JP6479376B2 - Movable prosthetic hand - Google Patents

Description

  The present invention relates to a movable prosthetic hand.

  Conventionally, various movable artificial hands having a plurality of artificial fingers have been proposed. As an example of a movable prosthetic hand, Patent Document 1 describes a multi-limb movable robot hand. The multi-limb movable robot hand includes a first movable finger, a second movable finger, a third movable finger and a fourth movable finger respectively corresponding to the index finger, the middle finger, the ring finger and the little finger. Each of the first to fourth movable fingers has a first finger bone and a second finger bone connected to each other. The tip of the bending and stretching induction linear member is attached to a part of the first phalange.

  The multi-limb mobile robot hand further includes a palm. The first to fourth movable fingers are attached to the palm. The first and second phalanges of each movable finger are flexed by pulling the bending and stretching induction linear member toward the palm side. Thereby, a grasping operation is performed by the multi-limb movable robot hand, and the object can be grasped.

JP, 2009-83020, A

  When gripping an object with a movable artificial hand, it is desirable that a natural gripping operation close to that of a healthy hand be performed. As described above, when the artificial finger is configured to be bendable at a plurality of portions, when the bending movement of each part of the artificial finger deviates from the bending movement of the healthy finger, the user moves the movable artificial hand when holding the object I feel uncomfortable with the operation. In addition, it requires skill to hold the object by the operation of the movable artificial hand.

  An object of the present invention is to provide a movable artificial hand capable of easily gripping an object with a sense close to that of a healthy hand.

(1) The movable artificial hand according to the present invention can be bent at the palm portion, the first bone member bendable at the first supporting point with respect to the palm portion, and the second supporting point at the first bone member A second bone member, a wire provided along the first bone member and the second bone member from the palm, a pulling means for pulling the wire from the palm side , the palm, the first bone And a cover member covering the second bone member and having elasticity , wherein the first bone member is provided with a guide for slidably guiding the wire at a position different from the first fulcrum, The second bone member is provided with a fixing portion for fixing the tip of the wire at a position different from the second fulcrum, and the pulling means pulls the wire so that the first rotational moment around the first fulcrum is While acting on the first bone member in one direction, the second rotational moment about the second fulcrum is applied to the second bone member Acting in a direction, the guiding part and the fixing part being arranged such that the first rotational moment is larger than the second rotational moment, and the pulling means is configured such that the first bone member is moved by the first rotational moment. The wire is pulled so that the second bone member is bent in one direction at the second fulcrum by the second rotational moment , and the pulling of the wire by the pulling means is weakened or When released, the restoring force of the cover member restores the first bone member and the second bone member to the pre-traction state .

  In the movable prosthetic hand, the wire is pulled from the palm side by the pulling means. Thereby, the first rotation moment around the first supporting point acts on the first bone member. Further, the fixed portion of the second bone member is pulled toward the guide portion of the first bone member, whereby the second rotational moment around the second supporting point acts on the second bone member.

  The first rotation moment is larger than the second rotation moment, and the first rotation moment and the second rotation moment act in one direction. Thereby, the first bone member is bent in one direction at the first fulcrum, and then the second bone member is bent in one direction at the second fulcrum.

Usually, when the subject is gripped by a healthy hand, a plurality of joints of each finger bend in order of proximity to the palm. According to the above configuration, the bending of the second bone member is started after the bending of the first bone member near the palm portion is started. Therefore, natural gripping operation close to the normal hand becomes possible. As a result, the user can easily grasp the object with a sense close to that of the normal hand.
In addition, the cover member has a design function. Also, the cover member has a protective function to protect the first bone member and the second bone member. According to the above configuration, the state of the first bone member and the second bone member is restored by the restoring force of the cover member. Therefore, since the cover member having the design function and the protection function further has the restoration function of the first bone member and the second bone member, it is possible to provide the first bone member and the second bone member with a restoring force. There is no need to provide a separate member. As a result, the number of parts is reduced and the structure is simplified. As a result, production of the movable artificial hand is facilitated, and cost reduction is realized.

  (2) The first finger is provided on one side of the palm, and the second finger, the third finger, the fourth finger, and the fifth finger are provided in this order at one end of the palm. The first finger is provided such that the tip of the first finger is opposed to the second finger or the third finger inside the palm, and the second finger, the third finger, the fourth finger Each of the fifth and fifth artificial fingers is composed of the first bone member, the second bone member, and the wire, and is bent at the first and second supporting points by the pulling of the wire by the pulling means, and the second finger, the second finger The palm portion may be bent or curved so that the tips of the fourth and fifth prosthetic fingers approach the tip of the first finger due to the flexion of the third, fourth and fifth prosthetic fingers .

  According to the above configuration, by bending the fourth and fifth artificial fingers in a state in which the first artificial finger is opposed to the second and third artificial fingers, the fourth and fifth artificial fingers can be obtained. The tip of the finger can be brought closer to the tip of the first artificial finger. Thus, not only between the second and first prostheses and between the third and first prostheses but also between the fourth and first prostheses and the fifth A gripping force can be generated between itself and the first artificial finger. Therefore, the object can be gripped in a stable posture by the first, second, third, fourth and fifth artificial fingers.

(3) When the first bone member is released from pulling by the pulling means, from the state determined by the cover member, a direction opposite to one direction at the first fulcrum so as to go to the back side of the palm part It may be configured to be bendable (dorsiflexion).

  In this case, the user holds the body by holding the inner side of the first bone member and the second bone member while bending the first bone member to the back side of the palm portion, or holds the desk Can hold paper etc.

(4) When the pulling means pulls the wire, the first portion of the wire from the guide portion to the pulling means side of the wire with respect to the first bone member according to the bending angle of the first bone member The angle formed may be changed, and the angle formed by the second portion of the wire from the fixing portion to the guide portion relative to the second bone member may be changed according to the bending angle of the second bone member .

  (5) The first bone member and the second bone member may be integrally formed of an elastic member, and the elastic member may be configured to be bendable at the first fulcrum and the second fulcrum.

  In this case, when the pulling means pulls the wire, the elastic member is bent sequentially at the first fulcrum and the second fulcrum. After that, when the pulling of the wire by the pulling means is released, the elastic member autonomously restores to the state before pulling.

  Therefore, since it is not necessary to separately provide a member for applying a restoring force to the first bone member and the second bone member, the number of parts is reduced and the structure is simplified. As a result, production of the movable artificial hand is facilitated, and cost reduction is realized.

  According to the present invention, it becomes possible to easily grasp an object with a sense close to that of a healthy hand.

FIG. 1 is a plan view of an electric prosthetic hand according to an embodiment of the present invention. It is a side view of one side of the electric prosthetic hand of FIG. It is a top view of the prosthetic hand main part of FIG. 1, and a pulling apparatus. FIG. 4 is a side view of one of the prosthetic hand main body and the traction device of FIG. 3; It is the sectional view on the AA line of FIG. It is sectional drawing for demonstrating the operation | movement of a 3rd artificial finger. It is a partial expanded sectional view for demonstrating the other structural example of 3rd artificial finger, and its operation | movement. It is a partially expanded sectional view for demonstrating the further another structural example of 3rd prosthetic finger, and its operation | movement. It is the figure which looked at the palm part of FIG. 3 from the front. It is an external appearance perspective view which shows the holding | grip state of the target object by the prosthetic hand main-body part of FIG. It is the figure which looked at the prosthetic hand main-body part of FIG. 10 from one end. It is an external appearance perspective view which shows the holding | grip state of the target object by the artificial hand main-body part which has a flat palm part. It is the figure which looked at the prosthetic hand main-body part of FIG. 12 from one end. It is a figure which shows the other structural example of a palm part. It is a figure which shows the other structural example of a palm part. It is a figure which shows the other structural example of a palm part. It is an external appearance perspective view of a prosthetic hand main part showing a state in which the second, third, fourth and fifth artificial fingers are bent toward the outside of the palm. FIG. 18 is a side view of one of the prosthesis main body of FIG. 17;

  A movable prosthetic hand according to an embodiment of the present invention will be described with reference to the drawings. In the following, an electric prosthetic hand will be described as an example of a movable prosthetic hand.

(1) Schematic Configuration of Electric Prosthetic Hand FIG. 1 is a plan view of an electric artificial hand according to an embodiment of the present invention, and FIG. 2 is a side view of one of the electric artificial hands 1 of FIG. The electric prosthetic hand 1 according to the present embodiment corresponds to the right hand.

  As shown in FIG. 1 and FIG. 2, the electric prosthetic hand 1 comprises a prosthetic hand main body 100, a pulling device 200, a mounting member 300, a control device 400, a cover member 500, a power supply device BT, a first myoelectric sensor S1 and a second Myoelectric sensor S2.

  The mounting member 300 is configured to be mountable to a human body (for example, a part of the upper limbs) hb. The mounting member 300 of this example has a substantially cylindrical shape extending in one direction, and is formed of a synthetic resin. Inside the mounting member 300, the control device 400, the power supply device BT, the first myoelectric sensor S1, and the second myoelectric sensor S2 are accommodated.

  The first myoelectric sensor S1 and the second myoelectric sensor S2 are provided to be able to detect the first myoelectric signal and the second myoelectric signal in a state where the mounting member 300 is attached to the human body hb. The first and second myoelectric signals are different from one another.

  For example, the first myoelectric sensor S1 detects a myoelectric signal of a flexor muscle in the right arm of the user as a first myoelectric signal. The second myoelectric sensor S2 detects the myoelectric signal of the extensor muscle in the right arm of the user as a second myoelectric signal.

  The control device 400 includes, for example, a CPU (central processing unit) and a memory, or a microcomputer. The power supply device BT includes, for example, a chargeable / dischargeable battery, and supplies the power stored in the battery to the traction device 200 and the control device 400. A pulling device 200 and a prosthetic hand main body 100 are provided at the tip of the mounting member 300. The traction device 200 corresponds to the traction means of the present invention. Details of the traction device 200 and the prosthetic hand main body 100 will be described later.

  A cover member 500 is provided to cover the prosthetic hand main body 100, the pulling device 200 and the mounting member 300. In FIG. 1 and FIG. 2, in order to facilitate understanding of the internal structure of the motor-operated artificial hand 1, members provided inside the cover member 500 are shown by solid lines, and the cover member 500 is shown by dashed dotted lines.

  The cover member 500 is made of an elastic material such as rubber (e.g. silicone rubber) or elastic resin (e.g. polyvinyl chloride). The cover member 500 is manufactured so as to simulate the appearance of a healthy hand. Thus, the user can wear the electric prosthetic hand 1 without feeling a sense of visual discomfort.

  The control device 400 controls the energization of the traction device 200 based on the first and second myoelectric signals detected by the first and second myoelectric sensors S1, S2. Thereby, the prosthetic hand main body 100 operates. Details of the operation of the prosthetic hand main body 100 will be described later.

(2) Details of Prosthesis Main Body and Pulling Device FIG. 3 is a plan view of the prosthetic hand main body 100 and the traction device 200 of FIG. 1, and FIG. 4 is a side view of one of the prosthetic hand main body 100 and the traction device 200 of FIG. It is.

  As shown in FIGS. 3 and 4, the traction device 200 includes a motor casing 210, a motor 220 and a spool 222. Motor 220 is accommodated in motor casing 210. The rotation shaft 221 of the motor 220 protrudes to the outside of the motor casing 210. The spool 222 is attached to the tip of the rotating shaft 221. The rear end of the wire W1 is attached to the spool 222. In the present embodiment, it is possible to use, for example, a tegs thread, a resin-made wire or a metal-made wire as the wire W1.

  Traction device 200 further includes a switching circuit (not shown) that switches the direction of the current flowing through motor 220. The control device 400 can switch the rotational direction of the motor 220 by controlling the switching circuit.

  The prosthesis main body 100 includes a palm 10, a first finger 20, a second finger 30, a third finger 40, a fourth finger 50 and a fifth finger 60. The palm portion 10 includes a first palm plate 110, a second palm plate 120, a wire connecting member 130, and a support shaft 140. The first palm plate 110, the second palm plate 120, and the wire connecting member 130 are produced, for example, by cutting out a resin or metal plate member having a predetermined thickness (about 3 mm).

  The first palm plate 110 and the second palm plate 120 are arranged to face each other at a predetermined distance. The first palm plate 110 constitutes an inner portion of the palm portion 10, and the second palm plate 120 constitutes a back side (outside) portion of the palm portion 10. The first palm plate 110 has a front end f1 and a rear end b1. The second palm plate 120 has a front end f2 and a rear end b2.

  The rear ends b1 and b2 of the first palm plate 110 and the second palm plate 120 are connected to the motor casing 210 of the traction device 200. In this state, the front end f1 of the first palm plate 110 projects a certain distance forward than the front end f2 of the second palm plate 120.

  Between the first palm plate 110 and the second palm plate 120, a wire connecting member 130 having a belt shape is provided movably in the front-rear direction. In the wire rod connecting member 130, a plurality of through holes (three through holes in this example) k1, k2 and k3 are formed. The plurality of through holes k <b> 1, k <b> 2 and k <b> 3 are arranged in this order from one end of the wire connecting member 130 to the other end.

  The tip of the wire W1 extending from the spool 222 of the pulling apparatus 200 is attached to the through hole k2 located at the center among the plurality of through holes k1, k2, k3. On the other hand, a common wire W23 described later is inserted into the through hole k1. On the other hand, a common wire W45 described later is inserted into the through hole k3.

  A support shaft 140 is provided on one side of the palm portion 10 so as to extend in the front-rear direction between the first palm plate 110 and the second palm plate 120. The support shaft 140 is fixed by a connecting member Q that connects the first palm plate 110 and the second palm plate 120.

  The first finger 20 includes a support member 21 and a bone member 22. The support member 21 is attached to the support shaft 140 of the palm 10. The support member 21 supports the bone member 22 and is supported by the support shaft 140 so as to be rotatable around the axis of the support shaft 140.

  The second finger 30 includes a support member 31, a first bone member 32, a second bone member 33 and a wire W. The third prosthetic finger 40 includes a support member 41, a first bone member 42, a second bone member 43, and a wire W. The fourth finger 50 includes a support member 51, a first bone member 52, a second bone member 53, and a wire W. The fifth finger 60 includes a support member 61, a first bone member 62, a second bone member 63, and a wire W. The support members 31, 41, 51, 61, the first bone members 32, 42, 52, 62 and the second bone members 33, 43, 53, 63 are made of, for example, a resin having a certain thickness (about 3 mm) or It manufactures by cutting out the metal plate-shaped member.

  The support members 31, 41, 51, 61 are arranged in this order from one side to the other side of the palm 10. Each of the support members 31, 41, 51, 61 is held between the front end f1 of the first palm plate 110 and the front end f2 of the second palm plate 120. It is connected to the palm plate 120.

  The support members 31, 41, 51, 61 and the first bone members 32, 42, 52, 62 are connected by pins p1. The respective first bone members 32, 42, 52, 62 and the respective second bone members 33, 43, 53, 63 are connected by the pin p2.

  As the wire W, as in the case of the wire W1, for example, a tess yarn, a resin-made wire or a metal-made wire can be used. Each second bone member 33, 43, 53, 63 is provided with a fixing portion j for fixing the tip of the wire W. The fixing portion j in this example is constituted by two through holes. In this case, the distal end of the wire W can be fixed to the fixing portion j by inserting the wire W into the two through holes and connecting the tip of the wire W.

  In addition, the fixing | fixed part j should just be comprised so that fixing of the front-end | tip of the wire rod W is possible. For example, the fixing portion j may be configured by a member such as a screw or a pin capable of connecting the tip of the wire W.

  The wire W is slid on each of the first bone members 32, 42, 52, 62 so that the wire W is directed from the fixing portion j of each of the second bone members 33, 43, 53, 63 to the palm 10 side. A guide portion g for movable guidance is provided. The guide portion g in this example is formed of a heaton screw (a screw in which an annular metal piece is integrally formed on a screw head). In this case, by inserting the wire W into the annular portion of the heaton screw, the wire W can be slidably guided so that the wire W is directed from the fixing portion j to the palm 10 side.

  The first palm plate 110 of the palm portion 10 is formed with four long holes h respectively corresponding to the second finger 30, the third finger 40, the fourth finger 50 and the fifth finger 60. . The four elongated holes h are located in the vicinity of the corresponding support members 31, 41, 51, 61, respectively.

  In each of the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60, the tip of the wire W is fixed to the fixing portion j of each of the second bone members 33, 43, 53, 63. It is fixed. Each wire W is slidably guided toward the palm 10 side by a guide g provided to each first bone member 32, 42, 52, 62. Each wire W is inserted into the corresponding long hole h of the first palm plate 110.

  In this example, the wire W of the second finger 30 and the wire W of the third finger 40 are formed of one common wire W23 such that the rear ends thereof are continuously connected. A substantially central portion of the common wire W23 is slidably inserted in the through hole k1 of the wire connecting member 130 between the first palm plate 110 and the second palm plate 120. Moreover, the wire W of the fourth finger 50 and the wire W of the fifth finger 60 are configured by one common wire W 45 such that the respective rear ends are connected continuously. A substantially central portion of the common wire W45 is slidably inserted in the through hole k3 of the wire connecting member 130 between the first palm plate 110 and the second palm plate 120.

  As described above, the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60 basically have the same configuration. In the following, among the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60, the configuration and operation of the fourth finger 50 will be described as a representative.

  FIG. 5 is a cross-sectional view taken along the line A-A of FIG. In FIG. 5, the fixed portion j of the second bone member 43 is represented by a black circle. The tip of the wire W is fixed to the center of the black circle. Moreover, the guide part g provided in the 1st bone member 42 is represented by a white circle mark. The wire W is slidably guided by the guide portion g at the center of the white circle.

  As shown in FIGS. 5 (a) and 5 (b), when the rear end of the wire W is pulled backward by a force F, the force directed to the guide portion g is applied to the fixed portion j of the second bone member 43. F works. In this case, as shown in FIG. 5A, in the second bone member 43, the second rotational moment around the fulcrum c2 is directed toward the inside of the palm 10 with the axis of the pin p2 as the fulcrum c2. M2 works. The fulcrum c2 corresponds to the second fulcrum of the present invention.

  Assuming that the distance (shortest distance) from the wire W connecting the fixed portion j to the guide portion g to the pin p2 is L2, the magnitude of the second rotation moment M2 acting on the second bone member 43 is F × L2 Can be represented by

  As described above, when the force F directed to the guide portion g acts on the fixing portion j of the second bone member 43, the force F along the wire W acts on the guide portion g toward the fixing portion j, A force F acting on the wire W acts on the palm portion 10. In this case, due to the resultant force N of the two forces F acting on the guide portion g, as shown in FIG. 5B, the first bone member 42 has the axial center of the pin p1 as the fulcrum c1, the palm portion 10 The first rotation moment M1 around the fulcrum c1 acts to move inward of The fulcrum c1 corresponds to the first fulcrum of the present invention.

  Assuming that the distance between the guide portion g and the fulcrum c1 projected on the plane orthogonal to the resultant force N is L1, the magnitude of the first rotation moment M1 acting on the first bone member 42 is N × L1. Can be represented.

  In the present embodiment, the fixing portion j of the second bone member 43 is set such that the first rotation moment M1 is larger than the second rotation moment M2 (N × L1> F × L2). The position of the guide g in the first bone member 42 is determined.

  FIG. 6 is a cross-sectional view for explaining the operation of the third finger 40. The cross-sectional views of FIGS. 6A, 6B, and 6C correspond to the cross-sectional view taken along line A-A of FIG. As shown in FIG. 6A, the rear end of the wire W is pulled by a force F in a state in which the third finger 40 extends toward the front of the palm 10. In this case, as described above, since the first rotational moment M1 is larger than the second rotational moment M2, the first bone member 42 has the palm portion 10 at the fulcrum c1 earlier than the second bone member 43. Bend towards the inside of the

  As shown in FIG. 6 (b), the first bone member 42 bends toward the inside of the palm 10 by a predetermined angle. The predetermined angle may be, for example, more than 0 ° and not more than 180 °, and may be more than 0 ° and not more than 90 °.

  At the same time, the second bone member 43 is bent toward the inside of the palm 10 at the fulcrum c2, as shown in FIG. 6 (c).

  In the electric prosthetic hand 1 according to the present embodiment, when the first myoelectric signal is detected, energization of the motor 220 is started so that the motor 220 of the traction device 200 of FIG. 3 rotates in one direction. The motor 220 operates. In this case, when the spool 222 rotates in one direction, the wire W1 is pulled, and the wire connecting member 130 moves toward the pulling device 200. The pulling length of the wire W1 pulled by the pulling device 200 is adjusted by the control device 400 according to, for example, the level of the detected first myoelectric signal.

  Further, along with the movement of the wire connecting member 130, the wire W of the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60 is also pulled. Thus, the second finger 30, the fourth finger 50 and the fifth finger 60 of the palm 10 are similar to the third finger 40 shown in FIGS. 6 (a), (b) and (c). Bend inwards.

  Usually, when the subject is gripped by a healthy hand, a plurality of joints of each finger bend in order of proximity to the palm. According to the above configuration, after the first bone members 32, 42, 52, 62 are bent at the fulcrum c1 near the palm 10, the second bone members 33, 43, 53 at the fulcrum c2 far from the palm 10 , 63 bends. Therefore, natural gripping operation close to the normal hand becomes possible. As a result, the user can easily grasp the object with a sense close to that of the normal hand.

  Thereafter, when the second myoelectric signal is detected, energization of the motor 220 is started so that the motor 220 of the traction device 200 of FIG. 3 rotates in the reverse direction, and the motor 220 operates. In this case, when the spool 222 rotates in the reverse direction, the traction acting on the wire W1 is weakened, and the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60 can be extended. .

  Since the cover member 500 is made of an elastic material, the cover member 500 has a restoring force. Therefore, when the pulling of the plurality of wires W is weakened or released, the restoring force of the cover member 500 is applied to the wires W of the second finger 30, the third finger 40, the fourth finger 50 and the fifth finger 60. In operation, as shown in FIG. 3, the wire connecting member 130 moves to a position away from the pulling device 200. Thereby, the prosthetic hand main body 100 returns to the state before the first myoelectric signal is detected. In this way, the user can release the motorized prosthesis 1 from the object.

  The cover member 500 has a design function. In addition, the cover member 500 has a protective function of protecting the prosthetic hand main body 100, the traction device 200, and the mounting member 300. According to the above configuration, the state of the prosthetic hand main body 100 is restored by the restoring force of the cover member 500. Therefore, since the cover member 500 having the design function and the protection function further has the restoration function of the prosthetic hand main body 100, it is not necessary to separately provide a member for giving the prosthetic hand main body 100 a restoring force. As a result, the number of parts of the electric prosthetic hand 1 is reduced and the structure is simplified. As a result, the production of the electric prosthetic hand 1 becomes easy, and cost reduction is realized.

(3) Another Configuration Example of Second, Third, Fourth, and Fifth Prosthetic Fingers FIG. 7 shows another configuration example of the third prosthetic finger 40 and one operation for explaining its operation. FIG. The cross-sectional views of FIGS. 7 (a), (b) and (c) respectively correspond to the cross-sectional views of FIGS. 6 (a), (b) and (c).

  As shown in FIG. 7A, in the third prosthetic finger 40 of this example, the support member 41, the first bone member 42, and the second bone member 43 are integrally formed of a single elastic member EM. Be done. Between the support member 41 and the first bone member 42, a V-shaped notch n is formed so that the first bone member 42 is bent in one direction at the fulcrum c1 with respect to the support member 41. . A V-shaped notch between the first bone member 42 and the second bone member 43 so that the second bone member 43 bends in one direction at the fulcrum c2 with respect to the first bone member 42 n is formed. The single elastic member EM is formed of an elastic resin.

  The fixing portion j is provided on the second bone member 43, and the guide portion g is provided on the first bone member 42. When the wire W is pulled by the force F from the palm 10 side, first, as shown in FIG. 7B, the first bone member 42 is bent toward the inside of the palm 10 at the fulcrum c1. Do. Subsequently, as shown in FIG. 7C, the second bone member 43 is bent toward the inside of the palm 10 at the fulcrum c2. Thereafter, when the pulling of the wire W is weakened or released, the third finger 40 autonomously restores to the state before the pulling of the wire W by the elastic force of the elastic member EM.

  In this case, the configuration of the third finger 40 of FIG. 7 is applied to the second finger 30, the fourth finger 50, and the fifth finger 60, so that after the wire W is pulled, the prosthetic hand main part 100 is elastic. The elastic force of the member EM autonomously restores the wire W to a pre-traction state.

  Therefore, even when the cover member 500 does not have a restoring force, it is not necessary to separately provide a member for giving a restoring force to the support member 41, the first bone member 42 and the second bone member 43. As a result, the number of parts of the electric prosthetic hand 1 is reduced and the structure is simplified. As a result, the production of the electric prosthetic hand 1 becomes easy, and cost reduction is realized.

(4) Another Example of Configuration of Second, Third, Fourth, and Fifth Prosthetic Fingers FIG. 8 is a view for explaining still another example of configuration of the third prosthetic finger 40 and its operation. FIG. The cross-sectional views of FIGS. 8A, 8B, and 8C correspond to the cross-sectional views of FIGS. 6A, 6B, and 6C, respectively. Hereinafter, a point of difference between the third prosthetic finger 40 of FIG. 8 and the third prosthetic finger 40 of FIG. 7 will be described.

  As shown in FIG. 8A, the third prosthetic finger 40 of this example includes a band-shaped elastic plate 150M made of a synthetic resin or metal and three support pieces 44, 45, and 46. The belt-like elastic plate 150M is a leaf spring having a restoring force, and corresponds to the elastic member of the present invention. Three support pieces 44, 45, and 46 are attached so as to line up on one surface of the belt-like elastic plate 150M at a constant interval. The support pieces 44, 45 and 46 are formed of synthetic resin or the like.

  The support member 41 is constituted by the support piece 44 and a part of the belt-like elastic plate 150M. The first bone member 42 is constituted by the support piece 45 and the central portion of the belt-like elastic plate 150M. The second bone member 43 is configured by the support piece 46 and the other portion of the belt-like elastic plate 150M.

  When the wire W is pulled by force F from the palm 10 side, first, as shown in FIG. 8B, the first bone member 42 is bent toward the inside of the palm 10 at the fulcrum c1. Do. Subsequently, as shown in FIG. 8C, the second bone member 43 is bent toward the inside of the palm 10 at the fulcrum c2. After that, when the pulling of the wire W is weakened or released, the third finger 40 autonomously restores to the state before the pulling of the wire W by the restoring force of the elastic band 150M.

  In this case, by applying the configuration of the third finger 40 of FIG. 7 to the second finger 30, the fourth finger 50, and the fifth finger 60, after pulling the wire W, the prosthetic hand main portion 100 has a belt shape. The state before the pulling of the wire W is autonomously restored by the restoring force of the elastic plate 150M.

  Therefore, even when the cover member 500 does not have a restoring force, it is not necessary to separately provide a member for giving a restoring force to the support member 41, the first bone member 42 and the second bone member 43. As a result, the number of parts of the electric prosthetic hand 1 is reduced and the structure is simplified. As a result, the production of the electric prosthetic hand 1 becomes easy, and cost reduction is realized.

(5) Configuration of palm part FIG. 9 is a view of the palm part 10 of FIG. 3 as viewed from the front. In FIG. 9, the first palm plate 110 and the second palm plate 120 of the palm portion 10 of FIG. 3 are shown, and the second finger 30, the third finger 40, the fourth finger 50 and the fifth finger 50 are shown. The support members 31, 41, 51, 61 of the artificial finger 60 are shown.

  As shown in FIG. 9, the first palm plate 110 is composed of a flat plate 110a and a flat plate 110b. The flat plate 110a and the flat plate 110b are each formed to extend in one direction from the front end f1 of the first palm plate 110 to the rear end b1 (see FIG. 3). The one direction is the direction opposite to the direction in which the second, third, fourth and fifth finger 30, 30, 40, and 60 in FIG. 3 extend. The flat plate 110 b is connected to the flat plate 110 a so as to bend at a predetermined bending angle α along the one direction.

  The second palm plate 120 includes a flat plate 120 a and a flat plate 120 b. The flat plate 120 a and the flat plate 120 b are each formed to extend in the above-mentioned one direction from the front end f 2 to the rear end b 2 (see FIG. 3) of the second palm plate 120. The flat plate 120 b is connected to the flat plate 120 a so as to bend at a predetermined bending angle α along the one direction. The bending angle α is, for example, 10 ° or more and 30 ° or less.

  10 is an external perspective view showing a gripping state of an object by the prosthetic hand main body 100 of FIG. 3, and FIG. 11 is a view of the prosthetic hand main body 100 of FIG. 10 as viewed from one end. In FIG. 10 and FIG. 11, the illustration of the object is omitted.

  As shown in FIGS. 10 and 11, the first finger 20 is bent to the inside of the palm 10. Further, when the wire rod W is pulled by the pulling device 200, the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60 are bent. In this case, the tips of the second finger 30 and the third finger 40 approach the tip of the first finger 20. Further, since the flat plate 110 b and the flat plate 120 b are bent with respect to the flat plate 110 a and the flat plate 120 a, the tips of the fourth and fifth artificial fingers 50 and 60 approach the tip of the first finger 20. .

  Thus, not only between the second and third prostheses 30 and 20 and between the third and first prostheses 40 but also between the fourth and first prostheses 50. A gripping force can be generated between each of the fifth and sixth artificial fingers 60 and 20, respectively. Therefore, the object can be gripped in a stable posture by the first finger 20, the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60.

  The reason why flat plate 110b and flat plate 120b are preferably bent relative to flat plate 110a and flat plate 120a will be described with reference to FIG.

  FIG. 12 is an external perspective view showing a gripping state of an object by a prosthesis main body having a flat palm 10, and FIG. 13 is a view of the prosthesis main body of FIG. 12 viewed from one end. In addition, illustration of a target object is abbreviate | omitted in FIG. 12 and FIG.

  In the prosthesis main body portion 100X shown in FIGS. 12 and 13, the first palm plate 110X and the second palm plate 120X of the palm portion 10 are each formed of a single flat plate. Thereby, the palm 10 is neither bent nor bent.

  In this case, the tips of the fourth finger 50 and the fifth finger 60 do not approach the tip of the first finger 20 even if the fourth finger 50 and the fifth finger 60 are bent. Therefore, as shown in FIGS. 10 and 11, it is desirable that the palm 10 be bent.

(6) Another Configuration Example of Palm 10 FIG. 14 to FIG. 16 are diagrams showing another configuration of the palm 10. In FIGS. 14 to 16, as in the example of FIG. 9, the first palm plate 110 and the second palm plate 120 of the palm portion 10 are shown, and the second finger 30 and the third finger 40 are shown. , And the support members 31, 41, 51, 61 of the fourth finger 50 and the fifth finger 60 are shown.

  In the example of FIG. 14, the first palm plate 110 including the first flat plate 110a and the second flat plate 110b is formed of a single member. Further, the second palm plate 120 including the third flat plate 120a and the fourth flat plate 120b is also formed of a single member. As a result, the step of connecting the first flat plate 110a and the second flat plate 110b is unnecessary. Moreover, the connection process of the 3rd plane board 120a and the 4th plane board 120b also becomes unnecessary. Therefore, it is possible to reduce the number of assembling steps of the palm 10 and to facilitate the production of the palm 10.

  In the example of FIG. 15, each of the first and second palm plates 110 and 120 is formed of a single member which is locally curved. Thus, the number of assembling steps of the palm 10 can be reduced, and the palm 10 can be easily manufactured. Also in this example, the first palm plate 110 and the second palm plate 120 are curved along the one direction. Thereby, the tips of the fourth finger 50 and the fifth finger 60 approach the tip of the first finger 20 by the pulling of the wire W by the pulling device 200.

  In the example of FIG. 16, each of the first and second palm plates 110 and 120 is formed of a single member curved in an arc shape from one side to the other side. In this case, the bending directions of the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60 can be set optimally.

  As a result, it is possible to more accurately bring the tip of each of the second, third, fourth and fifth finger fingers 30, 40, 50 and 60 closer to the tip of the first finger 20.

(7) Body Support Function and Object Holding Function by Prosthesis Main Body FIG. 17 shows that the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60 face the palm 10 It is an external appearance perspective view of the prosthetic hand main part 100 which shows the state bent as mentioned above. FIG. 18 is a side view of one of the prosthetic hand main part 100 of FIG.

  In the state before the first electromyographic signal is detected, that is, in the state shown in FIG. 2, when the second electromyographic signal is detected, traction of the wire W by the traction device 200 is performed. It is released. In this case, no force acts on the wire W of the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60.

  As shown in FIGS. 17 and 18, the prosthetic hand main body 100 is configured such that the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60 are in a state where the pulling of the wire W is released. The first bone members 32, 42, 52, 62 are configured to be bendable toward the back side of the palm 10.

  Specifically, the front end f2 of the second palm plate 120 is located rearward of the fulcrum c1 corresponding to the first bone members 32, 42, 52, 62, respectively. When the first bone members 32, 42, 52, 62 dorsially bend to the back side of the palm 10, the first bone members 32, 42, 52, 62 have a certain angular range of the second palm plate 120. It does not touch the front end f2. Thus, dorsiflexion is permitted on the back side of the palm 10 of the first bone members 32, 42, 52, 62.

  In this case, the user bends the first bone members 32, 42, 52, 62 back to the back side of the palm 10 to form the first bone members 32, 42, 52, 62 and the second bone member. The inner side of the bone members 33, 43, 53, 63 can hold the surface. Therefore, the user can hold the upper surface of the desk or the like to support the body or hold the paper on the desk.

(8) Effects In the electric prosthetic hand 1 described above, when the first myoelectric signal is detected, the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger are detected by the traction device 200. 60 wires W are pulled. Thereby, in each of the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60, the first rotational moment M1 around the fulcrum c1 is the first bone members 32, 42. , 52, 62. Further, the second rotation moment M2 around the fulcrum c2 acts on the second bone members 33, 43, 53, 63.

  The first rotation moment M1 is larger than the second rotation moment M2, and the first rotation moment M1 and the second rotation moment M2 act toward the inside of the palm portion 10. Thus, after the first bone members 32, 42, 52, 62 are bent toward the inside of the palm 10 at the fulcrum c1, the second bone members 33, 43, 53, 63 are palm crest 10 at the fulcrum c2. Bend towards the inside of the

  Usually, when the subject is gripped by a healthy hand, a plurality of joints of each finger bend in order of proximity to the palm. According to the above configuration, after the first bone members 32, 42, 52, 62 are bent at the fulcrum c1 near the palm 10, the second bone members 33, 43, 53 at the fulcrum c2 far from the palm 10 , 63 bends. Therefore, natural gripping operation close to the normal hand becomes possible. As a result, the user can easily grasp the object with a sense close to that of the normal hand.

(9) Other Embodiments (9-a) In the above embodiment, the first finger 20 is the second finger 30, the third finger 40, the fourth finger 50 and the fifth finger 60. Have a different configuration. The first finger 20 is not limited to the above example, and may have basically the same configuration as the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60. In this case, the tip of the first finger 20 can be brought close to the tips of the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60. Therefore, a natural gripping operation closer to a healthy hand is realized. Moreover, it becomes possible to grasp an object quickly.

  (9-b) In the above embodiment, each of the second finger 30, the third finger 40, the fourth finger 50 and the fifth finger 60 is configured to be bendable at two fulcrums c1 and c2. However, the present invention is not limited thereto. Each of the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60 may be configured to be bendable at three or more supporting points.

  For example, in the case where each of the second finger 30, the third finger 40, the fourth finger 50, and the fifth finger 60 is configured to be bendable at three supporting points, each finger holds the object. When doing, it is comprised so that it may bend sequentially from the fulcrum near the palm part 10. Thereby, a natural grasping motion closer to a healthy hand is realized.

The present invention can be effectively used for a movable prosthetic hand or a robot hand configured to be able to grip an object.
(10) Reference form
(1) The movable prosthetic hand according to the present embodiment includes the palm portion, the first bone member bendable at the first support point with respect to the palm portion, and the second support member bent at the second support point. A first bone member comprising a possible second bone member, a wire provided from the palm along the first bone member and the second bone, and a pulling means for pulling the wire from the palm side; Is provided with a guide for slidably guiding the wire at a position different from the first fulcrum, and the second bone member is fixed to fix the tip of the wire at a position different from the second fulcrum And the pulling means pulls the wire so that the first rotational moment about the first support acts on the first bone member in one direction, and the second rotation around the second support The moment acts on the second bone member in one direction, and the guide portion and the fixing portion have the first rotation moment at the second time. The traction means is arranged such that the first bone member is bent in one direction at the first fulcrum by the first rotational moment, and then the second bone member is caused by the second rotational moment. The wire is pulled so as to bend in one direction at the second fulcrum.
In the movable prosthetic hand, the wire is pulled from the palm side by the pulling means. Thereby, the first rotation moment around the first supporting point acts on the first bone member. Further, the fixed portion of the second bone member is pulled toward the guide portion of the first bone member, whereby the second rotational moment around the second supporting point acts on the second bone member.
The first rotation moment is larger than the second rotation moment, and the first rotation moment and the second rotation moment act in one direction. Thereby, the first bone member is bent in one direction at the first fulcrum, and then the second bone member is bent in one direction at the second fulcrum.
Usually, when the subject is gripped by a healthy hand, a plurality of joints of each finger bend in order of proximity to the palm. According to the above configuration, the bending of the second bone member is started after the bending of the first bone member near the palm portion is started. Therefore, natural gripping operation close to the normal hand becomes possible. As a result, the user can easily grasp the object with a sense close to that of the normal hand.
(2) The first finger is provided on one side of the palm, and the second finger, the third finger, the fourth finger, and the fifth finger are provided in this order at one end of the palm. The first finger is provided such that the tip of the first finger is opposed to the second finger or the third finger inside the palm, and the second finger, the third finger, the fourth finger Each of the fifth and fifth artificial fingers is composed of the first bone member, the second bone member, and the wire, and is bent at the first and second supporting points by the pulling of the wire by the pulling means, and the second finger, the second finger The palm portion may be bent or curved so that the tips of the fourth and fifth prosthetic fingers approach the tip of the first finger due to the flexion of the third, fourth and fifth prosthetic fingers .
According to the above configuration, by bending the fourth and fifth artificial fingers in a state in which the first artificial finger is opposed to the second and third artificial fingers, the fourth and fifth artificial fingers can be obtained. The tip of the finger can be brought closer to the tip of the first artificial finger. Thus, not only between the second and first prostheses and between the third and first prostheses but also between the fourth and first prostheses and the fifth A gripping force can be generated between itself and the first artificial finger. Therefore, the object can be gripped in a stable posture by the first, second, third, fourth and fifth artificial fingers.
(3) The first bone member is capable of bending (dorsiflexion) in a direction opposite to one direction at the first fulcrum so as to be directed to the back side of the palm while the pulling by the pulling means is released. It may be configured.
In this case, the user holds the body by holding the inner side of the first bone member and the second bone member while bending the first bone member to the back side of the palm portion, or holds the desk Can hold paper etc.
(4) When the palm portion, the first bone member and the second bone member are covered with the cover member made of rubber or elastic resin, and the pulling of the wire by the pulling means is released, the restoring force of the cover member One bone member and the second bone member may be restored to the pre-traction state.
The cover member has a design function. Also, the cover member has a protective function to protect the first bone member and the second bone member. According to the above configuration, the state of the first bone member and the second bone member is restored by the restoring force of the cover member. Therefore, since the cover member having the design function and the protection function further has the restoration function of the first bone member and the second bone member, it is possible to provide the first bone member and the second bone member with a restoring force. There is no need to provide a separate member. As a result, the number of parts is reduced and the structure is simplified. As a result, production of the movable artificial hand is facilitated, and cost reduction is realized.
(5) The first bone member and the second bone member may be integrally formed of an elastic member, and the elastic member may be configured to be bendable at the first fulcrum and the second fulcrum.
In this case, when the pulling means pulls the wire, the elastic member is bent sequentially at the first fulcrum and the second fulcrum. After that, when the pulling of the wire by the pulling means is released, the elastic member autonomously restores to the state before pulling.
Therefore, since it is not necessary to separately provide a member for applying a restoring force to the first bone member and the second bone member, the number of parts is reduced and the structure is simplified. As a result, production of the movable artificial hand is facilitated, and cost reduction is realized.

DESCRIPTION OF SYMBOLS 1 Electric prosthetic hand 10 palm part 20 1st finger, 21, 31, 41, 51, 61 Support member 22 Bone member 30 2nd finger 32, 42, 52, 62 1st bone member 33, 43, 53, 63 2 bone members 40 third finger 44, 45, 46 support piece 50 fourth finger 60 fifth finger 100, 100X prosthesis main body 110, 110X first palm plate 110a, 110b, 120a, 120b flat plate 120 , 120X second palm plate 130 wire connecting member 140 support shaft 150 M belt-like elastic plate 200 pulling device 210 motor casing 220 motor 221 rotation shaft 222 spool 300 mounting member 400 control device 500 cover member b1, b2 rear end portion BT power supply device c1 , C2 fulcrum EM elastic member F force f1, f2 front end g guide part h elongated hole hb human body j fixed part k1 k2, k3 holes n notches M1 first rotational moment M2 second rotational moment N force p1, p2 pin Q connecting member S1, S2 muscle photoelectric sensor W, W1 wire rod W23, W45 common wire

Claims (5)

Palm part,
A first bone member bendable at a first supporting point with respect to the palm portion;
A second bone member bendable at a second supporting point with respect to the first bone member;
A wire provided along the first bone member and the second bone member from the palm portion;
Pulling means for pulling the wire from the palm side ;
And a cover member covering the palm portion, the first bone member and the second bone member and having elasticity .
The first bone member is provided with a guide for slidably guiding the wire at a position different from the first fulcrum,
The second bone member is provided with a fixing portion for fixing the tip of the wire at a position different from the second supporting point,
When the pulling means pulls the wire, a first rotational moment around the first supporting point acts on the first bone member in one direction, and a second rotating around the second supporting point A moment acts on the second bone member in the one direction,
The guide portion and the fixing portion are disposed such that the first rotational moment is larger than the second rotational moment.
In the pulling means, the first bone member is bent in the one direction at the first supporting point by the first rotational moment, and then the second bone member is subjected to the second rotational moment by the second rotational moment. of to be bent in the one direction with a fulcrum, and pulling the wire,
A movable prosthetic hand , wherein when the pulling of the wire by the pulling means is weakened or released, the first bone member and the second bone member are restored to a pre-traction state by the restoring force of the cover member . A first finger is provided on one side of the palm, and a second finger, a third finger, a fourth finger, and a fifth finger are provided in this order at one end of the palm. The first finger is provided such that the tip of the first finger can face the second finger or the third finger inside the palm portion,
Each of the second finger, the third finger, the fourth finger and the fifth finger comprises the first bone member, the second bone member and the wire, and the pulling means Bending at the first and second fulcrums by pulling the wire by
The tip of the fourth finger and the fifth finger is directed toward the tip of the first finger by bending the second finger, the third finger, the fourth finger and the fifth finger. The movable artificial hand according to claim 1, wherein the palm portion is bent or curved so as to approach. When the pulling by the pulling means is released , the first bone member is moved from the state defined by the cover member to the one side at the first fulcrum so as to go to the back side of the palm portion. The movable artificial hand according to claim 1 or 2, configured to be bendable in the opposite direction. When the pulling means pulls the wire, a distance from the guide portion to the pulling means side of the wire with respect to the first bone member according to the bending angle of the first bone member The angle formed by the portion 1 changes, and the second portion from the fixed portion to the guide portion of the wire forms with respect to the second bone member according to the bending angle of the second bone member. The movable artificial hand according to any one of claims 1 to 3 , wherein the angle changes . The first bone member and the second bone member are integrally formed of an elastic member, and the elastic member is configured to be bendable at the first fulcrum and the second fulcrum. The movable artificial hand according to any one of 1 to 4.

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