JP6295747B2 - Finger joint drive device - Google Patents

Description

  The present invention relates to a finger joint drive device.

  2. Description of the Related Art Conventionally, a finger joint drive device that is attached to a hand and assists the movement of a finger in the attached state, that is, flexes and stretches a finger joint is known (for example, see Patent Document 1). The finger joint drive device described in Patent Document 1 is provided with a slide bracket disposed on the back of the hand in a mounted state, a third connection member provided on the fingertip side with respect to the slide bracket, and a rotation with respect to the third connection member. A third rear arm and a third front arm that are movably provided are provided. Then, as the slide bracket slides, the third connecting member slides, and the third rear arm and the third front arm rotate in opposite directions to bend the third joint of the finger. Can do.

  However, in the finger joint driving device described in Patent Document 1, since the slide bracket is arranged on the back of the hand, the finger joint driving device becomes thick as a whole. As a result, there is a problem that even if an attempt is made to put a worn hand into a relatively narrow gap, the user's behavior is restricted, for example, the hand does not enter the gap because the finger joint drive device is worn. It was.

JP 2002-345861 A

  An object of the present invention is to provide a finger joint drive device that can reduce the restriction of the movement of the user's hand when the finger joint drive device is worn on the hand.

Such an object is achieved by the present invention described below.
[Application Example 1]
The finger joint drive device of the present invention is a finger joint drive device that is attached to a hand and rotates the finger joint,
A first member attached to the hand;
A second member rotatably provided on the first member;
A third member provided on the second member so as to be able to approach and separate from the first member;
A fourth member mounted on the fingertip side of the first member and rotatably provided on the third member;
A first drive unit that drives at least one of rotation of the second member, approach and separation of the third member with respect to the first member, and rotation of the fourth member; To do.

  Thereby, compared with the case where it is comprised so that a finger joint may bend and extend, for example, when the member which slides on the back of a hand slides, the thickness of a finger joint drive device can be reduced. Therefore, it is possible to put a hand in a narrower gap as much as the thickness of the finger joint driving device is reduced. Therefore, when such a finger joint drive device is worn on the hand and used, it is possible to reduce the restriction on the movement of the user's hand.

[Application Example 2]
In the finger joint driving device according to the present invention, it is preferable that the first member is disposed on the back of the hand, and the fourth member is disposed on the proximal joint of the finger.

  Thereby, according to the arrangement | positioning state of a 1st member and a 4th member, the finger joint to rotate can be rotated reliably.

[Application Example 3]
In the finger joint driving device according to the present invention, it is preferable that the first member is disposed at a proximal joint of the finger and the fourth member is disposed at a middle joint of the finger.

  Thereby, according to the arrangement | positioning state of a 1st member and a 4th member, the finger joint to rotate can be rotated reliably.

[Application Example 4]
In the finger joint drive device of the present invention, it is preferable that the first member is disposed at a middle node of the finger and the fourth member is disposed at a terminal node of the finger.

  Thereby, according to the arrangement | positioning state of a 1st member and a 4th member, the finger joint to rotate can be rotated reliably.

[Application Example 5]
In the finger joint drive device of the present invention, it is preferable that the second member and the fourth member are rotatable around an axis parallel to the rotation axis of the finger joint.
Thereby, the finger joint to be rotated can be reliably rotated.

[Application Example 6]
In the finger joint drive device according to the present invention, it is preferable that the first drive unit rotates the second member.
Thereby, a finger joint can be reliably rotated.

[Application Example 7]
In the finger joint drive device of the present invention, it is preferable that the first drive unit rotates the fourth member.
Thereby, a finger joint can be reliably rotated.

[Application Example 8]
In the finger joint driving device of the present invention, it is preferable that the first driving unit has a piezoelectric element.

  Thereby, the configuration of the first drive unit can be a simple configuration using a piezo element, which contributes to miniaturization and thinning of the finger joint drive device.

[Application Example 9]
In the finger joint drive device of the present invention, a fifth member rotatably provided on the fourth member;
A sixth member provided on the fifth member so as to be capable of approaching and separating from the fourth member;
And a seventh member rotatably provided on the sixth member.
Thereby, each of the two finger joints can be rotated.

[Application Example 10]
In the finger joint drive device of the present invention, the second drive that drives at least one of the rotation of the fifth member, the approach and separation of the seventh member from the fourth member, and the rotation of the seventh member. It is preferable to provide a part.

  Thereby, two finger joints can be reliably rotated independently or in synchronization.

FIG. 1 is a perspective view showing a usage state of the finger joint drive device (first embodiment) of the present invention. 2 is a cross-sectional view taken along line AA in FIG. FIG. 3 is a cross-sectional view showing a state in which a finger is bent from the state shown in FIG. FIG. 4 is a plan view of a driving unit provided in the finger joint driving device shown in FIG. FIG. 5 is an explanatory diagram showing the operation principle of the drive unit. FIG. 6 is a cross-sectional view showing a usage state of the finger joint drive device (second embodiment) of the present invention.

  Hereinafter, a finger joint drive device of the present invention will be described in detail based on a preferred embodiment shown in the accompanying drawings.

<First Embodiment>
FIG. 1 is a perspective view showing a usage state of the finger joint drive device (first embodiment) of the present invention. 2 is a cross-sectional view taken along line AA in FIG. FIG. 3 is a cross-sectional view showing a state in which a finger is bent from the state shown in FIG. FIG. 4 is a plan view of a driving unit provided in the finger joint driving device shown in FIG. FIG. 5 is an explanatory diagram showing the operation principle of the drive unit. In the following, for convenience of explanation, the lower left side in FIG. 1 is referred to as the “fingertip side” and the opposite side is referred to as the “wrist side”, and the left side in FIGS. 2 and 3 (the same applies to FIG. 6). Is called the “fingertip side” and the opposite side is called the “wrist side”. Further, the front side in FIG. 4 is referred to as “front side”, and the opposite side is referred to as “back side”.

  The finger joint driving device 1 shown in FIG. 1 includes a hand 100 such as a person who has trouble in bending and stretching a finger due to an accident or illness, a person who has a weak grip, an elderly person whose strength has weakened due to aging, That is, in the present embodiment, it is worn on the index finger 101. And it is an apparatus used for the assistance which makes the finger joint of the index finger 101 bend and extend, that is, rotate in the mounted state. The finger joint driving device 1 includes a first base part (first member) 2, a first link part (second member) 3, a second link part (third member) 4, and a second base part (first member). 4 members) 5 and these members are connected in order from the wrist side to the fingertip side. Hereinafter, the configuration of each unit will be described.

  As shown in FIGS. 1-3, the 1st base part 2 is arrange | positioned in the mounting | wearing state on the back 105 side of the hand of the base joint 102 of the index finger 101, ie, the upper side in the figure.

  The first base portion 2 is a plate-shaped member. Further, it is preferable that the surface 21 of the first base portion 2 that contacts the base node 102 is curved along the shape of the base node 102. Thereby, for the user (wearer) of the finger joint drive device 1, the first base portion 2 is arranged on the base joint 102 without a sense of incongruity. In addition, the first base portion 2 is stably disposed with respect to the base joint 102.

  The first base portion 2 is attached to the base joint 102 of the index finger 101 via the attachment band 20A. The mounting band 20 </ b> A is configured by a band whose length can be adjusted, and each end portion 201 is fixed to each side surface of the first base portion 2. The wearing band 20 </ b> A can wrap around the palm 106 side of the base 102 of the index finger 101, i.e., the back side of the paper in FIGS. 1 to 3, thereby closely attaching the first base portion 2 to the base 102. Thereby, it is possible to prevent the first base portion 2 from being detached from the base joint 102.

  As shown in FIG. 1 (the same applies to FIGS. 2 and 3), the second base portion 5 is arranged on the fingertip side with respect to the first base portion 2 in the mounted state, that is, on the back 105 side of the middle segment 103 of the index finger 101. Is done. Thus, as will be described later, the proximal interphalangeal joint (second joint) 107 between the proximal joint 102 and the middle joint 103 of the index finger 101 can be bent and extended by the finger joint driving device 1 (FIGS. 2 and 2). 3).

  The 2nd base part 5 is a member which makes plate shape. Further, it is preferable that the surface 51 in contact with the middle joint 103 of the second base portion 5 is curved along the shape of the middle joint 103. Thereby, for the user of the finger joint driving device 1, the second base portion 5 is arranged on the middle joint 103 without a sense of incongruity. Further, the second base portion 5 is stably arranged with respect to the middle clause 103.

  The second base portion 5 is attached to the middle joint 103 of the index finger 101 via the attachment band 20B. The mounting band 20 </ b> B is configured by a band whose length can be adjusted in the same manner as the mounting band 20 </ b> A, and each end portion 201 is fixed to each side surface of the second base portion 5. The wearing band 20 </ b> B can wrap around the palm 106 side of the middle clause 103 of the index finger 101 to bring the second base portion 5 into close contact with the middle clause 103. Thereby, it is possible to prevent the second base portion 5 from being detached from the middle clause 103.

  As shown in FIG. 1, the first link portion 3 is provided on the fingertip side of the first base portion 2. The first link portion 3 includes a bottom plate 31 that is rectangular in a plan view, and protrusions 32 that protrude from four corners of the bottom plate 31. And the protrusion part 22 of the 1st base part 2 is pinched | interposed between the two protrusions 32 by the side of the 1st base part 2. FIG.

  Further, the two protrusions 32 on the first base portion 2 side and the protruding portion 22 of the first base portion 2 are connected via the rotation support portion 11. The rotation support unit 11 includes a shaft provided on one of the protrusions 32 on the back 105 side of the hand and the first base unit 2 and a bearing provided on the other side into which the shaft is inserted.

Further, assuming a rotation axis O ₁₀₇ when the proximal interphalangeal joint 107 is rotated by bending and stretching, the rotation axis O 11 of the rotation support portion ₁₁ is parallel to the rotation axis O _107. Yes. The pivot support portion 11 having such a configuration, the first link portion 3 can be rotated in the rotation axis O ₁₁ around the first base portion 2.

  A rail portion 53 is provided between the two protrusions 32 positioned on the thumb side in the mounted state and between the two protrusions 32 positioned on the middle finger side in the mounted state.

  The second link part 4 is provided on the fingertip side of the first link part 3. The second link portion 4 is a member that slides with respect to the second base portion 5. The second link portion 4 has a linear long portion 41 and a pair of protruding portions 42 protruding from the end portion of the long portion 41 on the first base portion 2 side, and the outer shape is substantially T. It consists of a plate-shaped piece. Each protrusion 42 protrudes in a direction intersecting with the longitudinal direction of the long portion 41 and toward the opposite side.

  Each protrusion 42 has a hollow portion 421, and the pair of rail portions 53 of the second base portion 5 are inserted through the hollow portions 421.

  The second link portion 4 can be moved closer to and away from the first base portion 2 by sliding the protruding portion 42 while being guided by the rail portion 53. 2 shows a state in which the second link portion 4 is close to the first base portion 2, and FIG. 3 shows a state in which the second link portion 4 is separated from the first base portion 2.

  In addition, the full length of the rail part 53 is sufficiently longer than the full length of the protrusion part 42, for example, it is preferable that it is 1.5 to 3 times the full length of the protrusion part 42, and is 1.7 to 2.3 times. Is more preferable.

The distal end portion of the long portion 41 is sandwiched between the pair of convex portions 52 of the second base portion 5. And the front-end | tip part of the elongate part 41 and each convex part 52 are connected via the rotation support part 12. FIG. The rotation support unit 12 includes a shaft provided at one of the distal end portion of the long portion 41 and each convex portion 52, and a bearing provided at the other and having the shaft inserted therein. Further, the rotary shaft _{O 12} of the pivot support portion 12 is parallel to the rotation axis _{O 107.} The second base portion 5 can be rotated around the rotation axis O ₁₂ parallel to the rotation axis O ₁₀₇ by the rotation support portion 12 having such a configuration, like the first link portion 3. By rotation axis O ₁₁ and the rotating shaft O ₁₂ is to be parallel to each pivot axis O _107, to facilitate proximal interphalangeal joint 107 with a finger joint driving device 1, i.e., between the proximal phalangeal The joint 107 can be bent and stretched while preventing an excessive force from being applied to the joint 107.

  The constituent materials of the first base part 2, the first link part 3, the second link part 4, and the second base part 5 are not particularly limited, and for example, various resin materials such as polyethylene, aluminum, and the like. Various metal materials can be used. Moreover, it does not specifically limit as a constituent material of mounting band 20A, 20B, For example, various rubber materials, such as a silicone rubber, can be used.

  As shown in FIG. 1, the finger joint drive device 1 further includes a drive unit (first drive unit) 6 </ b> A and a control unit 10.

  The drive unit 6 </ b> A is a mechanism unit responsible for rotational driving in which the first link unit 3 rotates via the rotation support unit 11.

  As shown in FIG. 4, the drive unit 6 </ b> A includes a first rotor 61 concentrically connected to the shaft of the rotation support unit 11, a second rotor 62 that rotates the first rotor 61, and a second rotor 62. A third rotor 63 that rotates the third rotor 63 and a piezoelectric motor 64 that rotates the third rotor 63.

The first rotor 61 is a gear having a disk shape and having teeth 611 on the outer edge thereof.
The second rotor 62 has a small gear 621 and a large gear 622. The small gear 621 has teeth 621 a that mesh with the teeth 611 of the first rotor 61. The large gear 622 is a gear whose basic circle diameter is larger than the basic circle diameter of the small gear 621. The large gear 622 is disposed concentrically with the small gear 621, and is connected (fixed) to the back side of the small gear 621.

  The third rotor 63 has a small gear 631 and a large disc portion 632. The small gear 631 has teeth 631 a that mesh with the teeth 622 a of the large gear 622. The large disc portion 632 has a disc shape and has a diameter larger than the basic circle diameter of the small gear 631. The large disc portion 632 is disposed concentrically with the small gear 631 and is connected to the front side of the small gear 631.

  As shown in FIG. 4, the piezoelectric motor 64 includes a piezoelectric material that exhibits a piezoelectric effect, and is bonded to and sandwiched between two piezoelectric elements (piezo elements) 65 formed in a plate shape and sandwiched between them. It is a laminated body which has the shim board 66 comprised with the flat plate. In the following, the longitudinal direction of the piezoelectric motor 64 is “x direction”, the width direction of the piezoelectric motor 64 orthogonal to the x direction is “y direction”, and the thickness direction of the piezoelectric motor 64 orthogonal to the x direction and y direction is “z”. "Direction".

  Each piezoelectric element 65 is provided with four electrodes 651 for applying a voltage to the piezoelectric element 65. These electrodes 651 are arranged in a matrix of 2 rows and 2 columns on the piezoelectric element 65, and are electrically connected to a battery (not shown) such as a button battery as a power supply source.

  The metal shim plate 66 not only reinforces each piezoelectric element 65 but also serves as a common electrode for applying a voltage to each piezoelectric element 65 and is grounded to the ground.

  A convex portion 67 is provided at the end of the piezoelectric motor 64 in the x direction. The convex portion 67 is formed integrally with the shim plate 66.

On both side surfaces of the piezoelectric motor 64 facing in the y direction, there are provided four support portions 68 for supporting the piezoelectric motor 64 in a state of being biased toward the side where the convex portion 67 is provided. These support portions 68 are formed integrally with the shim plate 66 and are arranged at the four corners of the rectangular shim plate 66. The support portions 68 adjacent in the x direction are preferably connected via a connecting plate 69.
The operation principle of the piezoelectric motor 64 having such a configuration will be described with reference to FIG.

  The piezoelectric motor 64 operates by the elliptical movement of the convex portion 67 of the piezoelectric motor 64 when a voltage is applied to the electrodes 651 of each piezoelectric motor 64 at a constant period. The convex portion 67 of the piezoelectric motor 64 is elliptically moved for the following reason. Since the electrodes 651 provided in each piezoelectric element 65 are the same except that the arrangement locations are different, the electrode 651 of the piezoelectric element 65 on the front side will be representatively described.

  First, as is well known, the piezoelectric element 65 including a piezoelectric material has a property of expanding when a positive voltage is applied. Therefore, as shown in FIG. 5A, after applying a positive voltage to all the four electrodes 651 and then releasing the applied voltage at a specific frequency, the piezoelectric motor 64 (piezoelectric element 65) becomes A kind of resonance phenomenon that expands and contracts in the x direction) can be generated. The operation in which the piezoelectric motor 64 repeatedly expands and contracts in the x direction is referred to as “stretching vibration”, and the direction in which the piezoelectric motor 64 expands and contracts (± x direction in the drawing) is referred to as the “stretching direction”.

  Further, as shown in FIG. 5B or FIG. 5C, two electrodes 651 that are diagonal to each other are set as a set (a set of electrodes 651a and 651d, or a set of electrodes 651b and 651c). When a voltage of a specific frequency is applied, the piezoelectric motor 64 (piezoelectric element 65) has a tip portion in the x direction (a portion provided with the convex portion 67) swings in the vertical direction (y direction) on the drawing. 5B, for example, when a positive voltage is applied to the set of the electrode 651a and the electrode 651d at a constant period, the piezoelectric motor 64 can move the tip in the x direction. 5C, when a positive voltage is applied to the set of the electrode 651b and the electrode 651c at a constant period, the piezoelectric motor 64 is moved in the x direction. The operation of the piezoelectric motor 64 is referred to as “bending vibration.” Hereinafter, the direction in which the piezoelectric motor 64 bends and vibrates (± y direction in the figure) is “ Bending direction ".

  If the physical properties of the piezoelectric element 65 and the dimensions (full length, width, thickness) of the piezoelectric element 65 are appropriately selected, resonance of “stretching vibration” is induced simultaneously with resonance by “flexural vibration”. Can do. As a result, when a voltage is applied to the set of the electrode 651a and the electrode 651d in the mode shown in FIG. 5B, the tip of the piezoelectric motor 64 (the portion provided with the convex portion 67) rotates clockwise in the drawing. Perform an action (ellipse motion) to draw an ellipse. 5C, when a voltage is applied to the set of the electrode 651b and the electrode 651c, the tip portion of the piezoelectric motor 64 performs a counterclockwise elliptical motion on the drawing. The same is true for the piezoelectric element 65 on the back side as well.

  The piezoelectric motor 64 drives the first link portion 3 that is a driven body using such elliptical motion.

  That is, elliptical motion is generated in a state where the convex portion 67 of the piezoelectric motor 64 is pressed against the outer edge portion 632 a of the large disc portion 632 of the third rotor 63. Thereby, when the piezoelectric motor 64 extends, the convex portion 67 moves from the left to the right (or from the right to the left) while being pressed against the driven body, and the piezoelectric motor 64 contracts. In such a case, the operation of returning to the original position while being away from the driven body is repeated. As a result, the third rotor 63 rotates in one direction by the frictional force received from the convex portion 67. This rotational force is transmitted through the small gear 631 of the third rotor 63, the large gear 622 of the second rotor, the small gear 621, and the first rotor 61 in this order. Thereby, the 2nd base part 5 can be rotationally driven via the rotation support part 11. FIG.

  As described above, in the finger joint driving device 1, the first link portion 3 can be reliably rotated with a simple configuration using the piezoelectric element 65. Further, the configuration using the piezoelectric element 65 contributes to miniaturization and thinning of the finger joint driving device 1.

  The piezoelectric motor 64 is preferable because the higher the resolution of the proximal interphalangeal joint 107 of the index finger 101, the higher the resolution.

  In addition, in this embodiment, although the drive part 6A bears the rotational drive of the 1st link part 3, it is not limited to this, You may bear the rotational drive of the 2nd base part 5. . In this case as well, as described above, the second base portion 5 can be reliably rotated, and the finger joint drive device 1 can be reduced in size and thickness.

  The control unit 10 controls the operation of the drive unit 6A based on a program stored in advance. The control unit 10 is built in, for example, the second link unit 4 together with a battery (not shown) such as a button cell that supplies power to the driving unit 6A. The configuration of the control unit 10 is not particularly limited, and for example, a configuration having a microprocessor and a memory can be used.

Next, the operation of the finger joint driving device 1 will be described.
In the state shown in FIG. 2, in the finger joint driving device 1, the first base portion 2 is attached to the base joint 102 of the index finger 101, and the second base portion 5 is attached to the middle joint 103. When the drive unit 6A operates as described above from this state, the second link unit 4 can be rotated counterclockwise in the drawing as shown in FIG. As a result, the middle joint 103 of the index finger 101 is pressed together with the second base portion 5 obliquely downward and to the right in FIG. As a result, the proximal interphalangeal joint 107 of the index finger 101 is bent.

  Further, when the first link portion 3 is rotated in the opposite direction from the state shown in FIG. 3, as shown in FIG. 2, the middle joint 103 of the index finger 101 is pulled obliquely upward to the left in the drawing. As a result, the proximal interphalangeal joint 107 of the index finger 101 extends.

  Further, when the proximal interphalangeal joint 107 is bent (or extended), the second base portion 5 is separated (or approached) from the first base portion 2, but as described above, the first link portion. 3 and the second link portion 4 are relatively movable, so that the second base portion 5 is separated (or approached) from the first base portion 2 quickly and smoothly. Thereby, the proximal interphalangeal joint 107 can be easily bent, and the burden on the index finger 101 is reduced.

  In addition, the user of the finger joint driving device 1 can connect the distal interphalangeal joint 109 of the index finger 101 and the thumb, middle finger, ring finger, and little finger without the assistance of the finger joint driving device 1 to the proximal phalanx of the index finger 101. It can be bent and stretched independently of the joint 107.

  In addition, the finger joint driving device 1 is configured to bend and extend the finger joint by sliding a member that slides on the back 105 of the hand (for example, see Japanese Patent Application Laid-Open No. 2002-345861). The thickness of the entire apparatus can be suppressed. Thereby, when the finger joint drive device 1 is worn on the hand and used, it is possible to reduce the restriction on the operation of the user's hand.

  In addition, since the first link portion 3 and the second link portion 4 are relatively movable between the base joint 102 and the middle joint 103 of the index finger 101, the finger joint driving device regardless of the length of the index finger 101. 1 can be attached, and versatility is high.

  Note that, in the present embodiment, the finger joint driving device 1 in the mounted state has the first base portion 2 disposed at the base joint 102 of the index finger 101 and the second base portion 5 disposed at the middle joint 103 in this embodiment. It is not limited to a simple arrangement. For example, the first base portion 2 may be disposed on the back 105 of the hand and the second base portion 5 may be disposed on the proximal joint 102 of the index finger 101 in the mounted state. In this case, the finger joint driving device 1 can bend and stretch the metacarpophalangeal joint (third joint) 108. In addition, the first base portion 2 may be disposed at the middle joint 103 of the index finger 101 and the second base portion 5 may be disposed at the last joint 104 in the mounted state. In this case, the distal interphalangeal joint (first joint) 109 can be bent and stretched by the finger joint driving device 1.

  Thus, the finger joint that is desired to bend and extend can be preferentially assisted, and accordingly, various auxiliary operations can be flexibly executed according to the use state.

  Moreover, although the attachment location with respect to the hand 100 of the finger joint drive apparatus 1 is the index finger 101 in this embodiment, it is not limited to this, For example, a thumb, a middle finger, a ring finger, and a little finger may be sufficient.

Second Embodiment
FIG. 6 is a cross-sectional view showing a usage state of the finger joint drive device (second embodiment) of the present invention.

  Hereinafter, the second embodiment of the finger joint drive device of the present invention will be described with reference to this figure, but the description will focus on the differences from the above-described embodiment, and the description of the same matters will be omitted.

  This embodiment is the same as the first embodiment, except that the distal interphalangeal joint is bent and stretched in addition to the proximal interphalangeal joint.

  As shown in FIG. 6, in addition to the first base portion 2 to the second base portion 5, the finger joint driving device 1 further includes a third link portion (fifth member) 7 and a fourth link portion (sixth Member) 8 and a third base portion (seventh member) 9, and these members are connected in order from the wrist side to the fingertip side.

  The third base portion 9 is arranged on the fingertip side with respect to the second base portion 5 (the third link portion 7) in the mounted state, that is, on the back 105 side of the terminal node 104 of the index finger 101. Thereby, as will be described later, the distal interphalangeal joint 109 between the middle segment 103 and the last segment 104 of the index finger 101 can be bent and stretched by the finger joint driving device 1.

  The third base portion 9 is a plate-like member in the same manner as the second base portion 5. Further, it is preferable that the surface 91 in contact with the end node 104 of the third base portion 9 is curved along the shape of the end node 104. Thereby, for the user of the finger joint driving device 1, the third base portion 9 is arranged on the terminal node 104 without a sense of incongruity. Further, the third base portion 9 is stably arranged with respect to the end node 104.

  The third base portion 9 is attached to the terminal node 104 of the index finger 101 via the attachment band 20C. The mounting band 20 </ b> C is configured by a band whose length can be adjusted in the same manner as the mounting band 20 </ b> A, and each end thereof is fixed to each side surface of the third base portion 9. The wearing band 20 </ b> C can wrap around the palm 106 side of the last node 104 of the index finger 101 to bring the third base portion 9 into close contact with the last node 104. Thereby, it can prevent that the 3rd base part 9 detaches | leaves from the last node 104. FIG.

  The third link portion 7 is provided on the fingertip side of the second base portion 5. The third link part 7 is the same member as the first link part 3 in its entire length. The third link portion 7 includes a bottom plate 71 that is rectangular in plan view, and protrusions 72 that protrude from four corners of the bottom plate 71. And the protrusion part 54 of the edge part by the side of the fingertip of the 2nd base part 5 is pinched | interposed between the two protrusions 72 at the 2nd base part 5 side.

  Further, the two protrusions 72 on the second base portion 5 side and the protruding portion 54 of the second base portion 5 are connected via the rotation support portion 13. The rotation support unit 13 includes a shaft provided on one of the protrusions 32 on the back 105 side of the hand and the first base unit 2 and a bearing provided on the other side into which the shaft is inserted.

Further, when assuming a rotation axis O ₁₀₉ when the distal interphalangeal joint 109 rotates by bending and stretching, the rotation axis O 13 of the rotation support portion ₁₃ is parallel to the rotation axis O _109. Yes. With the rotation support portion 13 having such a configuration, the second base portion 5 can be rotated around the rotation axis O _{13 with} respect to the fourth link portion 8.

  A rail portion 73 is installed between the two protrusions 72 positioned on the thumb side in the mounted state and between the two protrusions 72 positioned on the middle finger side in the mounted state.

  The fourth link portion 8 is provided on the fingertip side of the third link portion 7. The fourth link portion 8 is a member that slides with respect to the third base portion 9. The fourth link portion 8 has a linear long portion 81 and a pair of projecting portions 82 projecting from the end of the long portion 81 on the second base portion 5 side, and the outer shape is substantially T. It consists of a plate-shaped piece. Each protrusion 82 protrudes in the direction intersecting with the longitudinal direction of the long portion 81 and toward the opposite side.

  Each protrusion 82 has a hollow portion 821, and a pair of rail portions 73 of the third link portion 7 are inserted through each hollow portion 821.

  By sliding the protrusion 82 while being guided by the rail portion 73, the second link portion 4 can be moved closer to and away from the first base portion 2. 2 shows a state in which the second link portion 4 is close to the first base portion 2, and FIG. 3 shows a state in which the second link portion 4 is separated from the first base portion 2.

  In addition, the full length of the rail part 73 is sufficiently longer than the full length of the protrusion part 82, for example, it is preferable that it is 1.5 to 3 times the full length of the protrusion part 82, and it is 1.5 to 2 times more. preferable.

The distal end portion of the long portion 81 is sandwiched between the pair of convex portions 92 of the third base portion 9. The distal end portion of the long portion 81 and each convex portion 92 are connected via the rotation support portion 14. The rotation support unit 14 includes a shaft provided at one of the distal end portion of the long portion 81 and each convex portion 92 and a bearing provided at the other and having the shaft inserted therein. Further, the rotary shaft _{O 14} of the pivot support portion 14 is parallel to the rotation axis _{O 109.} The third base portion 9 can be rotated around the rotation axis O ₁₄ parallel to the rotation axis O ₁₀₉ by the rotation support portion 14 having such a configuration, like the third link portion 7. By rotation axis _{O 13} and the rotating shaft _{O 14} is to be parallel to each pivot axis _{O 109,} a distal interphalangeal joint 109 easily with the finger joint driving device 1, i.e., between the distal phalangeal The joint 109 can be bent and stretched while preventing an excessive force from being applied to the joint 109.

  It does not specifically limit as a constituent material of the 3rd link part 7, the 4th link part 8, and the 3rd base part 9, For example, the same thing as the constituent material of the 1st base part 2 can be used. Moreover, it does not specifically limit as a constituent material of the mounting | wearing band 20C, For example, the same material as the constituent material of the mounting | wearing band 20A can be used.

  Moreover, as shown in FIG. 6, the finger joint drive device 1 further includes a drive unit (second drive unit) 6B.

  The drive unit 6 </ b> B is a mechanism unit responsible for rotational driving in which the third base unit 9 rotates through the rotation support unit 14. The drive unit 6A and the drive unit 6B can reliably rotate the proximal interphalangeal joint 107 and the distal interphalangeal joint 109 of the index finger 101 independently or synchronously. This increases the number of joint locations that are assisted by the user, thus facilitating hand movement.

  The drive unit 6B has the same configuration as the drive unit 6A, that is, the first rotor 61, the second rotor 62, the third rotor 63, and the piezoelectric motor 64 that rotates the third rotor 63. I can. Thereby, a common thing can be used for each component of the drive part 6A and the drive part 6B, Therefore The manufacturing cost of the finger joint drive apparatus 1 can be held down.

  Moreover, although the drive part 6B bears the rotational drive of the 3rd base part 9 in this embodiment, it is not limited to this, You may bear the rotational drive of the 3rd link part 7. .

  As described above, the illustrated embodiment of the finger joint drive device of the present invention has been described. However, the present invention is not limited to this, and each part constituting the finger joint drive device may be any device that can exhibit the same function. It can be replaced with the configuration of Moreover, arbitrary components may be added.

  Moreover, the finger joint drive device of the present invention may be a combination of any two or more configurations (features) of the above embodiments.

  In addition, in each of the above-described embodiments, the first drive unit can be responsible for the rotation of the second member (first link unit) and the rotation of the fourth member (second base unit). The three members (second link portions) can also be driven to approach and separate from the first member (first base portion).

  Further, in the second embodiment, the second drive unit can perform rotation of the fifth member (third link unit) and rotation of the seventh member (third base unit). The sixth member (fourth base) can also be driven to approach and separate from the fourth member (second base portion).

DESCRIPTION OF SYMBOLS 1 ... Finger joint drive device 2 ... 1st base part (1st member)
21 …… Surface 22 …… Protruding part 3 …… First link part (second member)
31 …… Bottom plate 32 …… Protrusions 4 …… Second link part (third member)
41 …… long portion 42 …… projecting portion 421 …… hollow portion 5 …… second base portion (fourth member)
51 …… Surface 52 …… Convex part 53 …… Rail part 6A …… Drive part (first drive part)
6B: Drive unit (second drive unit)
61 …… First rotor 611 …… Tooth 62 …… Second rotor 621 …… Small gear 621a …… Tooth 622 …… Large gear 622a …… Tooth 63 …… Third rotor 631 …… Small gear 631a …… Tooth 632 …… Large disc portion 632a …… Outer edge portion 64 …… Piezoelectric motor 65 …… Piezoelectric element 651, 651a, 651b, 651c, 651d …… Electrode 66 …… Shim plate 67 …… Convex portion 68 …… Supporting portion 69… ... Connecting plate 7 ...... Third link part (fifth member)
71 …… Bottom plate 72 …… Protrusions 73 …… Rail part 8 …… Fourth link part (sixth member)
81 …… Longer part 82 …… Protruding part 821 …… Hollow part 9 …… Third base part (seventh member)
91 …… Surface 92 …… Convex part 10 …… Control part 11, 12, 13, 14 …… Rotation support part 20A, 20B, 20C …… Mounting band 201 …… End part 100 …… Hand 101 …… Forefinger 102 …… Basic segment 103 …… Medium segment 104 …… End segment 105 …… Back of hand 106 …… Span 107 …… Proximal interphalangeal joint (second joint)
108 …… Metacarpophalangeal joint (third joint)
109 …… Distal interphalangeal joint (first joint)
O ₁₁ , O ₁₂ , O ₁₃ , O ₁₄ , O ₁₀₇ ...... Rotating shaft

Claims (10)

A finger joint drive device that is attached to a hand and rotates a finger joint,
A first member attached to the hand;
A second member rotatably connected via the first member and a first rotation support ;
A third member provided on the second member and capable of approaching and separating from the first member by sliding relative to the second member ;
A fourth member that is mounted closer to the fingertip side than the first member, and is rotatably connected to the third member via a second rotation support portion ;
A first drive unit that drives at least one of rotation of the second member, approach and separation of the third member with respect to the first member, and rotation of the fourth member; Finger joint drive device.   The finger joint driving device according to claim 1, wherein the first member is disposed on a back of the hand, and the fourth member is disposed on a proximal joint of a finger.   The finger joint drive device according to claim 1, wherein the first member is disposed at a proximal joint of the finger, and the fourth member is disposed at a middle joint of the finger.   The finger joint drive device according to claim 1, wherein the first member is disposed at a middle node of the finger, and the fourth member is disposed at a terminal node of the finger.   5. The finger joint drive device according to claim 1, wherein the second member and the fourth member are rotatable around an axis parallel to a rotation axis of the finger joint.   The finger joint drive device according to any one of claims 1 to 5, wherein the first drive unit rotates the second member.   The finger joint drive device according to any one of claims 1 to 5, wherein the first drive unit rotates the fourth member.   The finger joint driving device according to claim 1, wherein the first driving unit includes a piezoelectric element. A fifth member rotatably connected via the fourth member and a third rotation support ;
A sixth member provided on the fifth member and capable of approaching and separating from the fourth member by sliding relative to the fifth member ;
The finger joint drive device according to any one of claims 1 to 8, further comprising a sixth member and a seventh member rotatably connected via a fourth rotation support portion .   10. The second drive unit according to claim 9, further comprising: a second drive unit configured to drive at least one of rotation of the fifth member, approach and separation of the seventh member with respect to the fourth member, and rotation of the seventh member. Finger joint drive device.

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