JPWO2014136958A1 - ハンドエグゾスケルトン装置 - Google Patents
ハンドエグゾスケルトン装置 Download PDFInfo
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- 230000007246 mechanism Effects 0.000 claims abstract description 71
- 241000282414 Homo sapiens Species 0.000 claims abstract description 40
- 210000001503 joint Anatomy 0.000 claims abstract description 27
- 238000005452 bending Methods 0.000 claims abstract description 15
- 230000008859 change Effects 0.000 claims description 5
- 210000000811 metacarpophalangeal joint Anatomy 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 abstract description 28
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 210000003811 finger Anatomy 0.000 description 39
- 239000012530 fluid Substances 0.000 description 6
- 210000001145 finger joint Anatomy 0.000 description 4
- 230000005057 finger movement Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000003863 physical function Effects 0.000 description 3
- 230000003252 repetitive effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
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- 238000013461 design Methods 0.000 description 1
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- 208000014674 injury Diseases 0.000 description 1
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- 208000033808 peripheral neuropathy Diseases 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
- A61F2002/7862—Harnesses, straps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1481—Special movement conversion means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1481—Special movement conversion means
- A61H2201/149—Special movement conversion means rotation-linear or vice versa
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1664—Movement of interface, i.e. force application means linear
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
- A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Vascular Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
Description
手指の長手方向に沿って先端より直列に配置された第0外装部と第1外装部と第2外装部と第3外装部とから構成され、
第0外装部と第1外装部、第1外装部と第2外装部、第2外装部と第3外装部は、上下方向に並列に配置され複数組を成す上部ばね及び下部ばねによりそれぞれ連結され、
それぞれの外装部の上部を固定する上部ばねは、一端をスライド機構により、ある一定の距離を自在に手指長手方向に対して固定端を移動することができるように、可変長となっており、
それぞれの外装部の下部を固定する下部ばねは、その両端においてその外装部にそれぞれ固定され、
それぞれの外装部内には、手指長手方向についてのみ自在にスライド移動可能な駆動ばねを備え、
駆動ばねの先端は第0外装部へ固定され、駆動ばねの他端は、駆動軸へ固定され、
外装部を連結する上部ばね及び下部ばねと、駆動ばねとは、上下方向に三層を構成し、
人体の手指に装着する際には、遠位指節間関節より末端部の部位に第0外装部を、遠位指節間関節と近位指節間関節と間の部位に第1外装部を、近位指節間関節と中手指節間関節と間の部位に第2外装部を、手掌部に第3外装部を、それぞれ固定し、
人体に装着した状態で、駆動軸を人体手指に対してその人体手指の長手方向に駆動することにより、遠位指節間関節と近位指節間関節と中手指節間関節とに対して回転力を供給し、人体の手指についての屈曲伸展動作を支援することを特徴とする。
これらのばね長さを変更することで動作を調整可能となっている。
本出願は、2013年3月8日出願の日本特許出願No.2013-046449に基づくものであり、その内容はここに参照として取り込まれる。
2 駆動手段
3 コントロール部
4 第0外装部
5 第1外装部
6 第2外装部
7 第3外装部
8 駆動軸
9 第1外装上部ばね
10 第2外装上部ばね
11 第3外装上部ばね
12 第1外装下部ばね
13 第2外装下部ばね
14 第3外装下部ばね
15 駆動ばね
16 第1スライダ機構
17 第2スライダ機構
18 第3スライダ機構
19 第1スライダ機構内のストッパ
20 第2スライダ機構内のストッパ
21 第3スライダ機構内のストッパ
22 人体手指のおおよその遠位指節間関節の動作中心
23 人体手指のおおよその近位指節間関節の動作中心
24 人体手指のおおよその中手指節間関節の動作中心
Claims (2)
- 駆動手段によって駆動され手指に装着される三層のスライドばね機構であるハンドエグゾスケルトン装置であって、
前記手指の長手方向に沿って先端より直列に配置された第0外装部と第1外装部と第2外装部と第3外装部とから構成され、
前記第0外装部と前記第1外装部、前記第1外装部と前記第2外装部、前記第2外装部と前記第3外装部は、上下方向に並列に配置され複数組を成す上部ばね及び下部ばねによりそれぞれ連結され、
それぞれの外装部の上部を固定する前記上部ばねは、スライド機構により、ある一定の距離を自在に手指長手方向に対して固定端を移動することができるように、可変長となっており、
それぞれの前記外装部の下部を固定する前記下部ばねは、その両端においてその外装部にそれぞれ固定され、
それぞれの前記外装部内には、手指長手方向についてのみ自在にスライド移動可能な駆動ばねを備え、
前記駆動ばねの先端は前記第0外装部へ固定され、前記駆動ばねの他端は、駆動軸へ固定され、
前記外装部を連結する前記上部ばね及び前記下部ばねと、前記駆動ばねとは、上下方向に三層を構成し、
人体の手指に装着する際には、遠位指節間関節より末端部の部位に前記第0外装部を、前記遠位指節間関節と近位指節間関節と間の部位に前記第1外装部を、前記近位指節間関節と中手指節間関節と間の部位に前記第2外装部を、手掌部に前記第3外装部を、それぞれ固定し、
前記人体に装着した状態で、前記駆動軸を人体手指に対してその人体手指の長手方向に駆動することにより、前記遠位指節間関節と前記近位指節間関節と前記中手指節間関節とに対して回転力を供給し、前記人体の手指についての屈曲伸展動作を支援することを特徴とするハンドエグゾスケルトン装置。 - 前記三層のスライドばね機構において、前記第0外装部と前記第1外装部と前記第2外装部と前記第3外装部とをそれぞれ連結する前記上部ばね及び前記下部ばねの長さと、駆動ばねの長さとは、装着者の手指サイズ、各関節を屈曲させるタイミングを変化させる指標となっており、
これらのばね長さを変更することで動作を調整可能となっている請求項1に記載のハンドエグゾスケルトン装置。
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JP2013046449 | 2013-03-08 | ||
JP2013046449 | 2013-03-08 | ||
PCT/JP2014/056032 WO2014136958A1 (ja) | 2013-03-08 | 2014-03-07 | ハンドエグゾスケルトン装置 |
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JPWO2014136958A1 true JPWO2014136958A1 (ja) | 2017-02-16 |
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JP2019086107A Active JP6821206B2 (ja) | 2013-03-08 | 2019-04-26 | ハンドエグゾスケルトン装置 |
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US (1) | US10028880B2 (ja) |
EP (1) | EP2954988B1 (ja) |
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WO (1) | WO2014136958A1 (ja) |
Families Citing this family (38)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB201403265D0 (en) | 2014-02-25 | 2014-04-09 | Touch Emas Ltd | Prosthetic digit for use with touchscreen devices |
CN104887364B (zh) * | 2014-03-03 | 2018-11-02 | 精工爱普生株式会社 | 指关节驱动装置 |
JP6269171B2 (ja) * | 2014-03-05 | 2018-01-31 | セイコーエプソン株式会社 | 指関節駆動装置 |
TWI657597B (zh) * | 2015-03-18 | 2019-04-21 | 新世紀光電股份有限公司 | 側照式發光二極體結構及其製造方法 |
JP6548217B2 (ja) * | 2015-05-15 | 2019-07-24 | 国立大学法人九州大学 | ハンドエグゾスケルトン装置 |
JP6501358B2 (ja) * | 2015-07-23 | 2019-04-17 | 原田電子工業株式会社 | 指動作補助装置 |
ITUB20161088A1 (it) * | 2016-02-26 | 2017-08-26 | Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna | Dispositivo esoscheletrico per la mano |
NL2017228B1 (en) * | 2016-07-25 | 2018-01-31 | Univ Delft Tech | Exoskeleton glove |
CN106943277A (zh) * | 2017-04-18 | 2017-07-14 | 上海理工大学 | 自适应穿戴式柔顺外骨骼康复机械手 |
CN106983634A (zh) * | 2017-04-20 | 2017-07-28 | 西安交通大学 | 一种基于多段连续结构的外骨骼手指功能康复装置 |
AU2018364613A1 (en) | 2017-11-07 | 2020-05-28 | Ecole Polytechnique Federale De Lausanne (Epfl) | Hand exoskeleton device |
US10973660B2 (en) | 2017-12-15 | 2021-04-13 | Touch Bionics Limited | Powered prosthetic thumb |
JP6883335B2 (ja) * | 2018-01-09 | 2021-06-09 | 国立大学法人 宮崎大学 | 立ち上がり補助装着具 |
CN108904216A (zh) * | 2018-05-23 | 2018-11-30 | 广东工业大学 | 一种手部机能康复辅助外骨骼机械手 |
CN108464914A (zh) * | 2018-05-24 | 2018-08-31 | 杭州航弈生物科技有限责任公司 | 基于线驱动的多自由度手部康复外骨骼 |
EP3821322A1 (en) | 2018-07-10 | 2021-05-19 | Ecole Polytechnique Federale De Lausanne (Epfl) | Electrostatic brake-based haptic device |
JP7238667B2 (ja) * | 2019-07-23 | 2023-03-14 | 株式会社三洋物産 | 遊技機 |
JP7238664B2 (ja) * | 2019-07-23 | 2023-03-14 | 株式会社三洋物産 | 遊技機 |
JP7238663B2 (ja) * | 2019-07-23 | 2023-03-14 | 株式会社三洋物産 | 遊技機 |
JP7238666B2 (ja) * | 2019-07-23 | 2023-03-14 | 株式会社三洋物産 | 遊技機 |
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