KR100968343B1 - Myoelectric hand with new adaptive grasping and self-locking mechanism - Google Patents

Abstract

The present invention relates to a myocardium with a new adaptive gripping and automatic locking function, the holder (100) is installed in the metacarpophalangeal joint (metacarpophalangeal joint); A plurality of grooves 210 are disposed in the holder 100 so as to be freely rotated in a free position and recessed in the direction of the shaft 500 on the outer surface so that the roller 400 may be seated therein. A housing 200; It is disposed in the receiving space formed inside the housing 200, the central portion is fixed to the shaft 500 which is interlocked with the motor (510) to be wound or unrolled in a wound state while maintaining a constant deformation force A spiral spring 300 provided to be provided; And a shaft disposed at one side or both sides of the housing and connected to the shaft 500 through a bearing, hinged to a link of a finger, and positioned at a position corresponding to the groove so that an end of the roller can be mounted on an outer surface thereof. And a driven plate 600 having a cam surface on which a plurality of cutouts 610 formed of a long side 610a and a short side 610b are symmetrically formed, and maintaining the deformation force of the spiral spring 300. By each of the fingers to be held in an independent bent form, it is possible to maintain the deformed operating state without the drive of the motor 510, but also to block the deformation of the bent state arbitrarily under the influence of external torque.

Multifunction EMG, Underacted Mechanism, Adaptive Phage, Automatic Locking

Description

Myoelectric hand with new adaptive grasping and self-locking mechanism

The present invention relates to a number of myopia having a new adaptive gripping and auto-locking function, more specifically, to provide a stable gripping by maximizing the contact surface to any object shape, the myopia using a battery by the automatic locking function The present invention relates to a myopic tree having a new adaptive gripping and automatic locking function to solve the energy efficiency problem of the prosthetic.

Every year, the number of people with disabilities caused by diseases and accidents is increasing, and the rehabilitation and normal return to society of these people with disabilities are a big social problem worldwide. Accordingly, many researches have been conducted on rehabilitation equipment and orthosis, and one of them is an artificial number worn by a handicapped person without a hand or an arm. Various types of electrons are operated.

However, such a conventional myocardium, in the implementation of the gripping function, with the difficulty of controlling the operation of the finger joints individually, the small size, weight reduction problem, essential for the application of the myocardium due to the motor, etc. It is a situation that does not effectively solve the problems of energy efficiency of prosthetic hands.

The present invention devised to solve the problems described above, in the implementation of the gripping function, with the difficulty of controlling the operation of the finger joints individually, a small size, light weight problem essential for the application of myoelectrics according to the motor mounting, etc. It is an object of the present invention to provide a myofiac with a new adaptive gripping and automatic locking function that can effectively solve the energy efficiency problem of myocardium using a battery.

The present invention for achieving the object as described above, the holder (holder) is installed in the metacarpophalangeal joint (metacarpophalangeal joint); A plurality of grooves 210 are disposed in the holder 100 so as to be freely rotated in a free position and recessed in the direction of the shaft 500 on the outer surface so that the roller 400 may be seated therein. A housing 200; It is disposed in the receiving space formed inside the housing 200, the central portion is fixed to the shaft 500 which is interlocked with the motor (510) to be wound or unrolled in a wound state while maintaining a constant deformation force A spiral spring 300 provided to be provided; And a shaft disposed at one side or both sides of the housing and connected to the shaft 500 through a bearing, hinged to a link of a finger, and positioned at a position corresponding to the groove so that an end of the roller can be mounted on an outer surface thereof. And a driven plate 600 having a cam surface on which a plurality of cutouts 610 formed of a long side 610a and a short side 610b are symmetrically formed, and maintaining the deformation force of the spiral spring 300. By each of the fingers to be held in an independent bent form, it is possible to maintain the deformed operating state without the drive of the motor 510, and to be able to block the deformation of the bent state arbitrarily under the influence of external torque.

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In addition, a second driving plate (not shown) having an outer surface shape corresponding to an outer surface of the housing 200 between the spur gear 520 and the shaft 500 connecting the motor 510 and the shaft 500. ) And a second driven plate (not shown) having an outer shape corresponding to the cam surface of the driven plate 600, so that the spiral spring 300 maintains a rotational displacement without driving the motor 510. It is desirable to be able to block the transmission of the external torque to the motor 510 side while being able to do so.

In addition, the finger, the proximal phalanx closest to the palm (proximal phalanx), the proximal phalanx 10 to remove one link from the four link mechanism and is connected to the hinge pin of the driven plate 600; A middle phalanx corresponding to the middle phalanx of the finger and configured with four link mechanisms and connected with the proximal phalanx 10 adjacent through a triangular link 50; And a distal phalanx corresponding to a distal phalanx located at the tip of a finger, and the distal phalanx 30 connected to the four link mechanisms of the medial phalanx 20. It is desirable to enable adaptive gripping between the knuckles by the connection structure.

The carpometacarpal joint of the thumb of the finger is interlocked with a star wheel 710 having a radial slot 711 and a second motor 550 for adduction and abduction. Geneva with a driver 720 that is rotated, a Geneva roller 730 interlocked with the driver 720, inserted into the slot 711 and rotating the star wheel 710. A crank-slider mechanism that uses a mechanism and converts the rotational motion of the driving body 720 into a linear motion for bending and extension, and corresponds to the second motor for rotating the driving body 720. It is preferable to implement an operation corresponding to the adduction / abduction with the bending / extension with one motor 550.

In addition, the other four fingers except the thumb of the finger, has three nodes, one motor corresponding to one of the motors 510 implements 12 degrees of freedom corresponding to the flexion / extension, the thumb of the fingers Preferably, the other motor corresponding to the second motor 550 implements four degrees of freedom corresponding to flexion / extension and adduction / abduction.

The present invention by the above-described configuration, in the construction of the finger joint structure, by applying a seven-link mechanism and a spiral spring mechanism for the adaptive gripping function between the finger node and the finger to maximize the contact surface to any object shape It can provide stable adaptive gripping function, and it is possible to realize small size and light weight by using one motor.

In addition, the development of a roller-cam mechanism that can work with the spiral spring in the metacarpophalangeal joint to implement the automatic locking function has another effect that can solve the energy efficiency problem of the myoelectric power using the battery.

In addition, in the thumb design, the Geneva & Crank-Slider mechanism, which allows the flexion / extension of the thumb and the abduction / abduction of the thumb using one motor, provides a stable adaptive gripping function. There are other effects that can be miniaturized and lightweight according to the minimization of the number of motors.

As a result, the circular, spherical, and end point gripping functions are possible, as well as the side and ring gripping functions. have.

In addition, by presenting a new under-actuated mechanism suitable for the multiple degree of freedom myocardium, the under-acted mechanism, sensor technology, and control technology obtained in the manufacturing process of myocardial muscle can be applied to the robot hand industry. It can be widely applied as a basic technology to the automation industry, rehabilitation industry related to artificial hands.

The EMG with the new adaptive gripping and auto-locking functions according to the present invention having the above configuration has three functional features in the design concept as the EMG with five fingers.

First, all four fingers except the thumb have adaptive gripping and self-locking. Secondly, the three nodes on each finger are rotatable independently to maximize the contact surface with the object. Thirdly, the thumb has three nodes that can be adaptively gripped like other fingers, and can be adducted / abduction along with flexion / extension in the carpometacarpal joint.

First, the adaptive gripping mechanism between the fingers will be described.

The present invention provides an underacted mechanism using a spring for adaptive gripping between fingers. In the underacted mechanism using the spring, each finger may have an independent gripping function when gripping an irregularly shaped object by introducing a spiral spring 300.

As shown in FIG. 1, the finger is connected with the spiral spring 300 through a housing 200 at a metacarpophalangeal joint. The housing 200 serves to wind the spiral spring 300 in a predetermined space, so that the spiral spring 300 maintains a constant deformation force. The housing 200 may be freely rotated in the holder 100. The spiral spring 300 is fixed to a shaft 500 that is rotated by a motor 510 and the power of the motor 510 is driven by a simple spur gear set. ) Can be delivered.

2 is a diagram illustrating an operating state of the spiral spring 300 when an artificial hand performs an adaptive gripping function by applying an underacted mechanism using the spring, wherein the spiral spring 300 is shown. The operation of is divided into four modes corresponding to the arrival mode, the adaptation mode, the power grasp mode, and the release mode according to the gripping type.

The arrival mode as shown in FIG. 2A is started from the state where the joints of the fingers are fully extended until the contact with the object. During the reaching mode, a slight deflection appears in the spiral spring 300, and the power of the motor 510 is transmitted to the finger with a small frictional loss between the housing 200 and the holder 100.

In the adaptation mode as shown in FIG. 2 (b), the spiral spring 300 is wound by the motor 510 which keeps the finger in contact with the object and continues to rotate. In this case, the spiral spring 300 of the finger without movement stores the power of the motor 510 as a force proportional to the wound length of the spiral spring 300. In the adaptive mode, other fingers that are not in contact with the object may be continuously bent, thereby performing an adaptive gripping function between the fingers.

The power gripping mode as illustrated in FIG. 2C means that the rotational force of the motor 510 is directly transmitted to the gripping force of the finger. That is, since the spiral spring 300 is completely wound up to the diameter of the shaft 500, the spiral spring 300 and the housing 200 operate as a fixing mechanism for connecting the shaft 500 and the finger.

In the termination mode as shown in Fig. 2D, the finger does not come into contact with the object and returns to the initial position. The spiral spring 300 is loosened up to the diameter of the housing 200 as opposed to the power gripping, and thus the finger may be extended to the initial state by the reverse rotation of the motor 510.

Next, the automatic locking mechanism of the finger will be described.

As described above, the spring mechanism has a disadvantage in that the finger is stretched by an external force when the user moves the wrist and arm or the weight of the gripped object is changed, and the lock mechanism can compensate for this disadvantage. Preferably, since the motor 510 must continuously supply torque while the finger grips the object, a structure that can increase energy efficiency of the battery is preferably applied.

Conventional EMG, which is commercially available, provides a self-locking structure between the motor and the gearbox to prevent finger spreading by external force and increase the energy efficiency of the battery. There was a limitation that it can be applied only to the structure directly driven by each of these motors.

The present invention proposes a new type of self-locking mechanism to solve this disadvantage. The self-locking mechanism according to the present invention is applicable to each finger and the motor 510 and is driven by a driving force transmitted from the motor side in order to implement a quiet and powerful one-way clutch function. The cam-roller 400 mechanism is used to prevent the drive from being driven by the pressing force transmitted from the outside of the device.

As shown in FIG. 3, a general cam-roller clutch includes an inner drive module, an outer drive module, and a roller, and the inner drive module is connected to the external drive module. It has a cam surface on the opposite surface and serves to insert or remove the roller.

As shown in (a) of FIG. 3, when the internal drive module rotates in a counterclockwise direction, the rollers are tightly coupled between the internal drive module and the external drive module, and thus the internal drive module and the external drive module are coupled. The drive module rotates together in the counterclockwise direction.

As shown in (b) of FIG. 3, when the internal drive module rotates clockwise or the external drive module rotates at a higher speed than the internal drive module, the rollers are sandwiched between the internal and external drive modules. By rotating freely, the connection between the internal drive module and the external drive module is separated.

On the other hand, the present invention proposes a self-locking mechanism in which the driving portion can rotate the driven portion in both directions using the principle of the cam-roller mechanism and vice versa. Figure 4 is schematically shown to help understand the automatic locking mechanism using the principle of the cam-roller 400 mechanism according to the present invention, the automatic locking mechanism according to the present invention is a driving plate (driving plate) (the present invention) Corresponding to the housing 200, described below), driven plate 600, outer member (corresponding to the holder 100 of the present invention, described below), roller 400 It is composed of

As shown in (a) of FIG. 4, the cam surface of the driving plate has the same curvature as the inner surface of the outer module, and a plurality of grooves 210 recessed in the direction of the axis 500 on the outer surface. ) Is provided so that the rollers 400 are seated in the grooves 210, respectively, and the distance between the cam surface of the driving plate and the inner surface of the outer module is greater than the diameter of the roller 400.

On the other hand, the driven plate 600, as shown in (b) of Figure 4, is formed to have an inclined cam surface symmetrically arranged with respect to the horizontal axis and the vertical axis, the groove portion 210 on the outer surface A plurality of cutouts 610 having a long side 610a and a short side 610b are symmetrically formed at positions corresponding to the grooves 210 so that the end portions of the rollers 400 seated thereon may be mounted.
Due to this, the external module serves as a stationary holder and provides a friction force to fit the roller 400 with the inclined cam surface of the driven plate 600.

The automatic locking mechanism according to the present invention having the configuration as described above implements four operation modes corresponding to bidirectional driving on one side and the other side and bidirectional locking on one side and the other side. How the autolock mechanism is implemented in four modes in transmitting power in one direction will be described with reference to FIG. 5. In FIG. 5, the solid line and the broken line indicate the driving plate and the driven plate 600, respectively, and the arrows of the solid line and the broken line indicate the respective rotation directions.

As shown in FIG. 5A, when the driving plate rotates in a counterclockwise direction, the right roller 400 is positioned between the edges of two cam surfaces to transmit rotational force by connecting two plates. At this time, the left roller 400 does not affect the rotation of the plate in a state of free rotation. As a result, the driven plate 600 may rotate in the same manner along the driving plate.

As shown in (b) of FIG. 5, when the driving plate rotates in a clockwise direction, the driving plate and the driven plate 600 rotate in a clockwise direction with a symmetrical structure as in the case of (a).

As shown in FIG. 5C, when the driven plate 600 rotates counterclockwise by an external torque, the right roller 400 is disposed between the inclined cam surface of the driven plate 600 and the external module. While the left roller 400 is locked while being locked in the free state, the automatic locking is made. As shown in FIG. 5D, the driven plate 600 is clockwise by external torque. Even when rotating, the automatic lock is made on the same principle as the case shown in (c) of FIG.

Next, the structure of the metacarpal osteoarticular joint to which the spiral spring 300 mechanism for the adaptive gripping function and the cam-roller 400 mechanism for the automatic locking function is applied will be described.

To include the spiral spring mechanism for the adaptive gripping function and the cam-roller mechanism for the self-locking function in one structure, as shown in FIG. 6, the housing including the spiral spring 300 ( 200 has the same cam surface as the drive plate of the self-locking mechanism, and the driven plate 600 is connected to the shaft 500 by bearing engagement and has two hinge pins connecting the links of each finger.

By arranging the two driven plates 600 in pairs on both sides of the housing 200, power transmission to the fingers can be further improved, and the four rollers 400 are provided on both sides of the two driving plates. The cam surface of the driven plate 600 is provided.

In addition, when the auto-locking module for implementing the cam-roller mechanism for the self-locking function is disposed between the spur gear 520 and the shaft 500 connecting the motor 510 and the shaft 500. Since the transmission of external torque can be blocked, the spiral spring 300 can maintain a rotational displacement without the rotation of the motor 510.

Next, the connection structure of the finger node in consideration of the adaptive gripping function will be described.

The present invention proposes an underacted mechanism based on a seven-link mechanism in order to apply an adaptive gripping function to a connection structure between finger nodes. As shown in FIG. 7, the finger consists of three nodes and applies a modified seven-link mechanism to connect with the metacarpophalangeal joint.

The proximal phalanx portion 10 closest to the palm removes one link from the four-link mechanism and is connected to two hinge pins of the driven plate 600, the middle phalanx portion 20 In addition, it is composed of a four-link mechanism and connected to the adjacent proximal phalanges through the triangular link 50, the connection structure with the triangular link 50 enables the adaptive grip between the knuckles, the distal phalanges (located at the fingertips) distal phalanx) 30 is connected to the four link mechanism of the medial phalanx 20.

The adaptive gripping function in the bending motion of the finger is achieved by the sequential contact of the finger nodes as shown in FIG. Before the finger contacts the object, the three nodes act as one rigid link, as shown in FIG. 8 (a), and the proximal phalanx 10 first appears as shown in FIG. 8 (b). When in contact with the object, as shown in (c) of FIG. 8, the bending of the medial phalangeal part 20 begins and eventually comes into contact with the object, and the distal phalangeal part 30 is the median. After the contact of the phalanx 20 is completed, bending starts as shown in FIG. 8 (d) and contact is made. As a result, three nodes can wrap an object with multiple points of contact.

Next, the thumb structure of 4 degrees of freedom that can perform the flexion / extension as well as adduction / abduction in the carpal tunnel will be described.

In general, the adduction / abduction function is implemented by an intermittent mechanism, and this mechanism is used as a cyclic timing gear movement in the Manus hand. However, this method has the disadvantage that the interphalangeal joint is not independent from the carpal tunnel and requires a complicated path to transmit the power of the motor.

 Accordingly, the present invention proposes a thumb design using a Geneva mechanism and a crank-slider mechanism to solve this problem.

In the thumb structure according to the present invention, all the operations of the thumb are driven by one second motor 550 which is connected to the coupling as shown in FIG. 9, and the worm gear is powered. Allows all joints to autolock at the same time as they change direction.

The Geneva mechanism is composed of a star wheel 710, a Geneva roller 730, and a driver 720, as shown in FIG. 10. Since the edge of the star wheel 710 and the shoulder of the driving body 720 have the same curvature with each other, the second motor 550 cannot be engaged with each other while the second motor 550 does not rotate. The gear is to perform the intermittent rotation operation to the shaft 500 for the abduction and abduction.

The crank-slider mechanism is connected to the driving body 720 to convert the rotational movement to linear movement and to generate the flexion / extension movement of the thumb.

Referring to FIG. 11, operations when the driving body 720 rotates clockwise will be described. FIG. 11A illustrates a state in which a thumb completes adduction and bending, and the driving body 720 is rotated 180 degrees in a state as shown in FIG. 11A to FIG. 11B. In the state as shown in Figure 1), the extension movement is maintained while the advancing operation is performed, and as shown in (c) of FIG. 11, the Geneva roller 730 moves to the slot 711 at the 225 degree point. Will enter.

The thumb performs the abduction of 90 degrees while the star wheel 710 and the gear are rotated up to 315 degrees as shown in (e) of FIG. 11 (d). From 315 to 450 degrees, the bending operation is performed while maintaining the abduction operation as shown in FIG.

According to the present invention having the above configuration, one motor 510 operates the thumb through a 20: 1 worm gear, and another motor 550 powers four fingers with a planetary gear of 561: 1. By applying an embodiment such as the transfer, it is possible to implement 16 degrees of freedom in the hand portion with only two motors (510, 550) as shown in Figs.

And circular gripping as shown in FIG. 14A, end point gripping as shown in FIG. 14B, ring gripping as shown in FIG. 14C, and FIG. 14D. Various gripping operations can be implemented, including side gripping as shown in FIG. 14, spherical gripping as shown in FIG. 14E, and large endpoint gripping as shown in FIG. 14F.

1-Schematic diagram illustrating a spiral spring 300 mechanism for adaptation of EMG with a new adaptive phage and automatic locking according to the present invention

2-Schematic diagram showing four modes of operation of the spiral spring 300 mechanism

3-Schematic diagram illustrating the operation principle of a general cam roller 400 clutch

4-Schematic diagram illustrating the cam-roller 400 mechanism for the automatic locking of a myocardium with a new adaptive gripping and automatic locking function according to the present invention.

5-Schematic diagram showing four modes of operation of the cam-roller 400 mechanism

6 is an exploded perspective view showing the structure of the metacarpal osteoarticular joint in which the spiral spring 300 mechanism for adaptive gripping and the cam-roller 400 mechanism for automatic locking are applied.

7-Fig. 7 shows a main portion of the main assembly showing the structure of the finger of the EMG with the new adaptive gripping and automatic locking function according to the present invention

Fig. 8-Schematic view of the lumbar spine showing the process of adaptive gripping between the knuckles

9-Fig. 9 shows a main portion assembly showing the structure of the thumb of the EMG with the new adaptive gripping and automatic locking function according to the present invention

10 is a schematic diagram illustrating the operation principle of a general Geneva mechanism

11 is a schematic diagram illustrating the operation principle of flexing / extending and adducting / extending of the thumb by applying the Geneva & Crank-Slider mechanism in combination.

12-A main assembly diagram showing the assembly structure of the EMG with a new adaptive gripping and automatic locking function according to the present invention

Fig. 13 is a schematic diagram showing the entire linkage structure of the myofascicus with a new adaptive gripping and auto-locking function according to the present invention.

14 is a state diagram showing the use of the new adaptive gripping and automatic locking function to demonstrate the gripping capability of the myopic number in accordance with the present invention.

<Description of Major Symbols Used in Drawings>

10: proximal phalanx 20: middle phalanx

30: distal phalangeal 50: triangle link

100: holder 200: housing

300: spiral spring 400: roller

500: axis 510: motor

520: spur gear 550: second motor

600: driven plate 710: star wheel

711: slot 720: driving body

730: Geneva Roller

Claims (6)

A holder 100 installed in the metacarpophalangeal joint; A plurality of grooves 210 are disposed in the holder 100 so as to be freely rotated in a free position and recessed in the direction of the shaft 500 on the outer surface so that the roller 400 may be seated therein. A housing 200; It is disposed in the receiving space formed inside the housing 200, the central portion is fixed to the shaft 500 which is interlocked with the motor (510) to be wound or unrolled in a wound state while maintaining a constant deformation force A spiral spring 300 provided to be provided; And The groove part is disposed on one side or both sides of the housing 200 and connected to the shaft 500 and a bearing, hinged to a link of a finger, and the groove part so that an end of the roller 400 can be mounted on an outer surface thereof. And a driven plate 600 having a cam surface on which a plurality of cutouts 610 formed of a long side 610a and a short side 610b are symmetrically formed at a position corresponding to 210. By holding the deformable force of the spiral spring 300, each finger is held in an independent bent form, and the bent state is arbitrarily deformed under the influence of external torque while maintaining the deformed operating state without driving the motor 510. EMG with a new adaptive gripping and automatic locking function characterized in that it can block. delete The method of claim 1, A second driving plate having an outer surface corresponding to an outer surface of the housing 200 between the spur gear 520 connecting the motor 510 and the shaft 500 and the shaft 500, and the driven plate; A second driven plate having an outer surface corresponding to the cam surface of the 600 is provided, so that the spiral spring 300 can maintain the rotational displacement without driving the motor 510 while the motor 510 of the external torque is provided. EMG with new adaptive gripping and auto-locking, characterized in that the transmission to the side can be blocked. The method of claim 1, wherein the finger, Proximal phalanx that is closest to the palm (proximal phalanx), the proximal phalanx (10) to remove one link from the four-link mechanism and connected to the hinge pin of the driven plate 600; A middle phalanx corresponding to the middle phalanx of the finger and configured with four link mechanisms and connected with the proximal phalanx 10 adjacent through a triangular link 50; And Distal phalanx corresponding to the distal phalanx (located at the end of the finger), the distal phalangeal portion 30 is connected to the four link mechanism of the medial phalangeal portion (20); It characterized in that it comprises a, characterized in that the adaptive structure between the fingertips by the connection structure with the triangular link (50) The new adaptive gripping and myopia having a self-locking function. According to claim 1, The carpometacarpal joint of the thumb of the finger, Star wheel 710 having a radial slot 711 for a civil war and abduction, a driver 720 that is interlocked with the second motor 550, the driver 720 And a Geneva mechanism having a Geneva roller 730 that is inserted into and inserted into the slot 711 and rotates the star wheel 710. A crank-slider mechanism for converting the rotational motion of the motor into a linear motion is combined, and a single motor corresponding to the second motor 550 for rotating and driving the driving body 720 is bent or extended with adduction or abduction. EMG with new adaptive phage and auto-locking, characterized by implementing the corresponding motion. The method according to claim 1 or 5, wherein the remaining four fingers other than the thumb of the finger, With three nodes, one motor corresponding to one motor 510 implements 12 degrees of freedom corresponding to flexion or extension, The thumb of the finger, The number of myopia having a new adaptive gripping and auto-locking function characterized in that to implement four degrees of freedom corresponding to bending or extension and adduction or abduction with another motor corresponding to the second motor (550).

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