JP5224227B2 - All-finger movable prosthesis - Google Patents

All-finger movable prosthesis Download PDF

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JP5224227B2
JP5224227B2 JP2006220591A JP2006220591A JP5224227B2 JP 5224227 B2 JP5224227 B2 JP 5224227B2 JP 2006220591 A JP2006220591 A JP 2006220591A JP 2006220591 A JP2006220591 A JP 2006220591A JP 5224227 B2 JP5224227 B2 JP 5224227B2
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finger
thumb
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fingers
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浩史 横井
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浩史 横井
清野 栄司
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発明の詳細な説明Detailed Description of the Invention

本発明は、五指並びに手首を自分の意思のまま自由に動かす事の出来る、ロボットハンドへの転用可能な機能を有する筋電位制御も可能とした、義手として用いるロボットハンドに関する。
詳しくは、前腕切断者及び指等の欠損者に於いて、脳からの指令により身体の各部位を動作させようとする時に発生する当該筋肉の電位を計測し、その電位を解析したデーターに基づきモーターを作動させ、該当部位例えば指及び手首等を含む屈曲、伸展、掌屈、背屈、回内、回外等動作に付いてその各指及び手首等がモーター等の動力により、自分の意思のままに動作させる事が出来る義手に関する。
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.

従来の電動による義手は可動部が拇指と示指と中指の開閉と手首の回転のみであり、曰くは、大勢として3本の指を動かす物しかなく、更に人の腕の重さは凡そ1.2〜2kg程度で有るにも係わらず、従来義手の重量は約3kg超程度と非常に重く、又意匠的にも人の手の形状とはほど遠いカギ爪形状等の外観形状を呈しているものも有り、仕事を持っている女性とか子供等が装着するには耐え難い形状のものが主流であり、尚且つ、手首の掌屈、背屈も行う事が出来ない機構であった。これ等より特に小児とか女性にとって軽く意匠的に優れ、五指総てが自分の意のままに動く義手の早期開発が強く求められていたものである。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.

本発明は、従来技術の有する此の様な各種問題に鑑み、その問題を解決する為に成されたものである。しかしてその目的とする所は、次の様な構造により問題の解決を図るものである。
詳しくは、指に於いて基節骨・中節骨・末節骨からなる四指と基節骨・末節骨から成る拇指と此れ等を支える掌部と手首部を有し、手首部に於いては回内・回外及び掌背屈が可能な機構を有するもの。各関節相当部を可動自由化なピン支点とし、形状を人の手に求め材質をエンジニアプラスティック並びにアルミニウム等として構成し義手の軽量化を図る。此れ等により、全指を単独に動作させ尚、関節部での屈伸が出来、人の手と同様の意匠を持つ、重量1.2Kg程度迄重量軽減を行った義手の提供を可能とした、本発明による義手として用いるロボットハンドにより課題の解決を図るものである。
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.

上記目的を達成する為に本発明は下記の様に構成するものである。
すなわち、
本願請求項1の発明は、四指に於いては、基節骨・中節骨・末節骨から構成し本願請求項2の発明は、拇指に於いて基節骨・末節骨と水平旋回と前後屈を行う基部と掌背屈と回内・回外を行う手首部より構成するものである。
本願請求項1及び2の発明による各々の動作形態は、屈曲自在外皮管に包含されるワイヤー若しくは非包含ワイヤー等をもって動作制御を行い、そのワイヤー等の一端を当該部位へ取付け他端を当該部位対応専用モーターに連結したワイヤー等により駆動する。此れにより、各指及び手首等を含む総ての関節部が単独での可動を実現する事が出来るものである。同様に概形状は第1図又は第2図に示すが如く人の手状を模し、各関節部に於いては関節の動作を可能とするピン類で連結する事により、拇指を含む五指とその手首部を形成するものである。
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.

形成する四指に於いては指取付け座11へボルトにて連結された各指毎に専用モーターを配し、第9図に示す手の甲側と手のひら側へ各々系統別に分離配置したワイヤーの片端を末節骨に締結されている指先端ロープ固定座19へ屈曲動作用ワイヤー32と伸展動作用ワイヤー33を緊結又は締結固定し、次に第10図に示す屈曲動作用ワイヤー34と伸展動作用ワイヤー35を基節骨へ締結設置せらるる指中間ロープ固定座20へ末節骨と同様方式により緊結又は締結固定を行い各々末節骨専用及び基節骨専用モーター当該ワイヤーの残端を系統毎に緊結又は締結固定を行う。動作に応じ各指毎に配置した2台のモーターの同期作動により、人の手の指様の微細な動作を再現出来るものであり、動作に対する確実性の向上と把持力の倍化を実現しているものである。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.

同様に、拇指に於いては第6図に示す指取付け座11へボルトにて連結し手の甲側と手のひら側へ各々系統別に分離配置したワイヤーの片端を第11図に示す末節骨に締結されている指先端ロープ固定座19へ屈曲動作用ワイヤー36と伸展動作用ワイヤー37を緊結又は締結固定を行い、拇指屈伸専用モーターへ当該ワイヤーの残端を系統毎に緊結又は締結固定をする事で他の四指と同様の動作を実現したものである。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.

又手首部に於いては、モーター2台によって掌背屈動作と回内、回外動作を併合して受け持ち、第12図及び第13図に示す基礎座14の取り付け孔38へ緊結固定したワイヤー42を回転軸16へ勘着した手首関節13の垂直円筒部に凡そ一周させ。その後水平円筒部を凡そ半周し掌背屈座12を介しその一端をモーターに連結する。同様に、ワイヤー44は取り付け孔40へ、同じくワイヤー43は取り付け孔39へ、同じくワイヤー45は取り付け孔41へ、緊結又は締結固定するワイヤー42と同様方式による取り付けにより動作力、曰くは、掌背屈と回内及び回外の為の作用に対する確実性の向上と動作力の倍化を実現する。本願請求項2の発明に於いて、本願請求項1及び本願請求項3の発明に対応する機構を有する。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.

詳しくは、第12図及び第13図に示す、基礎座14に設けられた、他の取り付け孔39と取り付け孔40と取付け孔41に各々ワイヤー43とワイヤー44とワイヤー45の各一端を緊結固定する。それにより、ワイヤー42とワイヤー44を各々2台のモーターにより同時に引く事で回転軸16を中心に手首関節13に回転する為の2台分のモータートルクを与え、回転動作を行う。同様にワイヤー43とワイヤー45を各々のモーターにより同時に引く事で逆の方向への回転力を生じさせる事が出来る。此れにより手首の回内と回外の動作が実現出来るものである。
更に手首の掌背屈動作に於いては、ワイヤー42とワイヤー45を各々2台のモーターにより同時に引く事で掌屈を行う事が出来。更にワイヤー43とワイヤー44を同時に引く事で逆回転動作曰くは、背屈動作を実現し、その動作は2台のモーターによって成される事で動作力が倍化されるものである。
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.

同様に拇指の前後屈と旋回に付いて、手首部に於ける掌背屈と回内、回外動作機構と同機構により、前後屈と旋回を行うものである。詳しくは、第7図及び第8図に示す拇指関節28に於いて、手首と同様の機構による構成により、前後屈と水平回転を行うものである。詳しくは、モーター2台によって前後屈動作と水平正逆旋回動作をそれれ併合して受け持ち、拇指基礎座29の取り付け孔46へ緊結固定したワイヤー50を拇指回転軸31に勘着した拇指関節28の垂直円筒部に凡そ一周させ、その後水平円筒部を凡そ半周し拇指前後屈座27を介しその一端をモーターに連結するものである。 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.

同様に、拇指基礎座29に設けられた他の取り付け孔に対し次のように構成する。
ワイヤー51は取り付け孔47へ、同じくワイヤー52は取り付け孔48へ、同じくワイヤー53は取り付け孔49へ、緊結又は締結固定するワイヤー42と同様に各々ワイヤーの一端を緊結固定する。それにより、ワイヤー50とワイヤー52を2台のモーターにより同時に引く事で拇指回転軸31を中心に拇指関節28を回転させる為のトルクを発生させることが出来。同様にワイヤー51とワイヤー53を各々のモーターにより同時に引く事で逆の方向への回転力を生じさせる事が出来る。此れにより拇指の水平旋回動作が手首の回内・回外動作と同様可能となる。
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.

更に、拇指の前後屈動作に於いては、第7図及び第8図に示すワイヤー50とワイヤー53をワイヤー端へ連接した各々のモーターにより同時に引く事で前屈を行う事が出来。更にワイヤー51とワイヤー52を同時に引く事で逆動作、曰くは、後屈動作が出来るものである。此の時、一方を緊張させる時相対する他方が緩み側になる特性が優位に作用し、動作を阻害する事は無くむしろ制御補助並びに確実性の高い動作が得られるもので有る。これ等の結果より各関節部が自由に作動し、尚各指が単独で可動できる義手であって、例えば筋電義手、例えばロボットハンドへの転用も可能とした本発明による全指可動型義手により解決を計るものである。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.

四指及び手首部並びに拇指の各動作に於ける各ワイヤーとモーター等駆動機器の接続に付いては、同一系統の当該ワイヤーを末節骨端ロープ固定座19並びに手首部基礎座14に於ける取り付け孔38等に示される当該部位へ緊結又は締結固定したワイヤーの反対端をモーターの連結部へ正面対称に連結し、同期運転又は緩衝運転等により、当該部位を作動させるものである。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.

本願請求項3の発明に於いては、本願請求項1及び本願請求項2と基本構造を同一とする単指欠損対応指であって、一指若しくは、PMP又はDIP関節以降等々欠損指部位に合わせた構成を持って取付ける方式により実施されるものである。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.

本願請求項4の発明に於いては、本願請求項1乃至本願請求項3の発明に対応する各指の各指の各関節及び回転部へ回転角度計並びに曲げ角度計を設置しその電気的信号により回転及び屈伸等の度合いを計測し、本発明による義手若しくはロボットハンドの動作を制御する事も可能である。例として単指欠損対応時に於いて近接した指の屈伸度を測り、欠損指の動作を近接残指に倣わせる制御を行う事を目的として成し、欠損指対応義手等の動作制御に供する事により、単指欠損であっても残指と同様の動作が出来違和感の無い単指欠損対応義手の提供も出来るものである。同様に此の制御によりマニピュレーター制御のロボットハンドとしても緻密な動作を可能とするものである。 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.

発明実施の形態Embodiment of the Invention

本願請求項1の発明に於いて、第1図に基づき説明を行う。示指2と中指3と環指4と小指5の四指は末節骨6と中節骨7と基節骨8から形成される。その関節となる支点には屈曲又は伸展を可能とする目的を持って、先端関節ピン21と中間関節ピン22と根元関節ピン23により屈曲、伸展が自在となる嵌合による接合を行い、その動作は示指2、中指3、環指4、小指5の各指単独末端動作専用モーターにより、第3図及び第9図に示す如く、末節骨に締結されている指先端ロープ固定座19へ屈曲動作用ワイヤー32を緊結固定し、同時に伸展動作用ワイヤー33も固定する。このときワイヤー32とワイヤー33は、その一端を各々の指の動作を専用とする1台のモーターに連結する。それにより、モーターの正回転時を指の屈曲とした場合、モーターの動作により、屈曲側はワイヤー32が引き側となり、物を握りこむ方向へ屈曲しワイヤー33は屈曲側へ指が不必要に倒れこむ事を防止する役目をも負担しているものである。又モーターを逆回転させた時は、指の伸展が行われワイヤー33が引き側となり指が開く。その時ワイヤー32は、緩み側となり指が不要に伸展する事を防止する役目をも負担している。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.

又把持力の増加と把持の確実性の向上を目的として、更に基節骨8に設けた第10図に示す如く、指中間ロープ固定座20へ新たにワイヤー34とワイヤー35を侠持固定しその一端は各指毎の指先端ロープ固定座19及び指中間ロープ固定座20用として各々専用に設けられたモーターに連結する、そのモーターは前記、末節骨にワイヤーを介し締結されている指先端動作用モーターに同期する動作を行い、指が行う屈曲及び伸展動作を補助する。同様に第11図に示す拇指に付いても末節骨6と中節骨7と拇指基節骨10より形成され四指同様その関節となる支点には屈曲、伸展を可能とする目的を持って、先端関節ピン24と中間関節ピン25により屈曲、伸展が自在となる嵌合接合を行う。その動作は拇指屈伸用モーターにより末節骨に締結されている指先端ロープ固定座19へ屈曲動作用ワイヤー36と伸展動作用ワイヤー37を緊結固定する事で四指と同様の動作を行わせようとするものである。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.

更に、各五指に於ける中節骨部に於いて屈曲用ワイヤー32及び36を規制している、押えピン54の作用により指の屈曲時に於いて握りこみ等による抵抗の増加に合わせ自然に屈曲支点から指に接していたワイヤーが離れ指先端への曲げモーメントを増加させ使用動力の省力化を行う事も可能な構造特性を包含している義手である。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.

又手首部に於いては、モーター2台で掌背屈動作と回内、回外動作をそれぞれ併合して受け持ち、第12図に示す基礎座14の取り付け孔38へ緊結固定したワイヤー42を回転軸16の垂直円筒部に凡そ一周させ。その後水平円筒部を凡そ半周し掌背屈座12を介しその一端をモーターに連結する。同様の取付け方法により、基礎座14に設けられた他の取り付け孔39と取り付け孔40と取付け孔41に各々ワイヤー43とワイヤー44とワイヤー45の各々の一端を緊結固定する。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.

それにより第12図に示すワイヤー42とワイヤー44を各々のモーターによりワイヤーを同時に引く事で回転軸16を中心に手首関節13に右回転を与えるモーター2台分のトルクが発生し、回転動作を行う。その時、同一系統の他方のワイヤー曰くは、ワイヤー43、ワイヤー45、は緩み側となり回転動作を阻害する事は無い。同様にワイヤー43とワイヤー45を各々のモーターによりワイヤーを同時に引く事で逆の方向への回転力を生じさせる事が出来る。此れにより手首の回内と回外並びに掌背屈に於いてモーター2台の同期作動と成り確実な動作と倍力化が可能となる。
更に、ワイヤー42とワイヤー45を各々のモーターにより同時に引く事で掌屈を行い、更にワイヤー43とワイヤー44を同時に引く事で逆回転動作、曰くは、背屈動作が出来るものである。
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.

同様に、本願請求項2による発明の拇指間接28に於いても、第5図及び第6図に示すが如く、手首と同様の機構による構成により、前後屈と水平回転を行うものである。詳しくは、モーター2台によって前後屈動作と水平正逆回転動作をそれぞれ共有負担し、拇指基礎座29の取り付け孔46へ緊結固定したワイヤー50を拇指関節28の垂直円筒部に凡そ半周させ、その後水平円筒部を凡そ半周し拇指前後屈座27を介しその一端をモーターに連結する。同様の取付け方法により、拇指基礎座29に設けられた他の取り付け孔47と取り付け孔48と取り付け孔49に各々ワイヤー51とワイヤー52とワイヤー53の各々の一端を緊結固定する。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.

それにより、第7図及び第8図に示すワイヤー50とワイヤー52を2台のモーターにより同時に引く事で拇指回転軸31を中心に拇指関節28を回転させる為の2台分の発生トルクが得られるものである。その時、同一系統の他方のワイヤー曰くは、ワイヤー51、ワイヤー53、は緩み側となり回転動作を阻害する事は無い。同様にワイヤー51とワイヤー53を各々のモーターにより同時に引く事で逆の方向への回転力を生じさせる事が出来る。此れにより拇指の水平回転動作が可能となる。更に、ワイヤー50とワイヤー53を各々のモーターにより同時に引く事で同期した2台分のモータートルクが得られ掌屈を行う事が出来る。その時、前記同様、同一系統の他方のワイヤー曰くは、ワイヤー51、ワイヤー52、は緩み側となり回転動作を阻害する事は無い。更にワイヤー51とワイヤー52を同時に引く事で逆動作、曰くは、背屈動作が出来るものである。これ等の結果より各関節部が自由に作動する構造となり、尚且つ各指単独動作が行える、ロボットハンドへの転用も可能とした本発明による全指可動型義手である。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.

作用と効果Action and effect

本願請求項1による発明のものは、各関節部に関節ピンを嵌合設置したことで、人の手を模した形状で軽量自由な関節動作性が実現できた。更に指先端付近と同じく指中間付近へロープ端部を固定しその他端をそれぞれの専用モーターへ連結したことで人の手様の動作が出来る様に成った。更に指先端部付近と指中間部付近に配したワイヤーを2台のモーターを制御し同時に引いている事と、それにより発生する指の屈曲により自然にワイヤーが関節支点より遠くへ移動し把持力が増す事の併合による把持力の倍化が確認された。これ等に本願請求項2及び本願請求項3による
発明を付加した結果、鉛筆を持って文字を書く事、物をつまむ事、握る事等、曰くは人の手の動作として必要な、握る・掴む・摘む・はさむ等一連の繊細な動作が出来ながら尚且つ飲料水用アルミ缶を潰す迄の握力発生させる事が実験結果により実証された。
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.

第一図Figure 1

全体正面図である。It is a whole front view.

第二図Second figure

左側面図である。It is a left side view.

第三図Figure 3

指側面図である。It is a finger | toe side view.

第四図Fig. 4

指正面図である。It is a finger front view.

第五図Fig. 5

拇指正面図である。FIG.

第六図Fig. 6

拇指側面図である。FIG.

第七図Fig. 7

拇指根元関節右旋回用ワイヤー取り付け図である。FIG. 10 is a wire attachment diagram for turning the thumb root joint right.

第八図Fig. 8

拇指根元関節左旋回用ワイヤー取り付け図である。FIG. 6 is a wire attachment diagram for the left thumb joint joint left turn.

第九図Fig. 9

指先端部用ワイヤー取り付け図である。It is a wire attachment figure for finger tip parts.

第十図Fig. 10

指中間部用ワイヤー取り付け図である。It is a wire attachment figure for finger middle parts.

第十一図Fig. 11

拇指ワイヤー取り付け図である。It is a thumb wire attachment figure.

第十二図Fig. 12

手首部右旋回用ワイヤー取り付け図である。It is a wire attachment figure for wrist part right turning.

第十三図Fig. 13

手首部左旋回用ワイヤー取り付け図である。It is a wrist part left turn wire attachment figure.

第十四図Fig. 14

基礎座断面A矢視図であるIt is a basic seat section A arrow view

第十五図Fig. 15

拇指基礎座断面B矢視図である。It is a thumb basic seat cross section B arrow view.

1、 拇指
2、 示指
3、 中指
4、 環指
5、 小指
6、 末節骨(五指共通)
7、 中節骨(五指共通)
8、 基節骨(四指共通)
9、 中手骨(四指共通)
10、拇指基節骨
11、指取付け座
12、掌背屈座
13、手首関節
14、基礎座
15、掌背屈ピン
16、回転軸
17、連結環
18、取付け座
19、指先端ロープ固定座
20、指中間ロープ固定座
21、先端関節ピン(四指共通)
22、中間関節ピン(四指共通)
23、根元関節ピン(四指共通)
24、拇指先端関節ピン
25、拇指中間関節ピン
26、拇指連結ピン
27、拇指前後屈座
28、拇指関節
29、拇指基礎座
30、拇指前後屈ピン
31、拇指回転軸
32〜35、四指制御ワイヤー
36〜37、拇指制御ワイヤー
38〜41、基礎座ワイヤー取付け孔
42〜45、手首制御ワイヤー
46〜49、拇指基礎座取付け孔
50〜53、拇指前後屈・水平回転制御ワイヤー
54、押えピン
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)

関節を併用する複数支点を有し屈曲又は伸展を可能とする少なくとも1本以上のに於いて、指先端付近と指中央部付近に固着するワイヤー又はロープ又は屈曲自在管によって保護されたワイヤーを該指の内側と外側に各々配し、その配された該ワイヤー又はロープ又は屈曲自在蛇管によって保護されたワイヤーをそれぞれ2台のモーターを用いて同時に引く事で2台分の引き力による倍力化された力により連動又は反対象に作動させる事で成る、把持力の倍力化を行う機構を有する少なくとも1本以上の指の指関節の単独回転及び該指毎の屈曲と伸展動作を可能にした指が稼動出来る義手であってロボットハンドへの転用も可能な可動型義手。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. 拇指関節と手首関節に於いて、対角対象に配した該ワイヤー又はロープ又は屈曲自在蛇管によって保護されたワイヤーをそれぞれ2台のモーターを用いて同時に引く事で2台分の引き力による倍力化された力により、右若しくは左への回転を可能とし、同様に平行対象に配した該ワイヤー又はロープ又は屈曲自在蛇管によって保護されたワイヤーを同時に引く事で倍力による前後屈曰くは掌背屈を可能とした機構によって成る回転と前後屈を自由とする拇指と掌屈、背屈、回内、回外を自由とする手首部を有する請求項1に記載の可動型義手。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. 単指欠損を補う為に供される請求項1または請求項2に記載の義手若しくはロボットハンドとして供される可動型義手。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. 各可動部に於いて、回転及び曲げを検出するセンサー及び/若しくは把持感覚フィードバックセンサーシステムを包含した請求項1乃至3のいずれかに記載の義手若しくはロボットハンドとして供される可動型義手。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.
JP2006220591A 2006-07-16 2006-07-16 All-finger movable prosthesis Expired - Fee Related JP5224227B2 (en)

Priority Applications (1)

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JP2006220591A JP5224227B2 (en) 2006-07-16 2006-07-16 All-finger movable prosthesis

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CN101879101B (en) * 2010-08-19 2012-08-15 上海理工大学 Bionic mechanical prosthetic hand driven by wrist joint
CN104997579B (en) * 2015-07-30 2018-02-16 沈阳工业大学 Intelligent myoelectric limb hand with high precision small bracing wire control system
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