JP2017512521A - 柔らかい空気圧式指をもつポータブルな義手 - Google Patents
柔らかい空気圧式指をもつポータブルな義手 Download PDFInfo
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- A61F2/50—Prostheses not implantable in the body
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- A61F2/50—Prostheses not implantable in the body
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- B29C33/44—Moulds or cores; Details thereof or accessories therefor with means for, or specially constructed to facilitate, the removal of articles, e.g. of undercut articles
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- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/68—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts by incorporating or moulding on preformed parts, e.g. inserts or layers, e.g. foam blocks
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- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/88—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts characterised primarily by possessing specific properties, e.g. electrically conductive or locally reinforced
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- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
- F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
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- A—HUMAN NECESSITIES
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/5044—Designing or manufacturing processes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
- A61F2/748—Valve systems
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- A—HUMAN NECESSITIES
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- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/501—Prostheses not implantable in the body having an inflatable pocket filled with fluid, i.e. liquid or gas
- A61F2002/5012—Prostheses not implantable in the body having an inflatable pocket filled with fluid, i.e. liquid or gas having two or more inflatable pockets
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5038—Hinged joint, e.g. with transverse axle restricting the movement
- A61F2002/5039—Hinged joint, e.g. with transverse axle restricting the movement allowing only for single rotation
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/5044—Designing or manufacturing processes
- A61F2002/5056—Laminates, i.e. layered products
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
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- B29L2031/753—Medical equipment; Accessories therefor
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Abstract
Description
前記作動装置は、非伸張性の底部層に接着された伸張性のエラストマのトップ層を含む。非伸張性の層は、紙もしくは網などの制限要素が層の中に埋め込まれた柔軟性ポリマーを含み得る。
1つ以上の実施形態において、前記指作動装置が手のベースに取り付けられて義手を構成する。指作動装置は、金属ねじを使い、三次元プリンタで作られた指のホルダを手のベースに固定する。指作動装置を固定する他の方法も考慮される。
マイクロプロセッサが制御する圧縮機が指作動装置の加圧を制御する。使用にあたり、空気圧マニフォルドシステムを採用可能で、それにより1つの圧縮空気入力により多くの指位置が発生できる。1つ以上の実施形態において使用者(例えば上肢切断をした人)が上腕に筋肉の動きを感知する筋電性センサをまとい、圧縮機のオンオフを行う。筋電性センサは電極を使い、上腕の筋肉が何時動くかを感知して働き、人工の手を開いたり閉じたりさせる。作動装置への入力信号を生じさせる他の方法も考慮される。
1)電池:再充電可能リチウム電池が可動性電源となる。
2)電圧変換器:下に記述の他の部品を起動するため、2個の市販の電圧変換器チップが、7.4ボルトの電池電源を受け、9ボルト出力1つと5ボルト出力1つを生み出す。
3)空気圧縮機:2個の空気圧縮機が、使用者がオンオフできる小型スライドスイッチ(図示無し)により制御される。圧縮機は外気を取り入れ、圧縮し、管をとおしてソレノイド弁に送る。
4)ソレノイド弁:ソレノイド弁は空気圧縮機と作動装置をつなぐ管の開け閉めを行う。使用者は(圧縮機とは別の)第二の電気スイッチを使用して弁を開けることができる。もしも弁が開いていてさらに圧縮機がオンの場合は指が膨張する。もしも弁が閉じていると、作動装置の空気の出入りが止められる。
5)マイクロコントローラ:マイクロコントローラは、切断手術を受けた人の筋肉電圧を読み取る筋電性センサを読んでソレノイド弁を制御するのに使われる。もしも使用者が筋肉を収縮させたらマイクロプロセッサがその信号を読みソレノイド弁を開き空気圧縮機をオンにする(それにより指の曲がりが起こる)。人工器官への入力を提供する他の方法もまた考慮される。
Claims (21)
- 指作動装置であって、流体的に連結された複数の伸張性セグメントを含み、前記複数の伸張性セグメントはそれぞれ、隣りの伸張性セグメントとヒンジを介して分割されており、前記複数の伸張性セグメントは少なくとも一つの流体的に内部連結された膨張可能チャンバを含み、前記複数の伸張性セグメントは放射方向の膨張を抑制するよう選択された外壁及び独立した内壁を含み、前記指作動装置はさらに、前記複数の伸張性セグメントのベースで前記複数の伸張性セグメントと連結された非伸張性層を含み、前記非伸張性層は、柔軟性のあるポリマーを含み、前記指作動装置の長さにそって延在し埋め込まれた非伸張性の層を有する、指作動装置。
- 前記複数の伸張性セグメントが3〜6個のセグメントを有する、請求項1に記載の指作動装置。
- 少なくとも一つの伸張性セグメントが2個の流体連動しているチャンバを有する、請求項1に記載の指作動装置。
- 前記少なくとも一つの伸張性セグメントがこのセグメントの両端に2個の内壁を有し、前記2個の流体連動されたチャンバが前記内壁の近位に配置されている、請求項3に記載の指作動装置。
- 前記ヒンジが、前記流体的に連結された複数の伸張性セグメントと一体にモールド成形されている、請求項1に記載の指作動装置。
- 前記ヒンジが前記非伸張性の層に連結されて、柔軟性があり非伸張性のヒンジを形成している、請求項5に記載の指作動装置。
- 放射方向の膨張を抑制するよう選択された前記外壁が、埋め込まれた伸張性の層を含む、請求項1に記載の指作動装置。
- 前記非伸張性の層が、前記伸張性セグメントと同じ材料でできている、請求項1に記載の指作動装置。
- 前記非伸張性の層が、前記伸張性セグメントと異なる材料でできている、請求項1に記載の指作動装置。
- 前記チャンバがモールド成形されている、請求項1−9のいずれかに記載の指作動装置。
- 前記伸張性セグメントがシリコーンゴムを有する、請求項1−10のいずれかに記載の指作動装置。
- 前記伸張性生地が、スパンデックス、ポリアミド、もしくはエラステンを含む、請求項1−10のいずれかに記載の指作動装置。
- 前記埋め込まれた非伸張性の層が、コットン、紙、もしくはポリエステルの層を含む、請求項1−10のいずれかに記載の指作動装置。
- ベースと、請求項1−13のいずれかに記載の複数の指作動装置を含む、義手。
- 少なくとも1つの指作動装置の加圧のために接続された少なくとも1つの空気圧縮機をさらに含む、請求項14に記載の義手。
- 少なくとも1つの指作動装置に前記空気圧縮機を逆向きに接続するための少なくとも1つのバルブをさらに含む、請求項15に記載の義手。
- 筋肉電圧を読み取り可能なセンサからの入力を受け取るマイクロプロセッサをさらに含む、請求項14−16のいずれかに記載の義手。
- 前記マイクロプロセッサが前記センサから受けた信号に応えて前記バルブに命令を出す、請求項17に記載の義手。
- 義手を操作する方法であって、
請求項14−18のいずれかの義手を準備するステップと、
前記バルブを開く命令を送るステップとを含み、
前記空気圧縮機からの空気圧が少なくとも1つの指作動装置を加圧し、それにより前記指作動装置が曲がる、方法。 - 前記命令が前記センサから受けた信号に応えて起こる、請求項19に記載の方法。
- 指作動装置の製造方法であって、弾性のある補強材層を複数の成型チャンバのそれぞれに取り入れるステップと、ロストワックス部材を、前記モールドの長さに沿って、それぞれの前記成型チャンバにわたって置くステップと、前記モールドをエラストマ材で充填し、前記エラストマ材を硬化させるステップと、前記エラストマ材の硬化前、硬化中、もしくは硬化後に、前記非伸張性の層を前記成型チャンバの前記ベースに与えるステップと、前記エラストマ材の硬化後、硬化した前記指作動装置を加熱して前記ロストワックスを溶かすステップを含む、方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201461978412P | 2014-04-11 | 2014-04-11 | |
US61/978,412 | 2014-04-11 | ||
PCT/US2015/025561 WO2015157760A1 (en) | 2014-04-11 | 2015-04-13 | Portable prosthetic hand with soft pneumatic fingers |
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JP2017512521A true JP2017512521A (ja) | 2017-05-25 |
JP6721515B2 JP6721515B2 (ja) | 2020-07-15 |
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JP2016555547A Active JP6721515B2 (ja) | 2014-04-11 | 2015-04-13 | 柔らかい空気圧式指をもつポータブルな義手 |
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JP2020014597A (ja) * | 2018-07-24 | 2020-01-30 | Amaz技術コンサルティング合同会社 | 電池内蔵継手 |
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JP2020014597A (ja) * | 2018-07-24 | 2020-01-30 | Amaz技術コンサルティング合同会社 | 電池内蔵継手 |
JP7090286B2 (ja) | 2018-07-24 | 2022-06-24 | Amaz技術コンサルティング合同会社 | 電池内蔵継手 |
KR20200058680A (ko) * | 2018-11-20 | 2020-05-28 | 강기준 | 스포츠용 공압식 전자 의수 |
KR102202897B1 (ko) * | 2018-11-20 | 2021-01-13 | 강기준 | 스포츠용 공압식 전자 의수 |
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EP3129194A4 (en) | 2018-03-28 |
US20170290681A1 (en) | 2017-10-12 |
JP6721515B2 (ja) | 2020-07-15 |
US10548745B2 (en) | 2020-02-04 |
WO2015157760A1 (en) | 2015-10-15 |
US20150351936A1 (en) | 2015-12-10 |
EP3129194A1 (en) | 2017-02-15 |
EP3129194B1 (en) | 2022-10-12 |
US9687362B2 (en) | 2017-06-27 |
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