KR102195315B1 - Prosthetic Hand Module - Google Patents

Abstract

The prosthetic module according to an embodiment is provided on a shoulder attachment portion accommodating a battery and a motor driven by the battery, a rotation shaft, and a first side of the rotation shaft, and the 1-1 wire and the 1-2 wire are fixed. It is provided between the 1 wire tension adjusting rotating plate and the rotating shaft and the first wire tension adjusting rotating plate, and transmitting the rotational force of the rotating shaft to the first wire tension adjusting rotating plate and thus the 1-1 wire and the 1-2 wire Transmission frame comprising a first elastic member for adjusting the tension; And a first link including a first joint frame that rotates in a first direction or a second direction according to the tension of the 1-1 wire and the 1-2 wire.

Description

Prosthetic Hand Module

The present invention relates to a prosthetic module, and more specifically, to a wire-driven prosthetic module having multiple degrees of freedom.

Occupational accidents and various accidents are frequent, and the number of patients who have to amputate part of the body due to outbreaks and complications is increasing significantly. Among them, finger amputation patients account for the majority of amputation patients, accounting for approximately 70% of all patients with amputation of the elbow abnormality, between the wrists under the elbow, and the total number of finger amputations.

Therefore, there is a need for a prosthetic arm for a finger amputated patient. However, in the case of the prosthetic arm developed so far, since each joint of the finger is driven non-independently, the bending angle of the finger cannot be controlled differently depending on the shape of the object. That is, adaptive motion in which the bending angle of the finger is adjusted according to the shape of the object is not properly implemented. In addition, the path of the prosthetic arm was not natural because the finger abduction and finger adduction were not properly implemented.

Accordingly, the present inventors have invented a prosthetic module in which the movement of the link corresponding to the finger is closer to the movement of the body.

Republic of Korea Patent Publication No. 10-1844046 (2018.03.26.)

One technical problem to be solved by the present invention is to provide a prosthetic module capable of performing bending and unfolding operations, but capable of adaptive motion.

Another technical problem to be solved by the present invention is to provide a prosthetic module capable of independently bending finger links.

Another technical problem to be solved by the present invention is to provide a prosthetic module capable of spreading fingers and collecting fingers.

Another technical problem to be solved by the present invention is to provide a prosthetic module capable of adjusting the gripping force.

Another technical problem to be solved by the present invention is to provide a prosthetic module that is easily detachable.

Another technical problem to be solved by the present invention is to provide a prosthetic module that is easy to maintain.

The technical problem to be solved by the present invention is not limited to the above.

A prosthetic module according to a first embodiment of the present invention includes a shoulder attachment for accommodating a battery and a motor driven by the battery; A rotation shaft provided on one side of the shoulder attachment portion and rotating according to the rotational force of the motor, a first wire tension control rotating plate provided on one side of the rotation shaft and fixed with the 1-1 wire and the 1-2 wire, and A first provided between the rotating shaft and the first wire tension adjusting rotating plate, and transmitting the rotating force of the rotating shaft to the first wire tension adjusting rotating plate to adjust the tension of the 1-1 wire and the 1-2 wire Transmission frame comprising an elastic member; And the first-first wire and the first-second wire to rotate in a first direction or a second direction according to the tension of the first-first wire and the first-second wire, provided on one side of the transfer frame. A first link including a first joint frame in which wires are connected to one side and the other side, respectively, may be included.

According to the first embodiment, the shoulder attachment may be mounted on the back of the hand.

According to the first embodiment, when the first link is in contact with an object as it rotates in the first direction, the rotation axis is attached to the first wire tension control rotating plate whose rotation is stopped due to the deformation of the first elastic member. Can rotate relative to each other.

According to the first embodiment, after the first elastic member is deformed, when the rotational force of the motor is removed, the first wire tension adjustment rotating plate returns to the initial position by the restoration energy of the first elastic member, When the first wire tension control rotating plate returns to the initial position, the first link may rotate in the second direction due to an increase in tension of the 1-2 wire.

According to a first embodiment, a 3-1 wire and a 3-2 wire are fixed to the rotation shaft of the transmission frame, the tension is adjusted according to the rotation of the rotation shaft; The 3-1 wire and the 3-2 wire are on one side and the other side to rotate in the first direction or the second direction according to the tension of the 3-1 wire and the 3-2 wire. It may include a third link including a fixed third joint frame.

According to the first embodiment, the transmission frame is provided on one side of the rotation shaft, the second wire tension adjustment rotating plate to which the 2-1 wire and the 2-2 wire are fixed, and the rotation shaft and the second wire Further comprising a second elastic member provided between the tension control rotating plate, transmitting the rotational force of the rotation shaft to the second wire tension control rotating plate to adjust the tension of the 2-1 wire and the 2-2 wire, the The 2-1 wire and the 2-1 wire and the 2-1 wire are provided between the third link and the first link and rotate in the first direction or the second direction according to the tension of the 2-1 wire and the 2-2 wire. The 2-2 wire may include a second link including a second joint frame connected to one side and the other side, respectively.

According to the first embodiment, when an object contacts any one of the links of the first and second links in the first direction, the first direction rotation of the contacted link is stopped, When the elastic member connected to the contacted link deforms, the first and second links may rotate independently of each other.

The prosthetic module according to the second embodiment of the present invention includes a first body in which a motor is accommodated, a first joint frame connected to the first body by a first elastic member, and a first joint frame that is rotated by a rotational force of the motor. A first link including a rotating member; A connection frame provided on one side of the first link and accommodating a second rotation member that rotates at a constant speed regardless of an angle with the first rotation member; And one end is fixed to the second rotation member, the other end is connected to the first joint frame, and the tension is adjusted to rotate the first link in the first direction or the second direction by the rotational force of the motor. It may include a 1-1 wire and a 1-2 wire.

According to a second embodiment, a shoulder attachment portion is attached to one side of the body, and a shoulder attachment portion to which the connection frame is connected, and between the connection frame and the shoulder attachment portion, in a direction perpendicular to the first direction and the second direction. , An elastic portion may be provided that allows the movement of the connection frame.

According to the second embodiment, the first joint frame rotates in the first direction according to an increase in tension of the 1-1 wire due to the rotational force of the motor, and the first joint frame is rotated in the first direction. When the first body connected by the first joint frame and the first elastic member also rotates in the first direction, and the first body is in contact with an object as it rotates in the first direction, When the rotation of the first body is stopped, the first joint frame may be further rotated in the first direction due to deformation of the first elastic member.

According to the second embodiment, after the first elastic member is deformed, when the rotational force of the motor is removed, the first joint frame may rotate in the second direction by the restoring energy of the first elastic member. I can.

According to a second embodiment, one end of a wire 2-1 and a wire 2-2 fixed to the first rotation member so that tension is adjusted according to the rotation of the first rotation member; And the other side of the first link is provided, and the 2-1 wire and the second wire rotate in the first direction or the second direction according to the tension of the 2-1 wire and the 2-2 wire. 2-2 The wire may include a second joint frame to which one side and the other side are respectively fixed, and a second link composed of a second body connected to the second joint frame and a second elastic member.

According to the second embodiment, when an object is in contact with the motor during rotation of the first link in the first direction due to a rotational force, while the rotation of the first link in the first direction is stopped, the second The link may rotate in the first direction independently of the first link.

According to the first or second embodiment, a finger shoulder attachment unit worn on a remaining finger and provided with a motion sensor for sensing the movement of the remaining finger; And a control unit generating a motor driving signal corresponding to the finger movement sensed by the motion sensor and providing the motor to the motor.

The prosthetic module according to an embodiment of the present invention performs bending and unfolding operations, but can also implement adaptive motion.

In the prosthetic module according to an embodiment of the present invention, bending of finger links may be implemented independently.

In the prosthetic module according to an embodiment of the present invention, spreading of fingers and collection of fingers may be implemented.

The prosthetic module according to an embodiment of the present invention may adjust a gripping force.

The prosthetic module according to an embodiment of the present invention is easily detachable.

The prosthetic module according to an embodiment of the present invention is easy to maintain.

1 and 2 are views for explaining a prosthetic module according to a first embodiment of the present invention.
3 and 4 are diagrams for explaining in detail the first to third links and surrounding configurations according to the first embodiment of the present invention.
5 to 7 are views for explaining in detail the internal configuration of a transmission frame according to the first embodiment of the present invention.
8 to 10 are views for explaining in detail the joint frame according to the first embodiment of the present invention.
11 to 14 are views for explaining a method of operating the prosthetic module according to the first embodiment of the present invention.
15 is a diagram illustrating a motion sensor according to a first embodiment of the present invention.
16 is a diagram illustrating a prosthetic module according to a second embodiment of the present invention.
17 to 19 are views for explaining in detail the appearance of the prosthetic module according to the second embodiment of the present invention.
20 to 22 are views for explaining in detail the interior of the prosthetic module according to the second embodiment of the present invention.
23 to 25 are views for explaining a method of operating a prosthetic module according to a second embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical idea of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In the present specification, when a component is referred to as being on another component, it means that it may be formed directly on the other component or that a third component may be interposed between them. In addition, in the drawings, thicknesses of films and regions are exaggerated for effective description of technical content.

In addition, in various embodiments of the present specification, terms such as first, second, and third are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another component. Accordingly, what is referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes its complementary embodiment. In addition, in the present specification,'and/or' is used to mean including at least one of the elements listed before and after.

In the specification, expressions in the singular include plural expressions unless the context clearly indicates otherwise. In addition, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, elements, or a combination of the features described in the specification, and one or more other features, numbers, steps, and configurations It is not to be understood as excluding the possibility of the presence or addition of elements or combinations thereof. In addition, in the present specification, "connection" is used to include both indirectly connecting a plurality of constituent elements and direct connecting.

Further, in the following description of the present invention, when it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted.

The prosthetic module according to embodiments of the present invention may perform adaptive motion, flexion, extension, abduction, and adduction operations of links.

In addition, in the prosthetic module according to exemplary embodiments, each link may independently drive each other to implement adaptive motion. For example, when the links correspond to the fingers, movement of each link corresponding to a Proximal Phalanx, a Middle Phalanx, and a Distal Phalanx may be implemented independently.

In addition, according to some embodiments, flexible application is possible according to conditions regardless of the position of the finger, for example, the index finger, middle finger, ring finger, and little finger, and four degrees of freedom drive (1-active, 3-passive) is performed in one It can be implemented using an actuator and three elastic members.

In addition, it goes without saying that the prosthetic module according to the exemplary embodiments may be applied not only to the prosthetic arm, but also to a link structure and an end effector structure of a robot mechanism.

Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. 1 to 15, and a second embodiment of the present invention will be described with reference to FIGS. 16 to 25.

1 and 2 are views for explaining a prosthetic module according to a first embodiment of the present invention.

1 and 2, the prosthetic module 100 according to the first embodiment of the present invention includes at least one of a shoulder attachment part 110, a transmission frame 120, and links 160, 170, and 180. Can be done.

The shoulder attachment part 110 may be mounted on one side of the body, for example, a hand.

A battery 112 and a motor 114 may be mounted inside the shoulder attachment part 110.

The transfer frame 120 may be detached from one side of the shoulder attachment part 110 via a coupling part 116. As shown in FIG. 2, the coupling portion 116 may be slidably coupled to one side of the shoulder attachment portion 110 in the C1 direction. In another aspect, in the reverse direction of C1, the coupling portion 116 may be separated from the shoulder attachment portion 110.

According to an example, an elastic portion may be provided between the coupling portion 116 and the shoulder attachment portion 110 to allow the fingers to spread and move in the vowel direction. Since the elastic portion is described in detail in the second embodiment to be described with reference to FIG. 18, a detailed description will be omitted.

The transmission frame 120 may perform a function of transmitting the rotational force of the motor 114 to each of the links 160, 170, and 180. At this time, the transmission frame 120 transmits the rotational force to each of the links 160, 170, 180, but may independently transmit the rotational force to each of the links 160, 170, 180. Since rotational force is independently transmitted to each of the links 160, 170, 180, adaptive motion may be possible.

A specific configuration of the transfer frame 120 will be described later.

Links, for example, a first link 160, a second link 170, and a third link 180 may be sequentially connected to one side of the transmission frame 120. The first link 160, the second link 170, and the third link 180 may correspond to a stun bone, a middle osteotomy, and a ending bone of a finger, respectively.

In this specification, for convenience of description, three links are assumed, but the technical idea of the present invention is not limited to the number of specific links. In addition, although links corresponding to the index finger among fingers are described as examples in the present specification, links according to an embodiment may be applied to other fingers.

The first link 160 may be bent and unfolded with respect to the transmission frame 120. For example, the first link 160 may bend and/or unfold and rotate around the first axis 162.

In this specification, bending may be referred to as a first direction rotation, and unfolding may be referred to as a second direction rotation.

The second link 170 may be bent and unfolded with respect to the first link 160. For example, the second link 170 may bend and/or unfold and rotate around the second axis 172.

The third link 180 may be bent and unfolded with respect to the second link 170. For example, the third link 180 may bend and/or unfold and rotate around the third axis 182.

3 and 4 are diagrams for explaining in detail the first to third links and surrounding configurations according to the first embodiment of the present invention, and FIGS. 5 to 7 are transmission frames according to the first embodiment of the present invention. It is a view for explaining the internal configuration of the in detail, FIGS. 8 to 10 are views for explaining in detail the joint frame according to the first embodiment of the present invention.

3 and 4, the transmission frame 120 may include a rotation shaft 122. The rotation shaft 122 may rotate in conjunction with the rotation of the motor 114. To this end, a rotation transmission mechanism may be provided between the rotation shaft 122 and the motor 114. For example, the rotation transmission mechanism may comprise a metric gear (miter gear). Accordingly, the rotation center of the motor 114 may be converted to the rotation center direction of the rotation shaft 122.

Components for bending and unfolding of the first link, the second link, and the third link 160, 170, and 180 may be provided on the rotation shaft 122.

For example, in order to bend and unfold the first link 160, the 1-1 wire 164 and the 1-2 wire 166 are fixed to one end of the rotation shaft 122, the first The wire tension adjustment unit 130 may be provided. In the present specification, the wire may also be referred to as a tendon.

In addition, for the bending and spreading of the second link 170, the second wire tension, in which the 2-1 wire 174 and the 2-2 wire 176 are fixed to one end on the rotation shaft 122 The adjustment unit 140 may be provided.

In order to bend and unfold the third link 180, one end of the 3-1 wire 184 and the 3-2 wire 186 may be directly fixed to the rotation shaft 122.

According to an example, when the rotation shaft 122 rotates in one direction, the tension of the 1-1 wire 164, the 2-1 wire 174, and the 3-1 wire 184 increases. As a result, each of the links can bend. In contrast, when the rotation shaft 122 rotates in the other direction, as the tension of the 1-2 wire 166, the 2-2 wire 176, and the 3-2 wire 186 increases , Each link can open up.

To this end, the prosthetic module 100 includes a wire tension adjustment unit provided in the transmission frame 120, joint frames 163, 173, 183 provided in each of the links 160, 170, 180, and a transmission frame ( 120) and the joint frame (163, 173, 183) provided between the 1-1 wire 164, the 1-2 wire 166, the 2-1 wire 174, the 2-2 wire 176 ), may include at least one of the 3-1 wire 184 and the 3-2 wire 186. Hereinafter, each configuration will be described in detail.

5 to 7, the first wire tension adjustment unit 130 includes a first elastic member 132, a first support rotating plate 133, and a first, along a radial direction of the rotation shaft 122. It may be made by including a wire tension adjustment rotating plate 131.

The first elastic member 132 may include a coil part and a linear part 134 provided at one end of the coil part. The rotation shaft 122 is accommodated in the inner groove of the coil part, and one end of the coil part may be fixedly coupled to one side of the rotation shaft 122. That is, the rotational force of the motor 144 may be transmitted to the first elastic member 132 through the rotation shaft 122.

The first support rotating plate 133 may be disposed in a radial direction of the first elastic member 132, and may be disposed to surround the coil portion of the first elastic member 132. Accordingly, the first support rotating plate 133 may limit the behavior of the coil unit.

In addition, the first wire tension adjustment unit 130 may further include a rotation blade 136 connected to the rotation shaft 122 and extending in a radial direction of the rotation shaft 122. Accordingly, the rotation blade 136 may rotate integrally with the rotation shaft 122.

One end of the 1-1 wire 164 and the 1-2 wire 166 may be fixedly coupled to the outer peripheral surface of the first wire tension control rotating plate 131. For example, the 1-1 wire 164 and the 1-2 wire 166 are spaced at a predetermined angle, for example, 180 degrees along the circumferential direction of the first wire tension control rotating plate 131, and are fixedly coupled. Can be. Accordingly, the tension of each of the 1-1 wire 164 and the 1-2 wire 166 may be adjusted according to the rotation direction of the first wire tension adjustment rotating plate 131.

The first wire tension adjustment rotating plate 131 may be coupled to rotate in conjunction with the rotation of the rotation shaft 122. Accordingly, when the rotation shaft 122 rotates, the first wire tension adjustment rotating plate 131 also rotates, and thus, the 1-1 wire 164 and the 1-2 wire 166 respectively Tension can be adjusted. As the tension of each of the 1-1 wire 164 and the 1-2 wire 166 is adjusted, a bending and/or spreading operation of the first link 160 may be implemented.

The first wire tension adjustment rotating plate 131 performs rotational motion of the 1-1 protrusion 137 and 1-2 protrusion 138 and the rotation shaft 122 limiting the movement range of the rotating blade 136. A support jaw 139 transmitted to the first wire tension control rotating plate 131 may be provided.

A method of driving the first wire tension adjusting unit 130 will be described.

6 and 7, when the rotation shaft 122 rotates in the R direction by the rotational force of the motor 114, the first elastic member 132 and the first wire tension adjustment rotation plate 131 In this way, it rotates in the R direction. In this case, since the first elastic member 132 rotates together, the first elastic member 132 is not deformed. When the first wire tension adjustment rotating plate 131 rotates, the tension of the 1-1 wire 164 and the 1-2 wire 166 fixedly coupled to the outer peripheral surface of the first wire tension adjustment rotating plate 131 It is adjusted according to this direction of rotation. The first link 160 is bent or unfolded according to the tension applied to the 1-1 wire 164 and the 1-2 wire 166.

On the other hand, when the rotation shaft 122 rotates in the R direction by the rotational force of the motor 114, the first elastic member 132 and the first wire tension control rotating plate 131 rotate in the R direction together. In this case, a situation in which the first wire tension adjusting rotating plate 131 cannot rotate in association with the rotating shaft 122 may occur. For example, when the first link 160 contacts an object during a bending operation, the tension of the 1-1 wire 164 may no longer increase. Therefore, the first wire tension adjustment rotating plate 131 is no longer able to rotate. In this case, when the rotation of the first wire tension control rotating plate 131 is stopped, the first elastic member 132 is deformed, so that the rotation of the rotation shaft 122 may be continued. In this case, the deformation of the first elastic member 132 may be limited to the extent that the rotation blade 136 can move between the first protrusion 137 and the second protrusion 138. Since the rotation of the rotation shaft 122 continues, adaptive motion can be implemented, which will be described later.

It has been described above with respect to the first wire tension adjustment unit 130.

The second wire tension adjusting part 140 is provided in the longitudinal direction of the rotation shaft 122 with respect to the first wire tension adjusting part 130, and corresponding to the first wire tension adjusting part 130 It can include configuration.

That is, the second wire tension adjusting unit 140 includes the second elastic member 142, the second supporting rotating plate 143, and the second wire tension adjusting rotating plate 141 along the radial direction of the rotating shaft 122. It can be made including.

The second elastic member 142 may include a coil part and a linear part 144 provided at one end of the coil part.

The second support rotating plate 143 may be disposed in a radial direction of the second elastic member 142 and may be disposed to surround the coil part of the second elastic member 142.

In addition, the second wire tension adjustment unit 140 may further include a rotation blade 146 connected to the rotation shaft 122 and extending in a radial direction of the rotation shaft 122.

One end of the 2-1 wire 174 and the 2-2 wire 176 may be fixedly coupled to the outer peripheral surface of the second wire tension control rotating plate 141. For example, the 2-1 wire 174 and the 2-2 wire 176 are spaced at a predetermined angle, for example, 180 degrees along the circumferential direction of the second wire tension control rotating plate 141, and are fixedly coupled. Can be. Accordingly, the tension of each of the 2-1 wire 174 and the 2-2 wire 176 may be adjusted according to the rotation direction of the second wire tension adjustment rotating plate 141.

The second wire tension adjustment rotating plate 141 may be coupled to rotate in conjunction with the rotation of the rotation shaft 122. Accordingly, when the rotation shaft 122 rotates, the second wire tension adjustment rotating plate 141 also rotates, and thus, the 2-1 wire 174 and the 2-2 wire 176 Tension can be adjusted. As the tension of each of the 2-1 wire 174 and the 2-2 wire 176 is adjusted, a bending and/or spreading operation of the second link 170 may be implemented.

The second wire tension control rotating plate 141 may be provided with a 2-1 protrusion 147 and a 2-2 protrusion 148 and a support jaw 149 that limit the movement range of the rotating blade 146. .

Since the functions and effects of each component of the second wire tension adjustment unit 140 correspond to the first wire tension adjustment unit 130 described above, detailed descriptions have been omitted.

The 3-1 wire 184 and the 3-2 wire 186 in the longitudinal direction of the rotation shaft 122 with respect to the first and second wire tension adjustment units 130 and 140 of the rotation shaft 122 This can be fixedly combined. For example, one end of the 3-1 wire 184 and the 3-2 wire 186 may be fixedly coupled to the outer peripheral surface of the rotation shaft 122. More specifically, the 3-1 wire 184 and the 3-2 wire 186 may be fixedly coupled at a predetermined angle, for example, 180 degrees apart along the circumferential direction of the rotation shaft 122. Accordingly, the tension of each of the 3-1 wire 184 and the 3-2 wire 186 may be adjusted according to the rotation direction of the rotation shaft 122. Accordingly, bending and spreading of the third link 180 connected to the 3-1 wire 184 and the 3-2 wire 186 may be implemented.

8 to 10, a first joint frame 163 may be provided on one side between the transmission frame 120 and the first link 160. For reference, although FIG. 8 shows an internal configuration centering on the second joint frame 173, it goes without saying that this may be applied to the first and third joint frames 163 and 183 as well.

The first joint frame 163 may rotate around the first shaft 162. The bending and/or spreading operation of the first link 160 may be implemented by the rotation of the center of the first shaft 162 of the first joint frame 163.

To this end, the first joint frame 163 may have a 1-1 coupling hole to which the other end of the 1-1 wire 164 is fixedly coupled to one side. In addition, the first joint frame 163 may have a 1-2 coupling hole to which the other end of the 1-2 wire 166 is fixedly coupled to the other side. In this case, the height levels of the coupling unit 1-1 and the coupling unit 1-2 may be different from each other about the first axis. Accordingly, when the 1-1 wire 164 is pulled, the first joint frame 163 may be rotated (RM1, see FIG. 9) to cause a bending operation in the first link 160, and the first -2 When the wire 166 is pulled, the first joint frame 163 may rotate (RM2, see FIG. 10) to cause an unfolding operation to the wp1 link 160.

Meanwhile, the 2-1, 2-2, 3-1, 3-2 wires 174, 176, 184, and 186 may pass through the inside of the first joint frame 163.

The second and third joint frames 173 and 183 may also include a configuration corresponding to the first joint frame 163.

That is, the second joint frame 173 may rotate around the second shaft 172. A bending and/or spreading operation of the second link 170 may be implemented by the rotation of the center of the second shaft 172 of the second joint frame 173.

To this end, the second joint frame 173 may have a 1-1 coupling hole to which the other end of the 1-1 wire 174 is fixedly coupled to one side. In addition, the first joint frame 173 may have a 1-2 coupling hole to which the other end of the 1-2 wire 176 is fixedly coupled to the other side. In this case, the height levels of the coupling unit 1-1 and the coupling unit 1-2 may be different about the second axis.

Meanwhile, the 3-1 and 3-2 wires 184 and 186 may pass through the inside of the second joint frame 173.

In addition, the third joint frame 183 may rotate around the second shaft 182. The bending and/or spreading operation of the second link 180 may be implemented by the rotation of the center of the second shaft 182 of the third joint frame 183.

To this end, the third joint frame 183 may have a connector 1-1 to which the other end of the 3-1 wire 184 is fixedly coupled to one side. In addition, the first joint frame 183 may have a 1-2 coupling hole to which the other end of the 3-2 wire 186 is fixedly coupled to the other side. In this case, the height level of the coupling unit 1-1 and the coupling unit 1-2 may be different.

11 to 14 are views for explaining a method of operating the prosthetic module according to the first embodiment of the present invention.

Referring to FIG. 11, in an initial state in which the links 160, 170, and 180 are unfolded, the motor 114 may rotate and drive. Rotation drive of the motor 114 may provide rotational force so that the rotation shaft 122 rotates in the RMa direction.

12, according to the rotation of the rotation shaft 122. The first wire tension adjustment rotary plate 131 and the second wire tension adjustment rotary plate 141 are also rotated in the RMa direction.

Accordingly, the tension T1 of the 1-1 wire 164 fixedly coupled to the outer peripheral surface of the first wire tension adjusting rotating plate 131 is increased. Accordingly, since the first joint frame 163 coupled to the 1-1 wire 164 rotates in the R1 direction, the first link 160 is bent.

In addition, the tension (T2) of the 2-1 wire 174 fixedly coupled to the outer peripheral surface of the second wire tension adjustment rotating plate 141 is increased. Accordingly, since the second joint frame 173 coupled to the 2-1 wire 174 rotates in the R2 direction, the second link 170 is bent.

In addition, the tension T3 of the 3-1 wire 184 fixedly coupled to the rotation shaft 122 is increased. Accordingly, since the third joint frame 183 coupled to the 3-1 wire 184 rotates in the R3 direction, the third link 180 is bent.

When the rotation shaft 122 continuously rotates in the RMa direction, as illustrated in FIG. 13, each of the first to third links 160, 170, and 180 may bend about 90 degrees.

Meanwhile, as shown in FIG. 14, an object Obj may contact (CP) with any one link, for example, the first link 160 during bending operations of each link. In this case, the first wire tension adjustment rotating plate 131 may no longer rotate in the RMa direction, but the rotation shaft 122 may further rotate in the RMa direction through deformation of the first elastic member 132. Accordingly, even in a state in which the rotation of the first link 160 is stopped, the second and third links 170 and 180 may independently rotate.

If the second and third links 170 and 180 are additionally bending, when the second link 170 makes contact with the object Obj again, the second wire tension adjustment rotating plate 141 is no longer in the RMa direction. However, the rotation shaft 122 may be further rotated in the RMa direction through deformation of the second elastic member 142. Accordingly, even when rotation of the second link 170 as well as the first link 160 is stopped, the third link 180 may rotate independently.

Accordingly, since each of the first to third links 160, 170, 180 can be independently rotated, the rotation angle of each of the first to third links 160, 170, 180 is corresponding to the shape of the object. Adjusted adaptive motion becomes possible.

On the other hand, when the rotational force of the motor 114 is removed, while the deformation of the first elastic member 132 and/or the second elastic member 142 is restored, the 1-2 wire 166 and/or the 2- 2 The tension of the wire 176 may be increased. Accordingly, since the first joint frame 163 and/or the second joint frame 173 rotates in the opposite direction to R1 and R2, the first link 160 and/or the second link 170 is in an initial state. You can return to

In addition, as the motor 114 rotates in the reverse direction, when the rotation shaft 122 rotates in a direction opposite to RMa, the 1-2 wire 166, the 2-2 wire 176, and the third -2 The tension of the wire 186 can be increased. In this case, the first to third joint frames 163, 173, 183 are formed by increasing the tension of the 1-2 wire 166, the 2-2 wire 176, and the 3-2 wire 186. It rotates, and the first link 160, the second link 170, and the third link 180 connected to each joint frame may be driven to open.

15 is a diagram illustrating a motion sensor according to a first embodiment of the present invention.

Referring to FIG. 15, the prosthetic module 100 may further include a finger shoulder attachment unit 190 and a control unit (not shown), which is worn on the remaining fingers and provided with a motion sensor for sensing the movement of the remaining fingers. have. For example, the remaining finger may be a thumb. The controller may generate a motor driving signal corresponding to a finger movement sensed by the motion sensor and provide it to the motor 114.

Accordingly, it is possible to control the rotational speed of the motor 114 for driving the bending and/or spreading of the first to third links 160, 170, and 180. For example, when the thumb bending motion is fast, the motor 114 may be controlled so that the bending of the first to third links 160, 170, 180 is also fast, and the bending motion of the thumb is slow, The motor 114 may be controlled so that the bending of the first to third links 160, 170, 180 is also slow.

In addition, when the movement of the thumb is detected in the direction of the object while the links are in contact with the object, the controller may generate a motor driving signal so that a stronger gripping force is generated.

The prosthetic module 100 according to the first embodiment of the present invention has been described above with reference to FIGS. 1 to 14. Hereinafter, a prosthetic module 200 according to a second embodiment of the present invention will be described with reference to FIGS. 15 to 25.

16 is a diagram for explaining a prosthetic module according to a second embodiment of the present invention, and FIGS. 17 to 19 are diagrams for explaining in detail the appearance of the prosthetic module according to the second embodiment of the present invention.

Unlike the first embodiment, the prosthetic module 200 according to the second embodiment of the present invention may have a motor provided in the link. Accordingly, the second embodiment can reduce the weight of the shoulder attachment.

Referring to FIG. 16, the prosthetic module 200 according to the second embodiment may include at least one of a connection frame 220 and links 240, 260, and 280.

The shoulder attachment part 210 may be mounted on one side of the body. In the first embodiment, the motor is accommodated in the shoulder attachment, but in the second embodiment, the motor may be accommodated in the link. At this time, the battery may also be accommodated in the link, otherwise may be accommodated in the shoulder attachment.

The connection frame 220 may be detachable from the shoulder attachment part 210. For example, as shown in FIG. 19, the connection frame 220 may be coupled to the shoulder attachment part 210 in the C1 direction, and may be separated from C1 in the opposite direction.

In this case, the connection frame 220 may include an elastic portion 222 and a connector 224.

The elastic part 222 may be positioned between the connection frame 220 and the shoulder attachment part 210. Accordingly, the elastic part 222 may allow movement in the AB direction of FIG. 16. In other words, by the elastic portion 222, the connection frame 220 may move in the direction of opening and voweling with respect to the shoulder attachment portion 210. To this end, the elastic portion 222 may be provided with a leaf spring.

The connector 224 may be electrically connected to the connector of the shoulder attachment part 210. Accordingly, a control signal for controlling the motor accommodated in the link may be transmitted through the connectors.

Links, for example, a first link 240, a second link 260, and a third link 280 may be sequentially connected to one side of the connection frame 220. The first link 240, the second link 260, and the third link 280 may correspond to a stun bone, a middle osteotomy, and an end bone, respectively.

In this specification, for convenience of description, three links are assumed, but the technical idea of the present invention is not limited to the number of specific links. In addition, although links corresponding to the index finger among fingers are described as examples in the present specification, links according to an embodiment may be applied to other fingers.

16 to 18, the first link 240 may be bent and unfolded with respect to the connection frame 220. For example, the first link 240 may bend and/or unfold and rotate around the first shaft 251.

The second link 260 may be bent and unfolded with respect to the first link 240. For example, the second link 260 may bend and/or unfold and rotate around the second axis 271.

The third link 280 may be bent and unfolded with respect to the second link 160. For example, the third link 280 may bend and/or unfold and rotate around the third axis 281.

The first link 240 includes a first body 242 in which the motor 244 is accommodated, and a first joint frame 250 connected to the first body 242 by a first elastic member 259. Can include.

That is, unlike the first embodiment, the motor 244 may be provided inside the first link 240. In this case, the battery may be provided inside the first link 240 or may be provided on the shoulder attachment part 210.

The first link 240 may include a first body 242 and a first joint frame 250 capable of rotating relative to the first body 242 in some cases. The first joint frame 250 may rotate about the first shaft 251. When the first joint frame 250 rotates about the first shaft 251, the first body 242 connected by the first joint frame 250 and the first elastic member 259 may also rotate. I can. However, even when the first body 242 contacts an object and it is impossible to rotate further, the first joint frame 250 may additionally rotate further due to the deformation of the first elastic member 259. Accordingly, adaptive motion is possible, and a detailed description thereof will be described later.

The second link 260 may also include a second body 262 and a second joint frame 260 that can rotate relative to the second body 262 in some cases. The second joint frame 270 may rotate about the second shaft 271. When the second joint frame 270 is rotated around the second shaft 271, the second joint frame 270 connected by the second joint frame 270 and the second elastic member 279 In conjunction with the rotation, the second body 262 may also rotate. However, even when the second body 262 contacts an object and it is impossible to rotate further, the second joint frame 270 may additionally rotate further due to the deformation of the first elastic member 279. Accordingly, adaptive motion is possible, and a detailed description thereof will be described later.

The third link 280 may include a third joint frame 290 that rotates about a third axis 281 so as to rotate the third body 282 and the third body 282.

A 1-1 wire, 2-1 wire, and 3-1 wire are fixedly coupled to one side of each of the first to third joint frames, and a first to the other side of each of the first to third joint frames The -2 wire, the 2-2 wire, and the 3-2 wire may be fixedly coupled. When the tension of the 1-1 wire, 2-1 wire, and 3-1 wire increases, the first to third joint frames rotate for the bending motion of the links. When the tension of the 2-2 wire and the 3-2 wire increases, the first to third joint frames may rotate for the spreading operation of the links. Since the specific shape and function of the joint frame are the same as those of the joint frame described in the first embodiment, a detailed description will be omitted.

20 to 22 are views for explaining in detail the interior of the prosthetic module according to the second embodiment of the present invention.

In particular, FIG. 20 illustrates in detail the internal connection relationship between the connection frame 220 and the first link 240.

Referring to FIG. 20, the first link 240 may be provided with a first rotation member 245 for transmitting the rotational force of the motor 244. That is, when the motor 244 rotates, the first rotation member 245 may also rotate in the same direction as the rotation axis of the motor 244.

The connection frame 220 may be provided with a second rotation member 230 that rotates at a constant speed regardless of the angle of the first rotation member 245. For example, the first rotation member 245 and the second rotation member 230 may be connected by a constant velocity joint.

A first joint frame 250 may be provided around the first rotating member 245.

In addition, the second rotation member 230 and the first joint frame 250 may be connected by a 1-1 wire and a 1-2 wire. For example, one end of the 1-1 wire and the 1-2 wire is fixedly coupled to the first coupling hole 232 and the second coupling hole 234 of the second rotation member 230, respectively, The other ends of the 1-1 wire and the 1-2 wire may be fixedly coupled to the first joint frame 250.

Accordingly, when the motor 244 of the first link 240 rotates, a rotational force may be transmitted to the second rotation member 230 of the connection frame 220 through the first rotation member 245. When the second rotation member 230 rotates, tensions of the 1-1 wire and 1-2 wire connected to the second rotation member 230 may be adjusted. By adjusting the tension of the wire, the rotation in the bending direction or the rotation in the spreading direction of the first joint frame 250 may be adjusted. By the rotation of the first joint frame 250, the first body 242 connected through the first elastic member 259 may bend or unfold. That is, the rotational force of the motor 244 is transmitted from the first link 240 to the connection frame 220, and again from the connection frame 220 to the first link 240.

At this time, since the first rotation member 245 and the second rotation member 230 are connected by a constant velocity joint, irrespective of the rotation angle of the first link 240 with respect to the connection frame 220, the first 1- The tension of 1 wire and 1-2 wire is adjustable.

Referring to FIG. 21, a 2-1 wire 284 and a 2-2 wire 286 and a third link 280 for controlling the rotation of the second link 260 are provided inside the first body 242. The 3-1 wire 294 and the 3-2 wire 296 for controlling the rotation of) may be accommodated.

One end of the 2-1 wire 284 and the 2-2 wire 286 and the 3-1 wire 294 and the 3-2 wire 296 is fixedly coupled to the first rotating member 245 Can be.

Referring to FIG. 22, a 2-1 coupling hole 246 to which a 2-1 wire 284 is fixedly coupled to the outer circumferential surface of the first rotation member 245 along the circumferential direction to the first rotation member 245. ), a 2-2 coupler 247 to which the 2-2 wire 286 is fixedly coupled may be provided. In addition, the first rotation member 245 has a 3-1 coupling port 248 and a third coupling unit 248 to which the 3-1 wire 294 is fixedly coupled to the outer circumferential surface of the first rotation member 245 along the circumferential direction. A 3-2 coupler 249 to which the -2 wire 296 is fixedly coupled may be provided.

In this case, the 2-1 coupler 246, the 2-2 coupler 247 and the 3-1 coupler 248 and the 3-2 coupler 249 are the first rotating member 245 It can be spaced a predetermined distance in the longitudinal direction of.

One end of the 2-1 wire 284 and the 2-2 wire 286 and the 3-1 wire 294 and the 3-2 wire 296 is coupled to the first rotating member 245 Therefore, the rotational force of the motor 244 is, through the first rotation member 245, the 2-1 wire 284, the 2-2 wire 286, the 3-1 wire 294 and the 3-2 It may be delivered to the wire 296. That is, the tension of the 2-1 wire 284 and the 2-2 wire 286 and the 3-1 wire 294 and the 3-2 wire 296 by the rotation of the motor 244 may be adjusted. I can.

23 to 25 are views for explaining a method of operating a prosthetic module according to a second embodiment of the present invention.

Referring to FIGS. 23 and 24, when the links 240, 260, and 280 are unfolded, the motor 244 may rotate. Rotation in the R1a direction may be generated by rotational driving of the motor 244.

When the motor 244 rotates in the R1a direction, the second rotation member 230 of the connection frame 220 may rotate in the R2a direction. When the second rotation member 230 rotates in the R2a direction, the tension of the 1-1 wire connected to the second rotation member 230 may increase. Accordingly, a rotational force to be rotated in the R3a direction around the first shaft 251 may be generated in the first joint frame 250 connected to the 1-1 wire. Accordingly, the first body 242 connected to the first joint frame 250 may bend in the direction R3a.

In addition, when the motor 244 rotates in the R1a direction, the first rotation member 245 may also rotate in the R2a direction. When the first rotation member 245 rotates in the R2a direction, the tension of the 2-1 wire 284 connected to the first rotation member 245 may increase. Accordingly, a rotational force to be rotated in the R4a direction around the second axis 271 may be generated in the second joint frame 270 connected to the 2-1 wire 284. Accordingly, the second body 262 connected to the second joint frame 270 may bend in the direction R4a.

In this way, when the motor 244 rotates in the R1a direction, the first rotation member 245 may also rotate in the R2a direction. When the first rotation member 245 rotates in the R2a direction, the tension of the 3-1 wire 294 connected to the first rotation member 245 may increase. Accordingly, a rotational force to be rotated around the third axis 291 may be generated in the third joint frame connected to the 3-1 wire 294. Accordingly, the third body connected to the third joint frame may bend.

On the other hand, during the rotation of each link, any link may contact (CP) the object (Obj). For convenience of explanation, it is assumed that the second link 260 contacts (CP) an object (Obj).

Referring to FIG. 25(a), while the second link 260 is rotating in the direction R4a, as the second link 260 contacts the object Obj (CP), the second link is no longer in the R4a direction. There may be situations where you cannot meet.

In this case, as shown in FIG. 25(b), the rotation of the second body 262 of the second link 260 is stopped by the object, and the second joint frame with respect to the second body 262 (270) can make an opponent meeting. In this case, since the second body 262 cannot rotate, the second elastic member 279 may be deformed. That is, as the first rotation member 245 rotates, even if the second body 262 cannot rotate, the second joint frame 270 is deformed by the second elastic member 279 and the second joint frame 270 ) Is rotated (R4a').

In addition, the third link 280 can be rotated continuously by the motor 244 even when the second link 260 is in contact with the object, so that the third shaft 281 You can continue the R5 rotation around the center.

Accordingly, the second embodiment may also implement adaptive motion.

Meanwhile, when the rotational force of the motor 244 is removed, the deformation of the first elastic member 259 and/or the second elastic member 279 is restored, and the 1-2 wire and/or the 2-2 wire ( 286) can increase the tension. Accordingly, since the first joint frame 250 and/or the second joint frame 270 rotates in the reverse direction of R3a and R4a, the posture of the first link 240 and/or the second link 260 is Can be returned.

In addition, as the motor 244 rotates in the reverse direction, when rotating in the opposite direction to R1a, the tension of the 1-2 wire, the 2-2 wire 286, and the 3-2 wire 296 increases. can do. In this case, the first to third joint frames are rotated due to an increase in the tension of the 1-2 wire, the 2-2 wire 286, and the 3-2 wire 296. The first link 240, the second link 260, and the third link 280 may be driven to expand.

In addition, the prosthetic module 200 according to the second embodiment is also worn on the remaining finger, described with reference to FIG. 15 of the first embodiment, and provided with a motion sensor for sensing the movement of the remaining finger, a finger attachment part And a control unit. Since a detailed description thereof is the same as that described with reference to FIG. 15, a detailed description will be omitted.

In the above, the present invention has been described in detail using preferred embodiments, but the scope of the present invention is not limited to specific embodiments, and should be interpreted by the appended claims. In addition, those who have acquired ordinary knowledge in this technical field should understand that many modifications and variations can be made without departing from the scope of the present invention.

Claims (14)

A shoulder attachment portion accommodating a battery and a motor driven by the battery;
A rotation shaft provided on one side of the shoulder attachment portion and rotating according to the rotational force of the motor, a first wire tension control rotating plate provided on one side of the rotation shaft and fixed with the 1-1 wire and the 1-2 wire, and A first provided between the rotating shaft and the first wire tension adjusting rotating plate, and transmitting the rotating force of the rotating shaft to the first wire tension adjusting rotating plate to adjust the tension of the 1-1 wire and the 1-2 wire Transmission frame comprising an elastic member; And
It is provided on one side of the transmission frame, the 1-1 wire and the 1-2 wire to rotate in a first direction or a second direction according to the tension of the 1-1 wire and the 1-2 wire A first link including a first joint frame connected to one side and the other side, respectively; including,
A 3-1 wire and a 3-2 wire fixed to the rotation shaft of the transmission frame and adjusting tension according to the rotation of the rotation shaft;
The 3-1 wire and the 3-2 wire are on one side and the other side to rotate in the first direction or the second direction according to the tension of the 3-1 wire and the 3-2 wire. A prosthetic module comprising a third link comprising a fixed third joint frame. The method of claim 1,
The shoulder attachment part is mounted on the back of the hand, prosthetic module. The method of claim 1,
When the first link is in contact with an object as it rotates in the first direction, the rotation axis rotates relative to the first wire tension adjustment rotating plate whose rotation is stopped due to the deformation of the first elastic member, the prosthetic module . The method of claim 3,
After the first elastic member is deformed, when the rotational force of the motor is removed, the first wire tension adjustment rotating plate returns to the initial position by the restoration energy of the first elastic member,
When the first wire tension adjustment rotating plate returns to the initial position, the first link is rotated in the second direction by an increase in tension of the 1-2 wire, prosthetic module. delete The method of claim 1,
The transmission frame,
A second wire tension adjustment rotating plate provided on one side of the rotating shaft and fixed to the 2-1 wire and the 2-2 wire, and provided between the rotating shaft and the second wire tension adjusting rotating plate, thereby controlling the rotational force of the rotating shaft. Further comprising a second elastic member for controlling the tension of the 2-1 wire and the 2-2 wire by transmitting to the second wire tension control rotating plate,
The 2-1 wire is provided between the third link and the first link and rotates in the first direction or the second direction according to the tension of the 2-1 wire and the 2-2 wire, and A prosthetic module including a second link including a second joint frame in which the 2-2 wires are connected to one side and the other side, respectively. The method of claim 6,
When the first and second links are in contact with any one of the links in the first direction and the object is in contact, the first direction rotation of the contacted link is stopped, and elasticity connected to the contacted link The prosthetic module, wherein the member is deformed so that the first and second links rotate independently of each other. A first link including a first body accommodating a motor, a first joint frame connected to the first body by a first elastic member, and a first rotation member rotating by a rotational force of the motor;
A connection frame provided on one side of the first link and accommodating a second rotation member that rotates at a constant speed regardless of an angle with the first rotation member; And
One end is fixed to the second rotation member, the other end is connected to the first joint frame, and the tension is adjusted to rotate the first link in the first direction or the second direction by the rotational force of the motor. Including 1-1 wire and 1-2 wire,
It is attached to one side of the body, further comprising a shoulder attachment to which the connection frame is connected,
The prosthetic module is provided between the connection frame and the shoulder attachment part, in a direction perpendicular to the first direction and the second direction, and an elastic part that allows the movement of the connection frame. delete The method of claim 8,
The first joint frame rotates in the first direction according to an increase in tension of the 1-1 wire due to the rotational force of the motor,
As the first joint frame rotates in the first direction, the first body connected to the first joint frame and the first elastic member also rotates in the first direction,
When the first body is in contact with an object as it rotates in the first direction, when the rotation of the first body is stopped, the first joint frame is deformed by the first elastic member. A prosthetic module that rotates further in one direction. The method of claim 10,
After the first elastic member is deformed, when the rotational force of the motor is removed, the first joint frame rotates in the second direction by the restoring energy of the first elastic member. The method of claim 8,
A 2-1 wire and a 2-2 wire having one end fixed to the first rotation member so that tension is adjusted according to the rotation of the first rotation member; And
The other side of the first link is provided, and the 2-1 wire and the second wire rotate in the first direction or the second direction according to the tension of the 2-1 wire and the 2-2 wire. -2 A prosthetic module comprising a second joint frame in which one side and the other side of each wire are fixed, and a second link composed of a second body connected to the second joint frame and a second elastic member. The method of claim 12,
When the motor is in contact with an object during rotation of the first link in the first direction by the rotational force, the rotation of the first link in the first direction is stopped, and the second link is connected to the first link. A prosthetic module that independently rotates in the first direction. The method of claim 1 or 8,
A finger attachment portion worn on the remaining fingers and provided with a motion sensor for sensing the movement of the remaining fingers; And
The prosthetic module further comprises a control unit for generating a motor driving signal corresponding to the finger movement sensed by the motion sensor and providing it to the motor.

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