JP5787325B2 - 人間型電動ハンド - Google Patents
人間型電動ハンド Download PDFInfo
- Publication number
- JP5787325B2 JP5787325B2 JP2012535084A JP2012535084A JP5787325B2 JP 5787325 B2 JP5787325 B2 JP 5787325B2 JP 2012535084 A JP2012535084 A JP 2012535084A JP 2012535084 A JP2012535084 A JP 2012535084A JP 5787325 B2 JP5787325 B2 JP 5787325B2
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- JP
- Japan
- Prior art keywords
- joint
- finger
- electric hand
- thumb
- elastic member
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/024—Gripping heads and other end effectors servo-actuated comprising articulated grippers having fingers directly connected to actuator
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/585—Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5072—Prostheses not implantable in the body having spring elements
- A61F2002/5073—Helical springs, e.g. having at least one helical spring
- A61F2002/5075—Multiple spring systems including two or more helical springs
- A61F2002/5076—Concentric outer and inner helical springs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
- A61F2002/587—Thumbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6836—Gears specially adapted therefor, e.g. reduction gears
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
Description
次に、手首部1の構成について図3を参照して説明する。
次に、手首部1の動作を説明する。上記の手首駆動機構では、手首用モーター8、9を互いに反対方向に回転させると、第4傘歯歯車53は回転せず、第2傘歯歯車51、55及び第3傘歯歯車52、56はそれぞれ同一方向に回転する。このため、手首部1は、掌部2に対して図2(b)の軸L2周りに回動する。これにより、手首部1が屈曲/伸展するように動く。
続いて、図4及び図5を参照して、示指4の構成を説明する。人間型電動ハンドでは、中指5、薬指6及び小指7は、各節の長さが異なる以外は、示指4とほぼ共通した構成を有している。
次に、示指4の動作を説明する。上述したように、中指5、薬指6及び小指7も、示指4とほぼ共通の構成を有し、それらの動作も示指4のものと同様である。
次に、拇指3の構成について図6〜図9を参照して説明する。
次に、上記の拇指3の動作を説明する。
次に、人間型電動ハンドの制御部の構成を説明する。
Claims (6)
- 指を駆動するための指用モーターがウォーム減速機構に連結され、前記ウォーム減速機構の出力ギアが回動して中手指関節が屈曲/伸展し、リンク機構を介して前記中手指関節を指節関節に連結することにより、前記中手指関節の屈曲/伸展動作に連動して前記指節関節を屈曲/伸展するようにし、
前記リンク機構は、弾性部材を介して連結された2つの部位からなる駆動リンクを備え、
前記弾性部材として、第1の弾性部材と、第2の弾性部材とを備え、
前記第1の弾性部材は、前記指節関節の関節角度を屈曲側に変化させる方向の力が前記駆動リンクに作用することで圧縮し、
前記第2の弾性部材は、前記第1の弾性部材よりも大きい弾性率を有するとともに、前記指節関節の関節角度を伸展側に変化させる方向の力が前記駆動リンクに作用することで圧縮することを特徴とする人間型電動ハンド。 - 前記第2の弾性部材は、前記第1の弾性部材が圧縮したときに伸長しないように配置されていることを特徴とする請求項1に記載の人間型電動ハンド。
- 前記電動ハンドの拇指は、旋回動作と屈曲/伸展動作とを行う2自由度の機構を有していることを特徴とする請求項1又は3に記載の人間型電動ハンド。
- 前記拇指の旋回動作に用いられるモーターには、各指の屈曲/伸展動作に用いられる前記指用モーターよりも最大出力の大きいモーターが採用されていることを特徴とする請求項4に記載の人間型電動ハンド。
- 前記電動ハンドの手首部は、回内/回外動作と屈曲/伸展動作とを行う2自由度の機構を有していることを特徴とする請求項1、3〜5のうちいずれか一項に記載の人間型電動ハンド。
- 前記手首部の回内/回外動作と屈曲/伸展動作とは、2つのモーターと差動減速機構により行われることを特徴とする請求項6に記載の人間型電動ハンド。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012535084A JP5787325B2 (ja) | 2010-09-24 | 2011-09-22 | 人間型電動ハンド |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010214578 | 2010-09-24 | ||
JP2010214578 | 2010-09-24 | ||
PCT/JP2011/071716 WO2012039479A1 (ja) | 2010-09-24 | 2011-09-22 | 人間型電動ハンド |
JP2012535084A JP5787325B2 (ja) | 2010-09-24 | 2011-09-22 | 人間型電動ハンド |
Publications (2)
Publication Number | Publication Date |
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JPWO2012039479A1 JPWO2012039479A1 (ja) | 2014-02-03 |
JP5787325B2 true JP5787325B2 (ja) | 2015-09-30 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2012535084A Active JP5787325B2 (ja) | 2010-09-24 | 2011-09-22 | 人間型電動ハンド |
Country Status (3)
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US (1) | US8747486B2 (ja) |
JP (1) | JP5787325B2 (ja) |
WO (1) | WO2012039479A1 (ja) |
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US20130175816A1 (en) | 2013-07-11 |
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