, velocity, acceleration, force, and torque based on the output from the sensor for each joint of the first and second excess artificial appendages. And (ii) transmitting different control signals configured to position a joint corresponding to the actuator to each actuator of the first and second excess artificial appendages.

The sensor may include a force sensor that detects a contact force applied by the tip of a human finger. In some embodiments, the sensor includes an accelerometer that detects the orientation of the human palm, a gyroscope that detects the movement of the human palm, or both. The sensor may include a pressure sensor that detects pressure applied to a human palm. Further, the sensor may include a torque sensor that detects torque at a joint of a human finger.
The features of the embodiments described above will be more readily understood by reference to the following detailed description, taken in conjunction with the accompanying drawings.

FIG. 2 is a schematic view of an apparatus that expands the function of a human hand using an excess artificial appendage. FIG. 2 illustrates an exemplary embodiment and application of the apparatus shown in FIG. FIG. 2 illustrates an exemplary embodiment and application of the apparatus shown in FIG. FIG. 2 illustrates an exemplary embodiment and application of the apparatus shown in FIG. It is a figure which shows the usage example which the apparatus shown by FIG. 1 complements grasp of a human hand. It is a figure which shows the usage example which complements grasp of a human hand with the apparatus shown by FIG. It is a figure which shows the usage example which complements grasp of a human hand with the apparatus shown by FIG. It is a figure which shows the usage example which complements grasp of a human hand with the apparatus shown by FIG. It is a figure which shows the usage example which complements grasp of a human hand with the apparatus shown by FIG. It is a figure which shows the usage example which complements grasp of a human hand with the apparatus shown by FIG. It is a figure which shows the usage example which performs auxiliary work with a human hand with the apparatus shown by FIG. It is a figure which shows the usage example which performs auxiliary work with a human hand with the apparatus shown by FIG. It is a figure which shows the usage example which performs auxiliary work with a human hand with the apparatus shown by FIG. FIG. 4 is a diagram showing typical positions of a human hand and an excess prosthetic appendage while grasping an object, and these positions represent the mutual relationship between the position of a human hand and the position of an excess prosthetic appendage. Recorded as experimental data to determine the relationship. It is a figure which shows an example of the principal component analysis result performed based on the collected experiment data. It is a figure showing the data which show the precision of the control algorithm of an excess artificial appendage. 2 is an exemplary flowchart using the apparatus shown in FIG.

  The exemplary embodiment is for improving the natural abilities of the human hand. When a person is wearing such exemplary embodiments, these embodiments may be that the user's hand is fully functional and healthy, or has lost fingers, or is suboptimal dexterity. Whether presenting or not, the person can be assisted in grasping, holding and / or manipulating various objects. To that end, an exemplary embodiment includes a device having an over prosthetic limb, and when the user wears the device, the device activates the over prosthetic limb to allow the user to perform various tasks. Move with the user's hand in a coordinated manner to help achieve.

  In general, unlike conventional prosthetic devices that allow a person to regain some of the lost function of a damaged limb, the excess appendage complements the normal function of the user's hand. Excess appendages also allow the user to perform tasks that are usually difficult to accomplish with one healthy human hand. For example, if the user holds a large, unwieldy object, the device can place an excess artificial appendage to reinforce the user's grasp. In another example, the device can place an excess artificial appendage to perform auxiliary tasks that support the user's primary tasks (eg, in place while a person unscrews the cap). Hold the bottle, cut the apple stalk while the person is holding the apple). Thus, this device allows the user to achieve objectives beyond what can be achieved with his normal capabilities.

  In addition, the appendages are adjusted in accordance with physical work performed by human hands. The appendage can include multiple joints, thus providing multiple degrees of freedom for the posture of the appendage. Further, each section connected by the joint may have various form factors. These parameters allow the appendage to adapt to a wide variety of positions and postures to complement the user's hand.

  Furthermore, the various embodiments of the device advantageously operate in response to the posture, position, velocity, acceleration, force and / or torque of the user's hand or part thereof. Thus, unlike the prior art, operating the device is an intuitive and consistent experience for the user. Specifically, the sensor of this device records various metrics of the user's hand. By analyzing these metrics, the device determines at least one of an over prosthetic limb posture, position, velocity, acceleration, force, and torque to assist the user's work. In other words, the device performs the desired movement (ie, desired placement) of the artificial appendage to assist the user based on data regarding the metric of the artificial appendage based on the placement of the human hand. I guess. In practice, in the course of a user's normal activities, the device activates the excess artificial appendage so that it behaves as if the artificial appendage is an additional finger. If the user continues to move, the device updates its recorded metric and repositions the excess prosthesis accordingly.

  Referring now to the drawings, FIG. 1 shows a schematic diagram of an apparatus 100 that extends the functionality of a human hand using an extra artificial appendage. The device 100, together with the processor 110, includes sensors 105a, 105b, 105c (hereinafter collectively "105") that sense various positions and inertial data of the human hand. A brace 112 is coupled to the processor 110, the excess artificial appendage 115 and its actuator 118. When the user wears the device 100, the sensor 105 can be coupled to various parts of the user's hand. Sensor 105 detects various metrics of the user's hand and forwards these metrics to processor 110. Based on these metrics, the processor 110 determines an appropriate subsequent placement (eg, posture, position, velocity, acceleration, force, and / or torque) of the excess artificial appendage 115. In response, the processor 110 forwards a control signal to the actuator 118 of the excess artificial appendage 115, which in turn activates the excess artificial appendage 115 accordingly. Sensor 105 also continuously monitors hand metrics, so that processor 110 and actuator 118 continuously update the operation of excess artificial appendages 115.

  Each sensor 105 can detect various metrics of the user's hand. In some embodiments, the sensor 105 detects the position of a part of the hand. For example, one of the plurality of sensors 105 may determine the position of a finger, palm, or wrist. The sensor 105 or another sensor 105 may be configured to determine the angle of a hand joint, such as a finger joint or a wrist joint. In some embodiments, the sensor 105 determines the angle of a plurality of finger joints (eg, first and second joints) for a given human. The joints can be configured to connect to any finger of the hand, but the sensor 105 may be configured to couple to a specific finger (eg, thumb, index finger, middle finger). In various embodiments, the sensor 105 measures thumb inward circumduction, finger abduction, or joint flexion (eg, metacarpal segment, interphalangeal segment).

  In additional embodiments, the sensor 105 can detect pressure applied by a part of the hand. For example, the sensor 105 may be configured to determine the pressure applied by the tip of a human finger. Such a sensor 105 may be a force sensor 105. In some embodiments, the force sensor 105 may detect a change in the color of the fingernail bed and determine the amount of force applied to the finger. In other examples, the sensor 105 may determine the pressure applied by the palm, back of the hand, or side of the hand. Further, the sensor 105 may be a torque sensor. This type of sensor may measure torque on a part of a hand, such as a finger joint or wrist. In various embodiments, the sensor 105 detects the orientation of a part of the hand. For example, the sensor 105 may be an accelerometer that determines whether a part of the user's hand (for example, a palm or a finger) is facing upward or downward. The sensor 105 may be a gyroscope that detects a movement of a part of the hand. The device 105 may use any type of sensor 105 that measures a metric of a part of the hand. In some embodiments, the sensor 105 may be a stretch sensor that measures finger joint angles. As another example, the sensor 105 may be a bend sensor or a liquid embedded elastomeric electronic component (LE3) that includes an elastomeric sheet embedded in a channel of conductive liquid. The sensor 105 may be a fiber Bragg grating (FBG) strain sensor that measures joint curvature, or an optical linear encoder (OLE). In another embodiment, sensor 105 may include an inertial sensor such as a micro electromechanical (MEMS) accelerometer or a gyroscope. Certain exemplary sensors 105 are Bi-Flex Sensor ™ manufactured by Images Scientific Instruments, Staten Island, NY; Bend Sensor ™ manufactured by Flexpoint Sensor Systems, Drapper, Utah; And the Flexiforce Sensor (R) manufactured by Tecscan, Inc. in Boston, Massachusetts.

  The device 100 may include any combination of any of the sensors 105 described herein. For example, in a given device 100, one or more of the sensors 105 may be coupled to the same part of the hand. The device 100 may provide a separate set of force sensors 105 and accelerations 105 for each finger of the user. Further, in some embodiments, the device 100 may couple a separate torque sensor 105 to each of the user's finger joints. Device 100 may also couple accelerometer 105 and gyroscope to the user's palm. As such, apparatus 100 may include any number and combination of sensors 105 described herein, as desired.

  The sensor 105 may transmit an output signal to the processor 110 via wireless or wired communication. For example, the sensor 105 may include a wire that connects the output port of the sensor 105 to the processor 110. In another example, the sensor 105 may include a wireless communication device. In that case, the sensor 105 may send a wireless output signal to the processor 110 according to protocols understood by those skilled in the art.

  In various embodiments, the sensors 105 may be attached to a fixation device that couples each sensor 105 to various parts of the user's hand. For example, the sensor 105 may arrange the braces 112 at positions corresponding to the sides of the wrist, the palm, the finger joint, and the center of the fingertip. In another example, the sensor 105 may be attached to a glove at a location corresponding to the site of interest. In this last example, the sensors 105 may be stretch sensors positioned along the entire length of the finger, and each sensor 105 detects the angle of the corresponding finger joint. To determine the position of the excess artificial appendage 115, the processor 110 reads and executes the instructions from local memory.

  After the experiment, we found that the posture, position, velocity, acceleration, force, and torque of the excess artificial appendage 115 and these similar items of the hand part are interrelated. I found. As will be described later, as will be described in more detail with reference to FIGS. 14 and 15, the excess artificial appendage 115 and a part of the hand usually show a “bioartificial synergistic effect”. With this knowledge, the present inventors have been able to develop a behavior model of the excessive artificial appendage 115. Here, the desired metric of the excess artificial appendage 115 can be determined from a known metric of part of the hand. In addition, the inventors were then able to form a control algorithm for the excess artificial appendage 115 based on this model, among other potential types of models.

  In order to activate the excess artificial appendage 115, the processor 110 sends control signals to the excess artificial appendage 115 to activate the appendage 115 in response to the desired posture, position, velocity, acceleration, force and / or torque. Forward to. In some embodiments, processor 110 forwards the signal to actuator 118. A portion of the excess artificial appendage 115 may be moved by the actuator 118. To face a portion of the appendage 115, the joint coupled to the appendage 115 may be rotated by the actuator 118. The actuator 118 can position the section of the appendage 115 by increasing or decreasing the angle formed by the joint. In some embodiments, the actuator 118 may control the amount of torque applied by the section of the appendage 115.

  In some embodiments, appendage 115 may include one or more sensors 105 that communicate with processor 110. For example, the appendage 115 may include a sensor 105 that detects pressure at its tip. Thus, the sensor 105 may measure the contact force applied by the tip of the appendage 115. In another example, the appendage 115 may include a torque sensor 105 that detects the joint torque of the appendage 115. Each sensor 105 may forward collected data to the processor 110 that adjusts control signals sent to the actuators of the appendage 115 to achieve the desired placement of the appendage 115.

  In various embodiments, the excess artificial appendage 115 may include multiple joints and multiple actuators 118. The number of actuators 118 may depend on the number of degrees of freedom of the appendage 115 (corresponding to the number of joints). Each actuator 118 may actuate another joint of the appendage 115. Each actuator 118 may also receive a separate control signal from the processor 110, and the actuator 118 is used to position and expand its associated joint to position the appendage 115 section. Also good.

  A servo is a typical type of actuator. For example, the appendage 115 may include Dynamixel AX-12A manufactured by Robotis of Seoul, Korea. This servo provides the ability to position the joint within a 300 degree range as well as a maximum torque of 1.5 Nm. Other servos 118 that exhibit different maximum torques and different operating ranges may be used. A pneumatic actuator is another typical type of actuator. In some embodiments, each joint of the appendage is coupled to a custom motor that controls the joint, although a variety of other various actuators may be used. The excess appendage 115 may be attached to the brace 112 in various ways. For example, the appendage 115 may be positioned on the brace 112 such that the brace 112 couples the appendage 115 to the user's wrist when worn. Alternatively, the appendage 115 may be coupled to other parts of the user's arm (such as the user's forearm or hand) via the brace 112. In some embodiments, the appendage 115 may be coupled to the side of the user's hand. Thus, the excess artificial appendage 115 may be positioned to couple to any portion of the user's arm. In some embodiments, the device 100 includes two excess artificial appendages 115 attached to the brace 112 and is positioned on both sides of the user's hand.

  Although the description herein discusses a single appendage 115, any number of appendages 115 may be incorporated into various embodiments. The discussion of a single excess artificial prosthesis 115 is only for the purpose of simplifying in this way. In some embodiments, the device 100 includes two appendages 115. One appendage 115 may have a form factor similar to a human thumb, and the other appendage 115 may have a form factor similar to the last finger of the hand (eg, little finger). One or more appendages 115 may also have multiple sections. For example, the appendage 115 may have two or three sections separated by a joint, including a separate actuator 118 disposed at each joint. In various embodiments, the appendage 115 exhibits three degrees of freedom, but may be implemented with other numbers of degrees of freedom. For example, the appendage 115 may have three degrees of freedom of movement in a conventional Cartesian coordinate system. In other examples, rotation of the appendage 115 and / or rotation of a section of the appendage 115 is possible.

  In some embodiments, appendage 115 includes an object (such as a tool) at its tip and may include one or more actuators that actuate the object. For example, the appendage 115 includes a clipper, and the actuator may open and close the clipper blade based on a control signal from the processor 110. In another example, appendage 115 may include a suturing tool. Based on the control signal from the processor 110, the actuator 118 may activate a sewing tool to form a seam on the object. If the appendage 115 includes a wire feeder, the actuator 118 may activate the wire feeder to consume or retract the wire. In a further example, the appendage 115 includes a holder, and the actuator 118 positions the holder to hold another object in place. These embodiments are merely exemplary, and other types of tools and methods of operation using such tools may be incorporated into the device 100.

  Also, although the device 100 is described as having a single processor 110, the device 100 may include any number of processors 110 as required by the final application. In particular, the processor 110 may include a single core or multi-core processor. The device 100 may use any number of types of processors 110 capable of executing control algorithms for excess artificial appendages 115.

  In various embodiments, a user may wear the device 100 by attaching the brace 112 to a part of their body. For example, the user 112 may wrap the brace 12 around his wrist. In another example, the user may place his hand in the glove.

  The brace 112 may be manufactured by any conventional manufacturing method, as considered feasible by those skilled in the art. For example, the brace 112 may be a 3D print (eg, formed by melt deposition modeling) or an injection molded product. In order to improve comfort and ease of use, the brace 112 is preferably lightweight. For example, the brace 112 may weigh less than about 250 grams. The brace 112 is illustratively designed to evenly distribute the weight of the excess artificial appendage 115 over the user's hand, wrist, forearm, or any combination thereof. However, in other embodiments, the weight is not evenly distributed.

  2-4 illustrate an exemplary embodiment of the apparatus shown in FIG. Specifically, FIG. 2 shows one implementation in which the device 200 includes a sensor 105 that measures the pressure applied by the fingertip, the angle of the finger joint, and the angle of the wrist joint. Has been. The sensor 105 sends these measurements to a processor (not shown), which determines the placement of the two excess artificial appendages 115 of the device 200. In this embodiment, both excess prosthetic appendages 115 are attached to the brace 112 to couple the appendages 115 to the user's wrist. The excess artificial appendages 115 are generally positioned to be coupled to both sides of the user's hand. Further, these excess artificial appendages 115 have a plurality of segments connected by various joints. Thus, processor 110 determines the placement of each segment of excess prosthetic appendage 115, which placement includes the rotation and extension required for each joint to position the segment in this manner. To position the appendage 115, the processor 110 first sends a control signal to each actuator 118 of the excess artificial appendage 115. Actuator 118 responds by moving the joints of appendages 115a and 115b to the desired position and orientation. Further, the contact force applied by the tip of the appendage 115 may be measured by the sensor 105d on the appendage 115, and the sensor 105d may transfer the measurement data to the processor 110. The processor 110 may adjust the control signal sent to the actuator 118 so that the appendage 115 exerts the desired force.

  FIG. 3 illustrates another exemplary device 300 that includes two excess artificial appendages 115. As shown in the device 200 of FIG. 2, an over prosthetic appendage 115 is attached to the brace 112, such as worn on the user's wrist or forearm. Depending on the position of the excess artificial appendage 115 on the brace 112, the excess artificial appendage 115 is coupled to the wrist or forearm. In addition, the excess artificial appendages 115 are generally located on both sides of the user's hand. Since such an excess prosthesis 115 has more segments, ie more joints than the excess prosthesis 115 shown in FIG. 2, the processor (not shown) is more accurate with these excess prostheses. A limb 115 can be placed. Also, the excess artificial appendage 115 of the device 300 has heterogeneous segments. Each segment may have a different form factor and / or be composed of a different material. For example, the end segment may have a form factor configured to grip an object and include a material having a high coefficient of friction to assist in gripping.

  In FIG. 4, another exemplary apparatus 400 is shown. In addition to the brace 112, the device 400 includes a glove with a stretch sensor 105 attached. In this way, each stretch sensor 105 can acquire the corresponding finger metric. In this embodiment, the three stretch sensors 105 obtain metrics for the user's thumb, index finger, and middle finger, but in other embodiments, the device 400 includes a stretch sensor 105 for each finger. The stretch sensor 105 is electrically coupled to a processor (not shown) through a wire. The processor 110 may process the signal from the stretch sensor 105 to place the excess artificial appendage 115 according to any of the steps described herein.

  5-10 illustrate various different exemplary applications of the apparatus 100 shown in FIG. In these examples, the device 100 assists the user's hand when gripping an object. FIG. 5 shows a device 500 in which a single excess artificial appendage 115 supports an object held by a user, i.e. a cup. In this example, the excess artificial appendage 115 supports the bottom surface of the object. 6 to 10 show devices 600, 700, 800, 900, 1000 in which two excess artificial appendages 115 complement a user's grasp. In some of these examples, the devices 600, 700, 800 position the overpositioned artificial appendage 115 to grasp an object. In the remaining examples, the devices 900, 1000 position the excess prosthetic appendage 115 to hold the sides of the object, thereby reinforcing the user's hold.

  11-13 illustrate various other exemplary applications of the apparatus 100 described in FIG. In these examples, the device 100 performs an auxiliary operation with a human hand. For example, FIG. 11 shows an excess artificial appendage 115 that includes an onboard clipper 130. When a user grips an object, such as an apple, the processor 110 and the actuator 118 position the blade of the clipper 130 around the object's stem. The processor 110 and the actuator 118 can also operate the clipper 130 to cut the stem. In this way, the cutter (clipper) 130 performs a work that is different from the work of the user's hand, but is complementary to the work of the user's hand. When the user grips an object, the clipper 130 cuts the stem.

  12 and 13, the excess artificial appendage (s) 115 holds the object in a predetermined position when the user operates the object. FIG. 12 shows an excess artificial appendage 115 with a holder 130 that can hold the screw in place while the user operates the drill. FIG. 13 shows an over prosthetic appendage 115 that holds the tablet computer device while the user is typing on the keypad. In various other examples, the excess artificial appendage 115 can hold the object as the user opens the object (eg, removes the cap from the bottle).

  Referring now to the control of the excess artificial appendage 115, the control algorithm of the device 100 is derived from experimental data that models the beneficial behavior of the excess artificial appendage 115 with respect to the behavior of part of the hand. Without wishing to be bound by theory, these exemplary algorithms are based on the principle of synergy. In the human hand context, various groups of muscles exhibit biological synergies because they are activated by a single control signal. In view of the synergistic effects demonstrated in various groups of muscles, the hand can achieve many complex movements based on the manner in which control signals are deployed. In practice, a small range of signals can generate a wide range of motion. Each of these movements depends on a specific sequence and / or superposition of control signals relayed to the relevant group of muscles.

  In the context of various embodiments, when the inventors model the desired behavior of the over prosthetic appendage 115, the inventors have found that the over prosthetic appendage 115 is synergistic with the natural finger of the human hand. It was found to show. Since the excess artificial appendages 115 do not actually have muscle groups or nerves, these synergistic effects are artificial (eg, “bio-artificial”). By considering these interrelationships in the control function (s) of the appendages 115, the control device 100 controls the excess artificial appendages 115 so that they are natural extensions of the human hand. That is, they can behave as if they have muscle groups or joints that function in cooperation with part of the user's natural hand. In particular, the inventors have formed an exemplary control algorithm for determining the placement of the excess artificial appendage 115 based on the user's natural hand placement.

  Engineers and other developers who develop algorithms may wear a device that can capture the metrics of the user's hand or excess artificial appendage 115. In some embodiments, the developer may wear a device 100 with a data glove that can capture metrics. An exemplary data glove is Shape Hand manufactured by Virtual Realities, Ltd of League City, Texas. For example, the data glove may include a fiber optic sensor that captures metrics such as the user's wrist, fingertips and finger joint positions. Exemplary fiber optic sensors include those manufactured by Measurand, Toronto, Canada. In other examples, the data glove may include any of the sensors 105 described herein. In some embodiments, the memory of the device 100 is reprogrammed to capture metrics relating to a portion of the hand or excess artificial appendage 115. In a further embodiment, the device 100 is connected to a computer device that executes a program for capturing and recording metrics.

  To obtain the data itself, developers place their hands to work (for example, position their fingers, point their hands and apply the desired force through the fingertips) Place the excess artificial appendage 115 in a manner that assists the developer in the work, and include all metrics for this placement (e.g., posture, position, velocity, acceleration, force, and torque). Record. The developer may then manually place the appendage 115 manually. In some embodiments, the developer can control the excess artificial appendage 115 using a software program such as Labview made by National Instruments of Austin, Texas. The developer can instruct Labview to move the excess artificial appendages 115 until the excess artificial appendages reach the desired placement. Labview can then record the metrics of the prosthetic hand as well as the metrics of the excess prosthesis 115 (eg, the angle of each joint) for each desired placement. For example, the metric may include any of the exemplary metrics described herein, but the metric may include 19 joint angles within the developer's finger or 6 joint angles of the excess prosthesis 115. May be included.

  For a given placement of the hand, the developer may record data about one or more potentially desired placements of the excess artificial appendage 115. For example, as shown in FIG. 14, the excess artificial appendage 115 can fully support the bottle from more than one position while the developer grasps the bottle. The developer may collect data for one arrangement, reposition the excess prosthetic appendage 115 to another supplemental arrangement, and collect data for this other arrangement. In another example, the developer can grip the top of the soccer ball and place the excess artificial appendage 115 in several locations that will help the developer hold the ball. Developers may record metrics regarding their hands and portions of excess artificial appendages 115 in these placements. In another example, the developer can grasp the top of the football, place an over prosthetic appendage 115 to assist the developer and record the metric.

  In some embodiments, the developer may retain all data for further analysis. In other embodiments, for a given arrangement of hands, the developer may average the data for excess artificial appendages 115 to reduce the amount of data used in subsequent analyses. For example, the developer may record data for five potential placements of the excess prosthetic appendage 115 when the developer is performing a specific task, and then average this data. . The developer may save the averaged data in relation to the developer's hand placement and discard the collected original data.

  In the example of FIG. 14, a developer holding various objects is shown, but metrics may be collected when the developer performs other tasks. For example, the position of the object used in the work may be fixed by the excessive artificial appendage 115. The appendage 115 can apply pressure to fix the workpiece in place when the developer drills a hole. In some additional examples, the appendage 115 holds the screw or nut in place while the developer secures the screw or nut with a screwdriver or wrench, and the developer unscrews the lid. When the (wide mouth) bottle base or main body is gripped, or when the developer removes the cap with the bottle cap remover, the bottle can be grasped. The developer may position appendage 115 to hold the book open while the developer turns the page. In another example, the developer may position the appendage 115 to hold the container from the bottom while the developer agitates its contents with a spoon. The appendages 115 may support different sides or bottom surfaces of the box while the developer carries the box.

  In this manner, the user can obtain data regarding useful and advantageous placement of the excess artificial appendage 115 with respect to the user's own hand.

Principal component analysis (PCA) can reveal that there is a correlation between the placement of a part of the hand and the desired placement of the excess artificial appendage 115. Specifically, the PCA of the collected data can determine the most important variance that is the main cause of the variance in the collected data. The collected data is
Can be input to the matrix X.

Where x ⁱ = [x ₁ , L, x _r ] ^T represents the mean-centered joint angle between the hand and excess appendage 115 and N is the collected data set Corresponds to the number of. Using the eigenvectors (v _i ) and eigenvalues λ _i ) of the covariance of X, then XX ^T
Can be approximated by

Here, s <= r <N. The accuracy of this approximation represents the proportion of data variance occupied by the principal component. Using eigenvalues, the precision is
Can be expressed as

  FIG. 15 shows an example of the principal component analysis result executed based on the collected experimental data. This analysis demonstrates that the placement of the excess artificial appendage 115 correlates with the placement of part of the hand for the placement used in the experiment. This result confirms that the excess artificial appendage 115 and hand movement are interrelated.

  In particular, FIG. 15 shows μ for each of the first six major components. When considering five fingers and two excess artificial appendages 115 together in the user's hand, the two major components are approximately 81.5% of the variance of the position data (eg, 66. for the first component). 6% and 14.9% for the second component). In other words, the two degrees of freedom account for 81.5% of the possible positions of the user's hand and excess artificial appendage 115. The first component corresponds to the in-phase movement of five fingers and / or the extra artificial appendage 115, or both, while the second component includes five fingers and the extra artificial appendage. 115, or both, out-of-phase motion.

  In addition, PCA not only allows the collected data to be modeled with a small number of variances, but also allows the range of placement (ie motion) to be adequately represented using a certain number of control signals. Back up. FIG. 15 is associated with collected experimental data that is a key factor for 19 finger joints and 6 extra artificial appendage 115 joints, thereby providing 25 degrees of freedom. FIG. 15 also demonstrates that the amount of dispersion, the main factor of the main component, decreases significantly after the third degree of freedom. In this way, the developer can form a functional model and control algorithm for the artificial appendage 115 based on two or three principal components, thereby reducing the number of degrees of freedom from 25 to 2 or 3. be able to. FIG. 15 reveals that considering the fourth principal component will provide a slight improvement in function.

  To model this interrelationship, in some embodiments, the collected data is first inserted into two separate matrices, one containing the collected data for the user's five fingers. , The other, includes data collected for excess artificial appendages 115. One is an input matrix X and the other is an output matrix Y.

X ⁱ = [x ₁ ,..., X _n ] ^T represents the mean-centered joint angle of the user's finger, where y ⁱ = [y ₁ , L, y _m ] ^T corresponds to the centered joint angle of the excess artificial appendage 115. n and m correspond to the number of degrees of freedom of the fingers and artificial appendages 115, respectively, and N corresponds to the number of data sets collected.

Next, unit vectors in the input and output space are determined to maximize the correlation between the projection of the hand placement at the input unit vector and the projection of the excess artificial appendage at the output unit vector. The unit vector in the input space is
Can be expressed as

The projection of the user's hand placement onto the theoretical unit vector in the input space is
Can be expressed as

The unit vector in the output space is
Can be expressed as

Furthermore, the projection of the placement of the excess artificial appendage 115 in the theoretical unit vector in the output space is
Can be expressed as

In order to determine the direction of the input and output vectors to show the strongest correlation between the placement of the user's hand and the placement of the artificial appendage 115, the following equation:
It must be solved like this.

More specifically, v ^o is a unit eigenvector associated with the largest eigenvalue of the matrix XY ^T YX ^T , and w ^o is a unit eigenvector associated with the largest eigenvalue of the matrix YX ^T XY ^T. This pair of eigenvectors provides the most important component for correlating the placement of the hand and artificial appendage 115. Applying partial least squares (PLS) regression equations to these equations yields a series of unit vectors in order of importance. As mentioned above, since most of the data distribution can be represented via the first three main components, the developer can select three pairs of unit vectors for the control algorithm. In some embodiments, the control algorithm is:
y = Ax
Can be represented by

  Here, A is a matrix including a series of unit vectors obtained by partial least square regression.

  Principal component analysis and subsequent models of the interrelationship, ie, the appendix control algorithm that is ultimately used, have been described herein with respect to the user and appendage joint angles, but similar steps are described herein. You may apply the other metric demonstrated by. For example, the developer may collect data including the speed of the user's hand, the torque acting on the user's knuckles, and the desired torque applied by the appendage joint. Thus, the developer may form a control algorithm that adjusts not only the joint angle of the appendage limb but also the torque applied by each joint. The methods described herein can be extended to take into account any other metrics of the user's hand and prosthetic appendages.

  FIG. 16 represents data indicating the accuracy of the control algorithm for the excess artificial appendage 115 and the control algorithm determined using the steps described herein. The position of the artificial appendage 115 observed during experimental data collection for a control algorithm that utilizes three principal components formed via partial least square regression, as demonstrated by the circular data points Substantially matches the position obtained when this algorithm is applied to the appendage 115.

  FIG. 17 shows an exemplary flow diagram of a method of using the apparatus described in FIG. First, this method receives an output signal from a position sensor. Here, each output signal indicates at least one of the posture, position, velocity, acceleration, force, and torque of different parts of the human hand (step 1701). The output signal can indicate the position of the finger, palm, or wrist and / or the angle of a hand joint, such as a finger joint or wrist joint. The output signal may indicate an inward turning movement of the thumb, finger abduction, or bending of a joint (eg, metacarpal segment, interphalangeal segment).

  The method may also determine at least one of posture, position, velocity, acceleration, force, and torque for the excess artificial appendage based on the output signal from the position sensor (step 1702). For example, the method may apply a control algorithm formed in any of the steps described herein. The method sends at least one control signal to place an excess artificial appendage (step 1703). This control signal activates the actuator 118 to position the appendage, or section of the appendage.

  Although various embodiments have been described herein with reference to an excess artificial finger that can be coupled to a human hand or arm, the artificial appendages can be coupled to other parts of the human body. In some embodiments, the appendage may be further removed from the human body. For example, the appendage may be located remotely from the user. In these embodiments, in order to obtain data for developing an appendage control algorithm, the developer can position his hand and over-artificate in a manner that assists the developer in the work. The appendage 115 can be positioned and all metrics can be recorded. For example, a developer may collect data for operating an artificial appendage to control a machine, such as a structural device. To obtain a set of data, the developer places his hand, places an artificial appendage relative to the structural equipment, and collects metrics as described herein. In this way, by collecting data regarding hand user behavior and associated artificial appendage behavior, developers can form control algorithms for remotely operating structural equipment. Further industrial embodiments are contemplated and are within the scope of this disclosure. Developers can form control algorithms according to principal component analysis and partial least squares regression by the methods described herein.

  Various embodiments of the present invention can be characterized by the potential claims listed in the paragraphs below this paragraph (and before the actual claims provided at the end of this application). These potential claims form part of the detailed description of this application. Accordingly, the subject matter of the following potential claims may be presented as an actual claim in a later procedure, including this application or an application claiming priority based on this application. The inclusion of such potential claims should not be construed to mean that the actual claims are not exhaustive of the subject matter of the potential claims. Thus, it should not be construed that the subject matter has been donated to the public by determining that these potential claims do not exist in later proceedings.

The above-described embodiments of the present invention are intended to be examples only. Many variations and modifications will be apparent to those skilled in the art. All such variations and modifications are intended to be within the scope of the present invention as defined in the appended claims.

Claims (26)

A device for expanding the function of a human hand using at least one excess artificial appendage, the device comprising:
Braces configured to connect to the human arm;
An excess artificial appendage attached to the brace;
A sensor coupled to various parts of the human hand and configured to detect information about the posture of the human hand and / or at least one of position, velocity, acceleration, force, and torque;
A processor coupled to the sensor and the excess artificial appendage;
The processor determines (i) at least one of posture, position, velocity, acceleration, force, and torque of the excess artificial appendage based on an output from the sensor; and (ii) the determination Transmitting at least one control signal configured to actuate the excess artificial appendage according to at least one of posture, position, velocity, acceleration, force, and torque,
apparatus. The excess artificial appendage is disposed on the brace to connect the excess artificial appendage to a human wrist;
The apparatus of claim 1. The excess artificial appendage exhibits a plurality of degrees of freedom;
The apparatus of claim 1. The excess artificial appendage includes at least one actuator to actuate the prosthesis based on at least one control signal from the processor;
The apparatus of claim 1. One of the plurality of sensors detects the position of a human finger, a human palm, or a human wrist;
The apparatus of claim 1. The sensor detects the position of the thumb, index finger or middle finger of a human hand;
The apparatus according to claim 5. The sensor detects (i) a human finger joint, or (ii) a human wrist joint angle,
The apparatus according to claim 5. (I) a force sensor that detects a contact force applied by the tip of a human finger, (ii) a pressure sensor that detects pressure in the human palm, or (iii) a torque sensor that detects torque in a human finger joint, At least one of the following:
The processor is configured to generate the excess artificial signal based on outputs from a plurality of sensors that detect information related to a posture of a human hand, and outputs from a force sensor, a pressure sensor, a torque sensor, or any combination thereof. Determine the posture of the appendages,
The apparatus of claim 1. At least one of (i) an accelerometer that detects the orientation of the human palm, or (ii) a gyroscope that detects the movement of the human palm,
The processor is configured to output the excess artificial appendage based on outputs from a plurality of sensors that detect information related to the posture of a human hand, output from an accelerometer, output from a gyroscope, or both. Determine the position of the limbs,
The apparatus of claim 1. The processor sends at least one control signal to position the excess artificial appendage and (i) grasps an object, (ii) manipulates an object, or (iii) together with a human finger Helping human hands to do the work,
The apparatus of claim 1. A method of extending the function of a human hand using at least one excess artificial appendage, the method comprising:
A step of receiving output signals from a plurality of sensors, each output signal being a variety of information relating to a posture of a part of a human hand and at least one of position, velocity, acceleration, force, and torque; Receiving, indicating;
Determining, by the processor, at least one of posture, position, velocity, acceleration, force, and torque of the excess artificial appendage based on an output signal from the sensor;
Sending at least one control signal to actuate the excess artificial limb according to at least one of the determined attitude, position, velocity, acceleration, force, and torque by the processor; ;including,
Method. The steps of receiving an output signal from the sensor include:
Receiving an output signal indicative of a position of a human finger, a human palm, or a human wrist,
The method of claim 11. The steps of receiving an output signal from the sensor include:
Receiving an output signal indicating the position of the thumb, index finger, or middle finger of a human hand,
The method of claim 11. The steps of receiving an output signal from the sensor include:
Receiving an output signal indicative of an angle of (i) a human finger joint or (ii) a human wrist joint;
The method of claim 11. The steps of receiving an output signal from the sensor include:
Receiving an output signal from a force sensor, wherein the output signal from the force sensor includes receiving indicating a contact force applied by a tip of a human finger;
The method of claim 11. The steps of receiving an output signal from the sensor include:
Receiving an output signal from a torque sensor, wherein the output signal from the torque sensor includes receiving a torque at a joint of a human finger;
The method of claim 11. The steps of receiving an output signal from the sensor include:
Receiving an output signal from an accelerometer, wherein the output signal from the accelerometer includes receiving a direction of a portion of a human hand;
The method of claim 11. The steps of receiving an output signal from the sensor include:
Receiving an output signal from the gyroscope, wherein the output signal from the gyroscope includes receiving a movement of a human palm,
The method of claim 11. The step of transmitting the at least one control signal includes:
Sending at least one control signal to an actuator to actuate the artificial joint of the excess artificial appendage;
The method of claim 11. The step of transmitting the at least one control signal includes:
Sending at least one control signal to position the excess artificial appendage to (i) grasp an object, (ii) manipulate an object, or (iii) work with a human finger Including the step of assisting the human hand,
The method of claim 11. A device for expanding the function of a human hand using at least one excess artificial appendage, the device comprising:
Braces configured to connect to the human arm;
A first excess artificial appendage attached to the brace, wherein the first excess artificial appendage has a first plurality of actuators, each actuator being a first excess artificial appendage. A first excess artificial appendage corresponding to different joints;
A second excess artificial appendage attached to the brace at a position opposite to the first excess artificial appendage, wherein the second excess artificial appendage includes a second plurality of actuators. Each actuator has a second excess prosthesis corresponding to a different joint of the second excess prosthesis;
A sensor coupled to various parts of the human hand and configured to detect information about the posture of the human hand and / or at least one of position, velocity, acceleration, force, and torque;
A processor coupled to the sensor and the first and second excess artificial appendages, wherein the processor outputs (i) an output from the sensor for each joint of the first and second excess artificial appendages; Determining at least one of posture, position, velocity, acceleration, force, and torque based on, and (ii) different control signals configured to position a joint corresponding to the actuator, And a processor for transmitting to each actuator of the second excess prosthetic appendage;
apparatus. The sensor includes a force sensor that detects a contact force applied by a tip of a human finger.
The apparatus of claim 21. The sensor includes an accelerometer that detects the orientation of a human palm,
The apparatus of claim 21. The sensor includes a gyroscope that detects the movement of a human palm,
The apparatus of claim 21. The sensor includes a pressure sensor that detects pressure applied to a human palm.
The apparatus of claim 21. The sensor includes a torque sensor that detects torque at a joint of a human finger.
The apparatus of claim 21.