JP2019520163A - Bionic prosthesis - Google Patents

Abstract

The palm member (1), the index finger assembly (21), the middle finger assembly (22), the ring finger assembly (23), the little finger assembly (24) and the thumb assembly (25), the index finger assembly (21), the middle finger assembly (22) Ring finger assembly (23) and little finger assembly (24) are connected upright rotatably inside the palm member (1) with the finger members (2) connected to the upper end of the palm member (1) in an openable / closable manner respectively And a first inter-finger member (3) to which the thumb assembly (25) is openably and closably connected. In the bionic prosthesis, the thumb assembly (25) can be inverted or abducted, the index finger assembly (21), the middle finger assembly (22), the ring finger assembly (23), the thumb assembly (24) and the thumb assembly (25) ) Can realize an extension or bending operation, is light in weight, and is convenient for wearing and use for a long time by a patient (upper limb deficient). [Selected figure] Figure 1

Description

  FIELD OF THE INVENTION The present invention relates to prosthetics, and in particular to bionic prosthetics in the field of rehabilitation medical instruments.

  Myoelectric prostheses can provide convenience of daily life for people with upper extremity defects instead of lost limbs, and have become one of the important examination directions in the current rehabilitation process field.

  In a conventional product, a proportional control type myoelectric prosthesis has only three fingers, a thumb, an index finger and a middle finger, and can only realize gripping in a single mode operation of opening and closing the hand. In addition, the fingers of the proportional control type electromyographic artificial hand have an integrated structure, and can not realize multi-joint collaborative exercise. Therefore, such products are considered not to be highly practical in daily life.

  In the conventional products, there are also prostheses with five fingers, and it is possible to perform collaboration movement with the ring finger and the little finger, and it is possible to individually control the movement by the fingers of each book, and realize many hand movements. be able to. In addition, the four fingers other than the thumb are characterized in that two joints other than the distal phalanx joint perform collaborative motion. However, since the metacarpal-carpal joint of the artificial finger of this artificial hand does not have an independent degree of freedom, the rotational motion of adduction or abduction by the finger requires manual assistance. Moreover, according to such a prosthetic hand, a bionic design on appearance and operation has been realized, but the heavy weight (500 g or more) places a heavy burden on the patient and is not suitable for long-term wearing .

  At present, in a conventional multi-DOF electromyograph, by giving each joint a degree of freedom, independent movements with a single finger and joint are realized and the number of feasible movements is increased, but the motor Due to the large number of components, the control system is complicated and the maintenance cost is high. In addition, since the weight is heavy, there is a problem that the patient feels pain and fatigue after wearing for a long time, and can not wear and use for a long time. Therefore, such a prosthetic hand is considered to be unsuitable for ordinary patients and difficult to be accepted by general households, as well as the practicality is greatly impaired and the high price becomes an obstacle.

  Next, since the commercially available myoelectric prostheses are structurally made of metal in the main body, not only the weight is heavy, but also traditional power transmission methods such as gears are used for joints, The meshing of the steps reduces the transmission efficiency and can not maximize the torque of the motor, and ultimately, it must be supplemented with a high cost, high volume, large torque output motor. However, such measures increase cost and extra weight.

  In addition, the existing EMG hands have only a moderate grasping ability, and when grasping an object, there is interference by other fingers, so the user can take an appropriate holding posture by assisting the upper limbs You have to change and adjust your posture. In addition, when gripping an object, the finger pad structure does not have visco-elastic properties including constant covering power and frictional force, so that the stability of gripping of the object is insufficient. In addition, when the finger is subjected to the external force in the lateral direction (parallel to the plane of the palm), the finger joint is easily damaged because the load protection structure is not provided, and the practicability of the entire prosthetic hand is greatly impaired. This is also a factor that the user can not make fine movements using the myoelectric prosthesis and the user recognizes that the utility is not high.

  Furthermore, conventional myoelectric prostheses do not appear to be sufficiently bionic in terms of appearance. When the patient wears and uses the artificial hand in a public place, the patient tends to be noticed from the surroundings, and the wearer itself also feels psychological resistance, and the usage intention decreases. In this case, it may be better to use a decorative artificial hand having no operation function than using an EMG hand whose appearance is not sufficiently bionic.

  In the present invention, the thumb finger assembly can be inverted or abducted, and the index finger assembly, the middle finger assembly, the ring finger assembly, the thumb finger assembly and the thumb finger assembly can realize extension or bending action, and can be light in weight and bionic in appearance The purpose of the present invention is to provide a bionic prosthesis that is convenient for long-term wearing and use by patients.

The present invention
Palm member,
A finger member comprising an indicating finger assembly, a middle finger assembly, a ring finger assembly, a little finger assembly and a finger assembly, wherein the pointing finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly are respectively openably connected to the upper end of the palm member ,
A first inter-finger part member rotatably connected to the inside of the palm member, to which the thumb assembly is openably connected;
Provide bionic artificial hand including.

  The bionic prosthesis of the present invention has the following features and advantages.

  First, in the present invention, by using only two small motors (ie, a finger drive motor and a finger drive motor) as the drive, extension with the five fingers of the thumb, finger, middle, middle and pink finger assemblies Alternatively, it has been designed to drive the bending motion and the adduction or abduction motion by the metacarpal carpal joint member of the thumb assembly respectively. That is, according to the present invention, by the thumb drive motor connected to the first interdigital member to drive the adduction or the extrarotation of the thumb, the thumb assembly is placed in a different spatial position parallel or opposite to the other four finger assemblies. Can be rotated vertically. In addition, the rotation axis of the finger drive motor simultaneously drives the bending or extension of the five finger assembly. As a result, the thumb finger assembly cooperates with the other four finger assemblies to achieve 85% as much of the normal daily life as three main types of grasping power, grasping precision, and grasping sides in various postures. I realized the mode.

  Second, the present invention interlocks the simultaneous extension or bending of the five finger assembly by the rotation shaft of the finger drive motor, and the path lengths of different drive wire passages provided in the palm member are made different wire passages. The separated movement of each finger assembly is achieved through being drilled to accommodate different lengths of wire. That is, the present invention further derives a separate delaying motion between the ring finger assembly and the little finger assembly, whereby the ring finger assembly and the finger assembly are structurally designed to cause delay bending with respect to the index finger assembly and the middle finger assembly. The problem of mistouch or interference can be effectively avoided. Thus, during precise grasping, the grasping ability is improved by avoiding a malfunction or ungrabable situation due to the ring finger assembly and the pinky finger assembly contacting the object prior to the index finger assembly and the middle finger assembly.

  Third, the present invention calculates and responds to five elastic bands having an optimum elastic modulus based on the different lengths of the respective finger assemblies, and each elastic band is provided on the finger back portion of each finger assembly. ing. That is, the elastic restoring force of the elastic band provided on the back of the five finger assembly as a passive power source can realize the extension operation of each finger assembly. Specifically, while the finger drive motor drives the reverse of the rotation axis and loosens the drive wire pulling on each finger assembly, each finger assembly has five fingers due to the restoring force of each elastic band on its finger back Returns to the open state, thereby realizing the extension operation of each finger assembly.

  Fourth, the flexible finger pad structure of the distal phalanx joint member according to the present invention and the rigid joint member skeleton can be integrally molded by a 3D printer, thereby increasing the number of steps and cost by attaching or adhering. Can be avoided. Alternatively, the flexible finger pad structure may be further connected to the articulating member skeleton in an adhesive or fitting manner. The finger pad structure uses a flexible structure made of a rubber material having flexibility, thereby increasing the contact area at the time of gripping an object by the finger assembly, enhancing surface friction performance, and covering power at the time of gripping an article And improve the surface friction force, and further significantly improve the stability of object gripping.

  5. For the non-frictional structural part, for example, "also, the center of rotation of the proximal phalanx joint member and the palm member, and the center of rotation of the medial phalanx joint member and the proximal phalanx joint member are also the same. In these articulating members, a line contact structure is formed along each rotation center so that friction with other joints does not occur, so that the traditional joint rotation pair is caused by mutual surface contact. This avoids the occurrence of friction during exercise and a reduction in finger power. Such a friction-free line contact structure of the present invention maximizes the power of the finger drive motor for each finger assembly Or “The conventional artificial hand adopts a method of axial connection between joints and joints, so frictional force is generated on the surfaces in contact with each other, and the output efficiency is reduced. , Of each finger assembly of the present invention The joint member, instead of a shaft connection, because the method of the line contact is adopted, the frictional force is zero, to avoid internal loss with respect to the output of the finger drive motors "are cited.

FIG. 1 is a front view of a bionic prosthesis according to the present invention. FIG. 2 is a rear view of the bionic prosthesis according to the present invention. FIG. 3 is a schematic view showing the structure of the palm member of the bionic prosthesis according to the present invention. FIG. 4 is a schematic view showing the structure of the thumb finger assembly of the bionic prosthesis according to the present invention. FIG. 5 is a schematic diagram (part 1) showing the structure of the index finger assembly of the bionic prosthesis according to the present invention. FIG. 6 is a schematic diagram (part 2) showing the structure of the index finger assembly of the bionic prosthesis according to the present invention.

  The following clearly and completely describes the technical solutions according to the embodiments of the present invention by combining the drawings of the embodiments of the present invention. Apparently, the described embodiments are only a part of the embodiments of the present invention, not all the embodiments. All other embodiments obtained by those skilled in the art without inventive ideas based on the embodiments of the present invention are all included in the protection scope of the present invention.

  As shown in FIGS. 1 and 2, the present invention provides a bionic prosthesis including a palm member 1, a finger member 2 and a first inter-finger member 3. Among them, the finger member 2 includes an index finger assembly 21, a middle finger assembly 22, a ring finger assembly 23, a finger assembly 24, and a finger assembly 25, the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, and the finger assembly 24; The first inter-finger part member 3 is connected to the upper end of the palm member 1 so as to be openable and closable, and the first inter-finger part member 3 is connected to the inside of the palm member 1 so as to be upright and rotatable. It is connected to the one inter-finger portion member 3 so as to be openable and closable.

  Specifically, palm member 1 is a member whose appearance structure is similar to the shape of a human hand, and in the present invention, the overall shape of palm member 1 corresponds to the average size and size of the right hand of an adult female. It is obtained by performing bionic design. The structures on both sides of the palm member 1 and at positions close to the wrist are both designed to be transition curved surface molding so that the external shape of the human hand can be realistically simulated. In the present embodiment, the expandable joint shaft 11 of the wrist joint is connected to the lower end of the palm member 1 (that is, the end connected to the wrist), thereby expanding or directly following the wrist function. Convenience is achieved on the surface that functions as a fixed connection end.

  The finger member 2 comprises an index finger assembly 21, a middle finger assembly 22, a ring finger assembly 23, a thumb finger assembly 24 and a finger assembly 25, and the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the thumb finger assembly 24 are respectively provided on the upper end of the palm member 1. It is connected to the. In the present invention, the positions and angles of the index finger assembly 21 and the middle finger assembly 22 in the palm member 1 correspond to the positions analyzed and calculated by the space engagement at the time of precise grasping. The positions and angles of the ring finger assembly 23 and the little finger assembly 24 on the palm member 1 match the irregular curved surface distribution of the human hand. In the present embodiment, as shown in FIG. 3, the finger drive motor 4 to which the rotation shaft 41 is connected is provided in the palm member 1, and the rotation shaft 41 is a finger by a plurality of pins 42. It is connected to the rotation shaft of the drive motor 4. A bearing 43 is provided on the outside of the palm member 1, and a central shaft 44 is bored in the bearing 43, and the rotational shaft 41 is positioned by the bearing 43 and the central shaft 44 and supported. Be done. The rotary shaft 41 is provided with a plurality of annular grooves 411 spaced along the axial direction, and the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, the finger assembly 24 and the finger assembly 25 The finger drive wire 211, the middle finger drive wire 221, the ring finger drive wire 231, the little finger drive wire 241, and the thumb drive wire 251 are connected to the inside of the plurality of annular grooves 411 of the rotation shaft 41, respectively. The motor 4 includes the finger assembly (i.e., the index finger assembly 21, the middle finger assembly 22) by the above-described wires (i.e., the index finger drive wire 211, the middle finger drive wire 221, the ring finger drive wire 231, the finger drive wire 241 and the thumb drive wire 251). Ring finger assembly 23, little finger assembly 24 and thumb finger assembly 2 ) By driving the, it can be completed in co-five pieces of finger bending movement (in other words, closing operation). As described above, when the rotation shaft 41 is driven to rotate normally, the finger drive motor 4 can realize the closing operation by driving the five finger assemblies in conjunction with the five drive wires. it can. The finger drive motor 4 corresponds to loosening the five drive wires when the rotary shaft 41 is driven to reverse, and prepares to realize the opening operation of the five finger assembly.

  In this embodiment, as shown in FIG. 3, the palm member 1 includes the finger drive wire passage 12, the middle finger drive wire passage 13, the ring finger drive wire passage 14, the little finger drive wire passage 15 and the finger drive wire passage 16. Five lead-out passages are provided, of which the index finger drive wire 211 is drilled in the index finger drive wire passage 12 and the middle finger drive wire 221 is drilled in the middle finger drive wire passage 13; The ring finger drive wire 231 is drilled in the ring finger drive wire passage 14, the finger drive wire 241 is drilled in the finger drive wire passage 15, and the finger drive wire 251 is drilled in the finger drive wire passage 16. It is done. Furthermore, in the palm member 1, a cavity 17 communicating with the five lead-out passages is provided, the cavity 17 is provided in the upper part of the palm member 1, and the finger drive motor 4 and the rotation shaft 41 are provided. , Both are located in the cavity 17. In the present embodiment, as shown in FIG. 2, the cavity 17 is provided with a protective cover 18. The index finger drive wire 211, the middle finger drive wire 221, the ring finger drive wire 231, the finger drive wire 241 and the finger drive wire 251 are for driving the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, the finger assembly 24 and the finger assembly 25. Considering that it is a precision core transmission, and its appearance must be designed to mimic and mimic the actual form of the human hand without adding unnecessary space volume extra It is necessary to carry out a protection process to prevent dust contact and contact with foreign matter by making the transmission portion inside and further providing a protective cover 18.

  When the four finger assemblies including the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, and the little finger assembly 24 simultaneously bend at the same angular velocity during precise grasping, the ring finger assembly 23 and the finger assembly 24 have three other finger assemblies. The grip object comes into contact with the object prior to (that is, the index finger assembly 21, the middle finger assembly 22, and the thumb assembly 25), where a problem such as mistouch or interference occurs. For example, when grasping a small volume object left flat, thumb finger assembly 25, index finger assembly 21 and middle finger assembly 22 need to cooperate to form a precise grip by three-point contact, but this time ring finger assembly When the finger 23 and the finger assembly 24 are simultaneously bent at the same speed and contact with a flat surface, the bionic prosthesis can not realize the precise gripping operation by the three-point contact of the three finger assembly, and the precise gripping operation is good. It can not be realized or the gripping operation will fail.

  Therefore, in one embodiment of the present invention, both the length of ring finger drive wire 231 and the length of little finger drive wire 241 are made longer than the lengths of index finger drive wire 211 and middle finger drive wire 221.

  Specifically, the length of the ring finger drive wire 231 is an actual length from one end connected to the ring finger assembly 23 to the other end connected to the rotation shaft 41, and the length of the little finger drive wire 241 Is the actual length from one end connected to the little finger assembly 24 to the other end connected to the rotation shaft 41, and the length of the index finger drive wire 211 is the rotation axis from one end connected to the index finger assembly 21. The actual length of the middle finger drive wire 221 is the actual length from the end connected to the middle finger assembly 22 to the other end connected to the rotation shaft 41. It is. The index finger drive wire 211, the middle finger drive wire 221, the ring finger drive wire 231, and the little finger drive wire 241 are located in the palm member 1. The index finger drive wire passage 12, the middle finger drive wire passage 13, the ring finger drive wire passage 14, the finger drive In the present invention, the length of the ring finger drive wire 231 and the length of the little finger drive wire 241 are the same as those of the finger drive wire 211 and the middle finger drive wire 221 in the present invention. The length of the finger drive wire passage 14 and the length of the finger drive wire passage 15 are both longer than the lengths of the index finger drive wire passage 12 and the middle finger drive wire passage 13.

  The present invention realizes the separation motion of each finger assembly corresponding to the lengths of different drive wires drilled in different drive wire passages by the path diameter lengths of different drive wire passages provided in the palm member 1 Thus, the bending movement of the ring finger assembly 23 and the little finger assembly 24 is made slower than the bending movement of the index finger assembly 21 and the middle finger assembly 22. In this way, the thumb finger assembly 25, the index finger assembly 21 and the middle finger assembly 22 form a precise gripping action by three-point contact prior to the ring finger assembly 23 and the finger assembly 24 reaching the same bending angle, To avoid the above-mentioned mistouch or interference problem.

  In one embodiment of the present invention, as shown in FIG. 1 and FIG. 3, the palm member 1 is further provided with a thumb drive motor 5 in which the first inter-finger part member 3 is connected to the rotation shaft 51. And one end of the thumb assembly 25 is pivotally connected to the first inter-finger member 3.

  In this embodiment, referring to what is shown in FIG. 4, the thumb assembly 25 comprises a metacarpal carpal joint member 252, a proximal phalanx joint member 253, and a distal phalanx joint sequentially connected. The metacarpal carpal joint member 252 including the member 254 is connected to the rotation shaft 41 of the finger drive motor 4 by the thumb drive wire 251, and the proximal phalanx joint member 253 is metacarpal carpal by the pin 255 Connected to the articulating member 252, the distal phalanx articulating member 254 is connected to the proximal phalanx articulating member 253 by a pin (not shown).

  The metacarpal carpal joint member 252 includes a pivoting end 2521, and the thumb assembly 25 is pivoted to the other side of the first interdigital member 3 by the pivoting end 2521 of the metacarpal carpal joint member 252. By being worn, the thumb finger assembly 25 can realize a bending or extending motion with respect to the first interdigital member 3. Furthermore, the metacarpal-carpal joint member 252 of the thumb assembly 25 is connected to a first inter-finger part slide plate 256 slidably inserted into and connected to the first inter-finger part member 3. A sliding groove 2561 is provided in the inter-finger slide plate 256, and a stopper pin fixed to the first inter-finger member 3 through the sliding groove 2561 in the first inter-finger member 3 31 is provided. When the first inter-finger slide plate 256 slides in the first inter-finger member 3 by the thumb drive wire 251, that is, when the thumb assembly 25 realizes a bending or extending operation, the sliding groove 2561 is By sliding back and forth with respect to the stopper pin 31, the maximum position of the first inter-finger slide plate 256 in the first inter-finger member 3 is regulated, and the metacarpal carpal joint member of the thumb assembly 25 The angle when bending or extending 252 is restricted, thereby preventing occurrence of a situation where the metacarpal-carpal joint member 252 separates from the first interdigital member 3 during sliding, and an angular error And an increase in the strength of the thumb assembly 25 at the position of maximum extension.

  The positioning connection in which one end is fixed and the other end is floating is adopted between the first inter-finger part member 3 and the thumb drive motor 5 according to the present invention. Specifically, the thumb drive motor 5 is provided in the middle lower portion inside the palm member 1, and the upper end of the first inter-finger member 3 is fixedly connected to the rotation shaft 51 of the thumb drive motor 5. The connection hole 32 is provided at the other end of the first inter-finger part member 3, and the connection hole 32 is connected to the short shaft 10 at the lower end of the palm member by a clearance fit method, Form a rotating pair. When the rotation shaft 51 of the thumb drive motor 5 rotates accordingly, by driving the first inter-finger part member 3 connected thereto, the thumb assembly 25 is interlocked to realize the inturn or outturn operation. . Such a connection method in which one end is fixed and the other end is floating not only ensures that the thumb assembly 25 smoothly performs the adduction or eversion operation, but also provides a rigid support.

  According to the present invention, the thumb finger assembly 25 is moved in an interlocking or abducting manner by interlocking the thumb finger assembly 25 with the first inter-finger member 3 connected to the rotary shaft 51 of the thumb drive motor 5. Rotate at different spatial positions parallel or opposite to the book finger. In addition, the rotation shaft 41 of the finger drive motor 4 interlocks the five finger assemblies (that is, the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, the little finger assembly 24 and the finger assembly 25) to realize bending or extension. To drive. The adduction or abduction of the thumb finger assembly 25 cooperates with the flexion or extension of the five finger assemblies to complete three types of grasping modes: various forms of grasping power, precise grasping, and side grasping. Such polymorphic grabbing operations occupy up to 85% of the daily life of ordinary people.

  According to one embodiment of the present invention, the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the little finger assembly 24 are identical in structure and all are sequentially connected to each other at the proximal phalanx joint member 61. The proximal pharyngeal joint member 61 comprises a position pharyngeal joint member 62 and a distal phalanx joint member 63, and the proximal pharyngeal joint member 61 has a rotation shaft 41 by the index finger drive wire 211, the middle finger drive wire 221, the ring finger drive wire 231 or the finger drive wire And the medial phalanx joint member 62 is rotatably connected to the upper end of the proximal phalanx joint member 61, and the distal phalanx joint member 63 is connected to the upper end of the medial phalanx joint member 62. It is connected.

  Specifically, since the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, and the little finger assembly 24 are different in the length of each finger joint, they are identical in structure, so only the index finger assembly 21 is The structure is described as an example. As shown in FIGS. 5 and 6, the index finger assembly 21 comprises three parts: a proximal phalanx joint member 61, a medial phalanx joint member 62 and a distal phalanx joint member 63. Regarding the transmission mechanism of the index finger assembly 21, the proximal finger joint joint member 61 is interlocked by driving the index finger drive wire 211 by the finger drive motor 4 provided in the palm member 1. However, one end of the index finger drive wire 211 is connected to the rotation shaft 41 of the finger drive motor 4 through the index finger drive wire passage 12, and the other end is connected to the inside of the proximal phalanx joint member 61 through the routing hole 611. It is fixed. At the same time that the rotation shaft 41 of the finger drive motor 4 interlocks with the proximal phalanx joint member 61, the second index finger drive wire 212 is interlocked. However, the second index finger drive wire 212 is fixed at both ends, and one end is fixed to the inside of the medial phalanx joint member 62 through the draw hole 621 and the other end is the proximal finger through the draw hole 612 It passes through the joint joint member 61 and is fixed to the palm member 1.

  The present finger drive motor 4 is a compound interlock of the index finger drive wire 211 and the second index finger drive wire 212 when the index finger drive wire 211 is rotationally driven, and the proximal phalanx joint member 61 and the middle phalanx joint member At the same time, the movement of the wire can realize a natural, human-like gripping action on the object. On the other hand, since the distal phalanx joint member 63 is fixed to the medial phalanx joint member 62 by the pin 631, it can be easily removed and maintained as well as realizing personalization.

  In the present invention, a cavity 613 may be provided in the proximal phalanx joint member 61, and an elastic member 614 may be attached in the cavity 613. In the present embodiment, in the cavity 613 The two elastic members 614 are attached symmetrically, and the elastic members 614 may be, for example, a spring. Here, only the elastic member 614 located on the right side in the cavity 613 will be described as an example. As shown in FIG. 5, one end of the elastic member 614 is fixed to the medial phalanx joint member 62 through the drawing hole 615 by the upper wire, and the other end of the elastic member 614 is the lower one. The side wire passes through the routing hole 616 and is fixed to the palm member 1, and the upper wire and the lower wire have a fixed length. As described above, when the index finger assembly 21 receives a large external force in the lateral direction (a plane parallel to the palm member 1), the elastic member 614 is deformed, whereby the elastic member 614 acts as a damper to avoid flexibility. As well as transmitting the force to the two fixed ends of the proximal phalanx joint member 61 and the middle phalanx joint member 62 to weaken the impact force, which is less likely to be damaged, passively. The load protection structure of the laterally displaceable index finger assembly 21 is realized, and the safety of the bionic prosthesis is greatly improved.

  Besides, in the present invention, the upper inside slope 617 and the lower inside slope 618 are respectively formed on both ends of the proximal phalanx joint member 61, and the middle finger connected to the proximal phalanx joint member 61 A lower inner slope 622 is formed at one end of the joint joint member 62, and the proximal phalanx joint with respect to the palm member 1 is formed by installing the upper inner slope 617, the lower inner slope 618 and the lower inner slope 622 The bending angle of the member 61 and the bending angle of the medial phalanx joint member 62 with respect to the proximal phalanx joint member 61 were secured. Also, the rotation centers of the proximal phalanx joint member 61 and the palm member 1 and the rotation centers of the middle phalanx joint member 62 and the proximal phalanx joint member 61 are similarly rotation lines. In these articulating members, a line contact structure is formed along which the friction of other joints does not occur along the respective rotation centers, so that the traditional joint rotation pair causes a friction action during movement by mutual surface contact, The situation where hand output becomes weak is avoided. The friction-free line contact structure of the present invention allows the output of the finger drive motor 4 to be maximized for each finger assembly.

  Also, in one embodiment of the present invention, the distal phalanx joint member 63 may be integrally molded to the middle phalanx joint member 62, or in another embodiment, the distal phalanx joint member 63 may be fixedly connected to the medial phalanx joint member 62 by means of a plurality of pins 631 and in this way it not only simplifies installation but also allows for easy maintenance in case of damage. The phalangeal joint member 63 can be easily replaced directly. In addition, as the most important advantage of the structure in which the index finger assembly 21 is configured to be divided into three parts (that is, the proximal phalanx joint member 61, the middle phalanx joint member 62 and the distal phalanx joint member 63) Each patient can be personalized according to different lengths and thicknesses of the fingers or joints, greatly expanding the scope of application of the bionic prosthesis to different users.

  In one embodiment of the present invention, as shown in FIG. 2 and FIG. 4, on the respective finger backs of the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, the little finger assembly 24 and the finger assembly 25, The elastic band 213, the elastic band 222, the elastic band 232, the elastic band 242 and the elastic band 257 are connected to each other, and the elastic band 213, the elastic band 222, the elastic band 232, the elastic band 242 and the elastic band 257 It is connected to the palm member 1 through the assembly. Elastic bands 213, elastic bands 222, elastic bands 232 and elastic bands 242 shown in FIG. 2 were attached to the slits between the finger back grooves of each finger assembly and the bumps in the grooves.

  Specifically, as shown in FIG. 3 and FIG. 4, the palm member 1 provided with the upper end on the back side of the hand of the palm member 1, that is, the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the little finger assembly 24. In the position, four locking claws 19 are provided respectively, the elastic band 213, the elastic band 222, the elastic band 232, and the elastic band 242, the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, and the little finger assembly 24. Through each medial phalanx joint member 62 and the proximal phalanx joint member 61, and are connected to the four locking claws 19 of the palm member 1. The elastic band 257 is connected to the first interdigital member 3 through the proximal phalanx joint member 253 of the thumb assembly 25 and the metacarpal carpal joint member 252.

  The present invention calculates based on the different lengths of each finger assembly, matching five elastic bands whose elastic modulus is optimal, and also corresponds to elastic band 213, elastic band 222, elastic band 232, elastic band 242 and The elastic band 257 is provided on the finger back portion of the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, the little finger assembly 24 and the thumb assembly 25, that is, the fingers of the five finger assemblies as a passive power source. An elastic band provided at the back pulls each finger assembly to realize an extension operation. Specifically, when the finger drive motor 4 drives the rotary shaft 41 to reverse, the drive wire for pulling each finger assembly is loosened, and each finger assembly has its elastic band at its finger back. The restoring force returns the five fingers to an open state, thereby realizing the extension operation of each finger assembly.

  According to one embodiment of the present invention, the distal finger joint member 63 of the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23 and the little finger assembly 24, and the distal link joint member 254 of the finger assembly all include joints. A member skeleton 632 and a finger pad structure 633 connected to the joint member skeleton 632 are included.

  Specifically, the finger pad structure 633 and the joint member frame 632 can be integrally molded by a 3D printer, thereby avoiding an increase in the number of processes and costs due to attachment and adhesion. Alternatively, in another embodiment, the finger pad structure 633 may be connected to the joint member skeleton 632 in an adhesive or fitting manner. The fitting connection method is, for example, by providing a fitting structure of a bump and a groove between the joint member skeleton 632 and the finger pad structure 633, the joint member skeleton 632 engages with the finger pad structure 633. Let In the present invention, the finger pad structure 633 adopts a flexible structure made of a flexible rubber-like material, and the distal finger joint member 63 has flexibility in the case of the index finger assembly 21 as an example. By calculating and analyzing the respective proportions of the material and the skeleton, they are made to correspond to the visco-elastic characteristics of a normal human finger pad, where the finger pad structure 633 of the distal phalanx joint member 63 The volume ratio between the joint member and the joint member skeleton 632 is 0.54 to 0.66. This improves the covering power when the finger assembly grips the article and increases the surface frictional force generated when contacting the surface of the object, thereby greatly improving the stability of gripping the object.

  In the present invention, by using only two small motors (that is, the finger drive motor 4 and the thumb drive motor 5) as the drive, five thumb fingers assembly 25, index finger assembly 21, middle finger assembly 22, ring finger assembly 23, and finger assembly 24 are used. It has been designed to simultaneously drive the extension or flexion movement of the finger and the adduction or eversion movement of the thumb assembly 25 around the rotation axis 51 of the thumb drive motor 5. By combining the operations, it is possible to form three types of grasping modes of grasping power of various forms, precise grasping, and lateral grasping, and such grasping movements occupy up to 85% in daily life. Furthermore, in the present invention, the proximal phalanx joint member 61 is provided with a load protection device so that the finger assembly (i.e., the index finger assembly 21, the middle finger assembly 22, the ring finger assembly 23, and the little finger assembly 24) is transversely When receiving a large external force, it is flexible and avoids damage easily.

  Also, the bionic prosthesis according to the present invention has a more human-like design on the actual in-use details of the patient. By designing the delayed motion of ring finger assembly 23 and pinky assembly 24 to improve the grasping ability at the time of precise grasping, and adopt a flexible structure to mimic the bionic and elastic characteristics of the hand and finger pads approximately bionic Design an easy-to-remove, easy-to-maintain finger joint structure that improves grasping ability and applies to personalization.

  Finally, the present invention combines structural simplification and maintenance convenience as much as possible for the manufacturing and mounting process, and combines 3D printing technology to ultimately reduce weight, cost and appearance bionic design Realized and significantly improved the cost performance and practicability of the bionic prosthesis.

  The features and advantages of the bionic prosthesis according to the present invention are:

  First, the bionic prosthesis according to the present invention can drive the thumb finger within an acceptable range in the palm member 1 as compared with the conventional prosthetic hand having only the main finger bending and extending motions of five fingers using single motor control. The addition of the motor 5 makes it possible to control the adduction or the abduction of the thumb assembly 25 and thus to manually adjust the thumb position or with a tool before grasping different objects The conventional artificial hand intermediate step of fixing and locking and starting to grasp the object is omitted.

  2. In the case of adopting a conventional metal artificial hand, the present invention is not only expensive and heavy, but also can not be worn for a long time by putting a burden on the patient, the present invention provides a high strength resin material And combine 3D printing technology to process the joint members of each finger assembly, where the production cycle is short, cost is low, there is no need for secondary processing, but most importantly, weight The weight was significantly reduced, and the burden caused by the patient wearing it for a long time was reduced, and it received excellent evaluation and feedback that there was no discomfort.

  Compared with the conventional artificial hand that three or five fingers must flex or extend at the same time and can only hold a single grip mode of grasping power, the present invention adopts only two small motors and The adduction or abduction motion of the assembly and the extension or bending motion of the five finger parts are respectively driven, and the combination of these motions is a side grasp, accurate grasp that occupies up to 85% of the hand movement in actual daily life And the operation of grasping the grip was completed, and not only the increase of the grasping operation but also the practicability was improved.

  The present invention adopts finger-belly structure 633 of rubber-like material having flexibility, as compared with the conventional artificial hand that does not further improve the gripping ability by finger-belly. Designing a structure that can mimic the visco-elastic properties bionic, thereby increasing the covering and friction forces on the object when grasping the object, and also improving the stability when grasping the object. I have improved my ability. Further, the finger pad structure 633 and the joint member skeleton 632, which are integrally formed by 3D printing technology, avoid the increase in the number of processes and the cost due to attachment and adhesion.

  5. The present invention is designed not only for personalization but also for easy removal and maintenance of the finger joint, whereas the conventional artificial hand is difficult to maintain at the late stage and does not consider the finger load protection mechanism, To provide a passively laterally displaceable proximal phalanx joint member 61 structure that is softly avoided and less susceptible to damage if subjected to a large external force in a lateral direction (parallel to the plane of the palm).

  Sixth, since the conventional artificial hand adopts the method of axial connection between the joints, the output efficiency is reduced by generating the frictional force at the surfaces in contact with each other. On the other hand, since not a shaft connection but a line contact system was adopted between the joint members of each finger assembly of the present invention, the frictional force was zero and the internal loss of the output of the finger drive motor 4 was avoided. .

  Also, as the person skilled in the art will appreciate, the bionic prosthesis of the present invention may have the finger drive motor 4 and the thumb drive motor 5 of the present invention within the tolerance range in the palm member 1 and other motors or pneumatic, hydraulic, etc. It can be replaced by a driving method. Each wire can be arbitrarily laid out within the space tolerance of the palm member 1 and each finger assembly, and the compound interlock of the wires in each finger assembly can be replaced by a belt drive or other type of compound interlock . The transmission system can be applied to any mechanical transmission that is not a bionic prosthesis, as the bending angular velocity and output size of the finger joint can be arbitrarily adjusted by adjusting the wire length and position of the compound linkage. Can be All pin-type fixings between the joint members can be replaced with other types of tightening methods such as bolting and locking. The flexible structure of the finger pad structure 633 may be formed integrally by 3D printing technology, or may be combined with other bonding methods such as fitting and adhesion. Since the space occupied by transmission of each wire is very small, the size and appearance of the palm member 1 and each finger assembly can be arbitrarily changed. Each elastic band of penetration type can be replaced by an elastic member having an inherent elastic modulus such as a spring, a torsion spring or a rubber thread. Materials and production means used for producing the entire bionic prosthesis are not limited to resins, rubber materials and 3D printing techniques, and other materials and production methods can be selected according to demand. In addition to using PE wires, each wire may alternatively use wires, threads or belts of other materials.

  Finally, the above embodiments merely illustrate the technical solution of the present invention and are not limitations on the present invention, and the present invention has been described in detail with reference to the preferred embodiments, but it should be understood by those skilled in the art. That can modify or replace the technical solution of the present invention, and so forth without departing from the spirit and principle of the present invention are included within the scope of the claims of the present invention.

Claims (13)

Palm member,
A finger member comprising an indicating finger assembly, a middle finger assembly, a ring finger assembly, a little finger assembly and a finger assembly, wherein the pointing finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly are openably connected to the upper end of the palm member;
A first inter-finger member which is rotatably connected to the inside of the palm member, and the thumb assembly is openably connected;
Including bionic artificial hands. A finger drive motor is provided in the palm member, a rotary shaft is connected to the finger drive motor, and a plurality of annular grooves are provided in the axial direction of the rotary shaft,
The index finger assembly, the middle finger assembly, the ring finger assembly, the little finger assembly and the thumb assembly respectively have a plurality of annular shafts of the rotation shaft by a finger drive wire, a middle finger drive wire, a ring finger drive wire and a thumb drive wire respectively. Connected in the recess,
The bionic prosthesis according to claim 1. The length of the ring finger drive wire and the length of the little finger drive wire are both greater than the length of the index finger drive wire and the length of the middle finger drive wire.
The bionic prosthesis according to claim 2. A cavity is provided in the palm member,
The finger drive motor and the rotary shaft are both located in the cavity,
A protective cover is provided outside the cavity.
The bionic prosthesis according to claim 2. A thumb drive motor is provided on the palm member, and the first inter-finger member is connected to a rotation shaft of the thumb drive motor,
One end of the thumb assembly is pivotally connected to the first inter-finger member,
The bionic prosthesis according to claim 1. A first inter-finger slide plate is connected to the thumb finger assembly, the first inter-finger slide plate is slidably inserted into the first inter-finger member and connected to the first inter-finger slide plate A sliding groove is provided,
The first inter-finger part member is provided with a stopper pin drilled in the sliding groove,
The bionic prosthesis according to claim 5. An elastic band connected to the palm member is respectively provided on the back of the index finger assembly, the middle finger assembly, the ring finger assembly, the little finger assembly and the thumb assembly.
The bionic prosthesis according to claim 1. The index finger assembly, the middle finger assembly, the ring finger assembly, and the little finger assembly have the same structure, and are sequentially connected to each other in order to connect the proximal phalanx joint member, the middle phalanx joint member and the distal phalanx joint member Consists of
The proximal phalanx joint member is connected to the rotation shaft by the index finger drive wire, the middle finger drive wire, the ring finger drive wire, or the little finger drive wire;
The medial phalanx joint member is rotatably connected to the upper end of the proximal phalanx joint member;
The distal phalanx joint member is connected to the upper end of the middle phalanx joint member,
The bionic prosthesis according to claim 2. An elastic member is provided in the proximal phalanx joint member, one end of the elastic member is connected to the middle phalanx joint member by an upper wire, and the other end of the elastic member is coupled to the palm member by a lower wire The bionic prosthesis according to claim 8, which is connected. The distal phalanx joint member is integrally molded to the middle phalanx joint member, or the distal phalanx joint member is fixedly connected to the middle phalanx joint member by a plurality of pins. Yes,
A bionic prosthesis according to claim 8. The thumb assembly includes a sequentially connected metacarpal carpal joint member, a proximal phalanx joint member and a distal phalanx joint member,
The metacarpal carpal joint member is connected to the rotation shaft by the thumb finger wire, and the proximal phalanx joint member is connected to the metacarpal carpal joint member by a pin, the distal A phalanx joint member is connected to the proximal phalanx joint member by a pin,
The bionic prosthesis according to claim 2. The bionic artificial hand according to claim 8 or 11, wherein the distal phalanx joint member includes a joint member skeleton and a finger pad structure connected to the joint member skeleton. The finger pad structure and the joint member skeleton are integrally molded by a 3D printer, or the finger pad structure is connected to the joint member skeleton in an adhesive or fitting manner. Item 13. The bionic prosthesis according to item 12.

Images