JP7078926B2 - Active prosthesis - Google Patents

Active prosthesis Download PDF

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JP7078926B2
JP7078926B2 JP2018020975A JP2018020975A JP7078926B2 JP 7078926 B2 JP7078926 B2 JP 7078926B2 JP 2018020975 A JP2018020975 A JP 2018020975A JP 2018020975 A JP2018020975 A JP 2018020975A JP 7078926 B2 JP7078926 B2 JP 7078926B2
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finger
fixed
telescopic member
working fluid
movable
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JP2019136225A (en
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弘太郎 西川
健太郎 平田
昌弘 高岩
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Okayama University NUC
Institute of National Colleges of Technologies Japan
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Okayama University NUC
Institute of National Colleges of Technologies Japan
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Description

この発明は、上肢切断者の利用に供される能動義手に関する。 The present invention relates to an active prosthesis used for use by an amputee.

上肢切断者は日本国内におよそ８．２万人存在する。上肢切断者のほとんどは、装飾義手を使用している。装飾義手は、見た目にも違和感がない装飾性の高いものが存在するが、使用者がこれを能動的に動かすことはできない。一方、筋電義手は、使用者の筋肉の筋電位を利用して指を能動的に動かすことができる。このため、使用者は、筋電義手を用いることで物を把持することができるが、その使用には訓練を要するなど課題も多い。 There are about 82,000 amputees in Japan. Most amputees use decorative prostheses. There are highly decorative artificial hands that do not look strange, but the user cannot actively move them. On the other hand, the myoelectric prosthetic hand can actively move the finger by utilizing the myoelectric potential of the user's muscle. Therefore, the user can grasp an object by using a myoelectric prosthetic hand, but there are many problems such as training is required to use the object.

特開２０１６－６７６３６号公報Japanese Unexamined Patent Publication No. 2016-67636

上述したように、装飾義手では、対象物を把持することはできず、利用者の生活利便性の向上には寄与しない。筋電義手には、重量・コスト・公的制度・訓練施設の不備などの問題があり、現時点でほとんど社会に普及していない。このため、義手使用者が軽量・安価な義手を求めている中で、需要と供給がマッチしていない。 As described above, the decorative prosthesis cannot grip the object and does not contribute to the improvement of the user's living convenience. Myoelectric prosthetic hands have problems such as weight, cost, public system, and inadequate training facilities, and are not widely used in society at this time. For this reason, while prosthetic hand users are seeking lightweight and inexpensive prosthetic hands, supply and demand do not match.

本発明の目的とするところは、義手使用者の生活利便性の向上に資する、簡単構造で、軽量かつ安価な能動義手を提供することにある。 An object of the present invention is to provide an active artificial hand having a simple structure, light weight, and low cost, which contributes to improving the living convenience of the artificial hand user.

この発明の一態様に係る能動義手は、固定指が固定されたベース部と、前記ベース部に対して回転可能に設けられ、使用者の腕が差し込まれるホルダ部と、前記固定指よりも先端側に設けられた可動指と、前記固定指と前記可動指との間の位置に設けられ、伸縮可能な筒状の伸縮部材と、前記伸縮部材と並列に設けられたヒンジ部であって、前記固定指の延びる方向と前記可動指の延びる方向とが略平行になった伸び位置と、前記固定指の延びる方向に対して前記可動指の延びる方向が交差した曲げ位置と、の間で回動可能に前記固定指と前記可動指とを連結するヒンジ部と、内部に作動流体が貯留された駆動部であって、前記ホルダ部の回転運動を用いて前記作動流体を加圧することで、前記伸縮部材内に前記作動流体を送って前記ヒンジ部の周りを旋回するように前記伸縮部材を伸長させ、前記伸び位置から前記曲げ位置にする駆動部と、前記可動指を前記伸び位置に向けて付勢する付勢部材と、を備える。
この発明の一態様に係る能動義手は、固定指が固定されたベース部と、前記ベース部に対して回転可能に設けられ、使用者の腕が差し込まれるホルダ部と、前記固定指よりも先端側に設けられた可動指と、前記固定指と前記可動指との間の位置に設けられ、伸縮可能な筒状の伸縮部材と、前記伸縮部材と並列に設けられたヒンジ部であって、前記固定指の延びる方向と前記可動指の延びる方向とが略平行になった伸び位置と、前記固定指の延びる方向に対して前記可動指の延びる方向が交差した曲げ位置と、の間で回動可能に前記固定指と前記可動指とを連結するヒンジ部と、内部に作動流体が貯留された駆動部であって、前記ホルダ部の回転運動を用いて前記作動流体を加圧することで、前記伸縮部材内に前記作動流体を送って前記ヒンジ部の周りを旋回するように前記伸縮部材を伸長させ、前記伸び位置から前記曲げ位置にする駆動部と、前記可動指に設けられ、内部に第２作動流体を貯留するとともに、把持対象物に当接することで圧縮される有底筒状の第２伸縮部材と、前記使用者の腕に当接する位置に設けられ、圧縮された前記第２伸縮部材から送られる前記第２作動流体を受け取って伸長することで前記使用者の腕を押圧する有底筒状の第３伸縮部材と、を備える。
この発明の一態様に係る能動義手は、固定指が固定されたベース部と、前記ベース部に対して回転可能に設けられ、使用者の腕が差し込まれるホルダ部と、前記固定指よりも先端側に設けられた可動指と、前記固定指と前記可動指との間の位置に設けられ、伸縮可能な筒状の伸縮部材と、前記伸縮部材と並列に設けられたヒンジ部であって、前記固定指の延びる方向と前記可動指の延びる方向とが略平行になった伸び位置と、前記固定指の延びる方向に対して前記可動指の延びる方向が交差した曲げ位置と、の間で回動可能に前記固定指と前記可動指とを連結するヒンジ部と、内部に作動流体が貯留された駆動部であって、前記ホルダ部の回転運動を用いて前記作動流体を加圧することで、前記伸縮部材内に前記作動流体を送って前記ヒンジ部の周りを旋回するように前記伸縮部材を伸長させ、前記伸び位置から前記曲げ位置にする駆動部と、を備える。前記駆動部は、前記ベース部に固定された第１板状部と、前記ホルダ部に固定され前記ホルダ部の回転に伴い前記第１板状部に対して回転する第２板状部と、前記第１板状部と前記第２板状部との間に設けられ内部に前記作動流体を貯留したバルーン状部であって、前記ベース部に対して前記ホルダ部が回転する際に前記第１板状部と前記第２板状部との間に挟まれて前記伸縮部材内に前記作動流体を送るバルーン状部と、を有する。
この発明の一態様に係る能動義手は、固定指が固定されたベース部と、前記ベース部に対して回転可能に設けられ、使用者の腕が差し込まれるホルダ部と、前記固定指よりも先端側に設けられた可動指と、前記固定指と前記可動指との間の位置に設けられ、伸縮可能な筒状の伸縮部材と、前記伸縮部材と並列に設けられたヒンジ部であって、前記固定指の延びる方向と前記可動指の延びる方向とが略平行になった伸び位置と、前記固定指の延びる方向に対して前記可動指の延びる方向が交差した曲げ位置と、の間で回動可能に前記固定指と前記可動指とを連結するヒンジ部と、内部に作動流体が貯留された駆動部であって、前記ホルダ部の回転運動を用いて前記作動流体を加圧することで、前記伸縮部材内に前記作動流体を送って前記ヒンジ部の周りを旋回するように前記伸縮部材を伸長させ、前記伸び位置から前記曲げ位置にする駆動部と、を備える。前記駆動部は、前記ホルダ部の外側に前記ホルダ部の中心軸と略平行に設けられた伸縮性のあるチューブで構成されるとともに、当該チューブ内部に前記作動流体を貯留し、当該チューブは、一端で前記ベース部に固定されるとともに他端で前記ホルダ部の基部側に固定され、前記ホルダ部が前記ベース部に対して回転することで伸長して前記伸縮部材内に前記作動流体を送る。 The active prosthesis according to one aspect of the present invention has a base portion to which a fixed finger is fixed, a holder portion rotatably provided with respect to the base portion into which a user's arm is inserted, and a tip more than the fixed finger. A movable finger provided on the side, a tubular telescopic member provided at a position between the fixed finger and the movable finger, and a hinge portion provided in parallel with the telescopic member. Rotation between the extension position where the extension direction of the fixed finger and the extension direction of the movable finger are substantially parallel to each other and the bending position where the extension direction of the movable finger intersects the extension direction of the fixed finger. A hinge portion that movably connects the fixed finger and the movable finger, and a drive portion in which the working fluid is stored, by pressurizing the working fluid by using the rotational movement of the holder portion. The telescopic member is extended so as to send the working fluid into the telescopic member so as to swivel around the hinge portion, and the drive portion from the stretched position to the bent position and the movable finger are directed toward the stretched position. It is provided with an urging member for urging .
The active prosthesis according to one aspect of the present invention has a base portion to which a fixed finger is fixed, a holder portion rotatably provided with respect to the base portion into which a user's arm is inserted, and a tip more than the fixed finger. A movable finger provided on the side, a tubular telescopic member provided at a position between the fixed finger and the movable finger, and a hinge portion provided in parallel with the telescopic member. Rotation between the extension position where the extension direction of the fixed finger and the extension direction of the movable finger are substantially parallel to each other and the bending position where the extension direction of the movable finger intersects the extension direction of the fixed finger. A hinge portion that movably connects the fixed finger and the movable finger, and a drive portion in which the working fluid is stored, by pressurizing the working fluid by using the rotational movement of the holder portion. A drive unit that sends the working fluid into the telescopic member to extend the telescopic member so as to swivel around the hinge portion and shifts the telescopic member from the stretched position to the bent position, and a movable finger provided inside. The bottomed tubular second telescopic member that stores the second working fluid and is compressed by abutting on the gripping object, and the second that is provided and compressed at a position that abuts on the user's arm. It includes a bottomed tubular third telescopic member that presses the user's arm by receiving and extending the second working fluid sent from the telescopic member.
The active prosthesis according to one aspect of the present invention has a base portion to which a fixed finger is fixed, a holder portion rotatably provided with respect to the base portion into which a user's arm is inserted, and a tip more than the fixed finger. A movable finger provided on the side, a tubular telescopic member provided at a position between the fixed finger and the movable finger, and a hinge portion provided in parallel with the telescopic member. Rotation between the extension position where the extension direction of the fixed finger and the extension direction of the movable finger are substantially parallel to each other and the bending position where the extension direction of the movable finger intersects the extension direction of the fixed finger. A hinge portion that movably connects the fixed finger and the movable finger, and a drive portion in which the working fluid is stored, by pressurizing the working fluid by using the rotational movement of the holder portion. It is provided with a drive unit that sends the working fluid into the telescopic member to extend the telescopic member so as to swivel around the hinge portion and shifts the telescopic member from the stretched position to the bent position. The drive unit includes a first plate-shaped portion fixed to the base portion, a second plate-shaped portion fixed to the holder portion and rotated with respect to the first plate-shaped portion as the holder portion rotates. A balloon-shaped portion provided between the first plate-shaped portion and the second plate-shaped portion and accommodating the working fluid inside, and the first plate-shaped portion when the holder portion rotates with respect to the base portion. It has a balloon-shaped portion that is sandwiched between the plate-shaped portion and the second plate-shaped portion and sends the working fluid into the telescopic member .
The active prosthesis according to one aspect of the present invention has a base portion to which a fixed finger is fixed, a holder portion rotatably provided with respect to the base portion into which a user's arm is inserted, and a tip more than the fixed finger. A movable finger provided on the side, a tubular telescopic member provided at a position between the fixed finger and the movable finger, and a hinge portion provided in parallel with the telescopic member. Rotation between the extension position where the extension direction of the fixed finger and the extension direction of the movable finger are substantially parallel to each other and the bending position where the extension direction of the movable finger intersects the extension direction of the fixed finger. A hinge portion that movably connects the fixed finger and the movable finger, and a drive portion in which the working fluid is stored, by pressurizing the working fluid by using the rotational movement of the holder portion. It is provided with a drive unit that sends the working fluid into the telescopic member to extend the telescopic member so as to swivel around the hinge portion and shifts the telescopic member from the stretched position to the bent position. The drive unit is composed of an elastic tube provided on the outside of the holder portion substantially parallel to the central axis of the holder portion, and stores the working fluid inside the tube. It is fixed to the base portion at one end and fixed to the base portion side of the holder portion at the other end, and the holder portion extends by rotating with respect to the base portion to send the working fluid into the expansion / contraction member. ..

図１は、実施形態に係る能動義手の全体構成を示した概略図である。FIG. 1 is a schematic view showing the overall configuration of an active prosthesis according to an embodiment. 図２は、図１に示す能動義手を使用者に装着した状態を示した斜視図である。FIG. 2 is a perspective view showing a state in which the active prosthesis shown in FIG. 1 is attached to the user. 図３は、図１に示す能動義手の駆動部および指部周りを拡大して示す斜視図である。FIG. 3 is an enlarged perspective view of the driving portion and the finger portion of the active prosthesis shown in FIG. 図４は、図１に示す能動義手の動力伝達を模式的に示した模式図である。FIG. 4 is a schematic diagram schematically showing the power transmission of the active prosthesis shown in FIG. 図５は、図１に示す能動義手の伸縮部材およびヒンジ部を拡大して示し、伸縮部材をその軸線を通る面で切断して内部を示した断面模式図である。FIG. 5 is an enlarged cross-sectional schematic view showing the expansion / contraction member and the hinge portion of the active prosthesis shown in FIG. 1 and the inside of the expansion / contraction member cut along a plane passing through the axis thereof. 図６は、無負荷状態における、ホルダ部の回外角αと、伸縮部材の内部の圧力Ｐと、の関係を示すグラフである。FIG. 6 is a graph showing the relationship between the turning angle α of the holder portion and the pressure P inside the telescopic member in the no-load state. 図７は、無負荷状態における、回外角αとヒンジ部のなす角θ（図５参照）の関係を示すグラフである。FIG. 7 is a graph showing the relationship between the turning angle α and the angle θ formed by the hinge portion (see FIG. 5) in the no-load state. 図８は、負荷状態における、ホルダ部の回外角αと、伸縮部材の内部の圧力Ｐと、の関係を示すグラフである。FIG. 8 is a graph showing the relationship between the turning angle α of the holder portion and the pressure P inside the telescopic member in the load state. 図９は、回外角速度ωと可動指指先速度ｖとの関係を示すグラフである。FIG. 9 is a graph showing the relationship between the supination angular velocity ω and the movable fingertip velocity v. 図１０は、回外角αおよび伸縮部材の内部の圧力Ｐが時間経過に伴いどのように変化するかを示したグラフである。FIG. 10 is a graph showing how the turning angle α and the pressure P inside the telescopic member change with the passage of time. 図１１は、第１変形例にかかる能動義手の第２伸縮部材および第３伸縮部材を模式的に示した模式図である。FIG. 11 is a schematic diagram schematically showing a second telescopic member and a third telescopic member of the active prosthesis according to the first modification. 図１２は、図１１に示す第１変形例にかかる能動義手の第３バンド部材、平板部、および第２伸縮部材を示した斜視図である。FIG. 12 is a perspective view showing a third band member, a flat plate portion, and a second telescopic member of the active prosthesis according to the first modification shown in FIG. 図１３は、第３バンド部材、平板部、および第２伸縮部材を使用者の上腕に装着した状態を示した斜視図である。FIG. 13 is a perspective view showing a state in which the third band member, the flat plate portion, and the second telescopic member are attached to the upper arm of the user. 図１４は、時間経過に対して、ホルダ部の回外角αと、第３伸縮部材から使用者の腕に加えられる力の測定値と、の関係を示すグラフである。FIG. 14 is a graph showing the relationship between the turning angle α of the holder portion and the measured value of the force applied to the user's arm from the third telescopic member with respect to the passage of time. 図１５は、第２変形例の能動義手のホルダ部、変換機構、およびピストンロッドを示した模式図である。FIG. 15 is a schematic view showing the holder portion of the active prosthesis, the conversion mechanism, and the piston rod of the second modification. 図１６は、第３変形例の能動義手の全体構成を示した模式図である。FIG. 16 is a schematic diagram showing the overall configuration of the active prosthesis of the third modification. 図１７は、図１６に示す能動義手の動力伝達を模式的に示した模式図である。FIG. 17 is a schematic diagram schematically showing the power transmission of the active prosthesis shown in FIG. 図１８は、第４変形例の能動義手のホルダ部、指部、およびポンプ部周りを拡大して示した模式図である。FIG. 18 is an enlarged schematic view of the holder portion, the finger portion, and the pump portion of the active prosthesis of the fourth modification. 図１９は、図１８のＦ１９－Ｆ１９線の位置に沿った断面模式図である。FIG. 19 is a schematic cross-sectional view taken along the position of the line F19-F19 in FIG. 図２０は、第５変形例の能動義手のホルダ部、ポンプ部（第１固定部、第２固定部、チューブ）周りを拡大して示した模式図である。FIG. 20 is a schematic view showing an enlarged view of the holder portion and the pump portion (first fixing portion, second fixing portion, tube) of the active prosthesis of the fifth modification.

以下、図面を参照しながら能動義手の実施形態について説明する。下記実施形態の能動義手は、モータやソレノイド等の電動アクチュエータおよびコンプレッサ等の外部動力源を用いないで、人力によるマニュアル式で指部を回動できる非電動で且つ指部を可動できるタイプの義手である。また、下記能動義手は、主として、前腕部に切断断端を有する患者に利用される義手である。 Hereinafter, embodiments of the active prosthesis will be described with reference to the drawings. The active prosthesis of the following embodiment is a non-electric type prosthesis that can manually rotate the finger without using an electric actuator such as a motor or solenoid and an external power source such as a compressor. Is. In addition, the following active prosthesis is a prosthesis mainly used for patients having a cut stump in the forearm.

[第１実施形態]
図１から図９を参照して、能動義手の第１実施形態について説明する。図１、図２に示すように、能動義手１１は、断面Ｌ字形に折れ曲がった板状をなしたベース部１２と、ベース部１２の先端側に取り付けられた指部１３と、同じくベース部１２の先端側に取り付けられた第２指部１４と、ベース部１２に対して固定的に設けられた駆動部１５と、使用者の腕１６（残存肢）の先端部が差し込まれるホルダ部１７と、ホルダ部１７を回転可能に支持する回転軸１８と、能動義手１１を使用者の腕１６に対して固定するためのソケット部２１と、を備える。 [First Embodiment]
The first embodiment of the active prosthesis will be described with reference to FIGS. 1 to 9. As shown in FIGS. 1 and 2, the active prosthesis 11 has a plate-shaped base portion 12 bent into an L-shaped cross section, a finger portion 13 attached to the tip end side of the base portion 12, and the base portion 12 as well. A second finger portion 14 attached to the tip side of the body, a drive portion 15 fixedly provided to the base portion 12, and a holder portion 17 into which the tip portion of the user's arm 16 (remaining limb) is inserted. A rotating shaft 18 that rotatably supports the holder portion 17 and a socket portion 21 for fixing the active prosthesis 11 to the user's arm 16 are provided.

図３に示すように、ベース部１２は、使用者の腕１６の軸方向（指部１３の延びる方向）と平行に方向に延びた第１板２２と、使用者の腕１６の軸方向と交差する方向に延びた第２板２３と、第１板２２と第２板２３とに跨る補強用の第３板２４と、を有する。ベース部１２は、第１板２２と第２板２３によって、「Ｌ」字形をなしている。第１板２２、第２板２３、第３板２４は、一体的に形成される。第２板２３は、後述するホルダ部１７の回転軸１８が通される貫通孔２５を有する。第３板２４は、三角形状をなしている。 As shown in FIG. 3, the base portion 12 includes a first plate 22 extending in a direction parallel to the axial direction of the user's arm 16 (the extending direction of the finger portion 13) and the axial direction of the user's arm 16. It has a second plate 23 extending in an intersecting direction, and a reinforcing third plate 24 straddling the first plate 22 and the second plate 23. The base portion 12 has an "L" shape due to the first plate 22 and the second plate 23. The first plate 22, the second plate 23, and the third plate 24 are integrally formed. The second plate 23 has a through hole 25 through which the rotation shaft 18 of the holder portion 17, which will be described later, is passed. The third plate 24 has a triangular shape.

駆動部１５は、指部１３の回動動作を駆動する。駆動部１５は、ベース部１２に対して一体的に設けられた円筒形のポンプ部２６と、ポンプ部２６の内側に差し込まれたピストンロッド２７と、ホルダ部１７とピストンロッド２７との間に介在された変換機構２８と、ポンプ部２６と指部１３の伸縮部材３１とを接続した送り管３２と、を有する。 The drive unit 15 drives the rotational operation of the finger unit 13. The drive unit 15 is located between the cylindrical pump unit 26 provided integrally with the base unit 12, the piston rod 27 inserted inside the pump unit 26, and the holder unit 17 and the piston rod 27. It has an intervening conversion mechanism 28, and a feed pipe 32 connecting the pump portion 26 and the expansion / contraction member 31 of the finger portion 13.

図３、図４に示すように、ポンプ部２６は、円筒形に形成された外殻部３３と、外殻部３３の内側に収納された中空のベローズ３４と、外殻部３３と一体的に設けられベース部１２に固定された補強用リブ３５と、を有する。外殻部３３は、ホルダ部１７の回転軸１８を支持するためのボス３６を有する。ボス３６には、使用者の腕１６の軸方向（ピストンロッド２７と平行な方向）に延びた第２貫通孔３７が設けられている。第２貫通孔３７には、回転軸１８が通される。ポンプ部２６は、後述するように３Ｄプリンティングによってベース部１２と一体的に三次元造形されているが、ベース部１２に対して例えばねじ等で着脱可能な構造となっていてもよい。補強用リブ３５は、ポンプ部２６の外殻部３３の端部と一体的に設けられる。補強用リブ３５は、３Ｄプリンティングによってベース部１２と一体的に三次元造形されていてもよい。なお、ポンプ部２６の内部空間（外殻部３３とピストンロッド２７のピストン部２７Ｂで規定される空間）を高気密に構成した場合には、ベローズ３４を省略することもできる。 As shown in FIGS. 3 and 4, the pump portion 26 is integrated with the outer shell portion 33 formed in a cylindrical shape, the hollow bellows 34 housed inside the outer shell portion 33, and the outer shell portion 33. It has a reinforcing rib 35 provided in the base portion 12 and fixed to the base portion 12. The outer shell portion 33 has a boss 36 for supporting the rotation shaft 18 of the holder portion 17. The boss 36 is provided with a second through hole 37 extending in the axial direction (direction parallel to the piston rod 27) of the user's arm 16. A rotation shaft 18 is passed through the second through hole 37. As will be described later, the pump portion 26 is three-dimensionally formed integrally with the base portion 12 by 3D printing, but may have a structure that can be attached to and detached from the base portion 12 by, for example, a screw. The reinforcing rib 35 is provided integrally with the end portion of the outer shell portion 33 of the pump portion 26. The reinforcing rib 35 may be three-dimensionally formed integrally with the base portion 12 by 3D printing. When the internal space of the pump portion 26 (the space defined by the outer shell portion 33 and the piston portion 27B of the piston rod 27) is configured to be highly airtight, the bellows 34 may be omitted.

ピストンロッド２７は、円筒形の外殻部３３の奥部に向かって押し込まれることで、ベローズ３４をその軸方向に圧縮できる。ピストンロッド２７は、細長い棒状をなした軸部２７Ａと、軸部２７Ａの先端側に設けられた略円盤形のピストン部２７Ｂ（ヘッド）と、を有する。ピストンロッド２７は、ポンプ部２６の円筒形の軸方向に沿って進退移動することができる。ピストン部２７Ｂには、外殻部３３の内周面に対する滑り性を向上するためにフッ素樹脂等、各種のコーティングがなされていてもよいし、或いはグリース等の潤滑油が塗布されていてもよい。 The piston rod 27 can compress the bellows 34 in the axial direction by being pushed toward the inner part of the cylindrical outer shell portion 33. The piston rod 27 has an elongated rod-shaped shaft portion 27A and a substantially disk-shaped piston portion 27B (head) provided on the tip end side of the shaft portion 27A. The piston rod 27 can move forward and backward along the cylindrical axial direction of the pump portion 26. The piston portion 27B may be coated with various coatings such as fluororesin or a lubricating oil such as grease in order to improve the slipperiness of the outer shell portion 33 with respect to the inner peripheral surface. ..

図３に示すように、軸部２７Ａの先端は、例えば、半球形に形成され、変換機構２８のカム面２８Ａ上に当接し、当該カム面２８Ａ上を滑って滑らかに移動することができる。ベローズ３４は、柔軟性のある樹脂材料、例えばポリエチレン等によって形成される。ベローズ３４は、有底の円筒形をなしている。ベローズ３４の構成は、後述する指部１３の伸縮部材３１と略同様である。ベローズ３４および伸縮部材３１は、３Ｄプリンティングによってゴム状の弾性材料で形成されてもよい。３Ｄプリンティングに最適な材料としては、熱可塑性エラストマーやシリコーンゴム等がある。 As shown in FIG. 3, the tip of the shaft portion 27A is formed in a hemispherical shape, for example, abuts on the cam surface 28A of the conversion mechanism 28, and can slide and smoothly move on the cam surface 28A. The bellows 34 is made of a flexible resin material such as polyethylene. The bellows 34 has a bottomed cylindrical shape. The structure of the bellows 34 is substantially the same as that of the telescopic member 31 of the finger portion 13 described later. The bellows 34 and the telescopic member 31 may be formed of a rubber-like elastic material by 3D printing. Optimal materials for 3D printing include thermoplastic elastomers and silicone rubber.

変換機構２８は、ホルダ部１７の回転運動をピストンロッド２７の進退運動に変換するカム部で構成される。変換機構２８（カム部）は、細長い平板が回転軸１８の周囲に巻き付いた形状をなしており、回転軸１８を中心とした螺旋状をなしている。変換機構２８の表面には、ピストンロッド２７の端部が当接する平滑なカム面２８Ａが設けられている。カム面２８Ａには、ピストンロッド２７の滑り性を向上するためにフッ素樹脂等、各種のコーティングがなされていてもよいし、或いはグリース等の潤滑油が塗布されていてもよい。 The conversion mechanism 28 includes a cam portion that converts the rotational movement of the holder portion 17 into the forward / backward movement of the piston rod 27. The conversion mechanism 28 (cam portion) has a shape in which an elongated flat plate is wound around the rotation shaft 18 and has a spiral shape centered on the rotation shaft 18. The surface of the conversion mechanism 28 is provided with a smooth cam surface 28A to which the end of the piston rod 27 abuts. The cam surface 28A may be coated with various coatings such as fluororesin in order to improve the slipperiness of the piston rod 27, or may be coated with lubricating oil such as grease.

送り管３２は、合成樹脂等によって形成された可撓性を有する一般的なチューブで構成される。送り管３２は、ポンプ部２６内のベローズ３４と、指部１３の伸縮部材３１と、を接続している。本実施形態において、送り管３２が外部に露出するように設けられているが、送り管３２が指部１３の固定指６１の内部に通されていても当然によい。このような構造をとることによって、使用の際に送り管３２が周辺の構造物に引っ掛かってしまうことが防止される。 The feed tube 32 is composed of a general tube having flexibility formed of a synthetic resin or the like. The feed pipe 32 connects the bellows 34 in the pump portion 26 and the telescopic member 31 of the finger portion 13. In the present embodiment, the feed tube 32 is provided so as to be exposed to the outside, but it is naturally acceptable that the feed tube 32 is passed through the inside of the fixed finger 61 of the finger portion 13. By adopting such a structure, it is possible to prevent the feed pipe 32 from being caught in the surrounding structure during use.

ホルダ部１７は、ベース部１２に対して回転可能に設けられている。ホルダ部１７は、使用者の腕１６（残存肢）の断端付近が差し込まれるカップ状（コーン状）をなしている。ホルダ部１７は、上肢切断者の断端付近の形状に相補的な形状のカップ形状ないしコーン形状を有することが好ましいが、一般的な錐台形をなしたカップ形状であってもよい。 The holder portion 17 is rotatably provided with respect to the base portion 12. The holder portion 17 has a cup shape (cone shape) into which the vicinity of the stump of the user's arm 16 (remaining limb) is inserted. The holder portion 17 preferably has a cup shape or a cone shape complementary to the shape near the stump of the upper limb amputee, but may be a cup shape having a general cone trapezoidal shape.

回転軸１８は、例えば、金属製の第１部分１８Ａと、ホルダ部１７に接続された樹脂製の第２部分１８Ｂと、第２部分１８Ｂにおいて半径方向に突出するように形成されたフランジ部分１８Ｃと、を有する。回転軸１８の第２部分１８Ｂは、ホルダ部１７と一体に三次元造形されている。回転軸１８は、後述する３Ｄプリンティングによって全体を樹脂材料のみから形成することも当然にできる。 The rotating shaft 18 is, for example, a metal first portion 18A, a resin second portion 18B connected to the holder portion 17, and a flange portion 18C formed so as to project radially in the second portion 18B. And have. The second portion 18B of the rotating shaft 18 is three-dimensionally formed integrally with the holder portion 17. As a matter of course, the rotating shaft 18 can be entirely formed from only the resin material by 3D printing, which will be described later.

第１部分１８Ａは、第２部分１８Ｂに形成された穴部に差し込まれて第２部分１８Ｂと固定されても良い。或いは、第１部分１８Ａの外周面には雄ねじが形成されていてもよく、第２部分１８Ｂに形成された雌ねじに対して第１部分１８Ａの雄ねじが係合することで第１部分１８Ａが第２部分１８Ｂに固定されてもよい。或いは、第１部分１８Ａを第２部分１８Ｂに対するインサートとして、インサート成形のように第１部分１８Ａに対して３Ｄプリントを施すことで第１部分１８Ａと第２部分１８Ｂとを一体に成形してもよい。 The first portion 18A may be inserted into a hole formed in the second portion 18B and fixed to the second portion 18B. Alternatively, a male screw may be formed on the outer peripheral surface of the first portion 18A, and the male screw of the first portion 18A engages with the female screw formed on the second portion 18B so that the first portion 18A becomes the first. It may be fixed to the two portions 18B. Alternatively, the first portion 18A and the second portion 18B may be integrally molded by using the first portion 18A as an insert for the second portion 18B and performing 3D printing on the first portion 18A as in insert molding. good.

ホルダ部１７の内周面には、使用者の腕１６の断端との摩擦力を高めるために、ゴム状の弾性を有する樹脂によって皮膜を形成してもよい。これによって、使用者の腕１６がホルダ部１７に対してスリップしてしまうことが防止される。或いは、使用者が本実施形態の能動義手１１を長時間利用した際の腕の断端の痛みを低減するために、例えばスポンジ状のクッション部材をホルダ部１７の内周面に設けても当然によい。 A film may be formed on the inner peripheral surface of the holder portion 17 with a resin having rubber-like elasticity in order to increase the frictional force with the stump of the user's arm 16. This prevents the user's arm 16 from slipping with respect to the holder portion 17. Alternatively, in order to reduce the pain at the stump of the arm when the user uses the active prosthesis 11 of the present embodiment for a long time, for example, a sponge-like cushion member may be provided on the inner peripheral surface of the holder portion 17. Good for.

回転軸１８は、ベース部１２の第２板２３に設けられた貫通孔２５と、ポンプ部２６の外殻部３３に設けられたボス３６に形成された第２貫通孔３７と、ホルダ部１７の補強用リブ３５に形成された第３貫通孔３８と、を貫通するように設けられる。したがって、回転軸１８は、３個の軸受によって回転可能に支持されており、回転時にぶれてしまうことが防止される。フランジ部分１８Ｃは、補強用リブ３５に当接している。使用者がホルダ部１７を回転させる際には、使用者の肘から前腕に向かう方向に使用者の腕１６からホルダ部１７に荷重が加えられる。補強用リブ３５は、この荷重を受けることができる。 The rotary shaft 18 has a through hole 25 provided in the second plate 23 of the base portion 12, a second through hole 37 formed in the boss 36 provided in the outer shell portion 33 of the pump portion 26, and a holder portion 17. It is provided so as to penetrate the third through hole 38 formed in the reinforcing rib 35 of the above. Therefore, the rotating shaft 18 is rotatably supported by three bearings, and is prevented from shaking during rotation. The flange portion 18C is in contact with the reinforcing rib 35. When the user rotates the holder portion 17, a load is applied from the user's arm 16 to the holder portion 17 in the direction from the user's elbow to the forearm. The reinforcing rib 35 can receive this load.

図１、図２に示すように、ソケット部２１は、使用者の前腕１６に沿うように設けられる支持部４１と、使用者の上腕に固定される固定部４２と、支持部４１と固定部４２とを回動可能に連結する連結部４３と、を有する。支持部４１は、細長い平板状をなした支持部本体４４と、支持部本体４４を使用者の前腕１６に固定するためのバンド部材４５と、を有する。支持部本体４４は、複数の細長い板材４１Ａ同士をつなぎ合わせて形成され、全体として１つの細長い平板状を構成する。図３に示すように、各板材４１Ａには、一対の長穴４６が形成されている。長穴４６は、板材４１Ａの長手方向に沿って細長く延びている。各板材４１Ａにおける長穴４６同士は、平行である。図３に示すように、板材４１Ａ同士は、長穴４６に通されたねじ４７によって固定される。このため、使用者又は義肢装具士は、長穴４６およびねじ４７を用いて伸縮させたり、或いは、用いられる細長い板材４１Ａの数を増減したりすることで、使用者の前腕１６（残存肢）の長さに合わせて支持部４１の長さを適宜に調節できる。バンド部材４５は、１つの板材４１Ａ（本実施形態では、指部１３から最も遠い位置にある板材４１Ａ）の一対の長穴４６に通されており、使用者の前腕１６と板材４１Ａ（支持部４１）とを固定する。なお、支持部４１の形状は、細長い平板状に限られるものではない。支持部４１の形状は、例えば、使用者の腕（前腕１６）のカーブにフィットするように湾曲した断面を有する細長い形状（例えば、半円筒形状）であってもよい。 As shown in FIGS. 1 and 2, the socket portion 21 includes a support portion 41 provided along the user's forearm 16, a fixing portion 42 fixed to the user's upper arm, and a support portion 41 and a fixing portion. It has a connecting portion 43 that rotatably connects the 42. The support portion 41 has an elongated flat plate-shaped support portion main body 44, and a band member 45 for fixing the support portion main body 44 to the user's forearm 16. The support portion main body 44 is formed by connecting a plurality of elongated plate members 41A to each other, and constitutes one elongated flat plate shape as a whole. As shown in FIG. 3, a pair of elongated holes 46 are formed in each plate material 41A. The elongated hole 46 is elongated along the longitudinal direction of the plate member 41A. The elongated holes 46 in each plate material 41A are parallel to each other. As shown in FIG. 3, the plate members 41A are fixed to each other by screws 47 passed through the elongated holes 46. Therefore, the user or the prosthetist may expand or contract using the elongated hole 46 and the screw 47, or increase or decrease the number of the elongated plate materials 41A used, thereby causing the user's forearm 16 (remaining limb). The length of the support portion 41 can be appropriately adjusted according to the length of the support portion 41. The band member 45 is passed through a pair of elongated holes 46 of one plate material 41A (in this embodiment, the plate material 41A located at the position farthest from the finger portion 13), and the user's forearm 16 and the plate material 41A (support portion). 41) and is fixed. The shape of the support portion 41 is not limited to the elongated flat plate shape. The shape of the support portion 41 may be, for example, an elongated shape (for example, a semi-cylindrical shape) having a curved cross section so as to fit the curve of the user's arm (forearm 16).

図１、図２に示すように、固定部４２は、平板状の固定部本体５１と、使用者の上腕の周囲を取り囲むようにリング状をなしたリング部５２と、第２バンド部材５３と、を有する。図２に示すように、固定部本体５１には、一対の第２長穴５４が設けられている。第２長穴５４は、固定部本体５１の長手方向に沿って細長く延びている。第２長穴５４同士は、平行である。この一対の第２長穴５４に通されたねじ（図示省略）によって、リング部５２が固定部本体５１に固定される。このため、使用者は、第２長穴５４およびねじを介して、適宜にリング部５２の位置を調整できる。また、一対の第２長穴５４には、第２バンド部材５３が通される。第２バンド部材５３は、使用者の肘の内側に引っ掛けられる。第２バンド部材５３は、使用者の肘に対して支持部４１および固定部４２がぴったりとフィットするように固定部４２を使用者の肘に固定する。 As shown in FIGS. 1 and 2, the fixing portion 42 includes a flat plate-shaped fixing portion main body 51, a ring portion 52 having a ring shape so as to surround the circumference of the user's upper arm, and a second band member 53. , Have. As shown in FIG. 2, the fixing portion main body 51 is provided with a pair of second elongated holes 54. The second elongated hole 54 extends elongated along the longitudinal direction of the fixing portion main body 51. The second elongated holes 54 are parallel to each other. The ring portion 52 is fixed to the fixing portion main body 51 by a screw (not shown) passed through the pair of second elongated holes 54. Therefore, the user can appropriately adjust the position of the ring portion 52 via the second slot 54 and the screw. Further, the second band member 53 is passed through the pair of second elongated holes 54. The second band member 53 is hooked on the inside of the user's elbow. The second band member 53 fixes the fixing portion 42 to the user's elbow so that the supporting portion 41 and the fixing portion 42 fit snugly to the user's elbow.

リング部５２は、一部に開放した開放部を有する略円筒形の円筒部５２Ａと、開放部の周囲を規定するとともに円筒部５２Ａから突出した一対の突出片５２Ｂと、一対の突出片５２Ｂを貫通するボルト状の軸部および指掛け用のダイヤルを有するダイヤル部材５２Ｃと、ダイヤル部材５２Ｃの軸部の雄ねじに係合するナット部材（図示省略）と、を有する。一対の突出片５２Ｂ同士は、離間して設けられている。各突出片５２Ｂには、ダイヤル部材５２Ｃの軸部を通すための孔が設けられている。ダイヤル部材５２Ｃの軸部は、一対の突出片５２Ｂを貫通しており、一対の突出片５２Ｂの一方側にダイヤル部材５２Ｃのダイヤルが位置し、一対の突出片５２Ｂの他方側にナットが位置する。 The ring portion 52 includes a substantially cylindrical cylindrical portion 52A having an open portion that is partially open, a pair of projecting pieces 52B that define the circumference of the open portion and project from the cylindrical portion 52A, and a pair of projecting pieces 52B. It has a dial member 52C having a bolt-shaped shaft portion penetrating through and a dial for finger hooking, and a nut member (not shown) that engages with a male screw on the shaft portion of the dial member 52C. The pair of projecting pieces 52B are provided apart from each other. Each protruding piece 52B is provided with a hole for passing the shaft portion of the dial member 52C. The shaft portion of the dial member 52C penetrates the pair of projecting pieces 52B, the dial of the dial member 52C is located on one side of the pair of projecting pieces 52B, and the nut is located on the other side of the pair of projecting pieces 52B. ..

使用者又は義肢装具士は、ナットに対するダイヤル部材５２Ｃの締め具合いによってリング部５２の内径を調整できる。すなわち、ダイヤル部材５２Ｃを時計回り方向に回すことでリング部５２の内径を小さくでき、ダイヤル部材５２Ｃを反時計回り方向に回すことでリング部５２の内径を大きくできる。連結部４３は、金属製の一般的なヒンジで構成される。連結部４３は、支持部本体４４に対して固定部本体５１が回動できるように、支持部本体４４と固定部本体５１とを連結する。 The user or the prosthetist can adjust the inner diameter of the ring portion 52 by tightening the dial member 52C to the nut. That is, the inner diameter of the ring portion 52 can be reduced by turning the dial member 52C in the clockwise direction, and the inner diameter of the ring portion 52 can be increased by turning the dial member 52C in the counterclockwise direction. The connecting portion 43 is composed of a general metal hinge. The connecting portion 43 connects the support portion main body 44 and the fixed portion main body 51 so that the fixed portion main body 51 can rotate with respect to the support portion main body 44.

図３に示すように、指部１３は、人間の人差し指や中指等を模して全体形状が形成される。本実施形態では、指部１３の数は、１個で構成されているが、指部１３が複数（例えば、２～５本）であってもよい。指部１３を５本とした場合には、第２指部１４を省略してもよい。 As shown in FIG. 3, the finger portion 13 has an overall shape that imitates a human index finger, middle finger, or the like. In the present embodiment, the number of finger portions 13 is composed of one, but the number of finger portions 13 may be a plurality (for example, 2 to 5). When the number of finger portions 13 is 5, the second finger portion 14 may be omitted.

図３、図４に示すように、指部１３は、ベース部１２に固定された中空筒状の固定指６１と、固定指６１よりも先端側に設けられた中空筒状の可動指６２と、固定指６１と可動指６２との間に設けられた筒状の伸縮部材３１と、伸縮部材３１と並列に設けられたヒンジ部６３と、固定指６１と可動指６２とに跨って設けられる付勢部材６４と、可動指の周囲を覆ったゴム製の指サック６５と、を有する。固定指６１および可動指６２のそれぞれは、中空筒状に形成されるが、強度向上のために中実構造で構成されてもよい。付勢部材６４は、ゴム状の弾性を有する樹脂材料によって帯状に形成される。より具体的には、付勢部材６４は、ゴム製の帯で構成される。付勢部材６４は、例えば、ヒンジ部に対して、伸縮部材３１を間に挟んだ反対側に設けられる。このため、伸縮部材３１は、ヒンジ部６３と付勢部材６４との間に位置される。付勢部材６４は、固定指６１と可動指６２とが略平行になった伸び位置Ｐ１を維持するようにこれらに張力を加える。 As shown in FIGS. 3 and 4, the finger portion 13 includes a hollow tubular fixed finger 61 fixed to the base portion 12 and a hollow tubular movable finger 62 provided on the tip side of the fixed finger 61. , A tubular telescopic member 31 provided between the fixed finger 61 and the movable finger 62, a hinge portion 63 provided in parallel with the telescopic member 31, and provided straddling the fixed finger 61 and the movable finger 62. It has an urging member 64 and a rubber finger cot 65 that covers the circumference of the movable finger. Each of the fixed finger 61 and the movable finger 62 is formed in a hollow cylindrical shape, but may be configured with a solid structure for strength improvement. The urging member 64 is formed in a band shape by a resin material having rubber-like elasticity. More specifically, the urging member 64 is composed of a rubber band. The urging member 64 is provided, for example, on the opposite side of the hinge portion with the telescopic member 31 sandwiched between them. Therefore, the telescopic member 31 is located between the hinge portion 63 and the urging member 64. The urging member 64 applies tension to the fixed finger 61 and the movable finger 62 so as to maintain the extension position P1 in which the fixed finger 61 and the movable finger 62 are substantially parallel to each other.

なお、本実施形態では、付勢部材６４をゴム状の弾性を有する樹脂材料によって構成しているが、付勢部材６４をスプリングで構成してもよいし、本実施形態の能動義手１１全体を覆うように形成したゴム製の表皮によって代用してもよい。このような表皮は、人の皮膚を忠実に再現したものが多数流通している。本実施形態では、このような表皮を商業的に入手して、上記した能動義手１１の付勢部材６４を除いた構造全体の上側に被せて使用することもできる。 In the present embodiment, the urging member 64 is made of a rubber-like elastic resin material, but the urging member 64 may be made of a spring, or the entire active prosthesis 11 of the present embodiment may be used. A rubber skin formed to cover it may be substituted. Many such epidermis that faithfully reproduce human skin are on the market. In the present embodiment, such a skin can be commercially obtained and used by covering the upper side of the entire structure excluding the urging member 64 of the active prosthesis 11 described above.

ヒンジ部６３は、固定指６１に対して可動指６２を回動可能に、固定指６１と可動指６２とを連結する。 The hinge portion 63 connects the fixed finger 61 and the movable finger 62 so that the movable finger 62 can be rotated with respect to the fixed finger 61.

図３、図４に示すように、伸縮部材３１は、樹脂材料によって形成された中空且つ有底のベローズで構成される。伸縮部材３１は、例えば、ポリエチレンで構成される。このようにベローズで構成された伸縮部材３１は、軸方向（長手方向）に伸縮する伸縮性と、軸方向と交差する方向へ曲がる可撓性と、を有する。本実施形態の伸縮部材３１（ベローズ）は、いわゆる袋状になっていて、内部に作動流体が供給されることで伸長できる。伸縮部材３１は、透光性を有することが好ましい。 As shown in FIGS. 3 and 4, the telescopic member 31 is composed of a hollow and bottomed bellows formed of a resin material. The telescopic member 31 is made of, for example, polyethylene. The telescopic member 31 made of a bellows as described above has elasticity that expands and contracts in the axial direction (longitudinal direction) and flexibility that bends in a direction intersecting the axial direction. The telescopic member 31 (bellows) of the present embodiment has a so-called bag shape, and can be extended by supplying a working fluid to the inside. The telescopic member 31 preferably has translucency.

伸縮部材３１は、内部に作動流体である空気を貯留している。本実施形態では、作動流体として空気（気体）を用いた、いわゆる空気圧作動式にしている。これによって、能動義手１１の重量当たりの出力（把持力）が大きくなる。このため、能動義手１１の全体重量が低減されるとともに、空気が持つ圧縮性流体の特性によって把持対象物を柔らかく保持することできる。このため、柔らかい食品や飲料を入れた紙コップ等を保持する際にも本実施形態の能動義手１１を好適に利用できる。 The telescopic member 31 stores air, which is a working fluid, inside. In this embodiment, a so-called pneumatically operated type using air (gas) as a working fluid is used. As a result, the output (grip force) per weight of the active prosthesis 11 becomes large. Therefore, the total weight of the active prosthesis 11 is reduced, and the gripping object can be held softly due to the characteristics of the compressible fluid of the air. Therefore, the active prosthesis 11 of the present embodiment can be suitably used when holding a paper cup or the like containing a soft food or beverage.

本実施形態の能動義手１１に用いられる作動流体としてはこれに限定されるものではなく、水や油等の液体を用いた水圧作動式又は油圧作動式にしても当然によい。作動流体として水や油を利用した場合には、非圧縮性流体の特性によって、対象物の把持に際して大きな力を出せるようになるメリットや、対象物を把持する際に指の応答性がさらに良好になるメリットがある。 The working fluid used in the active prosthesis 11 of the present embodiment is not limited to this, and a hydraulically operated type or a hydraulically operated type using a liquid such as water or oil may be used as a matter of course. When water or oil is used as the working fluid, the characteristics of the incompressible fluid have the advantage of being able to exert a large force when gripping the object, and the responsiveness of the finger when gripping the object is even better. There is a merit to become.

第２指部１４は、ベース部１２に対して固定的に設けられている。第２指部１４は、人間の親指を模して全体形状が形成されるが、途中の位置で指部から遠ざかる方向に屈曲している。第２指部１４は、中空筒状に形成されるが、強度向上のために中実構造で構成されてもよい。第２指部１４は、指部１３と略平行になった平行部６６と、指部１３から遠ざかる方向に延びた側方突出部６７と、側方突出部６７に被せられたゴム製の第２指サック６８と、を有する。側方突出部６７は、指部１３の回動範囲と干渉しない位置に設けられている。 The second finger portion 14 is fixedly provided with respect to the base portion 12. The second finger portion 14 is formed in an overall shape imitating a human thumb, but is bent in a direction away from the finger portion at a position in the middle. The second finger portion 14 is formed in the shape of a hollow cylinder, but may be configured with a solid structure in order to improve the strength. The second finger portion 14 is a parallel portion 66 substantially parallel to the finger portion 13, a lateral protrusion 67 extending in a direction away from the finger portion 13, and a rubber first portion covered with the lateral protrusion 67. It has a two-finger sack 68 and. The lateral protrusion 67 is provided at a position that does not interfere with the rotation range of the finger portion 13.

上記した、ベース部１２、ポンプ部２６（駆動部１５）、変換機構２８（駆動部１５）、ピストンロッド２７（駆動部１５）、ホルダ部１７、回転軸１８の第２部分１８Ｂ、ソケット部２１の支持部４１（板材４１Ａ）、固定部４２は、３Ｄプリンタを用いた３Ｄプリンティング技術によって立体成形（三次元造形）される。すなわち、ベース部１２、ポンプ部２６、変換機構２８、ピストンロッド２７、ホルダ部１７、第２部分１８Ｂ、支持部４１（板材４１Ａ）、固定部４２は、ＰＬＡ、ＡＢＳ、ポリアミド等の樹脂材料によって形成される。この立体成形に用いられる３Ｄプリンティングの方式としては、光造形法、粉末法、熱溶解積層法（ＦＤＭ法）、シート積層法、インクジェット法等、任意の方式を採用できる。ホルダ部１７は、上記したように一般的な錐台形のカップ形状（コーン形状）に形成されてもよいが、上肢切断者の断端付近の形状をスキャンして、これに相補的な形状の凹部（カップ形状、コーン形状）を有するホルダ部１７を３Ｄプリンティングで形成することも当然にできる。このように、本実施形態の能動義手１１の部品の大部分を３Ｄプリンタで形成した結果、能動義手１１を極めて安価に製造することが可能となった。 The base unit 12, the pump unit 26 (drive unit 15), the conversion mechanism 28 (drive unit 15), the piston rod 27 (drive unit 15), the holder unit 17, the second portion 18B of the rotary shaft 18, and the socket unit 21 described above. The support portion 41 (plate material 41A) and the fixing portion 42 of the above are three-dimensionally molded (three-dimensional modeling) by a 3D printing technique using a 3D printer. That is, the base portion 12, the pump portion 26, the conversion mechanism 28, the piston rod 27, the holder portion 17, the second portion 18B, the support portion 41 (plate material 41A), and the fixing portion 42 are made of resin materials such as PLA, ABS, and polyamide. It is formed. As the 3D printing method used for this three-dimensional molding, any method such as a stereolithography method, a powder method, a fused deposition modeling method (FDM method), a sheet lamination method, and an inkjet method can be adopted. The holder portion 17 may be formed in a general cone trapezoidal cup shape (cone shape) as described above, but the shape near the stump of the upper limb amputee is scanned to form a complementary shape. As a matter of course, the holder portion 17 having a concave portion (cup shape, cone shape) can be formed by 3D printing. As described above, as a result of forming most of the parts of the active prosthesis 11 of the present embodiment with a 3D printer, it has become possible to manufacture the active prosthesis 11 at an extremely low cost.

続いて、図２から図５を参照して、本実施形態の能動義手１１の使用方法および動作について説明する。上肢切断者に対する能動義手１１の調整は、医師の処方の下にフィッティング作業を行う義肢装具士等によって行われる。義肢装具士は、ホルダ部１７に前腕１６の断端付近を差し込んだ状態で、ねじ４７を調整して支持部４１を伸び縮みさせたり、細長い板材４１Ａの数を増減させたりして、使用者の残存肢の長さに合わせて支持部４１の長さを調整する。義肢装具士は、ホルダ部１７に前腕１６の断端付近を差し込んだ状態で、ソケット部２１のリング部５２内に使用者の前腕１６を通し、ダイヤル部材５２Ｃおよびナットを調整して使用者の上腕にリング部５２を固定する。さらに、義肢装具士は、第１バンド部材４５を使用者の前腕１６の周囲に巻き掛けて前腕１６と支持部４１とを固定するとともに、第２バンド部材５３を使用者の肘の内側の位置に巻き掛けて支持部４１の末端と固定部４２とが肘にぴったりとフィットするようにこれらを固定する。これによって、能動義手１１を使用者の腕１６にしっかりと固定できる。 Subsequently, with reference to FIGS. 2 to 5, the method and operation of the active prosthesis 11 of the present embodiment will be described. The adjustment of the active prosthesis 11 for the upper limb amputee is performed by a prosthetist or the like who performs fitting work under the prescription of a doctor. The prosthetist, with the vicinity of the stump of the forearm 16 inserted into the holder portion 17, adjusts the screw 47 to expand and contract the support portion 41, and increases or decreases the number of elongated plate members 41A. The length of the support portion 41 is adjusted according to the length of the remaining limbs. The prosthetist, with the vicinity of the stump of the forearm 16 inserted into the holder portion 17, passes the user's forearm 16 through the ring portion 52 of the socket portion 21 and adjusts the dial member 52C and the nut of the user. The ring portion 52 is fixed to the upper arm. Further, the prosthetist wraps the first band member 45 around the user's forearm 16 to fix the forearm 16 and the support portion 41, and the second band member 53 is positioned inside the user's elbow. The end of the support 41 and the fixing 42 are fixed so that they fit snugly on the elbow. As a result, the active prosthesis 11 can be firmly fixed to the user's arm 16.

このとき、支持部４１は、連結部４３を介して固定部４２に対して回動可能に連結されているために、使用者には肘の曲げ伸ばしの自由が確保される。使用者は、前腕１６の回転によって指部１３の開閉動作を行うことができる。前腕１６の回転動作には、手の平を上に向ける方向に回転させる回外動作（Supination）と、手の平を下向きにする方向に回転させる回内動作（Pronation）と、がある。例えば、右手を例に考えた場合には、回外動作は自分の右手の前腕１６を時計回り方向に回転させることに対応し、回内動作は自分の右手の前腕１６を反時計回り方向に回転させることに対応する。なお、人間の回外動作のトルクは、回内動作のトルクの１．３～１．４倍であることが知られている。このため、本実施形態では、大きなトルクを発生できる前腕１６の回外動作によって、指部１３を第２指部１４に向けて回動させ、把持動作をさせることとしている。 At this time, since the support portion 41 is rotatably connected to the fixed portion 42 via the connecting portion 43, the user is free to bend and stretch the elbow. The user can open and close the finger portion 13 by rotating the forearm 16. The rotation motion of the forearm 16 includes a supination motion (Supination) in which the palm is rotated upward and an inward motion (Pronation) in which the palm is rotated downward. For example, when considering the right hand as an example, the supination movement corresponds to rotating the forearm 16 of the right hand in the clockwise direction, and the inward movement corresponds to the forearm 16 of the right hand in the counterclockwise direction. Corresponds to rotating. It is known that the torque of the human supination operation is 1.3 to 1.4 times the torque of the inward operation. Therefore, in the present embodiment, the finger portion 13 is rotated toward the second finger portion 14 by the supination operation of the forearm 16 that can generate a large torque, and the gripping operation is performed.

図４に示すように、使用者が前腕１６を回外動作させると、回転軸１８を中心に、ホルダ部１７、回転軸１８および変換機構２８が回転する。この変換機構２８のカム面２８Ａには、ピストンロッド２７の軸部２７Ａの先端が当接している。このカム面２８Ａと軸部２７Ａの先端とによって構成されたカム機構によって、回転軸１８の回転運動がピストンロッド２７の進退運動に変換される。これによって、ピストンロッド２７がポンプ部２６の奥部に差し込まれて、ポンプ部２６の内部のベローズ３４が圧縮される。これによって、ベローズ３４内の空気が圧縮され、送り管３２を経由して伸縮部材３１の内部に送られる。伸縮部材３１に送られた空気は、伸縮部材３１内の圧力を高くし、その内圧によって伸縮部材３１をその軸方向に伸長させる。その際、本実施形態では、伸縮部材３１に並列にヒンジ部６３が設けられているために、伸縮部材３１は、ヒンジ部６３を中心にヒンジ部６３の周りを旋回するように伸長する。これによって、本実施形態では、伸縮部材３１が単に軸方向に伸びるのではなく、指部１３の可動指６２がヒンジ部６３を中心に第２指部１４に向けて回動する。このとき、伸縮部材３１は、付勢部材６４の付勢力に打ち勝って伸縮部材３１をヒンジ部６３を中心に旋回させる。これによって、指部１３は、固定指６１の延びる方向と可動指６２の延びる方向とが略平行になった伸び位置Ｐ１から、固定指６１の延びる方向と可動指６２の延びる方向とが交差した曲げ位置Ｐ２となる。使用者は指部１３をこのように曲げ位置Ｐ２にすることで、把持対象物を指部１３（可動指６２）と第２指部１４との間で把持できる。 As shown in FIG. 4, when the user rotates the forearm 16 in a supination manner, the holder portion 17, the rotating shaft 18, and the conversion mechanism 28 rotate around the rotating shaft 18. The tip of the shaft portion 27A of the piston rod 27 is in contact with the cam surface 28A of the conversion mechanism 28. The cam mechanism composed of the cam surface 28A and the tip of the shaft portion 27A converts the rotational movement of the rotating shaft 18 into the advancing / retreating movement of the piston rod 27. As a result, the piston rod 27 is inserted into the inner part of the pump part 26, and the bellows 34 inside the pump part 26 is compressed. As a result, the air in the bellows 34 is compressed and sent to the inside of the expansion / contraction member 31 via the feed pipe 32. The air sent to the expansion / contraction member 31 increases the pressure inside the expansion / contraction member 31, and the internal pressure causes the expansion / contraction member 31 to extend in the axial direction thereof. At that time, in the present embodiment, since the hinge portion 63 is provided in parallel with the telescopic member 31, the telescopic member 31 extends so as to rotate around the hinge portion 63 around the hinge portion 63. As a result, in the present embodiment, the telescopic member 31 does not simply extend in the axial direction, but the movable finger 62 of the finger portion 13 rotates around the hinge portion 63 toward the second finger portion 14. At this time, the telescopic member 31 overcomes the urging force of the urging member 64 and turns the telescopic member 31 around the hinge portion 63. As a result, the finger portion 13 intersects the extending direction of the fixed finger 61 and the extending direction of the movable finger 62 from the extension position P1 in which the extending direction of the fixed finger 61 and the extending direction of the movable finger 62 are substantially parallel to each other. It becomes the bending position P2. By setting the finger portion 13 at the bending position P2 in this way, the user can grip the gripping object between the finger portion 13 (movable finger 62) and the second finger portion 14.

一方、対象物の把持の解除をする場合には、使用者が回外動作させた前腕１６を元の位置に回内動作させる。これによって、上記した回外動作とは逆方向にホルダ部１７の回転軸１８および変換機構２８が回転し、ピストンロッド２７の押込みが解除される。これによって、伸縮部材３１の内圧（ポンプ部２６のベローズ３４の内圧）が低下する。その結果、伸縮部材３１を伸長させる方向の力よりも、付勢部材６４の付勢力および伸縮部材３１の復元力のほうが大きくなるので、伸縮部材３１が元の長さに戻されて指部１３が曲げ位置Ｐ２から伸び位置Ｐ１に戻される。これによって、対象物の把持を解除することができる。付勢部材６４に、装飾用の表皮を用いた場合でも、表皮の付勢力（復元力）によって、指部１３を曲げ位置Ｐ２から元の伸び位置Ｐ１に戻すことができる。 On the other hand, when releasing the grip of the object, the forearm 16 that has been supinated by the user is moved inward to the original position. As a result, the rotating shaft 18 of the holder portion 17 and the conversion mechanism 28 rotate in the direction opposite to the above-mentioned supination operation, and the pushing of the piston rod 27 is released. As a result, the internal pressure of the telescopic member 31 (the internal pressure of the bellows 34 of the pump portion 26) is reduced. As a result, the urging force of the urging member 64 and the restoring force of the elastic member 31 are larger than the force in the direction of extending the elastic member 31, so that the elastic member 31 is returned to its original length and the finger portion 13 is used. Is returned from the bending position P2 to the extending position P1. As a result, the gripping of the object can be released. Even when a decorative skin is used for the urging member 64, the finger portion 13 can be returned from the bending position P2 to the original extension position P1 by the urging force (restoring force) of the skin.

続いて、発明者らは、本実施形態の能動義手１１の性能について評価を行った。評価結果を図６～図９に示す。図６は、指部１３に負荷をかけない状態における、ホルダ部１７の回外角α（元の位置からの回転角度）と、伸縮部材３１の内部の圧力Ｐと、の関係を示すグラフである。対象物を把持する把持力は、圧力Ｐに所定の定数を乗じて算出されるため、圧力Ｐに比例する。図６によれば、前腕１６（ホルダ部１７）を回外動作させて回外角αを大きくしていけば、回外角αに比例して圧力Ｐが大きくなっていくことが理解される。一方、前腕１６（ホルダ部１７）をこのように回外動作させた状態から、元の位置に戻すように前腕１６を回内動作させて回外角αを小さくしていけば、これに伴い圧力Ｐが小さくなっていくことが理解される。 Subsequently, the inventors evaluated the performance of the active prosthesis 11 of the present embodiment. The evaluation results are shown in FIGS. 6 to 9. FIG. 6 is a graph showing the relationship between the rotation angle α (rotation angle from the original position) of the holder portion 17 and the pressure P inside the telescopic member 31 when no load is applied to the finger portion 13. .. The gripping force for gripping the object is calculated by multiplying the pressure P by a predetermined constant, and is therefore proportional to the pressure P. According to FIG. 6, it is understood that if the forearm 16 (holder portion 17) is rotated to increase the exterior angle α, the pressure P increases in proportion to the exterior angle α. On the other hand, if the forearm 16 (holder portion 17) is moved inward to return to the original position from the state in which the forearm 16 (holder portion 17) is turned inward to reduce the turning angle α, the pressure is increased accordingly. It is understood that P becomes smaller.

図７は、上記指部１３に負荷をかけない状態における、回外角αとヒンジ部６３のなす角θ（図５参照）の関係を示すグラフである。図７の試験（評価）は、図６の試験（評価）と同時に行ったものであり、図６では回外角αと圧力Ｐの関係に着目し、図７では回外角αとヒンジ部６３のなす角θの関係に着目したものある。図７によれば、前腕１６（ホルダ部１７）を回外動作させて回外角αを大きくしていけば、回外角αに比例して指部１３の固定指６１と可動指６２とがなす角θが大きくなっていくことが理解される。一方、前腕１６（ホルダ部１７）をこのように回外動作させた状態から、元の位置に戻すように前腕１６を回内動作させて回外角αを小さくしていけば、これに伴い固定指６１と可動指６２とがなす角θが小さくなっていくことが理解される。また、図６、図７の関係でいえば、伸縮部材３１の内部の圧力Ｐの上昇に伴い屈曲角度が変化することが理解される。したがって、図６、図７によれば、使用者は、ホルダ部１７の回外角αを操作することによって、可動指６２が固定指６１に対してなす角θを容易に調整できる。 FIG. 7 is a graph showing the relationship between the turning angle α and the angle θ formed by the hinge portion 63 (see FIG. 5) in a state where no load is applied to the finger portion 13. The test (evaluation) of FIG. 7 was performed at the same time as the test (evaluation) of FIG. 6, focusing on the relationship between the turning angle α and the pressure P in FIG. It focuses on the relationship of the angle θ. According to FIG. 7, if the forearm 16 (holder portion 17) is rotated to increase the turning angle α, the fixed finger 61 and the movable finger 62 of the finger portion 13 form in proportion to the turning angle α. It is understood that the angle θ becomes larger. On the other hand, if the forearm 16 (holder portion 17) is moved inwardly to return to the original position from the state in which the forearm 16 (holder portion 17) is turned inward to reduce the turning angle α, the forearm 16 is fixed accordingly. It is understood that the angle θ formed by the finger 61 and the movable finger 62 becomes smaller. Further, in relation to FIGS. 6 and 7, it is understood that the bending angle changes as the pressure P inside the telescopic member 31 increases. Therefore, according to FIGS. 6 and 7, the user can easily adjust the angle θ formed by the movable finger 62 with respect to the fixed finger 61 by operating the turning angle α of the holder portion 17.

図８は、指部１３に負荷をかけた状態における、ホルダ部１７の回外角αと、伸縮部材３１の内部の圧力Ｐと、の関係を示すグラフである。図８では、指部１３の固定指６１と可動指６２とがなす角θを例えば０．９ラジアンに保持した状態で、ホルダ部１７を回外動作および元に戻す動作をさせている。図８の評価は、指部１３と第２指部１４との間に把持対象物を把持した状態を模しており、いわゆる負荷状態の試験に相当する。図８によれば、指部１３に負荷がかけられた状態であっても、前腕１６（ホルダ部１７）を回外動作させて回外角αを大きくしていけば、回外角αに比例して圧力Ｐが大きくなることが理解される。これはすなわち、回外角αに比例して指部１３と第２指部１４の間で対象物を把持する把持力が大きくなることを意味する。一方、使用者が回外角αを一定に維持した場合には、対象物を把持する把持力が略一定に維持されることとなる。さらに、前腕１６（ホルダ部１７）をこのように回外動作させた状態から、元の位置に戻すように前腕１６を回内動作させて回外角αを小さくしていけば、これに伴い圧力Ｐが小さくなっていくことが理解される。 FIG. 8 is a graph showing the relationship between the turning angle α of the holder portion 17 and the pressure P inside the telescopic member 31 when a load is applied to the finger portion 13. In FIG. 8, the holder portion 17 is operated to rotate and return to the original position while the angle θ formed by the fixed finger 61 and the movable finger 62 of the finger portion 13 is held at, for example, 0.9 radian. The evaluation of FIG. 8 imitates a state in which the gripping object is gripped between the finger portion 13 and the second finger portion 14, and corresponds to a so-called load state test. According to FIG. 8, even when a load is applied to the finger portion 13, if the forearm 16 (holder portion 17) is operated to rotate and the rotation angle α is increased, the rotation angle α is proportional to the rotation angle α. It is understood that the pressure P increases. This means that the gripping force for gripping the object between the finger portion 13 and the second finger portion 14 increases in proportion to the turning angle α. On the other hand, when the user keeps the turning angle α constant, the gripping force for gripping the object is kept substantially constant. Further, if the forearm 16 (holder portion 17) is moved inwardly to return to the original position from the state in which the forearm 16 (holder portion 17) is turned inward to reduce the turning angle α, the pressure is increased accordingly. It is understood that P becomes smaller.

図９は、回外角速度ωと可動指指先速度ｖとの関係を示すグラフである。この結果によれば、例えば回外動作において、最大で８５０ｍｍ／ｓの指先速度を出すことができる。比較例として、市販されている筋電義手であるオットーボック社製の商品名「ＤＭＣプラス」を挙げる。この筋電義手では、指先速度が１３０ｍｍ／ｓである。このため、本実施形態の能動義手１１では、把持動作の際に、最大で比較例の筋電義手の６倍以上の指先速度を発揮することができる。図９および比較例によれば、対象物の素早い把持および解放が可能であることが理解される。なお、把持の解放動作は、専ら付勢部材６４の付勢力および伸縮部材３１の復元力に依存しているために、把持動作よりも指先速度が低下している。しかしながら、伸縮部材３１と付勢部材６４との間の摩擦を低減することで、解放動作時の指先速度を上げることが可能である。 FIG. 9 is a graph showing the relationship between the supination angular velocity ω and the movable fingertip velocity v. According to this result, for example, in the supination operation, a fingertip speed of 850 mm / s can be obtained at the maximum. As a comparative example, the product name "DMC Plus" manufactured by Otto Bock, which is a commercially available myoelectric prosthetic hand, is given. With this myoelectric prosthetic hand, the fingertip speed is 130 mm / s. Therefore, the active prosthetic hand 11 of the present embodiment can exhibit a fingertip speed of up to 6 times or more of that of the myoelectric prosthetic hand of the comparative example during the gripping motion. According to FIG. 9 and the comparative example, it is understood that the object can be quickly grasped and released. Since the gripping release operation depends exclusively on the urging force of the urging member 64 and the restoring force of the telescopic member 31, the fingertip speed is lower than that of the gripping operation. However, by reducing the friction between the telescopic member 31 and the urging member 64, it is possible to increase the fingertip speed during the release operation.

図１０は、回外角αおよび伸縮部材３１の内部の圧力Ｐが時間経過に伴いどのように変化するかを示したグラフである。図１０に対応する実験では、飲料が入ったペットボトルを把持して持ち上げる作業を行った。本実施形態の能動義手１１によれば、使用者が前腕の回外角αを一定に維持した場合には、伸縮部材３１の内部の圧力Ｐも略一定に維持されることが理解される。これはすなわち、対象物を把持する把持力が略一定に維持されることを意味する。 FIG. 10 is a graph showing how the turning angle α and the pressure P inside the telescopic member 31 change with the passage of time. In the experiment corresponding to FIG. 10, the work of grasping and lifting the PET bottle containing the beverage was performed. According to the active prosthesis 11 of the present embodiment, it is understood that when the user keeps the rotation angle α of the forearm constant, the pressure P inside the telescopic member 31 is also kept substantially constant. This means that the gripping force for gripping the object is maintained substantially constant.

一方、比較例として、一般的な筋電義手の試験結果（図示省略）を挙げる。一般に、筋電位には微弱な変動を生じてしまう。筋電義手では、筋電位によって把持力に強弱をつけるため、筋電位の微小な変化に伴い把持力が変化してしまう。このため、比較例の筋電義手では、本実施形態の能動義手１１のように把持力を略一定にして対象物を把持することは困難である。したがって、本実施形態の能動義手１１では、把持力を略一定にでき、対象物の把持が安定する。 On the other hand, as a comparative example, a test result of a general myoelectric prosthetic hand (not shown) is given. In general, myoelectric potential fluctuates slightly. In myoelectric prosthetic hands, the gripping force is increased or weakened by the myoelectric potential, so that the gripping force changes with a slight change in the myoelectric potential. Therefore, it is difficult for the myoelectric prosthetic hand of the comparative example to grip the object with a substantially constant gripping force as in the active prosthetic hand 11 of the present embodiment. Therefore, in the active prosthesis 11 of the present embodiment, the gripping force can be made substantially constant, and the gripping of the object is stable.

本実施形態によれば、能動義手１１は、固定指６１が設けられたベース部１２と、ベース部１２に対して回転可能に設けられ、使用者の腕が差し込まれるホルダ部１７と、固定指６１よりも先端側に設けられた可動指６２と、固定指６１と可動指６２との間の位置に設けられ、伸縮可能な筒状の伸縮部材３１と、伸縮部材３１と並列に設けられたヒンジ部６３であって、固定指６１の延びる方向と可動指６２の延びる方向とが略平行になった伸び位置Ｐ１と、固定指６１の延びる方向に対して可動指６２の延びる方向が交差した曲げ位置Ｐ２と、の間で回動可能に固定指６１と可動指６２とを連結するヒンジ部６３と、内部に作動流体が貯留された駆動部１５であって、ホルダ部１７の回転運動を用いて前記作動流体を加圧することで、伸縮部材３１内に前記作動流体を送ってヒンジ部６３の周りを旋回するように伸縮部材３１を伸長させ、伸び位置Ｐ１から曲げ位置Ｐ２にする駆動部１５と、を備える。 According to the present embodiment, the active prosthesis 11 has a base portion 12 provided with a fixed finger 61, a holder portion 17 rotatably provided with respect to the base portion 12 into which a user's arm is inserted, and a fixed finger. A movable finger 62 provided on the tip side of the 61, a cylindrical telescopic member 31 provided at a position between the fixed finger 61 and the movable finger 62, and a telescopic member 31 provided in parallel with the telescopic member 31. In the hinge portion 63, the extension position P1 in which the extension direction of the fixed finger 61 and the extension direction of the movable finger 62 are substantially parallel to each other and the extension direction of the movable finger 62 intersect with the extension direction of the fixed finger 61. A hinge portion 63 that rotatably connects the fixed finger 61 and the movable finger 62 between the bending position P2, and a drive portion 15 in which the working fluid is stored inside, and the rotational movement of the holder portion 17 is performed. By pressurizing the working fluid, the working fluid is sent into the telescopic member 31 to extend the telescopic member 31 so as to rotate around the hinge portion 63, and the drive unit is changed from the extension position P1 to the bending position P2. 15 and.

この構成によれば、一つの伸縮部材３１と、一つのヒンジ部６３と、を組み合わせた簡単な構造によって、義手の指および指の関節を構成できる。これによって、伸縮部材３１の数を低減して、義手の構造を簡略化することができる。これによって、機構を単純化することができ、機械効率が高く、操作に必要な力量が低減された能動義手１１を実現できる。上記構成によれば、例えば、駆動部１５と伸縮部材３１とをバルブレスの回路で接続できるために、圧力損失が低く信頼性も高くできる。また、作動流体を用いて可動指６２を可動させるために、当該作動流体を適宜に供給することで、指の数の増加や関節数の増加にも容易に対応できる。また、使用者にとって操作も簡単であり、訓練期間を短縮してユーザフレンドリーな能動義手１１を実現できる。さらに、筋電義手のようにモータ音もせず静粛に動作できるとともに、水に濡れた場合でもショートの危険性もない。さらに、筋電義手のように筋電センサーの位置調整も不要であるだけでなく、汗による故障の問題もない。さらに、筋肉の疲労による誤作動も生じない。 According to this configuration, the fingers of the artificial hand and the joints of the fingers can be configured by a simple structure in which one telescopic member 31 and one hinge portion 63 are combined. As a result, the number of the telescopic members 31 can be reduced and the structure of the artificial hand can be simplified. As a result, the mechanism can be simplified, the mechanical efficiency is high, and the active prosthesis 11 with a reduced amount of force required for operation can be realized. According to the above configuration, for example, since the drive unit 15 and the telescopic member 31 can be connected by a valveless circuit, the pressure loss can be low and the reliability can be high. Further, in order to move the movable finger 62 using the working fluid, by appropriately supplying the working fluid, it is possible to easily cope with an increase in the number of fingers and an increase in the number of joints. In addition, the operation is easy for the user, the training period can be shortened, and the user-friendly active prosthesis 11 can be realized. Furthermore, unlike a myoelectric prosthetic hand, it can operate quietly without making a motor noise, and there is no danger of a short circuit even when it gets wet with water. Furthermore, unlike the myoelectric prosthetic hand, it is not necessary to adjust the position of the myoelectric sensor, and there is no problem of failure due to sweat. Furthermore, there is no malfunction due to muscle fatigue.

伸縮部材３１は、ベローズである。この構成によれば、伸縮部材３１を伸縮性および可撓性のある部材で構成できる。また、ベローズは、ゴムチューブよりも耐久性が良好であり、軽量かつ高耐久性の能動義手１１を実現できる。 The telescopic member 31 is a bellows. According to this configuration, the stretchable member 31 can be made of a stretchable and flexible member. Further, the bellows has better durability than the rubber tube, and can realize a lightweight and highly durable active prosthesis 11.

伸縮部材３１は、前記使用者の腕１６に装着され、使用者の腕１６の長さに合わせて伸縮可能な細長い平板状の支持部４１と、支持部４１に対して回動可能に支持部４１に連結され、前記使用者の上腕に固定されることが可能な固定部４２と、を備える。能動義手１１を使用する使用者の前腕１６部分の残存肢の長さは、使用者ごとに異なることが通常である。本実施形態によれば、使用者の残存肢の長さに合わせて支持部４１の長さを適宜に変更（一例として、長穴４６を用いた長さを変更や、細長い板材４１Ａの数を増減させる長さの変更等）することができ、ユーザフレンドリーな能動義手１１を実現できる。また、固定部４２が支持部４１に対して回動可能であるために、能動義手１１を使用する際に、使用者に肘の曲げ伸ばしの自由を確保することができる。これによって、さらにユーザフレンドリーな能動義手１１を実現できる。 The telescopic member 31 is attached to the user's arm 16 and has an elongated flat plate-shaped support portion 41 that can be expanded and contracted according to the length of the user's arm 16 and a support portion that is rotatable with respect to the support portion 41. A fixing portion 42, which is connected to 41 and can be fixed to the upper arm of the user, is provided. The length of the remaining limbs of the forearm 16 portion of the user who uses the active prosthesis 11 is usually different for each user. According to the present embodiment, the length of the support portion 41 is appropriately changed according to the length of the remaining limbs of the user (as an example, the length using the elongated hole 46 is changed, or the number of elongated plate members 41A is changed. The length can be increased or decreased), and a user-friendly active prosthesis 11 can be realized. Further, since the fixed portion 42 is rotatable with respect to the support portion 41, it is possible to secure the user the freedom to bend and stretch the elbow when using the active prosthesis 11. This makes it possible to realize a more user-friendly active prosthesis 11.

作動流体は、空気である。このため、作動流体として圧縮性流体が用いられるために、把持対象物を柔らかく把持することができる。また、能動義手１１の全体重量を低減することができ、使用者が使い易い能動義手１１を実現できる。また、ポンプ部２６を能動義手１１に内蔵し、使用者自身でポンプ部２６を駆動することにより、従来の空気圧システムで必須だった重量のあるコンプレッサやバルブ、それらを制御する電子機器等の外部機器が不要となる。このためにシステム全体の可搬性が改善されるとともに、軽量低価格の能動義手１１を実現できる。 The working fluid is air. Therefore, since the compressible fluid is used as the working fluid, the gripping object can be gripped softly. Further, the total weight of the active prosthesis 11 can be reduced, and the active prosthesis 11 that is easy for the user to use can be realized. In addition, by incorporating the pump unit 26 in the active prosthesis 11 and driving the pump unit 26 by the user himself, the heavy compressors and valves that were indispensable in the conventional pneumatic system, and the external devices such as electronic devices that control them are external. No equipment is required. Therefore, the portability of the entire system is improved, and a lightweight and low-priced active prosthesis 11 can be realized.

ベース部１２、ホルダ部１７、固定指６１、可動指６２、ヒンジ部６３、および駆動部１５は、樹脂材料により形成される。この構成によれば、これらの構造物を軽量に実現できる。また、金属材料を極力使用しないために、切削加工等が不要であり、製造コストを削減できる。さらに、これらを樹脂材料で形成することによって、これらをすべて３Ｄプリンタによって形成することができる。これによって、金型を作成することが不要であり、能動義手１１の製造コストを著しく低減できる。 The base portion 12, the holder portion 17, the fixed finger 61, the movable finger 62, the hinge portion 63, and the drive portion 15 are formed of a resin material. According to this configuration, these structures can be realized in a lightweight manner. In addition, since metal materials are not used as much as possible, cutting and the like are not required, and the manufacturing cost can be reduced. Further, by forming them with a resin material, all of them can be formed by a 3D printer. As a result, it is not necessary to create a mold, and the manufacturing cost of the active prosthesis 11 can be significantly reduced.

以下、図１１から図１９を参照して能動義手１１の変形例について説明する。以下の各変形例では、主として上記実施形態と異なる部分について説明し、上記実施形態と共通する部分については図示或いは説明を省略する。 Hereinafter, a modified example of the active prosthesis 11 will be described with reference to FIGS. 11 to 19. In each of the following modifications, the parts different from the above-described embodiment will be mainly described, and the parts common to the above-described embodiment will not be shown or described.

［第１変形例］
図１１から図１４を参照して、第１変形例の能動義手１１について説明する。本変形例の能動義手は、使用者に対して対象物を把持する把持力をフィードバックする力覚フィードバックシステム付きの能動義手である。 [First modification]
The active prosthesis 11 of the first modification will be described with reference to FIGS. 11 to 14. The active prosthesis of this modification is an active prosthesis with a force-sensitive feedback system that feeds back the gripping force for gripping the object to the user.

能動義手１１は、断面Ｌ字形に折れ曲がった板状をなしたベース部１２と、ベース部１２の先端側に取り付けられた指部１３と、ベース部１２の先端側に取り付けられた第２指部１４と、ベース部１２に対して固定的に設けられた駆動部１５と、使用者の腕１６（残存肢）の先端部が差し込まれるホルダ部１７と、能動義手１１を使用者の腕１６に対して固定するためのソケット部２１と、を備える。 The active prosthesis 11 has a plate-shaped base portion 12 bent into an L-shaped cross section, a finger portion 13 attached to the tip end side of the base portion 12, and a second finger portion attached to the tip end side of the base portion 12. 14, a drive unit 15 fixedly provided to the base portion 12, a holder portion 17 into which the tip of the user's arm 16 (remaining limb) is inserted, and an active prosthesis 11 on the user's arm 16. A socket portion 21 for fixing the socket portion 21 is provided.

指部１３は、人間の人差し指や中指等を模して全体形状が形成される。本実施形態では、指部１３の数は、１個で構成されているが、指部１３が複数（例えば、２～５本）であってもよい。指部１３は、ベース部１２に固定された中空筒状の固定指６１と、固定指６１よりも先端側に設けられた中空筒状の可動指６２と、固定指６１と可動指６２との間に設けられた筒状の伸縮部材３１と、伸縮部材３１と並列に設けられたヒンジ部６３と、固定指６１と可動指６２とに跨って設けられる付勢部材６４と、可動指６２の周囲を覆ったゴム製の指サック６５と、を有する。 The finger portion 13 has an overall shape that imitates a human index finger, middle finger, or the like. In the present embodiment, the number of finger portions 13 is composed of one, but the number of finger portions 13 may be a plurality (for example, 2 to 5). The finger portion 13 includes a hollow tubular fixed finger 61 fixed to the base portion 12, a hollow tubular movable finger 62 provided on the tip side of the fixed finger 61, and the fixed finger 61 and the movable finger 62. A tubular telescopic member 31 provided between them, a hinge portion 63 provided in parallel with the telescopic member 31, an urging member 64 provided straddling the fixed finger 61 and the movable finger 62, and a movable finger 62. It has a rubber finger cot 65, which covers the periphery.

能動義手１１は、可動指６２の先端部付近に設けられた凹部７１と、凹部７１内に収納された第２伸縮部材７２と、使用者の上腕に巻かれる第３バンド部材７３と、第３バンド部材７３に取り付けられた平板部７４と、平板部７４に取り付けられ使用者の腕１６に当接するように設けられた第３伸縮部材７５と、第２伸縮部材７２と第３伸縮部材７５とを接続するように設けられた第２送り管７６と、を有する。本実施形態では、可動指６２に凹部７１を設け、この凹部７１内に第２伸縮部材７２を配置しているが、凹部７１を設けないで可動指６２の表面に第２伸縮部材７２を配置しても当然によい。また、第２伸縮部材７２の設置位置は可動指６２の先端付近（指先）に限られず、例えば、第２指部１４の先端付近等、他の位置に設置されてもよい。 The active prosthesis 11 includes a recess 71 provided near the tip of the movable finger 62, a second telescopic member 72 housed in the recess 71, a third band member 73 wrapped around the user's upper arm, and a third. The flat plate portion 74 attached to the band member 73, the third elastic member 75 attached to the flat plate portion 74 and provided so as to abut against the user's arm 16, the second elastic member 72, and the third elastic member 75. It has a second feed pipe 76 provided so as to connect the two. In the present embodiment, the movable finger 62 is provided with the recess 71, and the second telescopic member 72 is arranged in the recess 71. However, the second telescopic member 72 is arranged on the surface of the movable finger 62 without providing the recess 71. Of course it is good. Further, the installation position of the second telescopic member 72 is not limited to the vicinity of the tip of the movable finger 62 (finger tip), and may be installed at another position such as the vicinity of the tip of the second finger portion 14.

第２伸縮部材７２は、樹脂材料によって形成された中空且つ有底筒状のベローズで構成される。第２伸縮部材７２は、その軸方向に伸縮可能である。第２伸縮部材７２は、指部１３のうち、把持対象物に当接する部分を構成する。第３伸縮部材７５も同様に、樹脂材料によって形成された中空且つ有底筒状のベローズで構成される。第３伸縮部材７５は、その軸方向に伸縮可能である。第２伸縮部材７２および第３伸縮部材７５は、上記実施形態の伸縮部材３１と略同様の構成を有する。第２伸縮部材７２の直径は、第３伸縮部材７５の直径と同じである。第２伸縮部材７２の内部および第３伸縮部材７５の内部には、作動流体（第２作動流体）として空気が貯留されているが、作動流体として空気以外の水や油等を用いてもよい。第２伸縮部材７２および第３伸縮部材７５は、３Ｄプリンティングによってゴム状の弾性材料（熱可塑性エラストマーやシリコーンゴム等）で形成されてもよい。 The second telescopic member 72 is composed of a hollow and bottomed tubular bellows formed of a resin material. The second telescopic member 72 can be expanded and contracted in the axial direction thereof. The second telescopic member 72 constitutes a portion of the finger portion 13 that comes into contact with the gripping object. Similarly, the third telescopic member 75 is also composed of a hollow and bottomed tubular bellows formed of a resin material. The third telescopic member 75 can be expanded and contracted in the axial direction thereof. The second expansion / contraction member 72 and the third expansion / contraction member 75 have substantially the same configuration as the expansion / contraction member 31 of the above embodiment. The diameter of the second telescopic member 72 is the same as the diameter of the third telescopic member 75. Air is stored as a working fluid (second working fluid) inside the second telescopic member 72 and the inside of the third telescopic member 75, but water, oil, or the like other than air may be used as the working fluid. .. The second elastic member 72 and the third elastic member 75 may be formed of a rubber-like elastic material (thermoplastic elastomer, silicone rubber, etc.) by 3D printing.

続いて、図１１から図１４を参照して、本変形例の能動義手１１の作用について説明する。図１１に示すように、例えば指部１３と第２指部１４との間で対象物を把持した場合には、第２伸縮部材７２が対象物に当接し、第２伸縮部材７２内の空気が第２送り管７６を介して第３伸縮部材７５内に送られる。第２伸縮部材７２で対象物を把持している状態では、パスカルの原理によって、第２伸縮部材７２の内部の圧力と、第３伸縮部材７５の内部の圧力が等しくなる。したがって、第２伸縮部材７２と第３伸縮部材７５の直径を等しくすることで、対象物を把持する把持力と等しい力で、第３伸縮部材７５によって使用者の上腕を押圧できる。これによって、指部１３と第２指部１４との間で対象物を把持する把持力を、使用者の上腕に対する押圧力として正しくフィードバックできる。このため、使用者は、対象物を把持する際に、どの程度の把持力で対象物を把持しているかを把握しながら、対象物を把持することができる。 Subsequently, the operation of the active prosthesis 11 of this modification will be described with reference to FIGS. 11 to 14. As shown in FIG. 11, for example, when an object is gripped between the finger portion 13 and the second finger portion 14, the second telescopic member 72 abuts on the object and the air in the second telescopic member 72. Is fed into the third telescopic member 75 via the second feed pipe 76. When the object is gripped by the second telescopic member 72, the pressure inside the second telescopic member 72 becomes equal to the pressure inside the third telescopic member 75 according to Pascal's principle. Therefore, by making the diameters of the second telescopic member 72 and the third telescopic member 75 equal to each other, the upper arm of the user can be pressed by the third telescopic member 75 with a force equal to the gripping force for gripping the object. As a result, the gripping force for gripping the object between the finger portion 13 and the second finger portion 14 can be correctly fed back as a pressing force on the upper arm of the user. Therefore, when gripping the object, the user can grip the object while grasping how much gripping force is used to grip the object.

これによって、使用者は、例えば開封したパウチゼリー（アルミ蒸着で形成したフィルム層を有する樹脂製バッグ内に収納されたゼリー）や、飲料を入れた紙コップ等を保持することもできる。 Thereby, the user can also hold, for example, an opened pouch jelly (jelly stored in a resin bag having a film layer formed by aluminum vapor deposition), a paper cup containing a beverage, or the like.

続いて、発明者らは、本変形例の能動義手１１の性能について評価を行った。評価結果を図１４に示す。評価では、本変形例の能動義手１１を用いて、開封済のパウチゼリーを持ち上げて移動させる試験を行った。図１４は、時間経過に対して、ホルダ部１７の回外角αと、第３伸縮部材７５から使用者の腕１６に加えられる力の測定値と、の関係を示すグラフである。第３伸縮部材７５から使用者の腕１６に加えられる力の測定値は、使用者の上腕に把持力のフィードバックとして加えられる押圧力の測定値である。 Subsequently, the inventors evaluated the performance of the active prosthesis 11 of this modified example. The evaluation results are shown in FIG. In the evaluation, a test was conducted in which the opened pouch jelly was lifted and moved using the active prosthesis 11 of this modified example. FIG. 14 is a graph showing the relationship between the turning angle α of the holder portion 17 and the measured value of the force applied to the user's arm 16 from the third telescopic member 75 with respect to the passage of time. The measured value of the force applied to the user's arm 16 from the third telescopic member 75 is the measured value of the pressing force applied to the user's upper arm as feedback of the gripping force.

図１４において、評価開始から最初に現れる第１突出部８１は、対照例（コントロール）である。対照例では、実験者が能動義手１１が装着される手とは反対側の手の指を使用して、指部１３の可動指６２（可動指６２に取り付けられた第２伸縮部材７２）と第２指部１４との間に開封済のパウチゼリーを挟むように保持した際に、第３伸縮部材７５によって使用者の上腕に力覚（押圧力）としてフィードバックされる力の測定値が０．７５～０．９Ｎであることを示す。これは、把持対象物を０．７５～０．９Ｎの把持力で把持している状態で、使用者の上腕に把持力のフィードバックがなされる状態を模擬している。開封した状態のパウチゼリーを把持するのに適切な把持力は、図１４に破線で示される０．３～１．９Ｎの範囲内である。 In FIG. 14, the first protruding portion 81 that first appears from the start of evaluation is a control example (control). In the control example, the experimenter uses the finger of the hand opposite to the hand on which the active prosthesis 11 is attached to the movable finger 62 of the finger portion 13 (the second telescopic member 72 attached to the movable finger 62). When the opened pouch jelly is held so as to be sandwiched between the second finger portion 14 and the pouch jelly, the measured value of the force fed back to the user's upper arm as a force sense (pushing pressure) by the third elastic member 75 is 0. It is shown to be .75 to 0.9N. This simulates a state in which the gripping force is fed back to the upper arm of the user while the gripping object is gripped with a gripping force of 0.75 to 0.9N. The appropriate gripping force for gripping the opened pouch jelly is in the range of 0.3 to 1.9 N shown by the broken line in FIG.

実験者は、先のフィードバックの感覚（第１突出部８１として図１４に示される力覚）を覚えておき、この力覚フィードバックシステムによるフィードバックを受けつつ対象物を把持する試験を３回行った。その結果、図１４に第２突出部８２、第３突出部８３、第４突出部８４で示される力の測定値（把持力および実験者にフィードバックされる力覚）ように、多少ばらつきがあるもの、３回の試行のすべてにおいて第１突出部８１で示される把持力が再現されることが確認できた。これによって、実験者が開封した状態のパウチゼリーを適切な把持力（０．３～１．９Ｎの範囲内）で把持できることが確認された。 The experimenter remembered the previous sensation of feedback (force sensation shown in FIG. 14 as the first protrusion 81), and conducted three tests to grip the object while receiving feedback from this force sensation feedback system. .. As a result, there are some variations as shown in FIG. 14 as the measured values of the forces (grasping force and force sense fed back to the experimenter) shown by the second protruding portion 82, the third protruding portion 83, and the fourth protruding portion 84. However, it was confirmed that the gripping force indicated by the first protrusion 81 was reproduced in all three trials. This confirmed that the experimenter could grip the opened pouch jelly with an appropriate gripping force (within the range of 0.3 to 1.9 N).

図１４によれば、対象物の把持に伴い、使用者の上腕に対する把持力のフィードバックが正しくなされることが理解される。また、３回の試行のすべてにおいて、開封した状態のパウチゼリーの把持に適した把持力である０．３～１．９Ｎの範囲内となった。このため、本変形例の力覚フィードバックシステム付きの能動義手１１によれば、開封後のパウチゼリーの内容物を吹き出させることなく、適切な把持力によってパウチゼリーを把持できることが確認された。また、本変形例の能動義手１１によれば、把持対象物を飲料入りの紙コップやその他柔らかい食品にした場合でも同様に、対象物を潰さない程度の把持力で把持することができることが確認された。 According to FIG. 14, it is understood that the feedback of the gripping force to the upper arm of the user is correctly performed as the object is gripped. In all three trials, the gripping force was in the range of 0.3 to 1.9 N, which is suitable for gripping the pouch jelly in the opened state. Therefore, according to the active prosthesis 11 with the force-sensitive feedback system of this modification, it was confirmed that the pouch jelly can be gripped with an appropriate gripping force without blowing out the contents of the pouch jelly after opening. Further, according to the active prosthesis 11 of this modification, it was confirmed that even when the object to be gripped is a paper cup containing a beverage or other soft food, the object can be gripped with a gripping force that does not crush the object. Was done.

第１変形例によれば、能動義手１１は、可動指６２に設けられ、内部に第２作動流体を貯留するとともに、把持対象物に当接することで圧縮される有底筒状の第２伸縮部材７２と、前記使用者の腕に当接する位置に設けられ、圧縮された第２伸縮部材７２から送られる前記第２作動流体を受け取って伸長することで前記使用者の腕を押圧する有底筒状の第３伸縮部材７５と、を備える。 According to the first modification, the active prosthesis 11 is provided on the movable finger 62, stores the second working fluid inside, and is compressed by abutting on the gripping object. A bottom that is provided at a position where the member 72 abuts on the user's arm and presses the user's arm by receiving and extending the second working fluid sent from the compressed second telescopic member 72. A tubular third telescopic member 75 is provided.

この構成によれば、第２伸縮部材７２および第３伸縮部材７５によって、把持対象物を把持する把持力を使用者の腕にフィードバックすることができる。これによって、使用者は、把持力を随時把握することができるため、例えば、パウチゼリーや食品、飲料入りの紙コップなど、柔らかい把持対象物を把持する場合でも、把持力を適宜に調節することができ、把持対象物を能動義手１１によって握り潰してしまうことを防止できる。第２伸縮部材７２と第３伸縮部材７５とを簡単なバルブレス回路で接続することで力覚フィードバックシステムが実現されるために、能動義手１１を低コストで実現できるとともに、信頼性の高い力覚フィードバックシステムを実現できる。 According to this configuration, the gripping force for gripping the gripping object can be fed back to the user's arm by the second telescopic member 72 and the third telescopic member 75. As a result, the user can grasp the gripping force at any time, so that the gripping force can be appropriately adjusted even when gripping a soft gripping object such as a pouch jelly, food, or a paper cup containing a beverage. It is possible to prevent the object to be gripped from being crushed by the active prosthesis 11. Since the force sensation feedback system is realized by connecting the second expansion / contraction member 72 and the third expansion / contraction member 75 with a simple valveless circuit, the active prosthesis 11 can be realized at low cost and highly reliable force sensation. A feedback system can be realized.

［第２変形例］
図１５を参照して、第２変形例の能動義手１１について説明する。本変形例の能動義手１１では、変換機構２８は、回転軸１８ではなく、ホルダ部１７と一体に設けられている。変換機構２８（カム部）は、細長い平板がホルダ部１７の周囲に巻き付いた形状をなしており、ホルダ部１７を中心とした螺旋状をなしている。 [Second modification]
The active prosthesis 11 of the second modification will be described with reference to FIG. In the active prosthesis 11 of this modification, the conversion mechanism 28 is provided integrally with the holder portion 17 instead of the rotating shaft 18. The conversion mechanism 28 (cam portion) has a shape in which an elongated flat plate is wound around the holder portion 17, and has a spiral shape centered on the holder portion 17.

本変形例では、回転軸１８が省略されており、ホルダ部１７は、例えばピン８５やボルト等を介してベース部１２に対して回転可能に取り付けられている。したがって、本変形例では、回転軸１８が省略されているため、ホルダ部１７と指部１３との間の距離が著しく短縮されている。 In this modification, the rotating shaft 18 is omitted, and the holder portion 17 is rotatably attached to the base portion 12 via, for example, a pin 85 or a bolt. Therefore, in this modification, since the rotation shaft 18 is omitted, the distance between the holder portion 17 and the finger portion 13 is significantly shortened.

本実施形態によれば、駆動部１５は、ホルダ部１７の回転運動をポンプ部２６内の前記作動流体を加圧する方向の直線運動に変換する変換機構２８を備え、変換機構２８は、ホルダ部１７と一体に設けられる。この構成によれば、ホルダ部１７の回転運動を用いてポンプ部２６内の作動流体を加圧する機構を簡単かつ省スペースで実現できる。さらに、変換機構２８は、ホルダ部１７と一体に設けられているために、変換機構２８を設けるために別途にスペースを要することがなく、ホルダ部１７から可動指６２までの距離を短くすることができる。これによって、能動義手１１を小型化できるとともに、使用者の腕１６の断端から指部１３の先端までの距離を長過ぎず自然な長さにできる。これによって、ユーザフレンドリーな能動義手１１を実現できる。 According to the present embodiment, the drive unit 15 includes a conversion mechanism 28 that converts the rotational movement of the holder unit 17 into a linear motion in the direction of pressurizing the working fluid in the pump unit 26, and the conversion mechanism 28 is a holder unit. It is provided integrally with 17. According to this configuration, a mechanism for pressurizing the working fluid in the pump portion 26 by using the rotational movement of the holder portion 17 can be realized easily and in a small space. Further, since the conversion mechanism 28 is provided integrally with the holder portion 17, it does not require a separate space for providing the conversion mechanism 28, and the distance from the holder portion 17 to the movable finger 62 can be shortened. Can be done. As a result, the active prosthesis 11 can be miniaturized, and the distance from the stump of the user's arm 16 to the tip of the finger portion 13 can be made a natural length without being too long. This makes it possible to realize a user-friendly active prosthesis 11.

［第３変形例］
図１６、図１７を参照して、第３変形例の能動義手１１について説明する。本変形例の能動義手１１は、第２変形例のように変換機構２８がホルダ部１７と一体になっている。また、指部１３は、５本で構成されている。各指部１３には、固定指６１（第２固定指）と、可動指６２（第２可動指）と、これらの間の位置に設けられ伸縮可能な筒状の伸縮部材３１（第４伸縮部材）と、固定指６１（第２固定指）と可動指６２（第２可動指）とを連結するヒンジ部６３（第２ヒンジ部）と、が含まれる。 [Third modification example]
The active prosthesis 11 of the third modification will be described with reference to FIGS. 16 and 17. In the active prosthesis 11 of this modification, the conversion mechanism 28 is integrated with the holder portion 17 as in the second modification. Further, the finger portion 13 is composed of five fingers. Each finger portion 13 has a fixed finger 61 (second fixed finger), a movable finger 62 (second movable finger), and a stretchable tubular telescopic member 31 (fourth stretchable member 31) provided at a position between them. A member), and a hinge portion 63 (second hinge portion) that connects the fixed finger 61 (second fixed finger) and the movable finger 62 (second movable finger) are included.

各指部１３の関節（伸縮部材３１、ヒンジ部６３）の数が増大されており、関節の数が２又は３で構成される。さらに、本変形例では、指部１３が５本で構成されているため、固定的に設けた第２指部１４を省略している。各伸縮部材３１（第４伸縮部材）、各ヒンジ部６３（第２ヒンジ部）の構成は、上記実施形態の伸縮部材３１、ヒンジ部６３の構成と同様である。 The number of joints (expandable member 31, hinge portion 63) of each finger portion 13 is increased, and the number of joints is composed of 2 or 3. Further, in this modification, since the finger portion 13 is composed of five fingers, the fixed second finger portion 14 is omitted. The configuration of each telescopic member 31 (fourth telescopic member) and each hinge portion 63 (second hinge portion) is the same as the configuration of the telescopic member 31 and the hinge portion 63 of the above embodiment.

駆動部１５のポンプ部２６の位置は、ベース部１２とホルダ部１７との間から外れた位置に設けられる。より具体的には、ポンプ部２６は、使用者の肘の近傍で、肘の外側の位置に設けられる。本変形例では、１つのポンプ部２６によって複数の指部１３を回動させるため、本変形例のポンプ部２６に収納されるベローズ３４の内部の容積は、上記実施形態のポンプ部２６のベローズ３４の内部の容積よりも大きくなっていることが好ましい。また、ポンプ部２６の数は複数個であっても当然によく、上記実施形態に記載したポンプ部２６を複数配置しても当然よい。ベース部１２と一体になった支持部４１の基部側端に取り付けられている。 The position of the pump portion 26 of the drive portion 15 is provided at a position separated from between the base portion 12 and the holder portion 17. More specifically, the pump portion 26 is provided at a position outside the elbow in the vicinity of the user's elbow. In this modification, since a plurality of finger portions 13 are rotated by one pump portion 26, the internal volume of the bellows 34 housed in the pump portion 26 of this modification is the bellows of the pump portion 26 of the above embodiment. It is preferably larger than the internal volume of 34. Further, the number of the pump units 26 may be a plurality, and it is natural that a plurality of the pump units 26 described in the above embodiment may be arranged. It is attached to the base side end of the support portion 41 integrated with the base portion 12.

図１６、図１７を参照して、本変形例の能動義手１１の作用について説明する。本変形例の能動義手１１において、使用者がホルダ部１７を回外動作させると、ホルダ部１７と一体になった変換機構２８が回転してピストンロッド２７を押圧する。これによって、ポンプ部２６内のベローズ３４が圧縮されて、ベローズ３４内の作動流体（空気）が送り管３２を介して送られる。本変形例のように、作動流体（空気等）を用いて指部１３を伸び位置Ｐ１から曲げ位置Ｐ２に回動させる機構であれば、それぞれの伸縮部材３１（アクチュエータ）に送り管３２を介して作動流体を供給することができ、指部１３の数や関節の数を増やして、容易に５本の指部１３を有する能動義手１１を実現できる。 The operation of the active prosthesis 11 of this modification will be described with reference to FIGS. 16 and 17. In the active prosthesis 11 of this modification, when the user rotates the holder portion 17 to the outside, the conversion mechanism 28 integrated with the holder portion 17 rotates and presses the piston rod 27. As a result, the bellows 34 in the pump portion 26 is compressed, and the working fluid (air) in the bellows 34 is sent through the feed pipe 32. If the mechanism is such that the finger portion 13 is rotated from the extension position P1 to the bending position P2 by using a working fluid (air or the like) as in this modification, the expansion / contraction member 31 (actuator) is connected to each expansion / contraction member 31 (actuator) via the feed pipe 32. The working fluid can be supplied, and the number of fingers 13 and the number of joints can be increased to easily realize an active prosthesis 11 having five fingers 13.

本変形例では、送り管３２は途中で５本に分岐しており、５本の指部１３に対して加圧された空気を供給する。図１７では、５本の指部１３のうち、１本（人差し指）のみを摘出して示す。図１７の人差し指に相当する指部１３では、各伸縮部材３１に空気が供給され、各伸縮部材３１が対応するヒンジ部６３の周りを旋回するように伸長する。これによって、指部１３が伸び位置Ｐ１から曲げ位置Ｐ２に回動する。このような伸び位置Ｐ１から曲げ位置Ｐ２に回動が各指部１３において起こり、使用者が対象物を把持することができる。使用者がホルダ部１７の回外動作を解除したとき、付勢部材６４の付勢力、伸縮部材３１の復元力、ベローズ３４の復元力等によって、各指部１３が曲げ位置Ｐ２から伸び位置Ｐ１に戻される。 In this modification, the feed tube 32 is branched into five in the middle, and pressurized air is supplied to the five finger portions 13. In FIG. 17, only one (index finger) of the five finger portions 13 is extracted and shown. In the finger portion 13 corresponding to the index finger of FIG. 17, air is supplied to each telescopic member 31, and each telescopic member 31 extends so as to rotate around the corresponding hinge portion 63. As a result, the finger portion 13 rotates from the extension position P1 to the bending position P2. Such rotation from the extension position P1 to the bending position P2 occurs at each finger portion 13, and the user can grip the object. When the user releases the supination operation of the holder portion 17, each finger portion 13 extends from the bending position P2 to the extension position P1 due to the urging force of the urging member 64, the restoring force of the telescopic member 31, the restoring force of the bellows 34, and the like. Is returned to.

なお、親指に相当する指部１３の回動方向は、他の人差し指、中指、薬指、小指に対応する指部１３の回動方向とは概ね逆向きであることが、人間の手の構造と一致しており、使用者に違和感を生じない。本変形例によれば、指部１３の数を人体に倣って増加できるだけでなく、関節の数も人体に倣って増加させることができる。これによって、さらに自然な能動義手１１を実現できるだけでなく、見た目にも自然で使用者に拒否感を与えない能動義手１１を実現できる。 The structure of the human hand is that the rotation direction of the finger portion 13 corresponding to the thumb is substantially opposite to the rotation direction of the finger portion 13 corresponding to the other index finger, middle finger, ring finger, and little finger. They match and do not cause discomfort to the user. According to this modification, not only the number of fingers 13 can be increased according to the human body, but also the number of joints can be increased according to the human body. As a result, not only can the active prosthesis 11 be realized more naturally, but also the active prosthesis 11 that looks natural and does not give a feeling of refusal to the user can be realized.

本変形例によれば、能動義手１１は、ベース部１２に設けられた第２固定指６１と、第２固定指６１よりも先端側に設けられた第２可動指６２と、第２固定指６１と第２可動指６２との間の位置に設けられ、伸縮可能な筒状の第４伸縮部材３１と、第４伸縮部材３１と並列に設けられた第２ヒンジ部６３であって、第２固定指６１の延びる方向と第２可動指６２の延びる方向とが略平行になった伸び位置Ｐ１と、第２固定指６１の延びる方向に対して第２可動指６２の延びる方向が交差した曲げ位置Ｐ２と、の間で回動可能に第２固定指６１と第２可動指６２とを連結する第２ヒンジ部６３と、を備え、駆動部１５は、ホルダ部１７の回転運動を用いて前記作動流体を加圧することで、第４伸縮部材３１内に前記作動流体を送って第２ヒンジ部６３の周りを旋回するように第４伸縮部材３１を伸長させ、伸び位置Ｐ１から曲げ位置Ｐ２にする。 According to this modification, the active prosthesis 11 includes a second fixed finger 61 provided on the base portion 12, a second movable finger 62 provided on the tip side of the second fixed finger 61, and a second fixed finger. A second hinge portion 63 provided at a position between the 61 and the second movable finger 62, which is a stretchable tubular fourth telescopic member 31 and is provided in parallel with the fourth telescopic member 31. 2 The extension position P1 in which the extension direction of the fixed finger 61 and the extension direction of the second movable finger 62 are substantially parallel to each other and the extension direction of the second movable finger 62 intersect with the extension direction of the second fixed finger 61. A second hinge portion 63 that rotatably connects the second fixed finger 61 and the second movable finger 62 is provided between the bending position P2, and the drive portion 15 uses the rotational movement of the holder portion 17. By pressurizing the working fluid, the working fluid is sent into the fourth telescopic member 31 to extend the fourth telescopic member 31 so as to rotate around the second hinge portion 63, and the bending position is bent from the extension position P1. Set to P2.

この構成によれば、一つのポンプ部２６から伸縮部材３１と第４伸縮部材との両方に作動流体を供給することができる。これによって、指部１３の数を増加した場合でも構造が複雑化することがなく、より人間の手に近い能動義手１１を簡単な構造で実現できる。 According to this configuration, the working fluid can be supplied from one pump unit 26 to both the expansion / contraction member 31 and the fourth expansion / contraction member. As a result, even if the number of finger portions 13 is increased, the structure is not complicated, and the active prosthesis 11 closer to the human hand can be realized with a simple structure.

本変形例において、駆動部１５は、ポンプ部２６を含み、ポンプ部２６は、ベース部１２とホルダ部１７との間から外れた位置に設けられ、内部に前記作動流体が貯留されるとともに、前記作動流体を加圧することで、伸縮部材３１内に前記作動流体を送る。この構成によれば、ベース部１２とホルダ部１７とをさらに近づけて配置することができる。これによって、能動義手１１を小型化できるとともに、ホルダ部１７から可動指６２までの距離を短くして、使い易く見た目にも自然な能動義手を実現できる。 In this modification, the drive unit 15 includes the pump unit 26, and the pump unit 26 is provided at a position separated from between the base unit 12 and the holder unit 17, and the working fluid is stored inside and the working fluid is stored therein. By pressurizing the working fluid, the working fluid is sent into the telescopic member 31. According to this configuration, the base portion 12 and the holder portion 17 can be arranged closer to each other. As a result, the active prosthesis 11 can be miniaturized, and the distance from the holder portion 17 to the movable finger 62 can be shortened to realize an active prosthesis that is easy to use and looks natural.

［第４変形例］
図１８、図１９を参照して、第４変形例の能動義手１１について説明する。本変形例では、駆動部１５のうちポンプ部２６の構成が上記実施形態とは異なっている。ポンプ部２６は、ベローズ３４を内蔵するのではなく、いわゆる回転式の板（ベーン）を有する扁平なポンプで構成される。 [Fourth variant]
The active prosthesis 11 of the fourth modification will be described with reference to FIGS. 18 and 19. In this modification, the configuration of the pump unit 26 of the drive unit 15 is different from that of the above embodiment. The pump unit 26 does not have a bellows 34 built-in, but is composed of a flat pump having a so-called rotary plate (vane).

ホルダ部１７は、ピン８５やボルトによってベース部１２に対して回転可能に取り付けられている。ポンプ部２６（駆動部１５）は、ベース部１２とホルダ部１７との間の位置にコンパクトに設けられている。ポンプ部２６の形状は、略円盤形をなしている。 The holder portion 17 is rotatably attached to the base portion 12 by pins 85 and bolts. The pump unit 26 (drive unit 15) is compactly provided at a position between the base unit 12 and the holder unit 17. The shape of the pump portion 26 is substantially a disk shape.

ポンプ部２６（駆動部１５）は、ホルダ部１７と一体になった円筒状のケース８６と、ベース部１２に固定された第１板状部９１と、ホルダ部１７に固定された第２板状部９２と、第１板状部９１と第２板状部９２との間に設けられたバルーン状部９３と、を有する。バルーン状部９３は、内部に作動流体である空気を貯留しており、送り管３２を介して伸縮部材３１に接続されている。本変形例でも作動流体は空気に限定されるものではなく、例えば水や油等の液体であってもよい。なお、ポンプ部２６の内部空間（第１板状部９１、第２板状部９２、およびケース８６で規定される空間）を高気密に構成した場合には、バルーン状部９３を省略することもできる。 The pump portion 26 (drive portion 15) includes a cylindrical case 86 integrated with the holder portion 17, a first plate-shaped portion 91 fixed to the base portion 12, and a second plate fixed to the holder portion 17. It has a shaped portion 92 and a balloon-shaped portion 93 provided between the first plate-shaped portion 91 and the second plate-shaped portion 92. The balloon-shaped portion 93 stores air, which is a working fluid, inside, and is connected to the expansion / contraction member 31 via a feed pipe 32. Even in this modification, the working fluid is not limited to air, and may be a liquid such as water or oil. When the internal space of the pump portion 26 (the space defined by the first plate-shaped portion 91, the second plate-shaped portion 92, and the case 86) is configured to be highly airtight, the balloon-shaped portion 93 is omitted. You can also.

続いて、本変形例の能動義手１１の作用について説明する。使用者がホルダ部１７を回外動作させると、それに伴い第２板状部９２が回転する。これによって、第１板状部９１に対して第２板状部９２が回転する。そして、第１板状部９１と第２板状部９２の間に位置するバルーン状部９３が、第１板状部９１、第２板状部９２、およびケース８６の間で圧縮されて、伸縮部材３１に向けて空気を送る。これによって伸縮部材３１は、ヒンジ部６３の周りを旋回するように伸長し、指部１３が伸び位置Ｐ１から曲げ位置Ｐ２に回動する。これによって、指部１３と第２指部１４との間に把持対象物を把持することができる。使用者がホルダ部１７の回外動作を解除すると、伸縮部材３１の内圧およびバルーン状部９３の内圧が低下し、伸縮部材３１を伸長させる方向の力よりも、付勢部材６４の付勢力、伸縮部材３１の復元力が大きくなるので、指部１３が曲げ位置Ｐ２から伸び位置Ｐ１に戻る。 Subsequently, the action of the active prosthesis 11 of this modification will be described. When the user rotates the holder portion 17 to the outside, the second plate-shaped portion 92 rotates accordingly. As a result, the second plate-shaped portion 92 rotates with respect to the first plate-shaped portion 91. Then, the balloon-shaped portion 93 located between the first plate-shaped portion 91 and the second plate-shaped portion 92 is compressed between the first plate-shaped portion 91, the second plate-shaped portion 92, and the case 86. Air is sent toward the telescopic member 31. As a result, the telescopic member 31 extends so as to rotate around the hinge portion 63, and the finger portion 13 rotates from the extended position P1 to the bent position P2. Thereby, the gripping object can be gripped between the finger portion 13 and the second finger portion 14. When the user releases the supination operation of the holder portion 17, the internal pressure of the elastic member 31 and the internal pressure of the balloon-shaped portion 93 decrease, and the urging force of the urging member 64 is larger than the force in the direction of extending the elastic member 31. Since the restoring force of the telescopic member 31 becomes large, the finger portion 13 returns from the bending position P2 to the extension position P1.

本変形例によれば、駆動部１５は、ベース部１２に固定された第１板状部９１と、ホルダ部１７に固定されホルダ部１７の回転に伴い第１板状部９１に対して回転する第２板状部９２と、第１板状部９１と第２板状部９２との間に設けられ内部に前記作動流体を貯留したバルーン状部９３であって、ベース部１２に対してホルダ部１７が回転する際に第１板状部９１と第２板状部９２との間に挟まれて伸縮部材３１内に前記作動流体を送るバルーン状部９３と、を有する。 According to this modification, the drive unit 15 is fixed to the base portion 12 and is fixed to the holder portion 17, and rotates with respect to the first plate-shaped portion 91 as the holder portion 17 rotates. A balloon-shaped portion 93 provided between the second plate-shaped portion 92 and the first plate-shaped portion 91 and the second plate-shaped portion 92 and accommodating the working fluid inside, with respect to the base portion 12. It has a balloon-shaped portion 93 that is sandwiched between the first plate-shaped portion 91 and the second plate-shaped portion 92 and sends the working fluid into the telescopic member 31 when the holder portion 17 rotates.

この構成によれば、ポンプ部２６を扁平に形成しやすい構造となり、さらに変換機構２８が不要であり、これによって、ホルダ部１７と可動指６２との間の距離を短くすることができる。これによって、能動義手１１を小型化できるとともに、使用者の腕１６の断端から可動指６２の先端までの距離を長過ぎず自然な長さにすることができる。これによって、使い易く、見た目にも自然なユーザフレンドリーな能動義手１１を実現できる。一方、使用者の前腕（残存肢）の長さが短い場合は、変換機構２８を含む上記した実施形態を採用することで、能動義手１１の長さを長くすることも可能である。 According to this configuration, the pump portion 26 is easily formed flat, and the conversion mechanism 28 is not required, whereby the distance between the holder portion 17 and the movable finger 62 can be shortened. As a result, the active prosthesis 11 can be miniaturized, and the distance from the stump of the user's arm 16 to the tip of the movable finger 62 can be made a natural length without being too long. This makes it possible to realize a user-friendly active prosthesis 11 that is easy to use and looks natural. On the other hand, when the length of the forearm (remaining limb) of the user is short, it is possible to increase the length of the active prosthesis 11 by adopting the above-described embodiment including the conversion mechanism 28.

［第５変形例］
図２０を参照して、第５変形例の能動義手について説明する。本変形例では、ポンプ部２６（駆動部１５）は、ベローズ３４を内蔵するのではなく、内部に空気を貯留した有底のチューブ９４を複数本有する。したがって、本変形例では、ポンプ部２６は、ホルダ部１７の周囲にリング形に設けられている。複数のチューブ９４は、ホルダ部１７の中心軸Ｃと略平行に設けられている。 [Fifth variant]
The active prosthesis of the fifth modification will be described with reference to FIG. 20. In this modification, the pump unit 26 (drive unit 15) does not have a bellows 34 built-in, but has a plurality of bottomed tubes 94 that store air inside. Therefore, in this modification, the pump portion 26 is provided in a ring shape around the holder portion 17. The plurality of tubes 94 are provided substantially parallel to the central axis C of the holder portion 17.

ポンプ部２６（駆動部１５）は、ベース部１２に固定された円盤状の第１固定部９６と、ホルダ部１７の根元側にフランジ状に設けられた第２固定部９７と、第１固定部９６と第２固定部９７との間に渡された複数のチューブ９４と、を有する。チューブ９４は、一端で紐状の連結具９５を介して第１固定部９６に固定され、他端で同じく紐状の連結具９５を介して第２固定部９７に固定される。チューブ９４は、ゴム等で形成された伸縮性・可撓性のあるチューブであり、端部が密閉された有底の円筒状をなしている。チューブ９４は、内部に作動流体としての空気を貯留している。チューブ９４は、複数の送り管３２を介して指部の伸縮部材３１に接続されている。 The pump unit 26 (drive unit 15) has a disk-shaped first fixing portion 96 fixed to the base portion 12, a second fixing portion 97 provided in a flange shape on the root side of the holder portion 17, and a first fixing portion. It has a plurality of tubes 94 passed between the portion 96 and the second fixing portion 97. The tube 94 is fixed to the first fixing portion 96 via a string-shaped connecting tool 95 at one end, and is fixed to the second fixing portion 97 via a string-shaped connecting tool 95 at the other end. The tube 94 is an elastic / flexible tube made of rubber or the like, and has a bottomed cylindrical shape with a sealed end. The tube 94 stores air as a working fluid inside. The tube 94 is connected to the expansion / contraction member 31 of the finger portion via a plurality of feed tubes 32.

本変形例の能動義手１１の作用について説明する。使用者がホルダ部１７を回外動作させると、第１固定部９６に対して第２固定部９７が回転する。これによって、複数のチューブ９４がらせん状をなすように引き延ばされる。これによって、チューブ９４内部の空気が圧縮され送り管３２を介して伸縮部材３１側に押し出される。このような機構によって、指部１３が伸び位置Ｐ１から曲げ位置Ｐ２に回動される。これによって、把持対象物を指部１３と第２指部１４との間に把持することができる。使用者がホルダ部１７の回外動作を解除したとき、伸縮部材３１の内圧およびチューブ９４の内圧が低下し、伸縮部材３１を伸長させる方向の力よりも、付勢部材６４の付勢力および伸縮部材３１の復元力が大きくなるので、指部１３が曲げ位置Ｐ２から伸び位置Ｐ１に戻される。 The operation of the active prosthesis 11 of this modification will be described. When the user turns the holder portion 17 out of the way, the second fixing portion 97 rotates with respect to the first fixing portion 96. As a result, the plurality of tubes 94 are stretched in a spiral shape. As a result, the air inside the tube 94 is compressed and pushed out to the expansion / contraction member 31 side via the feed tube 32. By such a mechanism, the finger portion 13 is rotated from the extension position P1 to the bending position P2. Thereby, the gripping object can be gripped between the finger portion 13 and the second finger portion 14. When the user releases the supination operation of the holder portion 17, the internal pressure of the elastic member 31 and the internal pressure of the tube 94 decrease, and the urging force and expansion / contraction of the urging member 64 are larger than the force in the direction of extending the elastic member 31. Since the restoring force of the member 31 is increased, the finger portion 13 is returned from the bending position P2 to the extension position P1.

本変形例によれば、駆動部１５は、ホルダ部１７の外側にホルダ部１７の中心軸Ｃと略平行に設けられた伸縮性のあるチューブ９４で構成されるとともに、当該チューブ９４内部に前記作動流体を貯留し、当該チューブ９４は、一端でベース部１２に固定されるとともに他端でホルダ部１７の基部側に固定され、ホルダ部１７がベース部１２に対して回転することで伸長して伸縮部材３１内に前記作動流体を送る。 According to this modification, the drive unit 15 is composed of an elastic tube 94 provided on the outside of the holder unit 17 substantially parallel to the central axis C of the holder unit 17, and is described above inside the tube 94. The working fluid is stored, and the tube 94 is fixed to the base portion 12 at one end and fixed to the base portion side of the holder portion 17 at the other end, and the holder portion 17 extends by rotating with respect to the base portion 12. The working fluid is sent into the telescopic member 31.

この構成によれば、駆動部１５をホルダ部１７の周囲にリング状に配置することができる。また、変換機構２８が不要であり、チューブ９４がらせん状に引き延ばされる原理を利用して、チューブ９４内部の作動流体を伸縮部材３１に送って伸縮部材３１を伸長させ、指部１３を伸び位置Ｐ１から曲げ位置Ｐ２に回動させることができる。これによって、駆動部１５を省スペースなものにして能動義手１１を小型化できるとともに、ホルダ部１７と可動指６２の先端部との間の距離を短くすることができる。また、必要に応じて、チューブ９４の数を増減することも容易である。これによって、使用者の腕１６の断端から指部１３の先端までの距離が短く、見た目にも自然で使い易い能動義手１１を実現できる。一方、使用者の前腕（残存肢）の長さが短い場合は、変換機構２８を含む上記した実施形態を採用することで、能動義手１１の長さを長くすることも可能である。 According to this configuration, the drive unit 15 can be arranged in a ring shape around the holder unit 17. Further, the conversion mechanism 28 is unnecessary, and by utilizing the principle that the tube 94 is stretched in a spiral shape, the working fluid inside the tube 94 is sent to the stretchable member 31 to stretch the stretchable member 31, and the finger portion 13 is stretched. It can be rotated from the position P1 to the bending position P2. As a result, the drive unit 15 can be made space-saving, the active prosthesis 11 can be miniaturized, and the distance between the holder unit 17 and the tip of the movable finger 62 can be shortened. It is also easy to increase or decrease the number of tubes 94 as needed. As a result, the active prosthesis 11 can be realized in which the distance from the stump of the user's arm 16 to the tip of the finger portion 13 is short, and the appearance is natural and easy to use. On the other hand, when the length of the forearm (remaining limb) of the user is short, it is possible to increase the length of the active prosthesis 11 by adopting the above-described embodiment including the conversion mechanism 28.

これまで、実施形態および幾つかの変形例について図面を参照しながら具体的に説明したが、この発明は、上述した実施形態に限定されるものではなく、その要旨を逸脱しない範囲で構成要素を変形して具体化できる。例えば、上記実施形態および各変形例では、伸縮部材３１が固定指６１と可動指６２との間の位置に配置されているが、伸縮部材３１、固定指６１、可動指６２の配置はこれに限られるものではない。例えば、伸縮部材３１の内部に固定指６１の全部又は一部を配置してもよいし、伸縮部材３１の内部に可動指６２の全部又は一部を配置してもよい。上記実施形態およびいくつかの変形例中に記載された構成要素を適宜に組み合わせて一つの能動義手１１を実現することも当然にできる。 Although the embodiments and some modifications have been specifically described so far with reference to the drawings, the present invention is not limited to the above-described embodiments, and the components are provided without departing from the gist thereof. It can be transformed and embodied. For example, in the above embodiment and each modification, the telescopic member 31 is arranged at a position between the fixed finger 61 and the movable finger 62, but the elastic member 31, the fixed finger 61, and the movable finger 62 are arranged in this position. Not limited. For example, all or part of the fixed finger 61 may be arranged inside the telescopic member 31, or all or part of the movable finger 62 may be arranged inside the telescopic member 31. As a matter of course, one active prosthesis 11 can be realized by appropriately combining the components described in the above embodiment and some modifications.

以下に、他の形態にかかる発明を付記する。
［１］
固定指が設けられたベース部と、
前記ベース部に対して回転可能に設けられ、使用者の腕が差し込まれるホルダ部と、
前記固定指よりも先端側に設けられた可動指と、
前記固定指と前記可動指との間の位置に設けられ、伸縮可能な筒状の伸縮部材と、
前記伸縮部材と並列に設けられたヒンジ部であって、前記固定指の延びる方向と前記可動指の延びる方向とが略平行になった伸び位置と、前記固定指の延びる方向に対して前記可動指の延びる方向が交差した曲げ位置と、の間で回動可能に前記固定指と前記可動指とを連結するヒンジ部と、
内部に作動流体が貯留されたポンプ部であって、前記ホルダ部の回転運動を用いて前記作動流体を加圧することで、前記伸縮部材内に前記作動流体を送って前記ヒンジ部の周りを旋回するように前記伸縮部材を伸長させ、前記伸び位置から前記曲げ位置にするポンプ部と、
固定的に設けられた第２指部と、
を備える能動義手。
［２］
前記伸び位置に向けて前記可動指を付勢する付勢部材を備える［１］に記載の能動義手。
以下に、本願出願の当初の特許請求の範囲に記載された発明と同等の記載を付記する。
［３］
固定指が固定されたベース部と、
前記ベース部に対して回転可能に設けられ、使用者の腕が差し込まれるホルダ部と、
前記固定指よりも先端側に設けられた可動指と、
前記固定指と前記可動指との間の位置に設けられ、伸縮可能な筒状の伸縮部材と、
前記伸縮部材と並列に設けられたヒンジ部であって、前記固定指の延びる方向と前記可動指の延びる方向とが略平行になった伸び位置と、前記固定指の延びる方向に対して前記可動指の延びる方向が交差した曲げ位置と、の間で回動可能に前記固定指と前記可動指とを連結するヒンジ部と、
内部に作動流体が貯留された駆動部であって、前記ホルダ部の回転運動を用いて前記作動流体を加圧することで、前記伸縮部材内に前記作動流体を送って前記ヒンジ部の周りを旋回するように前記伸縮部材を伸長させ、前記伸び位置から前記曲げ位置にする駆動部と、
を備える能動義手。
［４］
前記伸縮部材は、ベローズである［３］に記載の能動義手。
［５］
前記可動指に設けられ、内部に第２作動流体を貯留するとともに、把持対象物に当接することで圧縮される有底筒状の第２伸縮部材と、
前記使用者の腕に当接する位置に設けられ、圧縮された前記第２伸縮部材から送られる前記第２作動流体を受け取って伸長することで前記使用者の腕を押圧する有底筒状の第３伸縮部材と、
を備える［３］に記載の能動義手。
［６］
前記ベース部に設けられた第２固定指と、
前記第２固定指よりも先端側に設けられた第２可動指と、
前記第２固定指と前記第２可動指との間の位置に設けられ、伸縮可能な筒状の第４伸縮部材と、
前記第４伸縮部材と並列に設けられた第２ヒンジ部であって、前記第２固定指の延びる方向と前記第２可動指の延びる方向とが略平行になった伸び位置と、前記第２固定指の延びる方向に対して前記第２可動指の延びる方向が交差した曲げ位置と、の間で回動可能に前記第２固定指と前記第２可動指とを連結する第２ヒンジ部と、
を備え、
前記駆動部は、前記ホルダ部の回転運動を用いて前記作動流体を加圧することで、前記第４伸縮部材内に前記作動流体を送って前記第２ヒンジ部の周りを旋回するように前記第４伸縮部材を伸長させ、前記伸び位置から前記曲げ位置にする［３］に記載の能動義手。
［７］
前記使用者の腕に装着され、前記使用者の腕の長さに合わせて伸縮可能な細長い平板状の支持部と、
前記支持部に対して回動可能に前記支持部に連結され、前記使用者の上腕に固定されることが可能な固定部と、
を備える［３］に記載の能動義手。
［８］
前記作動流体は、空気である［３］に記載の能動義手。
［９］
前記駆動部は、前記ホルダ部の回転運動を前記駆動部内の前記作動流体を加圧する方向の直線運動に変換する変換機構を備え、
前記変換機構は、前記ホルダ部と一体に設けられる［３］に記載の能動義手。
［１０］
前記ベース部、前記ホルダ部、前記固定指、前記可動指、前記ヒンジ部、および前記駆動部は、樹脂材料により形成される［３］に記載の能動義手。
［１１］
前記駆動部は、ポンプ部を含み、前記ポンプ部は、前記ベース部と前記ホルダ部との間から外れた位置に設けられ、内部に前記作動流体が貯留されるとともに、前記作動流体を加圧することで、前記伸縮部材内に前記作動流体を送る［３］に記載の能動義手。
［１２］
前記駆動部は、
前記ベース部に固定された第１板状部と、
前記ホルダ部に固定され前記ホルダ部の回転に伴い前記第１板状部に対して回転する第２板状部と、
前記第１板状部と前記第２板状部との間に設けられ内部に前記作動流体を貯留したバルーン状部であって、前記ベース部に対して前記ホルダ部が回転する際に前記第１板状部と前記第２板状部との間に挟まれて前記伸縮部材内に前記作動流体を送るバルーン状部と、
を有する［３］に記載の能動義手。
［１３］
前記駆動部は、前記ホルダ部の外側に前記ホルダ部の中心軸と略平行に設けられた伸縮性のあるチューブで構成されるとともに、当該チューブ内部に前記作動流体を貯留し、当該チューブは、一端で前記ベース部に固定されるとともに他端で前記ホルダ部の基部側に固定され、前記ホルダ部が前記ベース部に対して回転することで伸長して前記伸縮部材内に前記作動流体を送る［３］に記載の能動義手。 Hereinafter, inventions relating to other forms will be added.
[1]
The base part with fixed fingers and
A holder portion that is rotatably provided with respect to the base portion and into which the user's arm is inserted, and a holder portion.
A movable finger provided on the tip side of the fixed finger,
A cylindrical telescopic member provided at a position between the fixed finger and the movable finger, which can be expanded and contracted,
A hinge portion provided in parallel with the telescopic member, which is movable with respect to an extension position in which the extension direction of the fixed finger and the extension direction of the movable finger are substantially parallel to each other and the extension direction of the fixed finger. A hinge portion that rotatably connects the fixed finger and the movable finger between bending positions where the extending directions of the fingers intersect.
It is a pump part in which the working fluid is stored inside, and by pressurizing the working fluid by using the rotational movement of the holder part, the working fluid is sent into the telescopic member and swirls around the hinge part. A pump unit that extends the telescopic member so as to move from the extended position to the bent position.
A fixed second finger and
Active prosthesis with.
[2]
The active prosthesis according to [1], comprising an urging member for urging the movable finger toward the extended position.
The following is a description equivalent to the invention described in the claims of the original application of the present application.
[3]
The base part where the fixed finger is fixed and
A holder portion that is rotatably provided with respect to the base portion and into which the user's arm is inserted, and a holder portion.
A movable finger provided on the tip side of the fixed finger,
A cylindrical telescopic member provided at a position between the fixed finger and the movable finger, which can be expanded and contracted,
A hinge portion provided in parallel with the telescopic member, which is movable with respect to an extension position in which the extension direction of the fixed finger and the extension direction of the movable finger are substantially parallel to each other and the extension direction of the fixed finger. A hinge portion that rotatably connects the fixed finger and the movable finger between bending positions where the extending directions of the fingers intersect.
It is a drive unit in which the working fluid is stored inside, and by pressurizing the working fluid by using the rotational movement of the holder portion, the working fluid is sent into the telescopic member and swivels around the hinge portion. A drive unit that extends the telescopic member so as to move from the extended position to the bent position.
Active prosthesis with.
[4]
The active prosthesis according to [3], wherein the telescopic member is a bellows.
[5]
A bottomed cylindrical second telescopic member provided on the movable finger, which stores a second working fluid inside and is compressed by abutting on an object to be gripped.
A bottomed tubular first that is provided at a position that abuts on the user's arm and presses the user's arm by receiving and extending the second working fluid sent from the compressed second telescopic member. 3 Telescopic members and
The active prosthesis according to [3].
[6]
The second fixed finger provided on the base portion and
A second movable finger provided on the tip side of the second fixed finger,
A cylindrical fourth telescopic member provided at a position between the second fixed finger and the second movable finger and expandable and contractible,
A second hinge portion provided in parallel with the fourth telescopic member, the extension position in which the extension direction of the second fixed finger and the extension direction of the second movable finger are substantially parallel, and the second extension position. A bending position where the extending direction of the second movable finger intersects with the extending direction of the fixed finger, and a second hinge portion that rotatably connects the second fixed finger and the second movable finger. ,
Equipped with
The drive unit pressurizes the working fluid by using the rotational motion of the holder portion, so that the working fluid is sent into the fourth telescopic member and swivels around the second hinge portion. 4 The active prosthesis according to [3], wherein the telescopic member is extended from the extended position to the bent position.
[7]
An elongated flat plate-shaped support that is attached to the user's arm and can be expanded and contracted according to the length of the user's arm.
A fixing portion that is rotatably connected to the support portion with respect to the support portion and can be fixed to the upper arm of the user.
The active prosthesis according to [3].
[8]
The active prosthesis according to [3], wherein the working fluid is air.
[9]
The drive unit includes a conversion mechanism that converts the rotational motion of the holder unit into a linear motion in the direction of pressurizing the working fluid in the drive unit.
The active prosthesis according to [3], wherein the conversion mechanism is provided integrally with the holder portion.
[10]
The active prosthesis according to [3], wherein the base portion, the holder portion, the fixed finger, the movable finger, the hinge portion, and the drive portion are formed of a resin material.
[11]
The drive unit includes a pump unit, and the pump unit is provided at a position separated from between the base unit and the holder unit, and the working fluid is stored inside and pressurizes the working fluid. The active prosthesis according to [3], which sends the working fluid into the telescopic member.
[12]
The drive unit
The first plate-shaped portion fixed to the base portion and
A second plate-shaped portion that is fixed to the holder portion and rotates with respect to the first plate-shaped portion as the holder portion rotates.
A balloon-shaped portion provided between the first plate-shaped portion and the second plate-shaped portion and accommodating the working fluid inside, and the first plate-shaped portion when the holder portion rotates with respect to the base portion. A balloon-shaped portion sandwiched between the plate-shaped portion and the second plate-shaped portion to send the working fluid into the telescopic member, and a balloon-shaped portion.
The active prosthesis according to [3].
[13]
The drive unit is composed of an elastic tube provided on the outside of the holder portion substantially parallel to the central axis of the holder portion, and stores the working fluid inside the tube. It is fixed to the base portion at one end and fixed to the base portion side of the holder portion at the other end, and the holder portion extends by rotating with respect to the base portion to send the working fluid into the expansion / contraction member. The active prosthesis according to [3].

１１…能動義手、１２…ベース部、１５…駆動部、１７…ホルダ部、２６…ポンプ部、２８…変換機構、３１…伸縮部材、４１…支持部、４２…固定部、６１…固定指、６２…可動指、６３…ヒンジ部、７２…第２伸縮部材、７５…第３伸縮部材、９１…第１板状部、９２…第２板状部、９３…バルーン状部、９４…チューブ、Ｐ１…伸び位置、Ｐ２…曲げ位置。 11 ... Active prosthesis, 12 ... Base part, 15 ... Drive part, 17 ... Holder part, 26 ... Pump part, 28 ... Conversion mechanism, 31 ... Telescopic member, 41 ... Support part, 42 ... Fixed part, 61 ... Fixed finger, 62 ... Movable finger, 63 ... Hinge part, 72 ... Second telescopic member, 75 ... Third telescopic member, 91 ... First plate-shaped part, 92 ... Second plate-shaped part, 93 ... Balloon-shaped part, 94 ... Tube, P1 ... extension position, P2 ... bending position.

Claims (11)

固定指が固定されたベース部と、
前記ベース部に対して回転可能に設けられ、使用者の腕が差し込まれるホルダ部と、
前記固定指よりも先端側に設けられた可動指と、
前記固定指と前記可動指との間の位置に設けられ、伸縮可能な筒状の伸縮部材と、
前記伸縮部材と並列に設けられたヒンジ部であって、前記固定指の延びる方向と前記可動指の延びる方向とが略平行になった伸び位置と、前記固定指の延びる方向に対して前記可動指の延びる方向が交差した曲げ位置と、の間で回動可能に前記固定指と前記可動指とを連結するヒンジ部と、
内部に作動流体が貯留された駆動部であって、前記ホルダ部の回転運動を用いて前記作動流体を加圧することで、前記伸縮部材内に前記作動流体を送って前記ヒンジ部の周りを旋回するように前記伸縮部材を伸長させ、前記伸び位置から前記曲げ位置にする駆動部と、
前記可動指を前記伸び位置に向けて付勢する付勢部材と、
を備える能動義手。 The base part where the fixed finger is fixed and
A holder portion that is rotatably provided with respect to the base portion and into which the user's arm is inserted, and a holder portion.
A movable finger provided on the tip side of the fixed finger,
A cylindrical telescopic member provided at a position between the fixed finger and the movable finger, which can be expanded and contracted,
A hinge portion provided in parallel with the telescopic member, which is movable with respect to an extension position in which the extension direction of the fixed finger and the extension direction of the movable finger are substantially parallel to each other and the extension direction of the fixed finger. A hinge portion that rotatably connects the fixed finger and the movable finger between bending positions where the extending directions of the fingers intersect.
It is a drive unit in which the working fluid is stored inside, and by pressurizing the working fluid by using the rotational movement of the holder portion, the working fluid is sent into the telescopic member and swivels around the hinge portion. A drive unit that extends the telescopic member so as to move from the extended position to the bent position.
An urging member that urges the movable finger toward the extension position,
Active prosthesis with. 前記伸縮部材は、ベローズである請求項１に記載の能動義手。 The active prosthesis according to claim 1, wherein the telescopic member is a bellows. 固定指が固定されたベース部と、
前記ベース部に対して回転可能に設けられ、使用者の腕が差し込まれるホルダ部と、
前記固定指よりも先端側に設けられた可動指と、
前記固定指と前記可動指との間の位置に設けられ、伸縮可能な筒状の伸縮部材と、
前記伸縮部材と並列に設けられたヒンジ部であって、前記固定指の延びる方向と前記可動指の延びる方向とが略平行になった伸び位置と、前記固定指の延びる方向に対して前記可動指の延びる方向が交差した曲げ位置と、の間で回動可能に前記固定指と前記可動指とを連結するヒンジ部と、
内部に作動流体が貯留された駆動部であって、前記ホルダ部の回転運動を用いて前記作動流体を加圧することで、前記伸縮部材内に前記作動流体を送って前記ヒンジ部の周りを旋回するように前記伸縮部材を伸長させ、前記伸び位置から前記曲げ位置にする駆動部と、
前記可動指に設けられ、内部に第２作動流体を貯留するとともに、把持対象物に当接することで圧縮される有底筒状の第２伸縮部材と、
前記使用者の腕に当接する位置に設けられ、圧縮された前記第２伸縮部材から送られる前記第２作動流体を受け取って伸長することで前記使用者の腕を押圧する有底筒状の第３伸縮部材と、
を備える能動義手。 The base part where the fixed finger is fixed and
A holder portion that is rotatably provided with respect to the base portion and into which the user's arm is inserted, and a holder portion.
A movable finger provided on the tip side of the fixed finger,
A cylindrical telescopic member provided at a position between the fixed finger and the movable finger, which can be expanded and contracted,
A hinge portion provided in parallel with the telescopic member, which is movable with respect to an extension position in which the extension direction of the fixed finger and the extension direction of the movable finger are substantially parallel to each other and the extension direction of the fixed finger. A hinge portion that rotatably connects the fixed finger and the movable finger between bending positions where the extending directions of the fingers intersect.
It is a drive unit in which the working fluid is stored inside, and by pressurizing the working fluid by using the rotational movement of the holder portion, the working fluid is sent into the telescopic member and swivels around the hinge portion. A drive unit that extends the telescopic member so as to move from the extended position to the bent position.
A bottomed cylindrical second telescopic member provided on the movable finger, which stores a second working fluid inside and is compressed by abutting on an object to be gripped.
A bottomed tubular first that is provided at a position that abuts on the user's arm and presses the user's arm by receiving and extending the second working fluid sent from the compressed second telescopic member. 3 Telescopic members and
Active prosthesis with. 前記ベース部に設けられた第２固定指と、
前記第２固定指よりも先端側に設けられた第２可動指と、
前記第２固定指と前記第２可動指との間の位置に設けられ、伸縮可能な筒状の第４伸縮部材と、
前記第４伸縮部材と並列に設けられた第２ヒンジ部であって、前記第２固定指の延びる方向と前記第２可動指の延びる方向とが略平行になった伸び位置と、前記第２固定指の延びる方向に対して前記第２可動指の延びる方向が交差した曲げ位置と、の間で回動可能に前記第２固定指と前記第２可動指とを連結する第２ヒンジ部と、
を備え、
前記駆動部は、前記ホルダ部の回転運動を用いて前記作動流体を加圧することで、前記第４伸縮部材内に前記作動流体を送って前記第２ヒンジ部の周りを旋回するように前記第４伸縮部材を伸長させ、前記伸び位置から前記曲げ位置にする請求項１に記載の能動義手。 The second fixed finger provided on the base portion and
A second movable finger provided on the tip side of the second fixed finger,
A cylindrical fourth telescopic member provided at a position between the second fixed finger and the second movable finger and expandable and contractible,
A second hinge portion provided in parallel with the fourth telescopic member, the extension position in which the extension direction of the second fixed finger and the extension direction of the second movable finger are substantially parallel, and the second extension position. A bending position where the extending direction of the second movable finger intersects with the extending direction of the fixed finger, and a second hinge portion that rotatably connects the second fixed finger and the second movable finger. ,
Equipped with
The drive unit pressurizes the working fluid by using the rotational motion of the holder portion, so that the working fluid is sent into the fourth telescopic member and swivels around the second hinge portion. 4. The active prosthesis according to claim 1, wherein the telescopic member is extended from the extended position to the bent position. 前記使用者の腕に装着され、前記使用者の腕の長さに合わせて伸縮可能な細長い平板状の支持部と、
前記支持部に対して回動可能に前記支持部に連結され、前記使用者の上腕に固定されることが可能な固定部と、
を備える請求項１に記載の能動義手。 An elongated flat plate-shaped support that is attached to the user's arm and can be expanded and contracted according to the length of the user's arm.
A fixing portion that is rotatably connected to the support portion with respect to the support portion and can be fixed to the upper arm of the user.
The active prosthesis according to claim 1. 前記作動流体は、空気である請求項１に記載の能動義手。 The active prosthesis according to claim 1, wherein the working fluid is air. 前記駆動部は、前記ホルダ部の回転運動を前記駆動部内の前記作動流体を加圧する方向の直線運動に変換する変換機構を備え、
前記変換機構は、前記ホルダ部と一体に設けられる請求項１に記載の能動義手。 The drive unit includes a conversion mechanism that converts the rotational motion of the holder unit into a linear motion in the direction of pressurizing the working fluid in the drive unit.
The active prosthesis according to claim 1, wherein the conversion mechanism is provided integrally with the holder portion. 前記ベース部、前記ホルダ部、前記固定指、前記可動指、前記ヒンジ部、および前記駆動部は、樹脂材料により形成される請求項１に記載の能動義手。 The active prosthesis according to claim 1, wherein the base portion, the holder portion, the fixed finger, the movable finger, the hinge portion, and the drive portion are formed of a resin material. 前記駆動部は、ポンプ部を含み、前記ポンプ部は、前記ベース部と前記ホルダ部との間から外れた位置に設けられ、内部に前記作動流体が貯留されるとともに、前記作動流体を加圧することで、前記伸縮部材内に前記作動流体を送る請求項１に記載の能動義手。 The drive unit includes a pump unit, and the pump unit is provided at a position separated from between the base unit and the holder unit, and the working fluid is stored inside and pressurizes the working fluid. The active prosthesis according to claim 1, wherein the working fluid is sent into the telescopic member. 固定指が固定されたベース部と、
前記ベース部に対して回転可能に設けられ、使用者の腕が差し込まれるホルダ部と、
前記固定指よりも先端側に設けられた可動指と、
前記固定指と前記可動指との間の位置に設けられ、伸縮可能な筒状の伸縮部材と、
前記伸縮部材と並列に設けられたヒンジ部であって、前記固定指の延びる方向と前記可動指の延びる方向とが略平行になった伸び位置と、前記固定指の延びる方向に対して前記可動指の延びる方向が交差した曲げ位置と、の間で回動可能に前記固定指と前記可動指とを連結するヒンジ部と、
内部に作動流体が貯留された駆動部であって、前記ホルダ部の回転運動を用いて前記作動流体を加圧することで、前記伸縮部材内に前記作動流体を送って前記ヒンジ部の周りを旋回するように前記伸縮部材を伸長させ、前記伸び位置から前記曲げ位置にする駆動部と、
を備え、
前記駆動部は、
前記ベース部に固定された第１板状部と、
前記ホルダ部に固定され前記ホルダ部の回転に伴い前記第１板状部に対して回転する第２板状部と、
前記第１板状部と前記第２板状部との間に設けられ内部に前記作動流体を貯留したバルーン状部であって、前記ベース部に対して前記ホルダ部が回転する際に前記第１板状部と前記第２板状部との間に挟まれて前記伸縮部材内に前記作動流体を送るバルーン状部と、
を有する能動義手。 The base part where the fixed finger is fixed and
A holder portion that is rotatably provided with respect to the base portion and into which the user's arm is inserted, and a holder portion.
A movable finger provided on the tip side of the fixed finger,
A cylindrical telescopic member provided at a position between the fixed finger and the movable finger, which can be expanded and contracted,
A hinge portion provided in parallel with the telescopic member, which is movable with respect to an extension position in which the extension direction of the fixed finger and the extension direction of the movable finger are substantially parallel to each other and the extension direction of the fixed finger. A hinge portion that rotatably connects the fixed finger and the movable finger between bending positions where the extending directions of the fingers intersect.
It is a drive unit in which the working fluid is stored inside, and by pressurizing the working fluid by using the rotational movement of the holder portion, the working fluid is sent into the telescopic member and swivels around the hinge portion. A drive unit that extends the telescopic member so as to move from the extended position to the bent position.
Equipped with
The drive unit
The first plate-shaped portion fixed to the base portion and
A second plate-shaped portion that is fixed to the holder portion and rotates with respect to the first plate-shaped portion as the holder portion rotates.
A balloon-shaped portion provided between the first plate-shaped portion and the second plate-shaped portion and accommodating the working fluid inside, and the first plate-shaped portion when the holder portion rotates with respect to the base portion. A balloon-shaped portion sandwiched between the plate-shaped portion and the second plate-shaped portion to send the working fluid into the telescopic member, and a balloon-shaped portion.
Active prosthesis with . 固定指が固定されたベース部と、The base part where the fixed finger is fixed and
前記ベース部に対して回転可能に設けられ、使用者の腕が差し込まれるホルダ部と、A holder portion that is rotatably provided with respect to the base portion and into which the user's arm is inserted, and a holder portion.
前記固定指よりも先端側に設けられた可動指と、A movable finger provided on the tip side of the fixed finger,
前記固定指と前記可動指との間の位置に設けられ、伸縮可能な筒状の伸縮部材と、A cylindrical telescopic member provided at a position between the fixed finger and the movable finger, which can be expanded and contracted,
前記伸縮部材と並列に設けられたヒンジ部であって、前記固定指の延びる方向と前記可動指の延びる方向とが略平行になった伸び位置と、前記固定指の延びる方向に対して前記可動指の延びる方向が交差した曲げ位置と、の間で回動可能に前記固定指と前記可動指とを連結するヒンジ部と、A hinge portion provided in parallel with the telescopic member, which is movable with respect to an extension position in which the extension direction of the fixed finger and the extension direction of the movable finger are substantially parallel to each other and the extension direction of the fixed finger. A hinge portion that rotatably connects the fixed finger and the movable finger between bending positions where the extending directions of the fingers intersect.
内部に作動流体が貯留された駆動部であって、前記ホルダ部の回転運動を用いて前記作動流体を加圧することで、前記伸縮部材内に前記作動流体を送って前記ヒンジ部の周りを旋回するように前記伸縮部材を伸長させ、前記伸び位置から前記曲げ位置にする駆動部と、It is a drive unit in which the working fluid is stored inside, and by pressurizing the working fluid by using the rotational movement of the holder portion, the working fluid is sent into the telescopic member and swivels around the hinge portion. A drive unit that extends the telescopic member so as to move from the extended position to the bent position.
を備え、Equipped with
前記駆動部は、前記ホルダ部の外側に前記ホルダ部の中心軸と略平行に設けられた伸縮性のあるチューブで構成されるとともに、当該チューブ内部に前記作動流体を貯留し、当該チューブは、一端で前記ベース部に固定されるとともに他端で前記ホルダ部の基部側に固定され、前記ホルダ部が前記ベース部に対して回転することで伸長して前記伸縮部材内に前記作動流体を送る能動義手。The drive unit is composed of an elastic tube provided on the outside of the holder portion substantially parallel to the central axis of the holder portion, and stores the working fluid inside the tube. It is fixed to the base portion at one end and fixed to the base portion side of the holder portion at the other end, and the holder portion extends by rotating with respect to the base portion to send the working fluid into the expansion / contraction member. Active prosthesis.
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WO2014045433A1 (en) 2012-09-24 2014-03-27 Yamamoto Keijirou Joint movement device
JP2015080480A (en) 2013-10-21 2015-04-27 独立行政法人国立高等専門学校機構 Electronic artificial arm
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WO2014045433A1 (en) 2012-09-24 2014-03-27 Yamamoto Keijirou Joint movement device
JP2015080480A (en) 2013-10-21 2015-04-27 独立行政法人国立高等専門学校機構 Electronic artificial arm
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WO2016174242A1 (en) 2015-04-30 2016-11-03 Hy5Pro As Palm unit for artificial hand

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