KR101147886B1 - Gripping control device for artificial arm - Google Patents

Gripping control device for artificial arm Download PDF

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Publication number
KR101147886B1
KR101147886B1 KR1020090125800A KR20090125800A KR101147886B1 KR 101147886 B1 KR101147886 B1 KR 101147886B1 KR 1020090125800 A KR1020090125800 A KR 1020090125800A KR 20090125800 A KR20090125800 A KR 20090125800A KR 101147886 B1 KR101147886 B1 KR 101147886B1
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South Korea
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finger
node
interlocking
bent
control device
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KR1020090125800A
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Korean (ko)
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KR20110068710A (en
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이승호
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이승호
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    • 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
    • A61F2/68—Operating or control means
    • 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
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2/72—Bioelectric control, e.g. myoelectric
    • 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
    • A61F2002/5038—Hinged joint, e.g. with transverse axle restricting the movement
    • 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
    • A61F2/68—Operating or control means
    • A61F2002/6854—Operating or control means for locking or unlocking a joint
    • 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
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors

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  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)

Abstract

본 발명은 인공의수의 파지 제어장치에 관한 것으로서, 좀더 상세하게는 손이 없는 장애인이 착용하는 의수(10)의 각 손가락(12)에 손가락이 굽어지는 마디부를 각각 분리하여 각 마디부의 내부에 연동축을 축설하고, 상기 각 마디부 내부의 연동축과 구동모터(M)에 의해 정,역 구동하는 구동축에 대응 설치되는 각각의 스프로켓에 체인 기능의 후렉시블한 동력전달벨트를 감합 설치하여 손가락 마디부의 각 연동축을 정,역 회전하여 손가락 마디부가 굽어지거나 펼쳐지면서 수축, 이완하도록 제공하므로서, 의수의 손가락 각 마디부가 서서히 굽어지거나 펼쳐지면서 수축, 이완작동하여 물건의 파지 효과가 우수하고, 각 손가락의 수축, 이완 정도를 조절하거나 각 손가락을 개별적으로 수축, 이완 작동하도록 하므로 물건을 더욱 섬세하게 파지할 수 있어 사용 편리성, 신뢰성을 우수하게 제공하는데 그 특징이 있다.The present invention relates to a gripping control apparatus of an artificial veterinarian, and more particularly, each segment 12 of which the fingers are bent on each finger 12 of the prosthesis 10 worn by a handicapped person is separated into each node. The interlocking shaft is laid out, and the flexible power transmission belt of the chain function is fitted to each sprocket which is installed corresponding to the driving shaft for forward and reverse driving by the interlocking shaft and the driving motor M inside each node. By rotating each interlocking axis forward and backward, the fingertips are bent or unfolded to provide contraction and relaxation, so that each node of the prosthetic finger bends or unfolds gradually to contract and relax. , You can adjust the degree of relaxation or contract and relax each finger individually, so you can grasp the object more delicately It is characterized by providing excellent ease of use and reliability.

인공의수, 장애인, 의수, 파지, 제어장치, 구동모터 Man-made, disabled, hand, grip, control device, driving motor

Description

인공의수의 파지 제어장치{GRIPPING CONTROL DEVICE FOR ARTIFICIAL ARM} Gripping control device of artificial veterinarian {GRIPPING CONTROL DEVICE FOR ARTIFICIAL ARM}

본 발명은 인공의수의 파지 제어장치에 관한 것으로서, 좀더 상세하게는 구동모터에 의해 연동하여 의수의 손가락 각 마디부가 서서히 굽어지거나 펼쳐지면서 수축, 이완작동하므로 물건의 파지 효과가 우수하고, 각 손가락의 수축, 이완 정도를 조절하거나 각 손가락을 개별적으로 수축, 이완 작동하도록 하므로 물건을 더욱 섬세하게 파지할 수 있어 사용 편리성, 신뢰성을 우수하게 제공하는 인공의수의 파지 제어장치에 관한 것이다.The present invention relates to a gripping control device of an artificial can, more specifically, because each part of the finger of the prosthesis is bent or unfolded by interlocking by a driving motor, the gripping effect of the object is excellent, so that each finger has an excellent gripping effect. It is related to the gripping control device of the artificial veterinarian to adjust the degree of contraction, relaxation of each finger, or to individually contract and relax each finger, so that the object can be gripped more delicately, providing excellent convenience and reliability.

최근 선천적 또는 각종 사고에 의한 후천적 장애인들의 재활 및 정상적인 사회 생활을 위한 사회 문화적 관심과 함께 각종 재활, 보조기구에 대한 많은 연구가 이루어지고 있다.Recently, many studies on various rehabilitation and assistive devices have been conducted along with socio-cultural interest for rehabilitation and normal social life of acquired disabled persons due to congenital or various accidents.

특히, 손이나 팔의 일부분이 절단된 장애인의 경우에 인공의수를 착용하게 된다.In particular, in the case of a handicapped person who is cut off part of the hand or arm will wear an artificial veterinarian.

이러한 인공의수는 미관의수와 기능의수로 구분된다.This artificial number is divided into the number of aesthetics and the number of functions.

상기 미관의수는 단순히 팔의 형태로 제작하여 착용하는 것이고, 기능의수는 손가락을 작동시켜 물건을 파지할 수 있는 파지력을 제공하는 것이다.The number of aesthetics is simply to make and wear in the form of an arm, the number of functions is to provide a gripping force that can hold the object by operating a finger.

상기 종래의 기능의수는 주로 검지와 중지를 일체화하여 엄지 끝을 맞닿게 동작시키므로 물건을 파지하게 되는데, 내부 스프링에 의해 작동하기 때문에 손가락의 수축, 이완이 한 작동에 의해 이루어져 물건의 효과적인 파지 작동이 곤란함은 물론 손가락의 수축, 이완 조절이 곤란하여 섬세한 파지 작동이 곤란한 문제점이 있었다.The number of conventional functions is mainly to integrate the index finger and middle finger so that the thumb tip abuts the object to grip the object, because it is operated by the inner spring by the contraction, relaxation of the finger, the effective gripping operation of the object This difficulty, of course, was difficult to adjust the contraction, relaxation of the fingers, there was a problem that the delicate gripping operation is difficult.

또한, 상기 다섯 손가락 모두를 작동하는 방식이 아니어서 효과적인 파지 작동이 더욱 곤란한 문제점이 있었다.In addition, there is a problem that the effective gripping operation is more difficult because it is not a way to operate all five fingers.

본 발명은 상기한 종래 기술이 갖는 제반 문제점을 해결하고자 발명된 것으로서, 구동모터에 의해 연동하여 의수의 손가락 각 마디부가 서서히 굽어지거나 펼쳐지면서 수축, 이완작동하므로 물건의 파지 효과를 우수하게 제공하는데 그 목적이 있다.The present invention has been invented to solve all the problems of the prior art as described above, since each node of the finger of the prosthesis is contracted and relaxed while being gradually bent or unfolded by interlocking by a driving motor, thereby providing an excellent gripping effect of the article. There is a purpose.

본 발명은 상기 의수의 각 손가락 수축, 이완 정도를 조절하거나 각 손가락을 개별적으로 수축, 이완 작동하도록 하므로 물건을 더욱 섬세하게 파지할 수 있도록 제공하는데 그 목적이 있다.An object of the present invention is to adjust the degree of contraction and relaxation of each finger of the prosthesis or to contract and relax each finger individually, so that the object can be gripped more delicately.

이러한 본 발명은,This invention,

손이 없는 장애인이 착용하는 의수의 각 손가락에 손가락이 굽어지는 마디부를 각각 분리하여 각 마디부의 내부에 연동축을 축설하고,Separate each section of the fingers bent on each finger of the hand of the handicapped person without a hand to build a linkage shaft inside each section,

상기 각 마디부 내부의 연동축과 구동모터에 의해 정,역 구동하는 구동축에 대응 설치되는 각각의 스프로켓에 체인 기능의 후렉시블한 동력전달벨트를 감합 설치하여 손가락 마디부의 각 연동축을 정,역 회전하여 손가락 마디부가 굽어지거나 펼쳐지면서 수축, 이완하도록 함에 그 특징이 있다.The interlocking shaft inside each node unit is fitted to each sprocket which is installed corresponding to the drive shaft for forward / backward driving by the drive motor. It is characterized by contraction and relaxation of fingertips by bending or unfolding.

본 발명 상기 동력전달벨트는 스프로켓에 의해 이동하도록 걸림공을 연속 형성하는 후렉시블한 필름 형태로 형성하도록 함에 그 특징이 있다.The present invention is characterized in that the power transmission belt is formed in a flexible film form that continuously forms the engaging hole to move by the sprocket.

본 발명 상기 의수의 각 손가락을 수축, 이완작동하는 구동축 및 구동모터를 각 손가락 별로 개별 구성하여 각 손가락을 개별적으로 수축, 이완하도록 함에 그 특징이 있다.The present invention is characterized in that each finger of the prosthesis contracts and relaxes, and the drive shaft and the driving motor are individually configured for each finger to contract and relax each finger individually.

이러한 본 발명은, 의수의 손가락이 굽어지는 마디부 내부에 각각 연동축을 설치하여 스프로켓과 체인 기능의 후렉시블한 동력전달벨트로 감합하여 구동모터에 의해 연동하므로 손가락 각 마디부가 서서히 굽어지거나 펼쳐지면서 수축, 이완작동하므로 물건의 파지 효과를 우수하게 제공함은 물론 상기 의수의 각 손가락 수축, 이완 정도를 조절하거나 각 손가락을 개별적으로 수축, 이완 작동하도록 하므로 물건을 더욱 섬세하게 파지할 수 있어 사용 편리성, 신뢰성을 우수하게 제공하는 효과를 갖는 것이다.In the present invention, the interlocking shafts are installed inside the node where the prosthetic finger is bent, so as to be interlocked by a drive motor by fitting with a flexible power transmission belt of a sprocket and a chain function, and each node of the finger is gradually bent or unfolded to contract, Relaxing operation provides excellent gripping effect of the object, as well as adjusting the contraction and relaxation of each finger of the prosthesis, or contracting and relaxing each finger individually so that the object can be gripped more delicately. It is to have the effect of providing excellent.

이하, 상기한 본 발명의 바람직한 실시 예를 첨부도면을 참조하여 구체적으로 살펴보기로 한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

본 발명 인공의수의 파지장치는 도 1 내지 도 4에 도시된 바와 같이, 손이 없는 장애인이 착용하는 의수(10)의 각 손가락(12)에 손가락이 굽어지는 마디부(15a,15b,15c)를 각각 분리하여 각 마디부의 내부에 연동축(21)(22)(23)을 축설하고,In the gripping apparatus of the artificial veterinary device of the present invention, as illustrated in FIGS. 1 to 4, the fingers 15a, 15b, and 15c in which the fingers are bent at each finger 12 of the prosthesis 10 worn by a handicapped person without a hand are shown. ) Are separated, and the interlocking shafts 21, 22, 23 are laid inside each section,

상기 각 마디부 내부의 연동축과 구동모터(M)에 의해 정,역 구동하는 구동축에 대응 설치되는 각각의 스프로켓(31a,31b),(32a,32b),(33a,33b)에 체인 기능의 후렉시블한 동력전달벨트(31),(32),(33)를 감합 설치하여 손가락 마디부의 각 연동축을 정,역 회전하여 손가락 마디부가 굽어지거나 펼쳐지면서 수축, 이완하도록 이루어진다.A chain function is provided on each of the sprockets 31a, 31b, 32a, 32b, and 33a, 33b which are installed corresponding to the drive shafts which are driven forward and reverse by the interlocking shafts and the driving motor M inside the node portions. The flexible power transmission belts 31, 32, and 33 are fitted to each other so that the interlocking axes of the finger nodes are rotated forward and backward so that the finger nodes are bent or unfolded to contract and relax.

이때, 상기 의수의 각 손가락(12)에서 엄지를 제외한 검지, 중지, 약지, 새끼 손가락은 세개의 마디부(15a,15b,15c)를 형성하나, 엄지 손가락은 두개의 마디부(15a,15b)를 형성하는 차이를 갖는 것이다. At this time, the index finger, middle finger, ring finger, and little finger of each of the prosthetic fingers 12 except for the thumb form three node parts 15a, 15b, and 15c, but the thumb has two node parts 15a and 15b. To have a difference to form.

즉, 엄지 손가락의 경우에는 연동축(23), 스프로켓(32a,32b) 및 상기 스프로켓에 갑합 설치되는 동력전달벨트(32)가 배제되게 구성된다.That is, in the case of a thumb, the interlocking shaft 23, the sprockets 32a and 32b, and the power transmission belt 32 that are installed on the sprockets are excluded.

또한, 상기 동력전달벨트(31)(32)(33)은 스프로켓에 의해 이동하도록 걸림공(36)을 연속 형성하는 후렉시블한 필름(35) 형태로 형성하되, 상기 필름(35)은 강철이나 스텐레스 또는 탄소 등의 다양한 소재로 제작할 수 있음은 물론이다.In addition, the power transmission belt 31, 32, 33 is formed in the form of a flexible film 35 that continuously forms the engaging hole 36 to move by the sprocket, the film 35 is made of steel or stainless steel Or it can be made of a variety of materials such as carbon, of course.

또한, 상기 필름의 걸림공(36)은 도 5 및 도 6에 도시된 바와 같이 사각 또는 원형 등으로 형성할 수 있다.In addition, the locking hole 36 of the film may be formed in a square or circular shape as shown in FIGS. 5 and 6.

그리고, 상기 의수의 각 손가락(12)을 수축, 이완작동하는 구동모터(M)를 단일 형태로 구성하거나, 도 7에 도시된 바와 같이 각 손가락 별로 개별 구성하여 각 손가락을 개별적으로 수축, 이완하도록 구성할 수도 있다.Then, each of the fingers 12 of the prosthesis is configured in a single form of the driving motor (M) to contract and relax, or as shown in Figure 7 to individually contract for each finger to contract and relax each finger individually It can also be configured.

또한 상기 손가락의 수축, 이완 작동하는 구동모터(M)의 제어는 종래와 같이 근전도 신호에 의한 방식으로 정,역 제어하거나 그 밖에 다양한 방식에 의한 제어 방식이 적용될 수 있음은 물론이다.In addition, the control of the driving motor M that contracts and relaxes the fingers may be controlled by the EMG signal in the normal, inverse, or other various ways.

미설명부호로서, 24는 벨트의 텐션유지를 위한 안내기어, 28은 구동모터의 정,역 구동력을 구동축(25)에 전달하는 기어부를 나타내는 것이다.As the reference numeral 24, reference numeral 24 denotes a guide gear for maintaining the tension of the belt, and reference numeral 28 denotes a gear portion that transmits the forward and reverse driving force of the drive motor to the drive shaft 25.

다음은 상기와 같이 구성되는 본 발명의 작동 및 작용에 대해 살펴보기로 한다.Hereinafter, the operation and operation of the present invention will be described.

본 발명은 의수의 손가락 각 마디부가 서서히 굽어지거나 펼쳐지면서 수축, 이완작동하여 물건의 파지 작업을 행하는 것이다.According to the present invention, each node of the prosthetic finger is gradually bent or unfolded to contract and relax to perform a gripping operation.

이를 좀더 상세히 설명하면, 구동모터(M)에 의해 구동축(25)을 정,역 제어한다.In more detail, the drive shaft 25 is forward and backward controlled by the drive motor (M).

이와 같이 회전하는 구동축(25)은 손 가락의 첫번째 마디부(15a)에 축설된 연동축(21)과 스프로켓(33a,33b), 상기 스프로켓에 감합 설치된 체인 기능의 후렉시블한 동력전달벨트(33)에 의해 연동하여 첫번째 마디부(15a)를 수축, 이완하게 되고, 또한 상기 첫번째 마디부(15a)의 연동축(21)은 두번째 마디부(15b)에 축설된 연동축(22)과 스프로켓(31a)(31b), 상기 스프로켓에 감합 설치된 체인 기능의 후렉시블한 동력전달벨트(31)에 의해 연동하여 두번째 마디부(15b)를 수축, 이완하게 되며, 또한 상기 두번째 마디부(15b)의 연동축(22)은 세번째 마디부(15c)에 축설된 연동축(23)과 스프로켓(32a)(32b), 상기 스프로켓에 감합 설치된 체인 기능의 후렉시블한 동력전달벨트(32)에 의해 연동하여 세번째 마디부(15c)를 수축, 이완하게 되는 것이다.The drive shaft 25 that rotates in this way is a flexible power transmission belt 33 having a chain function fitted to the interlocking shaft 21 and the sprockets 33a and 33b and the sprocket, which are arranged on the first node portion 15a of the finger. The first node portion 15a is contracted and relaxed by interlocking with each other, and the interlocking shaft 21 of the first node portion 15a is interlocked with the interlocking shaft 22 and the sprocket 31a arranged in the second node portion 15b. 31b), the second node portion 15b is contracted and relaxed by interlocking with the flexible power transmission belt 31 of the chain function fitted to the sprocket, and the interlocking shaft of the second node portion 15b ( 22) is interlocked by the third shaft portion (15c) interlocking shaft 23 and the sprocket 32a (32b), the flexible power transmission belt 32 of the chain function fitted to the sprocket, the third node ( 15c) to shrink and relax.

즉, 상기 손가락(12)의 첫번째 마디부(15a)- 두번째 마디부(15b)- 세번째 마디부(15c) 순으로 연동하여 굽어지거나 펼쳐지면서 수축, 이완하면서 물건을 파지하게 되는 것이다.That is, the first node portion 15a, the second node portion 15b, and the third node portion 15c of the finger 12 are bent or unfolded in conjunction with each other to bend or unfold while holding and holding the object.

이때, 엄지 손가락은 첫번째 마디부(15a)- 두번째 마디부(15b), 나머지 손가락은 첫번째 마디부(15a)- 두번째 마디부(15b)- 세번째 마디부(15c)에 의해 물건을 파지하게 되는 것이다.In this case, the thumb is held by the first node portion 15a-the second node portion 15b, and the remaining fingers are held by the first node portion 15a-the second node portion 15b-the third node portion 15c. .

이와 같은 본 발명은 각 손가락의 마디부가 서서히 굽어지거나 펼쳐지면서 수축, 이완작동하여 물건을 파지하므로 손가락 전체를 굽어지거나 펼치면서 물건을 파지하는 것에 비해 더 효과적으로 물건을 파지하게 되는 것이다.In the present invention, the node of each finger is gradually bent or unfolded, so that the contraction and relaxation operation is gripped by the object, thereby holding the object more effectively than holding the object by bending or spreading the entire finger.

뿐만 아니라 각 손가락의 마디부가 굽어지거나 펼쳐지는 정도를 조절하거나, 도 7에서와 같이 각 손가락을 각각의 구동모터에 의해 개별적으로 굽어지거나 펼치도록 조절하여 수축, 이완 정도를 조절함에 따라 물건을 파지 정도를 섬세하게 조절 작동하게 되는 것이다.As well as adjusting the degree of bending or unfolding the node of each finger, or as shown in Figure 7 by adjusting each finger to bend or unfold by each drive motor to adjust the degree of contraction, relaxation degree to grip the object It will operate finely.

또한, 본 발명은 동력전달을 위해 사용하는 벨트(31)(32)(33)를 강철이나 스텐레스 또는 탄소 등의 소재로 제작된 후렉시블한 필름(35) 형태로 제공되기 때문에 손가락 내부에서 섬세하게 구동가능하게 되는 것이다.In addition, since the present invention is provided in the form of a flexible film 35 made of a material such as steel, stainless steel, carbon, or the like belts 31, 32, 33 used for power transmission, it drives delicately inside the finger. It becomes possible.

도 1은 일반적인 의수의 일 례를 보여주는 사시도.1 is a perspective view showing an example of a general prosthetic hand.

도 2는 본 발명 장치의 요부를 보여주는 평면 구성도.Figure 2 is a plan view showing the main portion of the device of the present invention.

도 3은 도 2의 일부 확대도.3 is an enlarged view of a portion of FIG. 2;

도 4는 도 2의 일부 측면 구성도.4 is a partial side view of FIG. 2.

도 5 및 도 6은 본 발명 동력전달벨트를 보여주는 일부 사시도.5 and 6 are some perspective views showing the power transmission belt of the present invention.

도 7은 본 발명 장치의 다른 실시 예를 보여주는 평면 구성도.7 is a plan view showing another embodiment of the device of the present invention.

**도면의 주요 부분에 대한 부호의 설명**** Description of the symbols for the main parts of the drawings **

10: 의수 12: 손가락10: Prosthetic 12: Finger

15a,15b,15c: 마디부 21,22,23: 연동축15a, 15b, 15c: Section 21, 22, 23: Interlocking shaft

25: 구동축 31,32,33: 동력전달벨트25: drive shaft 31, 32, 33: power transmission belt

31a,31b,32a,32b,33a,33b: 스프로켓31a, 31b, 32a, 32b, 33a, 33b: sprocket

35: 필름 36: 걸림공35: film 36: hole

Claims (3)

삭제delete 손이 없는 장애인이 착용하는 의수(10)의 각 손가락(12)에 손가락이 굽어지는 마디부를 각각 분리하여 각 마디부의 내부에 연동축을 축설하고,Separate each section of the fingers bent to each finger 12 of the prosthesis 10 worn by the handicapped person without a hand to build a linkage shaft inside each section, 상기 각 마디부 내부의 연동축과 구동모터(M)에 의해 정,역 구동하는 구동축에 대응 설치되는 각각의 스프로켓에 체인 기능의 후렉시블한 동력전달벨트를 감합 설치하여 손가락 마디부의 각 연동축을 정,역 회전하여 손가락 마디부가 굽어지거나 펼쳐지면서 수축, 이완하도록 이루어져 손이 없는 장애인이 착용하는 의수의 손가락을 수축, 이완하면서 물건을 파지하는 파지 제어장치에 있어서,Each of the sprockets corresponding to the drive shafts that are forward and reverse driven by the interlocking shafts and the driving motors M inside the nodal portions is fitted with a flexible power transmission belt having a chain function to fix each interlocking shaft of the finger joints. In the grip control device for holding the object by contracting and relaxing the fingers of the prosthetic hand worn by the handicapped people by rotating the finger node bent or unfolded by reverse rotation, 상기 동력전달벨트는 스프로켓에 의해 이동하도록 걸림공(36)을 연속 형성하는 후렉시블한 필름(35) 형태로 형성하여 이루어진 것을 특징으로 하는 인공의수의 파지 제어장치.The power transmission belt is artificial gripping control device, characterized in that formed in the form of a flexible film (35) to continuously form the engaging hole 36 to move by the sprocket. 제2항에 있어서,3. The method of claim 2, 상기 의수의 각 손가락(12)을 수축, 이완작동하는 구동모터(M)를 각 손가락 별로 개별 구성하여 각 손가락을 개별적으로 수축, 이완하도록 이루어진 것을 특징으로 하는 인공의수의 파지 제어장치.The device for holding the artificial indentation, characterized in that each finger 12 is contracted and relaxed to configure each finger 12 of the prosthetic finger to contract and relax.
KR1020090125800A 2009-12-16 2009-12-16 Gripping control device for artificial arm KR101147886B1 (en)

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KR102438768B1 (en) * 2020-10-12 2022-09-01 만드로 주식회사 Artificial hand with soft joints

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JP2003145474A (en) * 2001-08-31 2003-05-20 Hiroshima Pref Gov Multi-finger-movable robot hand, and hold control method thereof
KR100766173B1 (en) * 2006-02-07 2007-10-10 광주과학기술원 An artificial hand with fingers independently operated and an apparatus for controlling the same

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JP2003145474A (en) * 2001-08-31 2003-05-20 Hiroshima Pref Gov Multi-finger-movable robot hand, and hold control method thereof
KR100766173B1 (en) * 2006-02-07 2007-10-10 광주과학기술원 An artificial hand with fingers independently operated and an apparatus for controlling the same

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190010284A (en) 2017-07-21 2019-01-30 중앙대학교 산학협력단 Joint apparatus for multi degree of freedom applied to robot

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