JP2015080480A - Electronic artificial arm - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electronic artificial arm that enables a user to easily learn an operation and that enables more complex movement of a grip part.SOLUTION: An electronic artificial arm 10 includes: an attachment member 20 that makes a user's forearm part 2 attached to an arm 1 in a turnable state; a turning detection sensor 26 that is attached to the attachment member 20 and that detects turning of the forearm part 2; and a grip device 30 that has a grip part 31 opened/closed on the basis of a detection signal of the turning detection sensor 26 and that is attached to a front end of the attachment member 20.

Description

  The present invention relates to an electric prosthesis having a grip portion that can be opened and closed by driving a motor.

  An electric prosthetic hand that has a gripping part that opens and closes by driving of a motor and is attached to a user's forearm, upper arm, or the like is known. As this electric prosthetic hand, a myoelectric sensor that detects a weak electrical signal (surface myoelectric potential) sent from the brain to move the muscle from the surface of the skin, and a motor driving based on the detection signal by the myoelectric sensor An electric prosthesis (myoelectric prosthesis) including a gripper that can be opened and closed has been proposed (Patent Document 1). In this myoelectric prosthetic hand, when the surface myoelectric potential detected by the myoelectric sensor exceeds both the first threshold value and the second threshold value, the gripping part is opened. Is closed.

  However, in the technique of Patent Document 1, it is difficult to stably generate surface myoelectric potential with respect to different threshold values of the first threshold value and the second threshold value, and depending on the user, the grip portion cannot be opened or closed, There is a problem that the gripping part unintentionally moves (malfunctions). Therefore, it is necessary to perform training over a long period of time so that the surface myoelectric potential can be stably generated, and there is a problem that it takes time to master the operation of the myoelectric hand.

  On the other hand, the myoelectric sensor is divided into two electromyographic sensors for opening operation and closing operation, and by detecting the surface myoelectric potential of different systems, the threshold for the surface myoelectric potential from each myoelectric sensor is detected. As one, it can be conceived to easily generate the necessary surface myoelectric potential. However, in this case, it is necessary to generate surface myoelectric potentials independently for the two myoelectric sensors. For this reason, in order to properly use the position where the surface myoelectric potential is generated, it is necessary to receive training over a long period of time, and it may take time to learn the operation of the electric prosthetic hand.

  In the technique of Patent Document 1, since the motor drive (ON / OFF) is controlled based on whether or not the surface myoelectric potential exceeds a threshold value, only a simple operation of opening and closing the grip portion at a constant speed is possible. I couldn't let you.

  On the other hand, as an electric prosthesis, an electric prosthesis including a pressure-sensitive element that detects a force applied from the skin and a gripper that is opened and closed by driving a motor according to an output signal from the pressure-sensitive element has been proposed. (Patent Document 2). The technique of Patent Document 2 enables a force to be applied to the pressure-sensitive element by inflating a part of the muscle, and if the speed when the force is applied to the pressure-sensitive element is faster than a certain threshold, the gripping unit Is opened, and when it is slower than the threshold value, the gripper is closed.

  However, in the technique of Patent Document 2, since the gripping part is opened or closed with a certain threshold as a boundary, control for turning on / off the motor is performed as in the technique of Patent Document 1. However, only a simple operation of opening and closing at a constant speed with respect to the grip portion could be performed.

  Then, in view of the above-mentioned actual situation of the present invention, it is an object to provide an electric prosthetic hand that can be easily mastered in operation and can operate the gripping portion in a more complicated manner.

  The electric prosthesis according to the present invention includes: a mounting member that is attached to the arm or shoulder in a state where a part of the user's arm can be rotated, and a rotation detection sensor that is attached to the mounting member and detects the rotation of the arm. And a gripping device that is opened and closed based on a detection signal of the rotation detection sensor, and a gripping device attached to the front end of the mounting member ”.

  Here, examples of the “part of the arm” include a “forearm portion” and an “upper arm portion”. In addition, “rotation” refers to rotation around an axis in which an arm (a forearm or upper arm) extends. In the normal state with the arm lowered, the back of the hand faces the outside of the body, and from this state, the rotation in the direction in which the back of the hand faces forward is called internal rotation (inward), and the rotation in the direction in which the back of the hand points backward is This is called turning.

  Further, as the “mounting member”, “having a long first frame, the first frame is disposed along the forearm portion or the upper arm portion, and the proximal end side of the first frame is near the elbow of the forearm portion or Having a first frame that extends long, and a second frame that is bent and connected to the base end side of the first frame, Two frames are arranged along the upper arm and the second frame is fixed to the upper arm ”,“ the first frame extending long, and the base end side of the first frame are flexibly connected. A second frame that extends long; a third frame that is flexibly connected to the base end side of the second frame; the second frame is disposed along the upper arm portion; To be fixed to the chest including " Kill. In the above, the base end means an end on the side close to the center of the human body such as a shoulder, and the front end means an end on the side close to the arm tip (finger) that is the opposite side of the base end.

  Furthermore, the “rotation detection sensor” includes “a rotary variable resistor (rotary potentiometer) that outputs an electric resistance value corresponding to the rotation position of the detection side shaft member that rotates with the arm”, “rotation with the arm”. "A sensor (for example, a variable capacitor) that outputs an electrostatic capacity according to the rotation position of the detecting side shaft member", "A disk-shaped or annular rotation that rotates with the arm and has a plurality of detection units in the circumferential direction" Body and a sensor (for example, a rotary encoder) having a detection element for detecting the detection unit of the rotating body, “outputs a resistance value corresponding to the moving position of the slider of the crank mechanism that converts the rotation of the arm into a linear movement A linear variable resistor (linear potentiometer) ”,“ a light emitting unit that irradiates light on the surface (circumferential surface) of the arm, and a light receiving unit that receives light from the light emitting unit reflected by the surface of the arm, Rotating arm "A sensor that detects rotation by detecting the movement of the surface", "A sensor that includes a magnetic body attached to the arm and a Hall element that detects a current or magnetic field that changes depending on the magnetic body that moves due to the rotation of the arm" , “A sensor including a rotating body that contacts the surface (circumferential surface) of the arm and rotates as the arm rotates, and a rotation detection sensor that detects the rotation of the rotating body”.

  In addition, as control of opening and closing of the gripping part, “the opening degree of the gripping part is changed according to the rotation position of the arm”, “the driving of the gripping part is stopped when the arm is in a normal state, and the arm is in a normal state. The gripping part is opened when the arm is rotated outwardly, and the gripping part is closed when the arm is swiveled from the normal state, and the gripping part is opened and closed according to the rotation position and rotation speed of the arm. Change the speed ".

  According to the electric prosthesis of the present invention, when the user rotates the arm with the mounting member having the gripping device attached to the front end mounted on the user's arm or shoulder, the rotation of the arm rotates. Based on the detection by the detection sensor, the gripping portion of the gripping device can be opened and closed to grip the object or release the gripped object. In addition, the arm rotation is detected, and the arm rotation can be easily performed by the user as compared with the case where the surface myoelectric potential is stably generated. This period can be shortened and the operation of the electric prosthesis can be easily mastered.

  Also, because the rotation of the arm is detected and the gripping part is opened and closed, it is possible to open and close the gripping part based on the arm rotation direction, rotation position, rotation speed, etc. The part can be operated in a complicated manner. Therefore, by simply rotating the arm, it is possible to finely manipulate the opening of the gripping part, the movement of the gripping part in the opening and closing directions, the opening and closing speed of the gripping part, etc. It can be brought closer to the user's intention and can be an electric prosthesis that is easy to use.

  By the way, when the surface myoelectric potential is detected and the gripping part is opened and closed as in the technique of Patent Document 1, an unintended surface myoelectric potential may be generated when the elbow or the shoulder is rotated. There is a possibility that the gripping part may malfunction due to the occurrence of the above. On the other hand, in the present invention, the rotation detection sensor detects the rotation of the arm and opens and closes the gripping portion, and the arm does not rotate even if the elbow or shoulder is rotated. Is not detected, and there is no possibility that the gripping portion malfunctions. Therefore, since the elbow and shoulder can be rotated independently of the rotation of the arm for opening and closing the gripping part, the elbow and shoulder can be freely rotated while rotating the arm and operating the gripping part. The entire gripping portion can be moved, and an easy-to-use electric prosthesis can be obtained.

  Moreover, you may make it provide the ring-shaped bearing member by which a user's arm is inserted between an arm and a mounting member. Thereby, it is possible to prevent the mounting member (gripping part) from rotating along with the rotation of the arm through the bearing member, and it is possible to easily rotate the arm, and the user-friendly electric prosthesis is easy to use. It can be.

  In addition to the above-described configuration, the electric prosthesis according to the present invention includes an “arm-side shaft member attached to the front end of the arm so as to rotate with the arm, and the attachment member on the front-end side of the arm-side shaft member”. A detection-side shaft member rotatably attached to the arm, and the detection-side shaft member and the arm-side shaft member are detachably connected to each other and transmit the rotation of the arm-side shaft member to detect the detection And a rotation transmission connecting mechanism for rotating the side shaft member, and the rotation detection sensor detects rotation of the detection side shaft member ”.

  Here, as the “arm side shaft member”, “a member that rotates with the forearm portion or the upper arm portion by being attached to the front end of the flexible liner covering the forearm portion or the upper arm portion”, “the forearm” Examples of the member that is embedded in the front end of the upper arm portion or the upper arm portion and rotates together with the forearm portion or the upper arm portion can be given.

  The “rotation transmission connecting mechanism” includes “a convex or concave engaging portion formed on the arm side shaft member, and an engaged portion that engages with the engaging portion formed on the detection side shaft member. , A mechanism having at least one universal joint, a rubber tube or a coil spring whose both ends are detachably attached to the arm-side shaft member and the detection-side shaft member, and an arm-side shaft member. A mechanism that couples the detection-side shaft member with a magnetic force ”can be exemplified. Further, in the rotation transmission connecting mechanism, the rotation speed of the arm side shaft member may be transmitted to the detection side shaft member at the same speed, or the speed may be varied through a speed change mechanism including a gear, a pulley, and the like. It may be transmitted.

  By the way, for example, when the rotation detection sensor is brought into contact with the surface of the forearm portion as an arm to detect the rotation of the forearm portion, the cross-sectional shape of the forearm portion is not a perfect circle, so that it is attached to the mounting member. Depending on the rotation position of the forearm, the rotation detection sensor may be separated from the surface of the forearm, and the rotation of the forearm may not be detected. In addition, when the rotation detection sensor is detected in a non-contact manner with respect to the surface of the forearm, since the cross-sectional shape of the forearm is not a perfect circle, the rotation detection sensor and the surface of the forearm are The distance changes, and depending on the rotation position of the forearm, there is a possibility that the rotation of the forearm cannot be detected.

  On the other hand, according to the electric prosthetic hand of the present invention, the rotation of the arm (the forearm portion or the upper arm portion) is transmitted to the detection side shaft member via the arm side shaft member and the rotation transmission connection mechanism, and the detection side The rotation of the shaft member is detected by a rotation detection sensor. Thereby, the positional relationship between the detection-side shaft member and the rotation detection sensor is unlikely to change, and the rotation of the arm can be reliably detected by the rotation detection sensor via the detection-side shaft member.

  Further, on the proximal end side of the arm, a ring-shaped bearing member that is disposed coaxially with the arm-side shaft member and the detection-side shaft member and into which the user's arm is inserted is provided between the arm and the mounting member. May be. Thus, the arm can be held coaxially by the detection side shaft member and the bear rig member, and the arm can be easily rotated, and the rotation of the arm can be reliably transmitted to the rotation detection sensor side. . Further, the load applied to the user's arm can be dispersed by the bearing member.

  Furthermore, in addition to the above-described configuration, the electric prosthesis according to the present invention may be characterized in that “the rotation detection sensor is an incremental type detection sensor”.

  Here, the “incremental type detection sensor” includes “a disk-shaped rotating body that rotates with the arm and includes a plurality of detection units in the circumferential direction; and a detection element that detects the detection unit of the rotating body. Sensor (for example, rotary encoder) ”,“ a light emitting unit that irradiates light on the surface (circumferential surface) of the arm, and a light receiving unit that receives light from the light emitting unit reflected by the surface of the arm, `` A sensor that detects rotation by detecting movement of the surface of the arm '', `` A magnetic body attached to the arm, and a Hall element that detects a current or magnetic field that changes due to the magnetic body that moves due to rotation of the arm '' Sensor ".

  By the way, when an absolute detection sensor is used as the rotation detection sensor, when the electric prosthesis is worn, for example, the center of the rotation range of the user's arm is shifted from the center of the rotation range of the detection sensor. If it is worn, the detection sensor moves to the rotation end even though the arm can still be rotated depending on the direction in which the arm is rotated because the rotation range of the detection sensor is restricted. It may become impossible to rotate any further. Thereby, since the whole rotation range of an arm cannot be fully utilized, there exists a possibility that an electric prosthesis may be hard to use. Therefore, when the electric prosthetic hand is attached to the arm, the above problem can be solved by attaching the electric prosthetic hand with the center of the rotation range of the detection sensor and the center of the turning range of the user's arm being matched. Can be solved. However, in this case, depending on the user, it may take time to wear the electric prosthesis.

  In contrast, in the present invention, the rotation detection sensor is an incremental detection sensor, the rotation range of the rotation detection sensor is not restricted, and the origin of the rotation detection sensor can be arbitrarily set. Therefore, since the user only needs to set the origin of rotation after wearing the electric prosthesis, the user can wear the electric prosthesis with the user's arm free regardless of the rotation position of the arm. It is possible to reduce the time and labor required for mounting.

  Further, the electric prosthesis according to the present invention may be characterized in that, in addition to the above-described configuration, “the rotation detection sensor is a rotary variable resistor”.

  Here, the relationship between the arm and the shaft member (detection side shaft member) of the rotary type variable resistor is as follows: “The arm side shaft member that rotates with the arm is provided at the front end of the arm, and the arm side shaft member includes The detection side shaft member may be connected to rotate the detection side shaft member, or as an example that does not include the arm side shaft member, “detection is made by contacting the outer periphery of the detection side shaft member with the outer periphery of the forearm portion”. “Rotate the side shaft member” or “Attach a ring-shaped pulley or gear to the outer periphery of the arm and rotate the detection side shaft member using the pulley or gear”.

  By the way, when the myoelectric sensor or the pressure sensor is used as in the technique of Patent Document 1 or Patent Document 2, the output signal (detection signal) from the sensor is weak, and therefore the motor that operates the gripping unit by the detection signal. Cannot be directly driven, and a separate drive circuit for driving the motor is required. Further, since the output signal is weak, it is necessary to provide an amplifier circuit, a filter circuit for removing noise, and the like. Therefore, when a myoelectric sensor or a pressure sensor is used, there is a problem that the control circuit of the gripping unit becomes complicated. In addition, since the output signal is weak, it is easily affected by external noise and may malfunction due to noise.

  On the other hand, since the electric prosthesis of the present invention uses a rotation type variable resistor for the rotation detection sensor, it is possible to use a higher current and voltage compared to the myoelectric sensor and the pressure sensor. Become. Therefore, the motor can be directly driven by the detection signal of the rotation detection sensor, the amplifier circuit, the filter circuit, etc. can be omitted, and the control circuit of the gripping portion can be prevented from becoming complicated and the control circuit can be downsized. Or lighter.

  In addition, as described above, since it is possible to use a high current and voltage for the rotation detection sensor, noise from the outside becomes relatively low, it is difficult to be affected by noise, and malfunction is difficult. An electric prosthesis can be provided.

  Furthermore, since a rotation type variable resistor is used for the rotation detection sensor, it can be obtained at a low cost compared to a myoelectric sensor, a pressure sensor, or an incremental type detection sensor. The cost for the electric prosthesis can be reduced.

  Thus, according to the present invention, it is possible to provide an electric prosthesis capable of easily learning the operation and capable of operating the gripping portion in a more complicated manner.

It is explanatory drawing which shows the whole structure of the electric prosthesis which is one Embodiment of this invention. It is explanatory drawing which decomposes | disassembles and shows the electric prosthesis of FIG. 1 to the mounting member side and the liner side. It is explanatory drawing which shows roughly the circuit structure of the electric prosthesis of FIG. It is explanatory drawing which shows the electric prosthesis which is one Embodiment of this invention different from FIG. 1 with a perspective view.

  An electric prosthesis 10 according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 3. 1 and 2, the left side is the front end side close to the fingers of the arm 1, and the right side is the base end side close to the shoulder. In the present embodiment, an electric prosthesis 10 used for a user who has lost the front side from the middle of the forearm 2 will be described.

  The electric prosthetic hand 10 of this embodiment includes a liner 15 that covers the user's forearm 2, an arm-side shaft member 16 that is attached to the front end of the liner 15 in a state of extending forward, and a user's forearm. 2 is attached to the user's forearm 2 and a part of the upper arm 3 with the front end of the arm 2 being rotatable, and the arm side shaft member 16 is rotatably attached to the attachment member 20. A detection-side shaft member 25 that is detachably connected, a rotation detection sensor 26 that is attached to the mounting member 20 and detects rotation of the detection-side shaft member 25, and opens and closes based on a detection signal of the rotation detection sensor 26. And a control device 40 that controls the gripping device 30 based on the detection of the rotation detection sensor 26. In addition, the control apparatus 40 is mounted | worn with a user's body or clothes.

  The liner 15 is formed of a thin material having flexibility so that the liner 15 is twisted with the rotation of the forearm portion 2 in a state where the liner 15 is attached to the forearm portion 2. As the material of the liner 15, silicon resin, rubber, woven fabric, or the like can be used. The arm side shaft member 16 is formed in a columnar shape, and a fitting recess 16a into which the tip of the detection side shaft member 25 (the right end in FIGS. 1 and 2) is inserted is formed at the front end.

  The mounting member 20 includes a frame 21 that comes into contact with the forearm portion 2 and the upper arm portion 3, a mounting belt 22 that is attached to the frame 21 and attaches the frame 21 to the forearm portion 2 and the upper arm portion 3, and a front end of the frame 21. And a front end frame 23 attached thereto. A gripping device 30 is attached to the front end of the front end frame 23.

  The frame 21 is spaced apart in the direction of the center axis of the arc of the first receiving portion 21a from the belt-shaped first receiving portion 21a that is curved in a semicircular arc shape along the outer periphery of the arm 1, and the first receiving portion 21a. A belt-like second receiving portion 21b that is coaxially curved with a semicircular arc, and a pair of belt-like connecting portions 21c that connect the ends of the first receiving portion 21a and the second receiving portion 21b. And three strip-shaped extending portions 21d extending from the center and both ends of the first receiving portion 21a to the opposite side of the second receiving portion 21b. In the frame 21 of the present embodiment, the first receiving portion 21a, the second receiving portion 21b, the connecting portion 21c, and the extending portion 21d are integrally formed of a flexible resin.

  The mounting belt 22 is attached to the first receiving portion 21a, the second receiving portion 21b, and the extending portion 21d in the frame 21, respectively. Specifically, the pair of short mounting belts 22 extend at opposite ends of the first receiving portion 21a and the second receiving portion 21b in directions opposite to the direction in which the first receiving portion 21a and the second receiving portion 21b extend. Each is installed. In addition, one long mounting belt 22 connects the positions of the three receiving portions 21a to the first receiving portion 21a side of the three extending portions 21d, and both ends of the first receiving portion 21a among the three extending portions 21d. The two extending portions 21d extending from the two extending portions 21d are attached so that both ends thereof extend in the direction opposite to the remaining extending portions 21d. Each mounting belt 22 includes a surface fastener (not shown) on the surface, and a pair of short mounting belts 22 or ends of the long mounting belts 22 can be coupled.

  The front end frame 23 is formed in a truncated cone shape that narrows toward the front end. The front end frame 23 is detachably attached to the front ends of the three extending portions 21d of the frame 21 by a surface fastener (not shown). Further, the front end frame 23 includes an L-shaped stay 23a inside, and a rotation detection sensor 26 is attached to the stay 23a.

  The detection side shaft member 25 is formed in a columnar shape having a smaller diameter than the arm side shaft member 16. The detection-side shaft member 25 can be inserted into the fitting recess 16a of the arm-side shaft member 16 at the tip (right end in FIGS. 1 and 2). Although detailed illustration is omitted, an uneven groove (spline) that engages with each other is provided in the fitting recess 16a and the tip of the detection side shaft member 25, and the tip of the detection side shaft member 25 is fitted. By being inserted into the joint recess 16a, the engaging portion and the engaged portion are engaged, and the rotation from the arm side shaft member 16 can be transmitted to the detection side shaft member 25. The front end of the fitting recess 16a and the detection-side shaft member 25 of this embodiment corresponds to the rotation transmission connecting mechanism of the present invention.

  The rotation detection sensor 26 uses a rotary variable resistor (rotary potentiometer), and the detection side shaft member 25 is integrally provided. As shown in the figure, the rotation detection sensor 26 is attached to the stay 23a of the front end frame 23 in the mounting member 20, and penetrates the stay 23a in a state where the detection side shaft member 25 is rotatable. Therefore, when the rotation detection sensor 26 is attached to the stay 23a, the detection-side shaft member 25 is attached to the mounting member 20 so as to be rotatable.

  The gripping device 30 includes a motor 32 (see FIG. 3) that opens and closes a pair of gripping portions 31 that are arranged symmetrically by moving them apart or approaching each other. The motor 32 is a servo motor that can output a rotational position.

  As shown in FIG. 3, the control device 40 includes a control unit 41 that includes a CPU that executes a control program to perform an operation, a control program executed by the control unit 41, a set value, and a temporary operation. A storage unit 42 for storing various numerical values, a motor drive unit 43 for driving the motor 32 based on a drive signal from the control unit 41, and a sensor setting switch 44 for setting the rotation detection sensor 26 A gripping part setting switch 45 for setting the gripping part 31 in the gripping device 30 and a hold switch 46 for holding the position of the gripping part 31 are provided. Moreover, although illustration is abbreviate | omitted, the control apparatus 40 is provided with the power supply part for supplying electric power to the control part 41, the motor drive part 43 grade | etc.,.

  The control part 41 and the memory | storage part 42 of this embodiment are microcomputers (microcomputer). Signals from the rotation detection sensor 26, the motor 32, the sensor setting switch 44, the gripping part setting switch 45, and the hold switch 46 are input to the control unit 41. Further, a signal is output from the control unit 41 to the motor drive unit 43.

  Next, the usage method of the electric prosthesis 10 of this embodiment is demonstrated. First, the liner 15 is attached to the user's forearm 2. At this time, the axis of the arm side shaft member 16 attached to the front end of the liner 15 is made to coincide with the center when the forearm portion 2 is rotated.

  When the liner 15 is attached to the forearm 2, the cylindrical front end frame 23 is passed through the open side (the upper side in FIG. 2) of the curved first receiving part 21a and second receiving part 21b of the mounting member 20. The front end of the forearm 2 is inserted into the inside from the base end side, the detection side shaft member 25 is inserted into the fitting recess 16a of the arm side shaft member 16, and the arm side shaft member 16 and the detection side shaft member 25 are connected. Let At this time, the forearm portion 2 is in a normal state where the forearm portion 2 is not rotated, and the inner side 4a of the elbow 4 of the arm 1 is on the same side as the open side of the first receiving portion 21a and the second receiving portion 21b. Try to face. Further, the rotation detection sensor 26 is in the center of the detection range (rotation range).

  When the arm side shaft member 16 and the detection side shaft member 25 are connected, the elbow 4 of the arm 1 is positioned between the first receiving portion 21a and the second receiving portion 21b, and the mounting belt 22 is tightened in this state. The mounting member 20 is mounted on the arm 1. In this state, the front end side of the forearm portion 2 is inserted into the cylindrical front end frame 23, and the front end side of the forearm portion 2 can be freely rotated. Further, the first receiving portion 21a and the three extending portions 21d of the frame 21 are attached to the forearm portion 2, and the second receiving portion 21b of the frame 21 is attached to the upper arm portion 3, so that the frame 21 is firmly fixed to the arm 1.

  Moreover, in the frame 21, since the 1st receiving part 21a and the 2nd receiving part 21b are connected by the pair of connection parts 21c which have flexibility in the side surface of the elbow 4, the elbow 4 is freely made. Can be bent. Then, the mounting of the electric prosthesis 10 to the arm 1 is completed by mounting the mounting member 20 on the arm 1 with the gripping device 30 attached to the front end of the mounting member 20. The gripping device 30 may be attached after the mounting member 20 is mounted on the arm 1.

  When the user rotates the forearm 2 with the electric prosthesis 10 attached to the arm 1, the liner 15 covering the forearm 2 is deformed so as to be twisted with the rotation of the forearm 2. The arm side shaft member 16 attached to the front end of the liner 15 is rotated together with the forearm portion 2. In this arm side shaft member 16, since the distal end of the detection side shaft member 25 is fitted and inserted into the fitting recess 16 a formed at the front end, rotation of the arm side shaft member 16 is applied to the detection side shaft member 25. The detection side shaft member 25 can be rotated integrally with the arm side shaft member 16.

  Subsequently, when the mounting of the electric prosthetic hand 10 is completed, when a power switch (not shown) is operated to turn on the electric prosthetic hand 10, the control unit 41 starts executing a control program. When this control program is executed, first, the user is caused to set the rotation detection sensor 26. More specifically, first, the forearm portion 2 is most rotated in the inward direction, and the center setting switch 44 is operated in this state. As a result, as a detection signal from the rotation detection sensor 26 at this time, a resistance value corresponding to the rotation position is output to the control unit 41 of the control device 40, and the resistance value (detection signal) is the highest value by the user. It is memorize | stored in the memory | storage part 42 as a pronation limit position at the time of carrying out an internal operation.

  Next, the forearm 2 is set to the most rotated direction, and the sensor setting switch 44 is operated in this state. Thereby, the detection signal from the rotation detection sensor 26 at this time is stored in the storage unit 42 as the rotation limit position when the user performs the most rotation operation. Thereafter, the forearm 2 is brought into a normal state where the forearm 2 is not rotated, and the sensor setting switch 44 is operated in this state. Thereby, the detection signal from the rotation detection sensor 26 at this time is stored in the storage unit 42 as a rotation neutral position in a normal state where the user does not rotate.

  Here, depending on the user, the rotation angle from the normal state to the rotation limit position in the forearm 2 may be different from the rotation angle from the normal state to the rotation limit position. If the center between the rotation limit position and the rotation neutral position is the rotation neutral position, the rotation neutral position may deviate from the normal position. If the rotation neutral position is deviated from the normal position, it is necessary to rotate the forearm 2 from the normal position in order to position the rotation neutral position, but the rotation neutral position is difficult to understand. The operability of the electric prosthesis 10 is deteriorated. On the other hand, by setting the position of the normal state in the forearm portion 2 as the rotation neutral position, the user can easily recognize the rotation neutral position, and the operability of the electric prosthesis 10 is improved.

  Then, in the control unit 41, when the turning limit position, the turning limit position, and the turning neutral position are set, from the turning neutral position to the turning limit position with respect to the detection signal from the turning detection sensor 26, The rotation neutral position to the rotation limit position are divided at the same rate. As a result, it becomes possible to bring the reaction (operation) of the gripper 31 when the user performs the pronation operation and the extroversion operation of the forearm portion 2 closer to the user's sense, and the user's intention A differential operation that operates in the street can be performed.

  When the setting of the rotation detection sensor 26 is completed, the electric prosthesis 10 can be used. The electric prosthesis 10 is used when the forearm portion 2 is in a normal position (rotation neutral position), the operation of the gripping portion 31 is stopped, and when the forearm portion 2 is operated in a pronation from the normal position. Moves in the closing direction, and when the forearm portion 2 is rotated outwardly, the gripping portion 31 moves in the opening direction. The opening and closing of the grip part 31 is based on a detection signal from the rotation detection sensor 26 due to the rotation of the forearm part 2, the control part 41 outputs a control signal to the motor drive part 43, and the motor 32 is driven according to the control signal. Is done. At this time, the control unit 41 rotates the motor 32 faster as it approaches the rotation limit position or the rotation limit position from the rotation neutral position, and according to the rotation position of the forearm unit 2, The opening and closing speed is changed.

  By the way, in the electric prosthetic hand 10 of the present embodiment, the setting (mode) of the opening / closing operation of the grip part 31 can be changed by operating the grip part setting switch 45 after the setting of the rotation detection sensor 26 is completed. . Specifically, when the gripping part setting switch 45 is operated, the gripping part 31 is closed when the forearm part 2 is at the pronation limit position, and the gripping part 31 is fully open when the forearm part 2 is at the rotation limit position. Thus, the opening degree of the grip portion 31 can be operated so as to change according to the rotation position of the forearm portion 2. At this time, the control unit 41 performs feedback control based on an actual rotational position signal from the motor 32. Thereby, the holding part 31 can be opened and closed so as to follow the rotation of the forearm part 2. Therefore, if the forearm part 2 is rotated rapidly, the grip part 31 can be operated quickly, and if the forearm part 2 is rotated slowly, the grip part 31 can be operated slowly, and the operation close to the user's intention is achieved. The grip portion 31 can be used.

  Further, the rotation position of the forearm portion 2 when the grip portion 31 is actually closed can be set by operating the grip portion setting switch 45. Specifically, for example, the grip portion 31 can be closed at a position between the pronation limit position and the supination limit position. Alternatively, when the opening / closing operation is set so that the gripping portion 31 is closed at the pronation limit position, this setting is set when the gripping portion 31 is opened without being closed for some reason even if it is rotated to the pronation limit position. By performing the above, the opening and closing of the grip portion 31 can be adjusted and closed.

  Furthermore, in the electric prosthetic hand 10 of the present embodiment, by operating the hold switch 46, the grip 31 is stopped (held) in the state (opening) at the time when the hold switch 46 is operated, and the forearm 2 is rotated. Even if it makes it, it can prevent the holding | grip part 31 from operating | moving. Thus, for example, when the object is carried while being grasped by the grasping part 31, by operating the hold switch 46, the grasping part 31 does not operate even if the forearm part 2 is rotated, and the object is grasped. Since the state as it is can be maintained, the forearm part 2 can be made free and a user's burden can be reduced. Note that when the hold switch 46 is operated again, the stop (hold) of the grip portion 31 is released.

  The hold switch 46 may be a switch operated by an arm (hand) opposite to the arm on which the electric prosthesis 10 is worn, or may be operated by bending the elbow 4 or raising / lowering the shoulder. . Examples of the switch operated by bending the elbow 4 or raising and lowering the shoulder include a push button type switch pressed by the elbow 4 and the shoulder, a sensor type switch for detecting the movement of the elbow 4 and the shoulder, and the like. . When the hold switch 46 is a switch operated by bending the elbow 4 or raising / lowering the shoulder, it is not necessary to operate the arm (hand) on the opposite side, so both the electric prosthetic hand 10 and the opposite hand are used simultaneously. The electric prosthetic hand 10 that can perform work and is easy to use can be obtained.

  As described above, according to the electric prosthetic hand 10 of the present embodiment, the user can attach the mounting member 20 attached to the front end to the user's arm 1 while the user has the forearm portion of the arm 1. 2 is rotated, the rotation of the forearm 2 is detected by the rotation detection sensor 26. Based on the detection of the rotation detection sensor 26, the grip 31 of the gripping device 30 is opened and closed to grip an object, The object being held can be released. Further, the rotation of the forearm 2 is detected, and the rotation of the forearm 2 can be easily performed by the user as compared with the case where the surface myoelectric potential is stably generated. The training period required for the operation can be shortened, and the operation of the electric prosthesis 10 can be easily mastered.

  Moreover, since the rotation of the forearm 2 is detected and the grip 31 is opened and closed, the grip 31 can be opened and closed based on the rotation direction, rotation position, rotation speed, etc. of the forearm 2. Thus, the grip portion 31 can be operated in a more complicated manner than before. Further, by simply rotating the forearm 2, it is possible to finely manipulate the opening degree of the gripping part 31, the operation of the gripping part 31 in the opening and closing directions, the opening and closing speed of the gripping part 31, and the like. The operation of the grip portion 31 can be made closer to the intention of the user, and the user-friendly electric prosthesis 10 can be obtained.

  Further, the rotation detection sensor 26 detects the rotation of the forearm 2 and opens and closes the grip 31. Even if the elbow 4 or the shoulder is rotated, the forearm 2 does not rotate. The rotation of the forearm portion 2 is not detected, and there is no possibility that the grip portion 31 malfunctions. Accordingly, since the elbow 4 and the shoulder can be rotated independently of the rotation of the forearm 2 for opening and closing the grip 31, the elbow 4 and the shoulder 4 can be operated while rotating the forearm 2 and operating the grip 31. The entire gripping portion 31 (gripping device 30) can be moved by freely rotating the shoulder, and the user-friendly electric prosthesis 10 can be obtained.

  Further, the rotation of the forearm portion 2 is transmitted to the detection side shaft member 25 via the arm side shaft member 16 and the fitting recess 16a as the rotation transmission connecting mechanism, and the rotation of the detection side shaft member 25 is rotated. 26 to detect. Accordingly, the positional relationship between the detection side shaft member 25 and the rotation detection sensor 26 does not change, and the rotation detection sensor 26 can reliably detect the rotation of the forearm portion 2 via the detection side shaft member 25.

  By the way, when the arm-side shaft member 16 and the detection-side shaft member 25 are made detachable, when the liner 15 to which the arm-side shaft member 16 is attached is attached to the forearm portion 2, the mounting located on the outer side thereof Since the frame 21 and the front end frame 23 of the member 20 are obstructive and difficult to attach, and the front end side of the forearm portion 2 is covered by the front end frame 23, the axis of the arm side shaft member 16 is the center of rotation of the forearm portion 2. This makes it difficult to fit and requires time and effort. In contrast, in the present embodiment, the arm side shaft member 16 and the detection side shaft member 25 are detachable, and the liner 15 can be attached to the forearm portion 2 in a state of being separated from the attachment member 20. The liner 15 can be easily attached to the correct position of the forearm 2, and the electric prosthesis 10 can be easily attached.

  In addition, since a rotation type variable resistor is used for the rotation detection sensor 26, the electric prosthesis 10 that is less susceptible to external noise and less likely to malfunction than the myoelectric sensor or the pressure sensor is provided. can do.

  The present invention has been described with reference to the preferred embodiments. However, the present invention is not limited to the above-described embodiments, and various improvements can be made without departing from the scope of the present invention as described below. And design changes are possible.

  For example, in the above embodiment, the electric prosthetic hand 10 used for the user who has lost the front side from the middle of the forearm portion 2 is shown, but the present invention is not limited to this, and the use has lost the front side from the middle of the upper arm portion 3. It is good also as the electric prosthesis 10 used for a person. In this case, the liner 15 is mounted on the upper arm 3 and the mounting member 20 is mounted on the upper arm 3 and the shoulder.

  In the above-described embodiment, the rotation transmission connecting mechanism is configured by the fitting recess 16a of the arm side shaft member 16 and the tip of the detection side shaft member 25. However, the present invention is not limited to this. The arm side shaft member 16 and the detection side shaft member 25 may be connected by a connection mechanism having a universal joint or a connection mechanism having a rubber tube or a coil spring. In this case, since the rotation can be transmitted even if the axis of the arm side shaft member 16 and the detection side shaft member 25 is deviated, the rotation detection sensor 26 can reliably detect the rotation of the forearm portion 2. Thus, malfunctions of the grip portion 31 can be reduced.

  Further, in the above-described embodiment, an example in which a rotary variable resistor is used as the rotation detection sensor 26 is shown, but the present invention is not limited to this, and rotation of the arm 1 (forearm 2) can be detected. Anything is fine.

  In the above embodiment, the gripping device 30 includes a pair of gripping portions 31. However, the present invention is not limited to this, and a gripping device including three or more gripping portions or a human It is good also as a holding device of a form close to a hand.

  Further, in the above-described embodiment, in the mounting member 20, the example in which the extending portion 21d of the frame 21 contacts the forearm portion 2 via the mounting belt 22 is shown, but the present invention is not limited to this, and the forearm portion 2 is not limited thereto. And a ring-shaped bearing member (for example, see FIG. 4) that is disposed coaxially with the detection-side shaft member 25 and into which the forearm portion 2 is fitted. You may do it. Accordingly, the forearm portion 2 can be coaxially held by the detection-side shaft member 25 and the bearing member, and the forearm portion 2 can be easily rotated, and the rotation of the forearm portion 2 can be performed on the rotation detection sensor 26 side. Can be transmitted reliably. Moreover, it can suppress that the mounting member 20 (gripping apparatus 30) rotates with rotation of the forearm part 2 via a bearing member, and it can be set as the electric prosthesis 10 with easy-to-use.

  In the above-described embodiment, the mounting member 20 includes the frame 21 mounted on the arm 1 and the front end frame 23 attached to the front end of the frame 21, and the absolute rotation as the rotation detection sensor 26. Although an example using a type variable resistor has been shown, the present invention is not limited to this, and an electric prosthesis 50 having a configuration as shown in FIG. 4 may be used. Hereinafter, the electric prosthesis 50 will be described. In addition, about the member of the same structure as the electric prosthetic hand 10, the same name and code | symbol are attached | subjected and detailed description is abbreviate | omitted.

  An electric prosthesis 50 shown in FIG. 4 includes a liner 51 that covers the user's forearm 2 from the front side, an arm-side shaft member 52 that is attached to the front end of the liner 51 in a state of extending forward, Between the liner 51 and the mounting member 60, the mounting member 60 is mounted so as to cover the user's forearm portion 2 and a part of the upper arm portion 3 with the front end of the forearm portion 2 being rotatable with the liner 51. The base end side bearing member 53 attached so as to be relatively rotatable with each other, the ring-shaped inner ring 54a in which the arm side shaft member 52 is detachably fitted and connected, and the outer circumference of the inner ring 54a and the outer ring 54a are covered. The front end side bearing member 54 having a ring-shaped outer ring 54 b that is relatively rotatable, and the outer end 54 b of the front end side bearing member 54 are attached to the outer periphery of the front end side bearing member 54. A disc-shaped bracket 55 detachably attached to the mounting member 60 so that the center is coaxial with the center of the base end side bearing member 53, and a front end side bearing member 54 attached to the outer ring 54b. A rotation detecting sensor 56 that detects rotation (rotation) of the inner ring 54 a and a holding device 31 that is opened and closed based on a detection signal of the rotation detection sensor 56 and attached to the front end of the mounting member 60. 30 and a control device 40 that controls the gripping device 30 based on the detection of the rotation detection sensor 56.

  The liner 51 has a cylindrical shape with the front end closed, and a slit 51a is formed from the open base end toward the front end. The liner 51 is made of a soft synthetic resin having flexibility. The arm side shaft member 52 is formed in a cylindrical shape. The arm side shaft member 52 is formed of a material having at least an outer peripheral surface having high frictional resistance.

  The base end side bearing member 53 is inserted in a ring-shaped inner ring 53a in contact with a peripheral surface without the liner 51 covering the user's forearm 2 and on the outer peripheral surface of the inner ring 53a in the circumferential direction. A plurality of rolling members 53b capable of rolling and a ring-shaped outer ring 53c whose inner peripheral surface is in contact with the plurality of rolling members 53b are provided. The base end side bearing member 53 allows the inner ring 53a to smoothly rotate relative to the outer ring 53c by a plurality of rolling members 53b between the inner ring 53a and the outer ring 53c.

  The front end side bearing member 54 includes a plurality of rollable rolling members 54c that are in contact with the outer peripheral surface and the inner peripheral surface between the ring-shaped inner ring 54a and the outer ring 54b. The front end side bearing member 54 can smoothly rotate the inner ring 54a relative to the outer ring 54b by a plurality of rolling members 54c between the inner ring 54a and the outer ring 54b. The bracket 55 is attached to the outer ring 54b of the front end side bearing member 54 so that it can rotate integrally with the outer ring 54b. The bracket 55 is formed of a material having a high frictional resistance at least on the outer peripheral surface. In the present embodiment, the inner ring 54a of the front end side bearing member 54 corresponds to the detection side shaft member of the present invention. The outer peripheral surface of the arm side shaft member 52 and the inner peripheral surface of the inner ring 54a of the front end side bearing member 54 correspond to the rotation transmission connecting mechanism of the present invention.

  Although not shown in detail, the rotation detection sensor 56 rotates integrally with the inner ring 54a of the front end side bearing member 54 and includes a plurality of detection portions in the circumferential direction, and is attached to the outer ring 54b. And a detection element for detecting the detection unit. The rotation detection sensor 56 of the present embodiment is an incremental type magnetic encoder that has a detection unit of a rotating body as a magnet and a detection element as a magnetic sensor, and has no origin. In addition, as the rotation detection sensor 56, an incremental detection sensor such as an optical type or an electric induction type may be used.

  The mounting member 60 includes a semi-cylindrical base frame 61 that covers approximately half of the outer periphery of a part of the forearm 2 and the upper arm 3, and a side that is covered by the base frame 61 at a part of the forearm 2 and the upper arm 3. And a plurality of belt-like mounting belts 63 attached to the cover frame 62. The base frame 61 penetrates in the vicinity of the base end and bulges from the inner peripheral side to the outer peripheral side between the opening 61a and the front end, and the base end side bearing member 53 is inserted between the opening 61a and the front end. A bulging portion 61b that can accommodate a part of the bulging portion. A gripping device 30 is attached to the front end of the base frame 61. The cover frame 62 includes a bulging portion 62 a that bulges from the inner peripheral side to the outer peripheral side and accommodates a part of the proximal end side bearing member 53 at a position corresponding to the bulging portion 61 b of the base frame 61. The mounting belt 63 is attached to each end of the cover frame 62 in the circumferential direction. Each mounting belt 63 includes a surface fastener (not shown) on the surface, and can be coupled to each other.

  The usage method of the electric prosthesis 50 of this embodiment is demonstrated. First, as a preparation on the base frame 61 side, a base end side bearing member 53 and a strip-like spacer 64 curved in a C shape are inserted into the bulging portion 61b. By the spacer 64, the base end side bearing member 53 is brought close to the base end side in the bulging part 61b. In addition, in the base frame 61, a bracket 55 to which the front end side bare link member 54 and the rotation detection sensor 56 are attached is inserted between the front end and the bulging portion 61b. The proximal end side bearing member 53 may be moved toward the front end side in the bulging portion 61b by the spacer 64, or the spacer 64 may be divided into a plurality of portions so that the proximal end side bearing member 53 is moved into the bulging portion 61b. You may attach in arbitrary positions (for example, center). Further, the width in the bulging portion 61b may be the same as the width of the base end side bearing member 53, and the spacer 64 may be omitted.

  Next, the liner 51 is inserted into the base end side bearing member 53 from the base end side of the base frame 61, and the arm side shaft member 52 extending forward from the liner 51 is attached to the inner ring 54 a of the front end side bearing member 54. Insert. By fitting the arm-side shaft member 52 into the inner ring 54a, the arm-side shaft member 52 (the arm-side shaft member 52 () is connected to each other by the frictional resistance between the inner peripheral surface of the inner ring 54a and the outer peripheral surface of the arm-side shaft member 52. The rotation of the liner 51) can be transmitted to the inner ring 54a (the rotation detection sensor 56). In this state, the liner 51 is attached to the user's forearm 2, and the cover frame 62 is attached to the forearm 2 and the upper arm 3 so that the arm 1 is covered by a part of the forearm 2 and the upper arm 3. Install it. Subsequently, in this state, the cover frame 62 is put on the opposite side of the arm 1 from the base frame 61 and is fastened and fixed by the mounting belt 63. As a result, the outer peripheral surface of the outer ring 53 c of the base end side bearing member 53 and the outer peripheral surface of the bracket 55 are held in a non-rotatable state by the base frame 61 and the cover frame 62, and the electric prosthesis 50 to the arm 1 is held. Installation is complete.

  Thereafter, as with the electric prosthesis 10 described above, the electric prosthesis 50 can be used by turning on the electric prosthesis 50 and setting the rotation detection sensor 56.

  The electric prosthesis 50 can achieve the same effects as the electric prosthesis 10 described above. In addition to the above-described effects, the electric prosthetic hand 50 uses the rotation detection sensor 56 as an incremental detection sensor. The rotation range of the rotation detection sensor 56 is not restricted, and the origin of the rotation detection sensor 56 is set to the origin. It can be set arbitrarily. Therefore, since it is only necessary to set the origin of rotation after the user wears the electric prosthesis 50, the electric prosthesis 50 can be worn while the user's arm 1 is free regardless of the rotation position of the forearm portion 2. Therefore, it is possible to reduce the labor required for mounting the electric prosthetic hand 50.

  The electric prosthesis 50 has a liner 51 attached to the mounting member 60 so as to be rotatable by a base end side bearing member 53 and a liner by a front end side bearing member 54 disposed coaxially with the base end side bearing member 53. The arm side shaft member 52 attached to the front end of 51 is attached to the mounting member 60 in a rotatable manner. Therefore, the forearm 2 can be smoothly rotated, and the rotation detection sensor 56 can reliably detect the rotation of the forearm 2.

DESCRIPTION OF SYMBOLS 1 Arm 2 Forearm part 3 Upper arm part 10 Electric prosthesis 15 Liner 16 Arm side shaft member 16a Fitting recessed part (rotation transmission connection mechanism)
20 Mounting member 21 Frame 22 Mounting belt 23 Front end frame 23a Stay 25 Detection side shaft member (rotation transmission connecting mechanism)
26 Rotation detection sensor 30 Gripping device 31 Gripping unit 32 Motor 40 Control device 41 Control unit 42 Storage unit 43 Motor drive unit 50 Electric prosthesis 51 Liner 52 Arm side shaft member (rotation transmission connecting mechanism)
53 Base end side bearing member 53a Inner ring 53b Rolling member 53c Outer ring 54 Front end side bearing member 54a Inner ring (detection side shaft member, rotation transmission connecting mechanism)
54b Outer ring 54c Rolling member 55 Bracket 56 Rotation detection sensor 60 Mounting member 61 Base frame 62 Cover frame 63 Mounting belt 64 Spacer

JP 2012-6133 A Japanese Patent Laid-Open No. 10-201782

Claims (4)

An attachment member attached to the arm or shoulder in a state where a part of the user's arm can be rotated;
A rotation detection sensor that is attached to the mounting member and detects rotation of the arm;
An electric prosthesis having a grip portion that can be opened and closed based on a detection signal of the rotation detection sensor, and a grip device attached to a front end of the mounting member. An arm side shaft member attached to the front end of the arm so as to rotate with the arm;
A detection side shaft member rotatably attached to the mounting member on the front end side of the arm side shaft member;
The detection-side shaft member and the arm-side shaft member are detachably connected, and further includes a rotation transmission connection mechanism that transmits the rotation of the arm-side shaft member and rotates the detection-side shaft member. And
The rotation detection sensor is
The electric prosthesis according to claim 1, wherein the rotation of the detection side shaft member is detected. The rotation detection sensor is
The electric prosthesis according to claim 1 or 2, wherein the electric prosthesis is an incremental type detection sensor. The rotation detection sensor is
The electric prosthetic hand according to claim 1, wherein the electric prosthesis is a rotary variable resistor.

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