JP5224227B2 - All-finger movable prosthesis - Google Patents

Description

Detailed Description of the Invention

The present invention relates to a robot hand that can be used as a prosthetic hand that can move my five fingers and a wrist as desired and can also control myoelectric potential having a function that can be transferred to a robot hand.
Specifically, in forearm amputees and fingers and other deficient persons, the potential of the muscles generated when trying to move each part of the body according to instructions from the brain is measured, and based on data obtained by analyzing the potential Actuate the motor, and bend, extend, palm flexion, dorsiflexion, pronation, pronation, etc. including the relevant part such as fingers and wrists. It is related to a prosthetic hand that can be operated as it is.

In the conventional electric prosthetic hand, the movable part is only opening and closing of the thumb, index finger, and middle finger, and the rotation of the wrist. As a matter of fact, there are many things that move three fingers, and the weight of a person's arm is about 1. Despite being about 2 to 2 kg, the weight of a conventional artificial hand is very heavy, about 3 kg or more, and it has an external appearance such as a key nail shape that is far from the shape of a human hand in design. The mainstream is a shape that cannot be worn by women or children who have a job, and the wrist cannot be bent or bent back. In particular, early development of a prosthetic hand that is light and excellent for children and women and that moves all five fingers to their own will was strongly demanded.

The present invention has been made in order to solve these problems in view of such various problems of the prior art. The purpose is to solve the problem with the following structure.
Specifically, the finger has four fingers composed of the proximal phalanx, middle phalanx, and distal phalanx, and the thumb and phalanx composed of the proximal phalanx and distal phalanx, and the palm and wrist that support them. It has a mechanism capable of pronation / extroversion and palmar dorsiflexion. Each joint equivalent part is a pin fulcrum that can be freely moved, and the shape is determined by a human hand, and the material is configured as engineer plastic and aluminum to reduce the weight of the artificial hand. With these, it is possible to provide a prosthetic hand that can bend and stretch at the joint part, has the same design as a human hand, and has a weight reduced to about 1.2 kg, by operating all fingers independently. The problem is solved by the robot hand used as a prosthetic hand according to the present invention.

In order to achieve the above object, the present invention is configured as follows.
That is,
The invention of claim 1 of the present application is composed of a proximal phalanx, a middle phalanx, and a distal phalanx in the four fingers. It consists of a base that performs anteroposterior bending and a wrist that performs palmar dorsiflexion and pronation / extraction.
Each operation mode according to the first and second aspects of the present invention controls the operation with a wire or a non-included wire included in the bendable envelope tube, and attaches one end of the wire or the like to the part and attaches the other end to the part. It is driven by a wire connected to a dedicated motor. As a result, all the joints including each finger and wrist can be moved independently. Similarly, as shown in FIG. 1 or FIG. 2, the approximate shape is similar to that of a human hand. At each joint, five fingers including the thumb are connected by pins that enable joint movement. And its wrist part.

In the four fingers to be formed, a dedicated motor is arranged for each finger connected to the finger mounting seat 11 by bolts , and one end of the wire arranged separately for each system on the back side and palm side shown in FIG. The bending action wire 32 and the extension action wire 33 are fastened or fastened to the finger tip rope fixing seat 19 fastened to the distal phalanx, and then the bending action wire 34 and the extension action wire 35 shown in FIG. Tighten or fasten the finger intermediate rope fixing seat 20 that is fastened to the proximal phalanx in the same manner as the distal phalanx, and tie the remaining end of the wire to the distal phalanx dedicated and proximal phalanx dedicated motors for each system. Fasten and fix. Synchronized operation of two motors arranged for each finger according to the motion can reproduce the fine motion of the fingers of a human hand, improving the reliability of the motion and doubling the gripping force. It is what.

Similarly, in the thumb finger, one end of a wire connected to the finger mounting seat 11 shown in FIG. 6 with a bolt and separately arranged on the back side and the palm side for each system is fastened to the distal phalanx shown in FIG. The wire 36 for bending operation and the wire 37 for extending operation are fastened or fastened to the finger tip rope fixing seat 19 and the other end of the wire is fastened or fastened to the special motor for bending and stretching the fingers. The operation similar to that of the four fingers is realized.

In addition, at the wrist part, the wire is fixedly attached to the mounting hole 38 of the base seat 14 shown in FIGS. 42 is rotated around the vertical cylindrical portion of the wrist joint 13 that is fitted to the rotating shaft 16. Thereafter, the horizontal cylindrical portion is rotated approximately half way, and one end of the horizontal cylindrical portion is connected to the motor through the palm dorsal buckling seat 12. Similarly, the wire 44 is attached to the attachment hole 40, the wire 43 is also attached to the attachment hole 39, the wire 45 is similarly attached to the attachment hole 41, and the operation force, or the palm spine is determined by the attachment in the same manner as the wire 42 to be fastened or fastened. Improves certainty and doubles the operating force for the action of bending and pronation and pronation. The invention of claim 2 of the present application has a mechanism corresponding to the invention of claims 1 and 3 of the present application.

More specifically, one end of each of the wire 43, the wire 44, and the wire 45 is tightly fixed to the other mounting hole 39, the mounting hole 40, and the mounting hole 41 provided in the base seat 14 shown in FIGS. To do. As a result, by simultaneously pulling the wire 42 and the wire 44 by two motors, two motor torques for rotating the wrist joint 13 around the rotating shaft 16 are applied, and a rotating operation is performed. Similarly, by simultaneously pulling the wire 43 and the wire 45 by the respective motors, a rotational force in the opposite direction can be generated. This makes it possible to realize the pronation and supination motion of the wrist.
Furthermore, in the palm dorsiflexion movement of the wrist, it is possible to perform palm flexion by pulling the wire 42 and the wire 45 simultaneously by two motors. Further, pulling the wire 43 and the wire 44 at the same time reverse-rotation operation, the dorsiflexion operation is realized, the operation force is doubled by the two motors.

Similarly, attached to pivoted bending around the thumb, the in palm dorsiflexion and times on the wrist unit, the supination operation mechanism and the same mechanism, and performs turning and bending back and forth. Specifically, the thumb joint 28 shown in FIGS. 7 and 8 performs bending in the forward and backward directions and horizontal rotation by the same mechanism as the wrist. For more information, responsible for屈動Operation and horizontal forward and reverse turning movement back and forth by two motors are merged, respectively it, thumb joints were Kangi the Tightened fixed wire 50 to the mounting hole 46 of the thumb basal seat 29 on thumb rotary shaft 31 28 is approximately round the vertical cylindrical portion of the one in which the then approximately half the horizontal cylindrical portion and the thumb at one end through a longitudinal屈座27 coupled to a motor.

Similarly, it constitutes as follows with respect to other attachment holes provided in the thumb basic seat 29.
The wire 51 is fastened to the mounting hole 47, the wire 52 is fastened to the mounting hole 48, and the wire 53 is fastened to the mounting hole 49. Thereby, by pulling the wire 50 and the wire 52 simultaneously by two motors, it is possible to generate torque for rotating the thumb joint 28 around the thumb rotation shaft 31. Similarly, by simultaneously pulling the wire 51 and the wire 53 by the respective motors, a rotational force in the opposite direction can be generated. This enables the horizontal rotation of the thumb as well as the pronation / extraction of the wrist.

Furthermore, in the forward / backward bending operation of the thumb, it is possible to perform forward bending by simultaneously pulling the wire 50 and the wire 53 shown in FIGS. 7 and 8 by each motor connected to the wire end. Further, by pulling the wire 51 and the wire 52 at the same time, the reverse operation, that is, the backward bending operation can be performed. At this time, when one is tensioned, the characteristic that the other is the loose side acts preferentially, and the operation is not hindered, but rather the operation with high control and certainty is obtained. Based on these results, all joint movable prosthetic hands according to the present invention in which each joint portion can freely operate and each finger can move independently, for example, can be diverted to a myoelectric prosthetic hand, for example, a robot hand. To solve the problem.

For the connection of each wire and motor and other driving devices in the movements of the four fingers, wrists, and thumbs, the wires of the same system are attached to the distal phalanx rope fixing seat 19 and the wrist base seat 14. The opposite end of the wire that is tightly connected or fastened to the part indicated by the hole 38 or the like is connected to the connecting part of the motor symmetrically in front, and the part is operated by synchronous operation or buffering operation.

In the invention of claim 3 of this application, it is a single-finger deficient finger having the same basic structure as claim 1 and claim 2 of the present invention, and one finger or PMP or after a DIP joint, etc. It is implemented by a method of mounting with a combined configuration.

In the invention of claim 4 of the present application , a rotation angle meter and a bending angle meter are installed at each joint and rotating part of each finger corresponding to the invention of claims 1 to 3 of this application, and the electrical It is also possible to control the operation of the prosthetic hand or the robot hand according to the present invention by measuring the degree of rotation, bending and stretching by the signal. For example, it measures the bending / extension of a nearby finger when dealing with a single-finger defect, and controls the movement of the missing finger to resemble the proximity of the remaining finger. As a result, even if a single-finger is missing, it is possible to provide a prosthetic hand corresponding to a single-finger deficit that can perform the same operation as the remaining finger and does not feel uncomfortable. Similarly, this control enables precise operation as a manipulator-controlled robot hand.

Embodiment of the Invention

In the invention of claim 1 of the present application, description will be made based on FIG. The four fingers of the index finger 2, the middle finger 3, the ring finger 4, and the little finger 5 are formed from the distal phalanx 6, the middle phalanx 7, and the proximal phalanx 8. For the purpose of enabling bending or extension to the fulcrum that becomes the joint, the tip joint pin 21, the intermediate joint pin 22, and the root joint pin 23 are joined by fitting so that the bending and extension can be freely performed. Is bent to the finger tip rope fixing seat 19 fastened to the distal phalanx by a motor dedicated to single-end operation of each finger of the index finger 2, middle finger 3, ring finger 4 and little finger 5, as shown in FIGS. The wire for use 32 is tightly fixed, and at the same time, the wire 33 for extension operation is also fixed. At this time, the wires 32 and 33 are connected at one end to a single motor dedicated to the operation of each finger. As a result, when the finger is bent when the motor rotates forward, the wire 32 is pulled toward the bent side by the operation of the motor, the wire 33 is bent in the direction of grasping an object, and the wire 33 does not need a finger toward the bent side. It also bears the role of preventing falling. When the motor is rotated in the reverse direction, the finger is extended and the wire 33 is pulled and the finger is opened. At that time, the wire 32 is on the loose side and also bears the role of preventing the finger from unnecessarily extending.

Further, for the purpose of increasing the gripping force and improving the certainty of gripping, a wire 34 and a wire 35 are newly held and fixed to the finger intermediate rope fixing seat 20 as shown in FIG. One end of each finger is connected to a dedicated motor for the finger tip rope fixing seat 19 and the finger intermediate rope fixing seat 20 for each finger . The motor is fastened to the distal phalanx via a wire. It performs an operation synchronized with the motor for operation, and assists the bending and extension operations performed by the finger. Similarly, even with the thumb shown in FIG. 11, the fulcrum formed from the distal phalanx 6, the middle phalanx 7 and the thumb phalanx 10 and having the joint as well as the four fingers has the purpose of enabling bending and extension. The tip joint pin 24 and the intermediate joint pin 25 are fitted and joined so that they can be flexed and extended. The operation is to perform the same operation as the four fingers by tightly fixing the bending operation wire 36 and the extension operation wire 37 to the finger tip rope fixing seat 19 fastened to the distal phalanx by the thumb flexion and extension motor. To do.

Further, the bending wires 32 and 36 are regulated at the middle phalanx portion of each of the five fingers, and the bending of the fingers due to the action of the presser pin 54 naturally follows the increase in resistance due to gripping. It is a prosthetic hand that includes structural characteristics that allow the wire that has been in contact with the finger from the fulcrum to move away and increase the bending moment to the tip of the finger to save power.

At the wrist, the two motors are used to handle the dorsiflexion operation, pronation and supination operation, and rotate the wire 42 tightly fixed to the mounting hole 38 of the base seat 14 shown in FIG. Make a round around the vertical cylindrical part of the shaft 16. Thereafter, the horizontal cylindrical portion is rotated approximately half way, and one end of the horizontal cylindrical portion is connected to the motor through the palm dorsal buckling seat 12. By the same attachment method, one end of each of the wire 43, the wire 44, and the wire 45 is tightly fixed to the other attachment hole 39, the attachment hole 40, and the attachment hole 41 provided in the base seat 14, respectively.

As a result, the wire 42 and the wire 44 shown in FIG. 12 are pulled simultaneously by the respective motors to generate torque for two motors that rotate the wrist joint 13 clockwise around the rotating shaft 16, thereby rotating the motor. Do. At that time, the other wire of the same system, that is, the wire 43 and the wire 45 are loosened and do not hinder the rotation operation. Similarly, by simultaneously pulling the wire 43 and the wire 45 by the respective motors, a rotational force in the opposite direction can be generated. As a result, the two motors are operated synchronously in the pronation and supination of the wrist, and palmar flexion, and reliable operation and boosting are possible.
Further, palm bending is performed by simultaneously pulling the wire 42 and the wire 45 by each motor, and further reverse rotation operation, that is, dorsiflexion operation can be performed by simultaneously pulling the wire 43 and the wire 44.

Similarly, in the thumb indirect 28 according to the second aspect of the present invention, as shown in FIG. 5 and FIG. 6, as shown in FIG. 5 and FIG. Specifically, the two motors share the forward / backward bending operation and the horizontal forward / reverse rotation operation, respectively, and the wire 50 tightly fixed to the mounting hole 46 of the thumb base 29 is approximately half-turned around the vertical cylindrical portion of the thumb joint 28, and thereafter The horizontal cylindrical portion is approximately half a circumference, and one end of the horizontal cylindrical portion is connected to the motor via the thumb front / rear buckling seat 27. By the same attachment method, one end of each of the wire 51, the wire 52, and the wire 53 is tightly fixed to the other attachment hole 47, the attachment hole 48, and the attachment hole 49 provided in the thumb base 29.

As a result, the generated torque for rotating the thumb joint 28 about the thumb rotation shaft 31 is obtained by pulling the wire 50 and the wire 52 shown in FIGS. 7 and 8 simultaneously by two motors. It is what At that time, the other wire of the same system, ie, the wire 51 and the wire 53, become loose and do not hinder the rotation operation. Similarly, by simultaneously pulling the wire 51 and the wire 53 by the respective motors, a rotational force in the opposite direction can be generated. This enables the thumb to rotate horizontally. Furthermore, by pulling the wire 50 and the wire 53 simultaneously by the respective motors, the motor torque of two synchronized motors can be obtained and the palm can be bent. At that time, as described above, the other wire of the same system, ie, the wire 51 and the wire 52, become loose and do not hinder the rotation operation. Further, by pulling the wire 51 and the wire 52 at the same time, the reverse operation, that is, the dorsiflexion operation can be performed. From these results, it is the all-finger movable prosthesis according to the present invention that has a structure in which each joint portion can freely operate, and can be used for a robot hand that can be operated independently by each finger.

Action and effect

In the invention according to claim 1 of the present application, a joint pin is fitted and installed in each joint portion, thereby realizing a lightweight and free joint operability in a shape imitating a human hand. Furthermore, the end of the rope is fixed to the middle of the finger as well as the vicinity of the finger tip, and the other end is connected to the dedicated motor so that it can operate like a human hand. Furthermore, the wires placed near the finger tip and near the middle of the finger are pulled simultaneously by controlling two motors, and the resulting bending of the finger causes the wire to move further away from the joint fulcrum and grip force It was confirmed that the gripping force was doubled due to the merger of the increase of. As a result of adding the inventions according to claims 2 and 3 of the present application to these, writing a character with a pencil, pinching an object, gripping, etc. that to generate the grip strength of up to equal a series of delicate operations to crush the Note and aluminum cans for drinking water while can seize, pluck, sandwich has been demonstrated by the experimental results.

Figure 1

It is a whole front view.

Second figure

It is a left side view.

Figure 3

It is a finger | toe side view.

Fig. 4

It is a finger front view.

Fig. 5

FIG.

Fig. 6

FIG.

Fig. 7

FIG. 10 is a wire attachment diagram for turning the thumb root joint right.

Fig. 8

FIG. 6 is a wire attachment diagram for the left thumb joint joint left turn.

Fig. 9

It is a wire attachment figure for finger tip parts.

Fig. 10

It is a wire attachment figure for finger middle parts.

Fig. 11

It is a thumb wire attachment figure.

Fig. 12

It is a wire attachment figure for wrist part right turning.

Fig. 13

It is a wrist part left turn wire attachment figure.

Fig. 14

It is a basic seat section A arrow view

Fig. 15

It is a thumb basic seat cross section B arrow view.

1, thumb 2, index finger 3, middle finger 4, ring finger 5, little finger 6, distal phalanx (common to five fingers)
7. Middle phalanx (five fingers common)
8. The proximal phalanx (common to all four fingers)
9. Metacarpal bone (common to all four fingers)
10, thumb proximal phalanx 11, finger attachment seat 12, palm dorsal flexion seat 13, wrist joint 14, base seat 15, palm dorsal flexion pin 16, rotating shaft 17, connecting ring 18, attachment seat 19, finger tip rope fixing seat 20, finger intermediate rope fixing seat 21, tip joint pin (common to all four fingers)
22. Intermediate joint pin (common to all four fingers)
23, root joint pin (common to all four fingers)
24, thumb tip joint pin 25, thumb finger joint pin 26, thumb finger connecting pin 27, thumb thumb anteroposterior seat 28, thumb joint 29, thumb basic seat 30, thumb anteroposterior flexing pin 31, thumb finger rotation shafts 32 to 35, four finger control Wires 36 to 37, thumb control wires 38 to 41, base seat wire mounting holes 42 to 45, wrist control wires 46 to 49, thumb base seat mounting holes 50 to 53, thumb forward / backward bending / horizontal rotation control wires 54, presser pins

Claims (4)

At least one at the or more fingers, a wire protected by a wire or rope or bendable snake pipe fixed in the vicinity of the finger tip and near the finger central portion to allow flexion or extension has a plurality fulcrum together joint Are arranged on the inside and outside of the fingers, respectively, and the wires protected by the ropes or bendable serpentine tubes are drawn simultaneously using two motors to double the pulling force of two units. A single rotation of a finger joint of at least one finger having a mechanism for boosting a gripping force, which is performed by interlocking or counteracting with a strengthened force, and bending and extending operations for each finger A movable prosthesis that can be used as a prosthetic hand that can be operated by a finger and that can be diverted to a robot hand. At the thumb joint and wrist joint, pulling the wire protected by a diagonal object or rope or bendable flexible tube using two motors at the same time, boosting by the pulling force of two units It is possible to rotate to the right or left by the converted force. Similarly, by pulling the wire or the wire protected by the rope or the flexible serpentine tube at the same time, it can be bent back and forth by the boost. The movable prosthetic hand according to claim 1, further comprising: a thumb that freely rotates and anteroposteriorly and a wrist that freely flexes, dorsiflexes, pronation, and supination. A movable prosthetic hand provided as a prosthetic hand or a robot hand according to claim 1 or 2 provided to make up for a single finger defect. The movable prosthetic hand provided as a prosthetic hand or a robot hand according to any one of claims 1 to 3, including a sensor for detecting rotation and bending and / or a gripping sensation feedback sensor system in each movable part.

Images