KR20000016854A - Artificial arm - Google Patents

Abstract

PURPOSE: A hand of the artificial function is provided to freely work as a real hand moves when fingers move by connecting joints with a tendon. CONSTITUTION: The hand of the artificial function has:an upper arm support device(600) for supporting the upper arm; a driving device(500) for bending to bend a lower arm support device toward the inner side, interposed between the upper and the lower arm; a holding device(100) having plural joints on the lower power of the lower arm support device; a wrist rotating and bending device(200) installed so the holding device as to rotate a certain degrees and move, interposed between the lower arm support device and the holding device; a driving device(300) for holding to work the holding device by loosening the tendon after installing the tendon inside the holding device; a power device for supplying power to the driving devices for bending and holding.

Description

Artificial function prosthesis {Artificial arm}

The present invention relates to the number of artificial functions to move the joints formed on the fingers, wrists, and elbows using the structure of the human body, and in particular, the joints are formed on the fingers, wrists, and elbows, and a tendon is installed between the joints. Since the tendon pulls the tendon with a deceleration motor, it is easy to use and ensures the movement of the tendon, and as a means of adjusting the finger or elbow movements, a muscle movement detection switch and a control belt switch actuated by the contraction change of the abdomen are used. It's about the number of artificial functions that make it work as intended.

Generally, prosthesis is divided into aesthetic water and functional water. The beautiful water is fitted with joints and a skeleton at the bottom of the upper arm case. It is called as a beautiful water, and the functional water integrates the index finger and middle finger so that the thumb tip and the tip of the index finger and middle finger can be caught to catch an object. The holding force is determined by the force of the spring embedded in the palm of the hand. When the object is placed, the hand is opened by pulling the open finger ring on the palm of the hand by pulling the belt that is worn on both shoulders of the human body to the inside of the chest. The elbow joint connects the forearm to the meniscus of the meniscus and inserts a pin in the center of the meniscus to form the joint, and the forearm angle converting means forms a plurality of grooves in the elbow of the meniscus to fix the arm angle installed in the lower forearm. Push the pin into the groove using the button to selectively use the required angle.

Another example of the functional number as disclosed in Patent Publication 72-124 is as follows.

The joint of the resin part of the prosthetic part is formed with a pin, the connecting rod is connected to the lower part of the joint with a pin, the rod installed on the second node of the resin part and the connecting rod are combined with a pin, and the tip of the rod is bent. It is pivotally fixed to the shaft, and supports the rear end of the rod to the back of the hand so that the resin part of the prosthesis is operated with two nodes and joints, and the rod is extended longitudinally and horizontally to the bent shaft, and the end of the rod Connecting a horizontal shaft to one side of the horizontal shaft, inserting both ends of the horizontal shaft into a reciprocating groove formed in a support to move back and forth, connecting a hydraulic hose to the cylinder of the rear end of the piston, and connecting the hydraulic hose In connection with the hydraulic cylinder installed on the belt, the piston is moved by the contracting motion of the belt.

The operation of the function number configured as described above is as follows. Belts are worn on the abdomen and prostheses are worn. Since the elastic cord connected to the belt is stretched according to the elasticity of the abdomen, when the force is applied to the abdomen, the elastic cord of the belt stretches and the string connected to the belt pulls the hydraulic cylinder compression plate together, and the hydraulic cylinder compression plate is pulled together. This contraction is to send the oil in the hydraulic cylinder to the cylinder through the hydraulic hose, the oil sent to the cylinder to push the horizontal axis along with the piston to operate the rod to expand the resin part, and at the same time pull the connecting rod installed at the bottom of the rod Therefore, the resin connected to the joint is stretched.

When bending the resin in such an unfolded state, the force is removed from the abdomen so that the spring elastically installed between the transverse shaft and the support contracts so that oil introduced into the cylinder enters the hydraulic cylinder through the hydraulic hose. It is operated to lower the bent shaft and the resin portion is bent at the same time operating the rod connecting rod to bend the rod and bend the thumb to grasp the object.

In this way, the elasticity of the abdomen is injected and drawn out by hydraulic pressure so that the resin part and the resin can be bent in two to operate the wearer freely.

However, in the conventional technology, the aesthetic water is separated separately from the functional water, so it is used according to the use, and the functional water is also simple, but the operation is not natural, so it is not convenient to use, so the remaining muscles of the arm degenerate. It's a shameful situation.

In the case of the functional water according to the prior art, it uses the movement of the abdomen, but because the resin part is operated by hydraulic pressure, there is a problem that a lot of force when moving the finger.

In addition, since the resin unit is operated by the multi-level link connection, the operation is not natural when the finger moves, and there are problems in that the joints are formed in two places so that the movement is not the same as the actual hand movement.

Accordingly, an object of the present invention is to conceive in view of the above problems, to operate the resin by driving the motor by the switch contact using the movement of the abdomen, to provide a number of artificial functions to move the finger with a small force. Is in.

Another object of the present invention is to form a joint of the resin part three places, such as the actual hand, by connecting between the joint and the joint with a tendon, to provide a number of artificial functions to operate naturally as the actual hand moves when moving the finger. Is in.

Still another object of the present invention is to provide a number of artificial functions to operate the elbow joint by driving the motor by the switch contact using the movement of the arm muscles.

Another object of the present invention is to configure the angular joint and the rotational joint of the wrist separately, to be able to move independently or in combination, almost any effect of the human hand can be obtained any type of object is discomfort due to disabilities To provide a number of artificial functions that can encourage many people.

An object of the present invention and the upper arm support means surrounding the upper arm portion; Habakgi support means for wrapping the circumference of the lower portion; Bending driving means interposed between the upper and lower support means and the lower support means for bending the lower support means; A holding means provided with a plurality of joints under the lower support means; A wrist rotation and bending means interposed between the lower support means and the gripping means and installed to allow the gripping means to move at a predetermined angle; A gripping drive means for mounting the tendon inside the gripping means to pull or release the tendon to operate the gripping means; Gripping power generation and transmission means for operating a switch of a power source using a part of the body moving as the wearer intends to drive the gripping driving means by the operation of the switch; It is achieved by means of bending power generation and transmission means for activating a switch of the power source using another part of the body moving as intended by the wearer, and driving the bending drive means by the operation of the switch.

The upper arm supporting means is an upper arm case surrounding the upper arm part of the arm, a head protector mounted on the inner circumferential surface of the upper arm case to protect the head, and a suspender strap which is fixed to both upper ends of the upper arm case to be attached to the shoulder. It is configured to include.

The bending driving means includes an elbow support that is rotatably installed between the upper and lower support means, a joint pin inserted into the joint through a lower portion of the elbow support and the upper support means, and the upper support means. Vandal gear frame fixed to the lower end of the, and the vandal gear is fixed to the inner side of the elbow support and interposed on the elbow support and the half moon gear frame, and the lower and lower rotation of the half moon gear frame, that is, the forward and reverse rotation It is configured to include a reduction motor and a pinion gear that is installed so as to engage with the half moon gear on the rotating shaft of the reduction motor to rotate the forearm support means by the rotation of the reduction motor.

The gripping means is coupled between the palm member consisting of a plurality of pieces, the end of each palm member, the finger member consisting of a multi-stage joint and the joint of the finger member to bend each node of the finger member. It comprises a pin member for coupling so that the tendon pipe is formed so that the tendon is mounted inside the palm member and the finger member.

The palm member has a through-hole penetrating from side to side in the upper portion, an index finger support portion having a yaw portion formed at a lower end thereof, and an index finger support portion disposed at one side thereof, and a support frame formed at an upper end thereof. A stop finger support part having a through hole positioned parallel to the through hole of the index finger support part at a lower part of the support frame, and having a yaw portion formed at a lower end thereof, and disposed on one side of the stop finger support part, The through finger is formed in parallel with the through hole of the finger support portion, the finger finger support portion formed with a yaw portion at the lower end, and is disposed on one side of the finger finger support portion, and is aligned with the through hole of the finger finger support portion at the top. A little finger support portion formed with a through hole positioned in the bottom portion, and having a yaw portion at a lower end thereof, and inserted into the through holes of the four finger support portions. A fastening bolt for fastening the parts in close contact with each other, a thumb support part coupled to an upper surface of the support frame of the stop finger support part, and having a joint pin insertion groove formed in a direction inclined at a predetermined angle from the vertical direction on the index finger side; Inserted into the joint pin insertion groove of the support is composed of left and right joint pins to move the thumb from side to side.

Insert the adjustment bolt into one side of the joint pin insertion groove of the thumb support portion to adjust the rotation of the left and right joint pins inserted into the joint pin insertion groove.

A plurality of weight reducing holes penetrating back and forth through the finger support portion to reduce the overall weight.

A rubber material having a large friction force is attached to an upper surface of the thumb support part.

The finger member has an iron portion formed at an upper end thereof, the pin is coupled to a yaw portion at the lower end of the index finger supporting portion of the palm member, an index finger consisting of three nodes and three joints, and an iron at the upper end thereof. ) Is formed and the pin is coupled with the yaw portion of the bottom of the stop finger support of the palm member, the stop finger consisting of three nodes and three joints, and the iron portion is formed on the upper finger ring finger support of the palm member The lower yaw portion and the pin is coupled, the ring finger consisting of three joints and three joints, and the iron portion is formed at the upper side, the yoke portion and the pin at the bottom of the pinky finger support of the palm member A little finger consisting of three nodes and three joints, and a joint pin through-hole is formed at the top to fit the joint pin insertion groove on one side of the thumb support of the palm member, three nodes and three joints It consists of a thumb made up of.

By forming an elliptical groove in the longitudinal direction of the thumb in the inlet portion of the joint pin through hole of the thumb, the thumb can move back and forth.

Each finger member has a first node coupled to a finger support part and having a yaw portion at a lower end thereof, and an iron portion coupled to a yaw portion of the first node at an upper end thereof, and having a yaw portion at a lower end thereof. (3) a second node formed with the (iii) portion, and a third portion formed with an iron portion coupled to the yaw portion of the second node at the upper end thereof and a tendon fixing groove for fixing one end of the tendon at the lower portion thereof; Consisting of nodes,

The pin member includes a first joint pin inserted through a yaw portion of a finger support portion and an iron portion of a first node, and an iron portion of a yaw portion and a second node of the first node. And a second joint pin inserted through the i) portion, and a third joint pin inserted through the yaw portion of the second node and the iron portion of the third node.

The wrist rotation and bending means is connected to the ball case rotatably installed in the lower end of the lower support means, the joint ball installed rotatably in the ball case, and the lower end of the joint ball and the holding means for connecting and fixing It is configured to include.

Spline grooves are formed on one side of the outer circumferential surface of the joint ball in the longitudinal direction, and a key fitted to the spline groove is inserted on one side of the outer circumferential surface of the ball case, so that the key moves along the spline groove, thereby allowing the vertical ball to move up and down. It is characterized by a limitation.

A wrist rotation limiting groove is formed in a circumferential direction around one side of the outer circumferential surface of the ball case, and a wrist rotation adjusting bolt is inserted into the wrist rotation limiting groove at a lower side of the lower support means, and the wrist rotation adjusting bolt is wristed. Because it moves along the rotational limiting grooves to limit the left and right rotation of the ball case, it is characterized by adjusting the distraction of the rotation by tightening or loosening the wrist rotation adjustment bolt.

The gripping driving means includes a tendon member mounted eccentrically inwardly from the center of rotation of the finger joint in the tendon duct of the gripping means, and gathers the tendon members to the lower end of the gripping means and passes through the wrist rotation and bending means. A tendon support member which guides into the support means and supports the tendon, a roller member rotatably installed to wind the tendon members collected and guided through the tendon support member, and is installed on an outer surface of the finger member of the holding means And an elastic member for allowing each node of the finger member to have a restoring force.

The tendon member is formed of five strands and is mounted eccentrically from the center of rotation of the finger joint to the inside of the tendon duct of the gripping means, and the eccentric distance from the center of rotation of the first joint to the position where the tendon of the second joint is supported The eccentric distance from the center of rotation of the second joint to the position where the tendon of the second joint is supported, and the eccentric distance from the center of rotation of the second joint to the position where the tendon of the second joint is supported is the rotation of the third joint It is configured to double the eccentric distance from the center to the position where the tendon of the third joint is supported, so that it is a natural gripping motion like a real hand.

The tendon member is made of a flexible elastic material, for example, a fishing line or a piano string can be used, and any material having excellent flexibility and elasticity can be applied.

The tendon support member is a tendon winding direction diverter inserted into the upper part of the ball case of the wrist rotation and bending means, disposed in the lower portion of the tendon winding direction diverter, separated into a plurality of nodes are installed to surround the support of the tendon members It consists of a tendon propulsion tube.

The roller member is disposed inside the tendon winding direction changer of the tendon support member, and is installed to be rotatable to change the direction of the tendon members, and is installed to be connected to a rotation shaft of the motor at one side of the direction turning roller. It is composed of a tendon winding roller which has a tendon fixing tool so that one end of the tendon can be fixed and wound.

The tendon winding roller is composed of the upper roller for winding the index finger, middle finger, ring finger, pinky tendon, and the lower roller for forming the smaller than the rotation radius of the upper roller in the lower portion of the upper roller.

A safety switch is installed on the outside of the tendon winding roller, and a safety switch pressing protrusion is formed on one side of the outer peripheral surface of the tendon winding roller so that the safety switch pressing protrusion presses the safety switch when the tendon winding roller is over-rotated. do.

The safety switch is composed of a safety switch for stopping it in one direction over-rotation of the tendon winding roller and a safety switch for stopping it in the other direction of rotation of the tendon winding roller, two safety switches to press each of the safety switch Configure pushbuttons.

The elastic member is characterized in that the spring is fixed to both ends fixed to the elastic member insertion groove formed on the outer surface of the finger member of the holding means.

The spring may be separated and installed to be disposed between the node and the node of the finger.

The gripping power generating and transmitting means is disposed inside the lower support means, and is connected to the tendon winding roller of the gripping drive means to rotate the tendon winding roller, and the wire is connected to the reduction motor. Wearing around the waist of the ship consists of a control member that controls the forward and reverse rotation of the motor by contraction and expansion movement.

The control member includes a belt worn around the waist, a switch box mounted on the front of the belt, a first switch installed at one side of the switch box and rotating the motor forward when the contact is made, and the inside of the switch box. A second switch installed on the other side and rotating the motor in contact with the other side; an adjustment piston fixed to the end of the belt and installed to slide into the switch box due to the contraction and expansion of the ship; and an outer circumferential surface of the adjustment piston. It is formed between the piston plunging distance adjustment button to protrude in the, to operate the first switch and the second switch, a spring hook pin protruding to the other side of the outer peripheral surface of the adjustment piston, and is installed between the spring hook pin and the switch box And a piston return spring for allowing the adjustment piston to have elastic restoring force, and a battery attached to one outer surface of the switch box. , Is attached to the other outer surface of the switch box, is attached to the connection jack is coupled is connected to the wire jack of a geared motor, on a side of the battery, and is configured to include a power switch for turning on the power to the battery / off.

The piston princess distance adjustment button is formed of a rotatable ellipsoid to rotate the control button to adjust the contact interval between the first switch and the second switch.

The bending power generating and transmitting means is disposed at the lower end of the upper arm support means, the deceleration motor for rotating the half-gear gear of the bending drive means fixed to one side of the lower arm support means, the reduction motor is connected to the wiring, Wearing around the upper arm portion consists of a control member for adjusting the forward and reverse rotation of the reduction motor by the contraction and expansion of the upper arm muscles.

The control member is disposed on one side of the upper arm muscles, the third switch for detecting the upper arm muscles moving when the arm is bent, the second switch disposed on the other side of the upper arm muscles, the upper arm muscles to detect the moving upper arm muscles 4 switches, and the elbow support of the lower end of the upper end support means of the bending drive means is installed in the radius of rotation, consisting of a safety switch to prevent over rotation of the lower support means.

The safety switch is installed in two places to operate the lower support means when bending and extending the specified range.

1 is a perspective view showing the number of artificial functions according to the present invention.

Figure 2 is an exploded perspective view showing the upper and lower parts of the number of artificial functions according to the present invention.

Figure 3 is an exploded perspective view showing the lower part and the finger member of the number of artificial functions according to the present invention.

Figure 4 is a perspective view of the finger member and tendon member of the artificial functional number of the present invention.

5 is an enlarged view illustrating a portion 'A' of FIG. 4.

Figure 6 is an exploded perspective view showing a control member of the number of artificial functions according to the present invention.

Figure 7 is an assembled perspective view showing a control member of the number of artificial functions according to the present invention.

8 is a wiring diagram of the number of artificial functions according to the present invention.

9 is an operation state diagram showing the operation of the number of artificial functions according to the present invention.

Fig. 10 is a sectional view showing a finger movement of the number of artificial functions according to the present invention.

(Explanation of symbols for the main parts of the drawing)

100; Gripping means 200; Wrist rotation and bending means

300; Gripping drive unit 400; Habakkuk support means

500; Bending driving means 600; Armrest support means

110; Palm member 120; Finger

130; Pin member 140; Tendon

111; Thumb support 111a; Joint Pin Insertion Groove

111b; Left and right joint pin 111c; Adjusting bolt

112; Index finger support parts 112a, 113a, 114a, and 115a; Through hole

112b, 113b, 114b, 115b; Urinary tract

113; Stop finger support 114; Ring finger support

115; Pinky finger support 116; Tightening Bolt

117; Weight loss hole 121; a thumb, a big finger

122; Index finger 123; Stop finger

124; Ring finger 125; Pinky

210; Ball case 220; Joint ball

230; Junction tube 221; Spline groove

222; Key 211; Wrist Rotation Limited Groove

212; Wrist rotation adjusting bolt 310; Tendon member

320; Tendon support member 330; Roller member

340; Elastic members 321; Tendon winding diverter

322; Tendon propulsion tube 331; Directional Roller

332a; Tendon fixation 332; Tendon Winding Roller

333; Safety switch pusher 334; Safety switch

710; Reduction motor 720; Control member

721; Belt 722; Switch Box

S1; First switch S2; Second switch

723; Control piston 724; Piston Princess Distance Control Button

725; Spring hook pins 726; Piston Return Spring

727; Battery 728; Final Jack

729; Power switch 810; Reduction motor

820; Control member S3; 3rd switch

S4; Fourth switch 821; Safety switch

Hereinafter, the number of artificial functions according to the present invention will be described according to the embodiment shown in the accompanying drawings. This embodiment is only illustrative for the purpose of understanding and is not intended to limit the invention.

1 is a perspective view showing the number of artificial functions according to the present invention, the number of artificial functions according to the present invention as shown therein is an upper arm support means 600 surrounding the upper arm portion; Habakgi support means for wrapping the circumference of the lower portion 400; Bending driving means 500 interposed between the upper and lower support means 600 and the lower support means 400 to bend the lower support means 400 inwardly; A holding means (100) provided with a plurality of joints and nodes at the bottom of the lower support means (400); A wrist rotation and bending means (200) interposed between the lower support means (400) and the gripping means (100), the gripping means (100) being installed so as to move at a predetermined angle; A gripping drive means (300) for operating the gripping means (100) by mounting a tendon inside the gripping means (100) and pulling or releasing the tendon; Gripping power generation and transmission means 700 for operating a switch of a power source using a part of the body moving as the wearer intends to drive the gripping driving means 300 by the operation of the switch; The switch of the power source is operated using another part of the body moving as the wearer intends, and the operation of the switch is achieved by the bending power generating and transmitting means 800 which drives the bending driving means 500.

Figure 2 shows an exploded perspective view showing the upper arm portion of the number of artificial functions according to the present invention, as shown in this, the upper arm supporting means 600 is an upper arm case 610 surrounding the upper arm portion of the arm, and A head protector 620 mounted on an inner circumferential surface of the upper arm case 610 to protect the head, and a suspender string 630 fixed to both upper ends of the upper arm case 610 to be attached to the shoulder.

The bending driving means, the elbow support 510 is rotatably installed between the upper and lower support means 600 and the lower support means 400, and the lower portion of the elbow support 510 and the upper support means 600. Joint pin 520 penetrating and inserted into the joint, the half moon gear frame 530 fixed to the lower end of the upper arm support means 600, and the elbow support 510 is fixed to the inner surface of the elbow support 510 ) And a half moon gear 540 interposed in the half moon gear frame 530, a reduction motor 810 installed in the lower half of the half moon gear frame 530 so as to perform forward and reverse rotation, and the reduction motor. The pinion gear 550 is installed to be engaged with the half moon gear 540 on the rotating shaft and rotates the lower part by the rotation of the reduction motor 810. Since the half moon gear 540 is formed to protrude outward, it is possible to completely bend the lower part of the arm. In addition, one side of the upper case and the half moon gear frame is formed vertically, so that the reduction motor does not touch the upper case and the half moon gear when the lower portion is bent.

3 is an exploded perspective view showing the lower part of the number of artificial functions and the finger member according to the present invention, as shown in this, the holding means 100, the palm member 110 composed of a plurality of pieces and Is coupled to the end of each of the palm member 110, is inserted between the joint of the finger member 120 and the finger member 120 of a multi-stage joint so as to bend each node of the finger member It comprises a pin member 130 for coupling, and a tendon pipe 140 formed to be mounted on the inside of the palm member 110 and the finger member 120.

The palm member 110 has an index finger support part 112 formed with a through hole 112a penetrating from side to side in the upper portion, and a yaw portion 112b formed at a lower end thereof, and the index finger support part 112. Disposed on one side, and forms a support frame 113c at an upper end, and forms a through hole 113a parallel to the through hole of the index finger support at a lower part of the support frame, and has a yaw at the lower end. A stop finger support part 113 having a part 113b formed thereon, and a through hole 114a disposed on one side of the stop finger support part 113 and positioned in parallel with a through hole of the stop finger support part; A ring finger finger support part 114 having a yaw portion 114b formed at a lower end thereof, and a through hole 115a disposed at one side of the finger finger finger support part 114 and disposed in parallel with a through hole of the finger finger finger support part. ) And the little finger with the yaw portion 115b formed at the lower end. Consists of portions 115 and the four-finger support through-hole (112a, 113a, 114a, 115a) of the fastening member of the fastening bolt 116 is brought into close contact with each other to secure a finger inserted into the support portion of (112 113 114 115).

On the other hand, in another configuration for fixing the four finger support portion, instead of forming a through hole penetrating left and right on the upper portion of the finger support portion to form a fastening hole penetrating up and down, the lower surface of the support frame of the stop finger support portion By forming a bolt hole to fit the fastening hole and fastening each of the four finger support to the lower surface of the support frame can be fixed individually. As such, when the finger support parts are individually fixed, the angle of the finger desired by the user can be adjusted with respect to each finger, thereby creating a more natural finger shape.

In addition, the thumb support portion 111 is coupled to the upper surface of the support frame 113c of the stop finger support portion 113, and formed on the one side to form a joint pin insertion groove 111a in a direction inclined by a predetermined angle (r). The left and right joint pins 111b are inserted into the joint pin insertion grooves 111a of the thumb support 111 to move the thumb from side to side. At this time, since the joint pin insertion groove 111a is formed to be inclined at a predetermined angle r, it can take a natural shape such as a real hand.

Insert the adjustment bolt 111c into one side of the joint pin insertion groove 111a of the thumb support 111 to adjust the rotational motion of the left and right joint pins 111b inserted into the joint pin insertion groove 111a. .

A plurality of weight reducing holes 117 penetrating back and forth in the finger support 110 to reduce the overall weight.

A rubber material having a large frictional force is attached to an upper surface of the thumb support 111.

The finger member 120, the iron portion (122-1a) is formed on the upper end of the index finger support portion of the palm member is coupled to the yaw portion (112b) of the lower pin, three nodes and three The index finger 122 made of a joint, and iron (123-1a) is formed on the upper end is coupled to the pin (113b) of the lower portion (113b) of the lower finger stop support 113 of the palm member, Stop fingers 123 consisting of three nodes and three joints, and iron (124-1a) is formed on the upper side of the lower finger portion 114b of the palm finger finger support 114 of the palm member and The pin is coupled, the ring finger 124 consisting of three joints and three joints, and iron (125-1a) is formed on the upper side of the palm of the little finger support 115 of the palm member (요) The pin 115 and the pin is coupled, the little finger 125 consisting of three joints and three joints, and the joint pin through hole (121-1a) is formed on the top of the palm member It becomes in line with the finger support portion 111 joint pin insertion groove (111a) on one side, is configured to include a thumb 121 consisting of three bars and three joints.

At this time, since the periphery of the inlet portion of the joint pin through-hole of the thumb extends in the longitudinal direction to form an oval shape, the thumb can flow in the vertical direction around the joint pin, thereby producing a natural motion.

Each of the finger members 120 is coupled to the finger support 110 and has a lower portion 121-1b, 122-1b, 123-1b, 124-1b, and 125-1b formed at a lower end thereof. Nodes 121-1, 122-1, 123-1, 124-1, 125-1, and iron portions 121-2a and 122 that are coupled to the yaw portion of the first node at the upper end thereof. -2a, 123-2a, 124-2a, 125-2a) and the lower part 121-2b, 122-2b, 123-2b, 124-2b, 125-2b which formed the lower part Two nodes 121-2, 122-2, 123-2, 124-2, and 125-2, and an iron portion 121-3a coupled to the upper portion of the second node with the yaw portion of the second node; Tendon fixation grooves 121-3b, 122-3b, 123-3b, 124-3b, and 125- that form 122-3a, 123-3a, 124-3a, and 125-3a and fix one end of the tendon in the lower portion. 3b) formed of the third node 121-3, 122-3, 123-3, 124-3, 125-3,

The pin member 130 may include a first joint pin 131 inserted through the yaw portion of the finger support portion and the iron portion of the first node, and the yaw portion of the first node. A second joint pin 132 inserted through the iron portion of the second node and a third joint pin inserted through the yaw portion of the second node and the iron portion of the third node; 133.

Spaced between the center of the joint pins (131, 132, 133) and the tendon tube in the fingers to be eccentric. The intermediate joint between the first and second nodes is eccentric about half the root joint between the palm member and the first node, and the end joint gives about half the eccentricity of the intermediate joint. That is, the middle finger 123 will be described in detail with reference to the drawings.

As shown in FIG. 10, when the length from the first joint pin 131 of the root of the finger to the tip of the finger is 100 mm, the length from the second joint pin 132 of the intermediate joint to the tip of the finger is 50 mm, and the third joint of the end joint When the length from the joint pin 133 to the tip of the finger was 25 mm, if the eccentric width K1 from the first joint pin 131 of the root joint to the tendon brace of the root joint was 10 mm, the total length of the finger was 100 mm. It is a ratio of 1: 1. Therefore, since the length from the second joint pin 132 of the middle joint to the tip of the finger is 50 mm, when the above ratio is applied, the eccentric K2 of the middle joint becomes 5 mm, and the eccentric K3 of the end joint becomes 2.5 mm. . In this ratio, the deviation of the tendon brace should be formed so that the finger catches the object evenly and evenly according to the shape of the object.

The wrist pivoting and bending means 200 includes a ball case 210 rotatably installed at the lower end of the lower support means 400, a joint ball 220 rotatably installed in the ball case 210, It comprises a connection pipe 230 for connecting and fixing the lower end of the joint ball 220 and the gripping means.

The spline groove 221 is formed in the longitudinal direction on one side of the outer circumferential surface of the joint ball 220, and the key 222 is inserted into the spline groove 221 on one side of the outer circumferential surface of the ball case 210. Since the key is to move along the spline groove to limit the vertical rotation of the joint ball 220 and at the same time prevent the twist of the tendon during wrist rotation.

In addition, since the key is located in the center of the joint ball is configured to be free to the wrist bending movement around the key. That is, by placing the key at the center of the joint ball, the wrist can be inclined to both sides along the spline groove as well as bent back and forth around the key. However, since the key is located in the spline groove, right and left rotation of the joint ball is limited.

A wrist rotation limiting groove 211 is formed around the outer circumferential surface of the ball case 210 in the circumferential direction, and is fitted into the wrist rotation limiting groove 211 at a lower side of the lower support means. By inserting), it is characterized in that the left and right rotation and counting of the ball case 210 is limited.

Therefore, the wrist is rotated from side to side since the outer circumferential surface of the lower end of the forearm case, which is the lower support means, and the ball case are in contact with each other, and the tilting and forward and backward movements are possible through the joint ball.

In addition, one side of the ball case is cut up and down, and the cut ball case is connected to each other by bolts, thereby loosening or tightening the bolts to adjust the alignment of the joint ball rotation.

Then, a plurality of position fixing grooves are formed on one side of the outer circumferential surface of the joint ball, and a magnet pin is inserted into the position fixing groove by penetrating the inside of the ball case, and one side of the outer circumferential surface of the ball case where the magnetic pin is located. A fan-shaped rotor having N poles and S poles is installed on it, and the wrist is held in position, and the rotor is rotated to one side so that the magnet pin inside the ball case is fitted into the position fixing groove formed on the joint pin. Wrist is fixed. In order to free the wrist again, the rotating body is rotated to the other side, and the magnet pin is pulled out and removed from the position fixing groove.

The gripping driving means 300 is a tendon member 310 mounted eccentrically inward from the center of rotation of the finger joint within the tendon pipe 140 of the gripping means, and the tendon members 310 at the lower end of the gripping means. Tendon support member 320 and through the wrist rotation and bending means to guide the inside of the lower support means, and rotatably wound around the tendon member 310 guided through the tendon support member 320 The roller member 330 is installed, and an elastic member 340 is installed on an outer surface of the finger member of the holding means, and each node of the finger member has a restoring force.

The tendon member 310 is formed of five strands and is inserted into each tendon tube 140, and is made of a flexible elastic material.

The tendon support member 320 is disposed below the tendon winding diverter 321 and the tendon winding diverter 321 inserted into the ball case 210 of the wrist rotation and bending means, a plurality of nodes It is composed of a tendon propulsion flow tube 322 which is separated and installed to surround the tendon members.

The upper end of the tendon propulsion tube 322 is in contact with the lower surface of the tendon winding direction changer, the lower end is installed to be inserted into the joint ball, so that the tendon propulsion flow tube can hold the tension of the tendon when the tendon members are pulled.

Each node of the tendon propulsion tube 322 penetrates the tendon passage, and has a concave and convex shape on both sides so that it is always seated without slipping when connected to each other, so that the tension of the tendon can be stably held, and the wrist is folded. When moving, the node moves without difficulty.

The roller member 330 is disposed in the tendon winding direction changer 321 of the tendon support member, the direction turning roller 331 rotatably installed to change the direction of the tendon members, and the direction turning roller 331 It is installed to be connected to the rotating shaft of the motor 710 on one side of the), and comprises a tendon winding roller 332 having a tendon fixing tool (332a) to be wound while fixing one end of the tendon.

The tendon winding roller 332 is composed of an upper roller and a lower roller, the upper roller to pull the four tendons of the index finger, middle finger, ring finger, little finger, the lower roller is formed with a smaller diameter than the upper roller thumb Pull the tendon of your finger. The reason for this configuration is that the thumb is relatively small in movement compared to other fingers.

How to install the tendon according to such a configuration is as follows.

First, one side of the tendon 310 in the root joint penetrates the joint tube 230 along the joint line 230 to the support frame 113c of the stop finger support 113, which is a palm member, the joint ball 220 and the tendon Fixed to the tendon fixture 332a formed in the tendon winding roller 332 through the direction switching roller 331 of the propulsion flow pipe 322 and the tendon pull direction changer 321, the other end of the tendon pipe toward the fingertips After passing along, tune it and fix it with the tendon fixing bolts 135 installed on the third nodes 121-3, 122-3, 123-3, 124-3, and 125-3. Then, the deceleration motor 710 is attached to the tendon pull direction converter 321, the spline insert the tendon winding roller 332 and the deceleration motor 710 to fasten the converter and the deceleration motor with a fastening bolt. Meanwhile, while inserting the lower inside of the lower arm forearm case, which is the lower support means, and inserting the outside of the ball case 210, a wrist rotation limited groove 211 of about 90 to 300 ° is formed in the outer middle of the inserted ball case 210. Match the holes penetrated to the forearm case and the limited groove 211 to fasten the wrist rotation adjusting bolt 212 to prevent the separation of the ball case 210 and the forearm case, and the wrist rotation limitation and wrist rotation And the wrist case is rotated because the ball case 210 inserted into the forearm case is rotated, and the wrist rotation limited groove 211 is formed on the outside of the ball case, and the wrist rotation adjustment is performed in the wrist rotation limited groove 211. Since the bolt 212 is partially passed through the wrist is only possible to form a limited groove.

The safety switch 334 is installed outside the tendon winding roller 332, and the safety switch pressing protrusion 333 is protruded on one side of the outer circumferential surface of the tendon winding roller 332, so that the tendon winding roller 332 The safety switch pressing protrusion 333 is characterized in that for pressing the safety switch 334 during rotation.

The elastic member 340 is characterized in that the spring is fixed to both ends fixed to the elastic member insertion groove formed on the outer surface of the finger member of the holding means.

The power generating and transmitting means for holding is disposed in the lower support means 400, the reduction motor for rotating the tendon winding roller 332 is connected to the tendon winding roller 332 of the gripping driving means (332) 710 and a control member 720 connected to the reduction motor 710 and wired around the waist of the user to control forward and reverse rotation of the motor by contraction and expansion of the stomach.

Figure 6 is an exploded perspective view showing a control member of the number of artificial functions according to the present invention, Figure 7 is an assembled perspective view showing a control member of the number of artificial functions according to the present invention, respectively, as shown therein, the control The member 720 is installed on the belt 721 worn around the waist, the switch box 722 mounted on the front of the belt 721, and the inner side of the switch box 722 to contact the motor. A first switch S1 for forward rotation, a second switch S2 installed on the other side of the switch box 722 to reverse rotation of the motor upon contact, and fixed to an end of the belt 721, The control piston 723 is installed to slide to the inside of the switch box by the contraction and expansion movement of the, and protruding on one side of the outer peripheral surface of the control piston 723, the first switch (S1) and the second switch (S2) Oval Piston Princess And an adjustment button 724, a spring hook pin 725 protruding from the outer circumferential surface of the adjustment piston 723, and installed between the spring hook pin 725 and the switch box 722, the adjustment piston Piston return spring 726 to have the elastic restoring force 723, a battery 727 attached to one outer surface of the switch box 722, the other side of the switch box 722, the reduction motor A connection jack 728 connected to and coupled to the wiring jack 730 of 710 and a power switch 729 attached to one side of the battery 727 to turn on / off the power of the battery 727. It is configured to include.

The bending power generating and transmitting means is disposed on the lower end of the upper support means 600, the reduction motor 810 for rotating the half gear of the bending drive means fixed to one side of the lower support means 400, and the It is connected to the reduction motor and the wire, and is worn around the user's upper and lower arm is composed of a control member for controlling the forward and reverse rotation of the reduction motor by the contraction and expansion of the upper arm muscles.

The control member is disposed on one side of the upper arm muscles, the third switch (S3) for detecting the upper arm muscles moving when the arm is bent, and disposed on the other side of the upper arm muscles, the upper arm muscles moving when the arm is extended The fourth switch (S4) for sensing and the elbow support 510 of the lower end portion one side of the drive means for bending the upper support means is installed in the radius of rotation, safety switch for preventing over-rotation of the lower support means (400) ( 821).

The safety switch is composed of a switch for preventing this when the lower portion is bent over a certain amount, and a switch for preventing this when the lower portion is unfolded over a certain amount.

In the whole part of the prosthesis, only a portion to maintain the shape or the skeleton to reduce the weight is formed, and a large or small hole or a space is formed. In particular, the upper and lower case 610, which is the upper arm support means, is ventilated smoothly. Space to prevent malfunction of the third and fourth switches (S3, S4) for detecting muscle movements caused by the weight loss of the arm generated when the action and the pressure inside the upper case (610) generated when moving the muscle of the arm Formed. The 1, 2, 3, 4 switches can adjust the driving speed of the motor using a resistance switch.

The operational effect of the number of artificial functions configured as described above is as follows.

The arm is inserted into the upper case 610, which is the upper arm supporting means 600, to carry the mel lanyard 630 on the shoulder, and the velcro strap 631 is half a circle under the opposite side to prevent the lanyard 630 from being peeled off. Turn to fix the lanyard (630). At this time, since the head protector made of soft silicon is covered on the arm circumference inside the upper arm case 610, it prevents the bones of the upper arm case and the arm from directly hitting to be worn safely.

The third and fourth switches (S3, S4) for detecting the muscle movement attached to the upper case 610 is adjusted according to the degree of muscle movement, and then the switch box 722, which is the control member 720, is worn on the waist. The belt 721 is inserted into the adjustment piston ring 723a inserted into the box 722 to adjust the length of the belt 721 so as to intentionally control the switch. After connecting the connection jack 728 attached to the control switch box 722 worn on, turn on the power switch 729.

When the user wearing the prosthesis of the present invention wants to move a finger, that is, when the user wants to grab an object, the user inserts the belly deeply into the stomach, and the control belt 721 worn on the waist is elastically installed on the adjustment piston 723 ( At the same time as the ship enters by the tension of the 726, the piston enters the box 722, and the corresponding switches S1 and S2 are pressed by the piston princess distance adjusting button 724 protruding from the middle of the piston 723. The switch supplies the current required when the finger is pinched to the deceleration motor 710, and the deceleration motor 710, which is supplied with the current, is decelerated using a tendon retractor 321 which pulls the tendon corresponding to the neural line of the human body. By changing the tendon pulling tension in the axial direction of the motor 710 in the direction perpendicular to the axial direction, the tendon installed in the finger is pulled by winding the tendon 310 in the tendon winding roller 332 to the finger joint. The formed eccentric causes the finger to be retracted inward to catch the object.

For example, if you hold a round stick, the index finger 122, the stop finger 123, the ring finger 124 is retracted inward toward the object, the object is a stop finger support frame 113c installed in the palm and Because the thumb 121 is gripped without being pushed out, and the slightly working thumb 121 is held again from the opposite side, all five fingers 121, 122, 123, 124, and 125 are close to each other according to the shape of the object, which is perfect for noise. The object is held in the form. Therefore, the shape of the stick is a constant, so the finger shape is also a neat shape.

As another example, if the ball (B) is caught as shown in Figure 9, the ball (B) is round, so that any finger node, the node of the finger that first touches the ball (B) stops movement, the node that does not touch the ball ( The operation continues until it reaches B) and stops when it touches the ball (B), the operation continues with another node, and when all three nodes touch the ball, the tendon 310 is stretched by exerting elasticity from this point. Finger nodes that do not touch the ball (B) will continue in this manner until it touches the ball (B), and finally catches the ball (B) evenly as shown in the figure. In addition, fingers and palms are surface treated with cushioning material with high friction to prevent slipping when they are caught or replaced with gloves. The cushion coating material is manufactured to have a curved surface such as a human hand. Thus, since the prosthesis is composed of joints and tendons similar to the human body, any type of material like the human hand is surely and perfectly grasped, and the tendon 310 is appropriately elastic depending on the material because it has proper elasticity. The medicine can be controlled by the control belt switch. And the tendon winding roller (332) at the bottom of the safety switch push projection 333 protrudes so as to operate the safety switch 334 to control the excessive operation of the fingers (121, 122, 123, 124, 125).

That is, when the tendon winding roller 332 rotates for a predetermined amount or more, the pressing protrusion formed on one side of the tendon winding roller presses the safety switch to prevent the tendon from winding further, and if the tendon winding roller rotates to the opposite side, the tendon winding The pressing protrusion formed on the other side of the roller presses the safety switch to prevent further tendon loosening.

On the other hand, when you want to stop the movement of the finger, the control boat 721 is expanded by the pressure of the ship by letting the ship in the free state or neutral state, the control piston 723 connected to the control belt 721 is the control switch box The deceleration motor 710 is stopped by stopping the current by releasing the switch pressed out from the 722, so that the fingers 121, 122, 123, 124 and 125 stop operation, and the deceleration motor 710 is operated by its own return prevention system. Loosening is prevented.

The return prevention system installs a coil wound electromagnet on one side of the reduction motor, and installs a brake in contact with the armature of the reduction motor between the electromagnet and the reduction motor, the spring through the brake and the electromagnet, the electromagnet Since the deceleration motor is electrically wired, when the deceleration motor is operated, current is applied to the electromagnet to pull the brake to release the armature of the motor.When the deceleration motor is stopped, the current is cut off by the electromagnet to stop the restoring force of the spring. This prevents the brake from releasing the armature of the motor.

On the other hand, when the fingers (121, 122, 123, 124, 125) to extend, that is, when you want to put the object deliberately by sending out the belly, the control belt 721 worn on the waist is more inflated than the free state to control connected to the belt 721 The piston 723 protrudes outward, and the piston 723 passes the princess distance some time and presses the corresponding switch by the princess distance adjusting button 724 protruding from the piston 723 to reverse the current when pressing the finger. Supply to the deceleration motor 710, the deceleration motor 710 is to release the object by releasing the tendon 310 wound on the tendon winding roller 332 while the reverse rotation, the return spring installed on the fingers (121, 122, 123, 124, 125) The finger is stretched by the elastic force of the head 340, and the user may use the wiring by changing the movement of the ship and the movement of the finger according to the taste of the user. In addition, since the piston princess distance control button 724 is made of a rotatable ellipsoid, by rotating the piston princess distance control button to the left and right to easily adjust the contact distance between the two switches (S1) (S2).

Next, when you want to move the lower arm arm, when you try to bend the arm gives the force to the arm inserted into the upper arm upper case 610, the muscles that move when bending the arm contracts and press the corresponding switch (S3) The switch supplies the current required when the arm is bent to the reduction motor 810 attached to the upper part of the lower forearm case, and the reduction motor 810 to which the pinion gear 550 receives the current is attached to the pinion gear ( 550 rotates and rotates around the half moon gear 540 simultaneously with the half moon gear 540 installed at the lower end of the upper case 610 so that the lower arm forearm case with the motor 810 moves along the motor. The arm is bent by the driving of the motor 810. When the arm is bent as much as possible, the elbow support 510 presses the safety switch 821 installed in the upper case 610 to cut off the current, and thus no excessive operation is made. On the contrary, when the arm is pushed, when the force is applied to the arm inserted in the upper case 610, the muscles that move when the arm is pushed the corresponding switch (S4), and the switch reverses the necessary current when the opposite is bent. The deceleration motor 810 is supplied to the deceleration motor 810, and the deceleration motor 810 rotates the pinion gear 550 to achieve an operation of extending the arm. And when you want to stop the arm force is left in a neutral state, that is, because the free state of the detection switch (S3, S4) cut off all the operation is not made, the current is blocked deceleration motor 810 prevents its own return The position is fixed by the system. 8 shows a wiring diagram of the switch and the motor according to the present invention.

And as shown in the figure, the thumb 121 can be moved left and right by a left and right joint pin inserted inclined at a predetermined angle (r) from the vertical, on the ellipse formed in the inlet of the joint pin through hole of the thumb By moving back and forth by the user, the user manually adjusts the position of the thumb to use it is not only convenient, it is possible to perform the exact gripping operation like the actual hand. In addition, since the rotational movement of the left and right directions using the joint ball and the front and rear direction as a means of moving the wrist joint and the rotational motion of inserting and rotating the outer peripheral surface of the joint ball case to the inner peripheral surface of the forearm case independently or complex Can be used. That is, according to the wearer's needs, the wrist can be moved only in the left and right directions and the front and back directions, or can be rotated only, and can be simultaneously bent and rotated in combination. Adjust the desired angle or direction according to the condition, then use the wrist rotation adjusting bolt 212 to adjust the count, the margin is appropriately used.

A coating having a cushion and color such as human skin is applied around the upper and lower lip to serve as an aesthetic water as well as a functional water.

In addition, by attaching a distance sensor for sensing the distance to the object to be gripped on one side of the finger to bend the finger properly, it is possible to more accurately hold the object.

As described above, the number of artificial functions according to the present invention as having a function below the upper arm, upper arm supporting means surrounding the upper arm; Habakgi support means for wrapping the circumference of the lower portion; Bending driving means interposed between the upper and lower support means and the lower support means for bending the lower support means; A holding means provided with a plurality of joints under the lower support means; A wrist rotation and bending means interposed between the lower support means and the gripping means and installed to allow the gripping means to move at a predetermined angle; A gripping drive means for mounting the tendon inside the gripping means to pull or release the tendon to operate the gripping means; Gripping power generation and transmission means for operating a switch of a power source using a part of the body moving as the wearer intends to drive the gripping driving means by the operation of the switch; It is composed of bending power generation and transmission means for operating the switch of the power source using another part of the body moving as the intention of the wearer, and driving the bending drive means by the operation of the switch. Since it operates the resin part to move the finger with a small force, the joint of the resin part is formed in three places like the actual hand, and the joint between the joint and the joint with a tendon, the actual hand moves when the finger moves As it is to operate naturally, and by configuring the angular joint and the rotation joint of the wrist separately, there is an effect to move independently or in combination.

Claims (28)

Upper arm supporting means for supporting the upper arm; Lower support means for supporting the lower part; Bending driving means interposed between the upper and lower support means and the lower support means for bending the lower support means; A holding means provided with a plurality of joints under the lower support means; A wrist rotation and bending means interposed between the lower support means and the gripping means and installed to allow the gripping means to move at a predetermined angle; A gripping drive means for mounting the tendon inside the gripping means to pull or release the tendon to operate the gripping means; The number of artificial functions, characterized in that it comprises a power supply means for supplying power to the bending drive means and the gripping drive. According to claim 1, wherein the upper arm support means and the upper arm case surrounding the upper arm portion of the arm; A head protector mounted on an inner circumferential surface of the upper case to protect the head; A number of artificial functions characterized in that it comprises a suspenders straps fixed to both upper end portions of the upper case and installed to tie to the shoulder. The elbow support of claim 1, wherein the bending driving means comprises: an elbow support rotatably installed between the upper and lower support means; A joint pin inserted into the joint through a lower portion of the elbow support and the upper arm support means; A half moon gear frame fixed to the lower end of the upper arm support means; A half moon gear fixed to the inner side of the elbow support and interposed between the elbow support and the half moon gear frame; A deceleration motor installed at the bottom of the half moon gear frame to allow forward and reverse rotation; And a pinion gear installed on the rotary shaft of the reduction motor to rotate with the half moon gear to rotate the lower support means by the rotation of the reduction motor. According to claim 1, The holding means, Palm member consisting of a plurality of pieces, Is coupled to the end of each palm member, the finger member consisting of a multi-stage joint, A pin member inserted laterally between the joints of the finger member so as to bend each node of the finger member; The number of artificial functions, characterized in that it comprises a tendon pipe formed so that the tendon is mounted inside the palm member and the finger member. The number of artificial functions according to claim 4, wherein a cushion coating material having a frictional force is applied to the surfaces of the palm member and the finger member. According to claim 4, The palm member, the index finger support portion formed with a coupling recess in the lower end, A stop finger support part disposed on a side of the index finger support part, forming a support frame at an upper end part, and a coupling yaw part at a lower end part thereof; Is disposed on the side of the stop finger support, the ring finger finger support and the engaging yaw (형성) formed on the lower end, Is disposed on the side of the ring finger support, the little finger support and the engaging yaw formed on the lower end, Fastening member for fixing the four finger support to the support frame of the index finger support; A thumb support part coupled to an upper surface of the support frame of the stop finger support part and having a joint pin insertion groove formed in a direction inclined at a predetermined angle from vertical to one side; The number of artificial functions, characterized in that the left and right joint pins are inserted into the joint pin insertion groove of the thumb support to move the thumb from side to side. The number of artificial functions according to claim 6, wherein an adjustment bolt is inserted into one side of the joint pin insertion groove of the thumb support to adjust the rotational motion of the left and right joint pins inserted into the joint pin insertion groove. 7. The number of artificial functions according to claim 6, wherein a plurality of weight reduction holes penetrating back and forth through the finger support part are formed to reduce the total weight. According to claim 4, The finger member, the iron portion is formed on the upper end coupled to the yaw portion of the lower end of the index finger support portion of the palm member, the index finger consisting of three nodes and three joints, An iron part is formed at the top and is coupled with the yaw part of the bottom of the middle finger support of the palm member, and the middle finger consisting of three nodes and three joints, An iron part is formed at the top and is coupled with the yaw part of the lower finger finger supporting part of the palm member, and the finger ring consists of three nodes and three joints. An iron part is formed at the top and is combined with the yaw part of the bottom of the pinky finger support part of the palm member, and a pinky finger consisting of three nodes and three joints, The joint pin through hole is formed at the top to fit the joint pin insertion groove on one side of the thumb support of the palm member, the number of artificial functions, characterized in that comprises a thumb consisting of three nodes and three joints. 10. The method of claim 9, wherein the circumference of the inlet of the joint pin through-hole is formed in an elliptical shape extending in the longitudinal direction of the thumb, so that the thumb can flow back and forth around the joint pin. Number. 10. The method of claim 9, wherein each of the finger member is coupled to the finger support, the first node to form a yaw portion in the lower end, and the upper end to the iron portion coupled to the yaw portion of the first node A second node formed with a portion and a yaw portion formed at a lower end thereof, and an iron portion coupled to the yaw portion of the second node at an upper end portion thereof, and a tendon fixing portion for fixing one end of the tendon at the lower portion thereof; Consisting of a third node forming a groove, The pin member includes a first joint pin inserted through a yaw portion of a finger support portion and an iron portion of a first node, and an iron portion of a yaw portion and a second node of the first node. Iv) a second joint pin inserted through the portion, and a third joint pin inserted through the concave portion of the second node and the iron portion of the third node. Number. According to claim 1, wherein the wrist rotation and bending means is a ball case rotatably installed on the lower end of the lower support means; A joint ball rotatably installed in the ball case, The number of artificial functions, characterized in that it comprises a connection pipe for connecting and fixing the lower end of the joint ball and the holding means. 13. The number of artificial functions according to claim 12, wherein a spline groove is formed at one side of the outer circumferential surface of the joint ball in a longitudinal direction, and a key fitted to the spline groove is inserted at one side of the outer circumferential surface of the ball case. 13. The method of claim 12, wherein the wrist rotation limiting groove is formed in the circumferential direction around one side of the outer circumferential surface of the ball case, and a wrist rotation adjusting bolt is inserted into the wrist rotation limiting groove on the lower side of the lower support means. Number of artificial functions. According to claim 1, The gripping drive means, and the tendon member mounted in the tendon pipe line of the gripping means eccentrically inward from the center of rotation of the finger joint, A tendon support member installed on the wrist pivoting and bending means to support the tendon members collected from the gripping means; A roller member installed on an upper portion of the tendon support member and rotatably installed to wind the gathered tendon members; The number of artificial functions, characterized in that it is provided on the outer surface of the finger member of the gripping means, including an elastic member for each node of the finger member to have a restoring force. 16. The number of artificial functions according to claim 15, wherein the tendon member is formed of five strands and inserted into each tendon duct, and is made of a flexible elastic material. The tendon support member of claim 15, wherein the tendon support member is inserted into an upper portion of the ball case of the wrist pivoting and bending means; The number of artificial functions, characterized in that it is installed between the lower surface of the tendon winding direction switch and the joint ball, separated by a plurality of nodes consisting of a tendon propulsion tube installed to wrap around the tendon members. 16. The method of claim 15, wherein the roller member is disposed inside the tendon winding direction changer of the tendon support member, and the turning roller rotatably installed to change the direction of the tendon members; The number of artificial functions, characterized in that it is installed to be connected to the rotating shaft of the motor on one side of the turning roller, the tendon winding roller is provided with a tendon fixture to be fixed while winding one end of the tendon. 19. The method of claim 18, wherein the tendon winding roller is the index finger, middle finger, ring finger, the upper roller for winding the tendon of the little finger, and the lower portion of the upper roller is disposed in the lower portion of the upper roller and wound around the tendon of the thumb Number of artificial functions, characterized in that consisting of rollers. 19. The safety switch presser according to claim 18, wherein a safety switch is installed outside the tendon winding roller, and a safety switch pressing protrusion is formed on one side of the outer circumferential surface of the tendon winding roller, so that the safety switch pressing protrusion is used when the tendon winding roller is over-rotated. The number of artificial functions, characterized in that pressed. The number of artificial functions according to claim 15, wherein the elastic member is a spring having both ends fixed to the elastic member insertion groove formed on the outer surface of the finger member of the gripping means. According to claim 1, wherein the power supply means for operating the switch of the power using a part of the body moving as intended by the wearer, the holding power generating and transmitting means for driving the gripping drive means by the operation of the switch; A number of artificial functions, characterized by consisting of the bending power generation and transmission means for operating the switch of the power source using the other part of the body moving as intended by the wearer, and driving the bending drive means by the operation of the switch. 23. The method of claim 22, wherein the gripping power generating and transmitting means is disposed in the lower support means, the reduction motor for rotating the tendon winding roller is connected to the tendon winding roller of the gripping drive means, the deceleration; The number of artificial functions, characterized in that consisting of a control member that is connected to the motor wiring and worn around the waist of the user to control the forward and reverse rotation of the motor by the contraction and expansion of the stomach. 24. The number of artificial functions according to claim 23, wherein a return preventing mechanism is provided at one side of the reduction motor to be connected to the reduction motor to drive the brake by a power source for driving the reduction motor. 24. The method of claim 23, wherein the control member is a belt worn around the waist, A switch box mounted to the front of the belt, A first switch installed at one side of the switch box to rotate the motor forward when contacted; A second switch installed at the other inner side of the switch box and rotating the motor when the contact is made; An adjustment piston fixed to an end of the belt and installed to slide into the switch box by the contraction and expansion of the ship; A piston princess distance adjusting button protruding from one side of an outer circumferential surface of the adjustment piston to operate the first switch and the second switch; A spring hook pin protruding from the outer circumferential surface of the adjustment piston; Piston return spring is installed between the spring hook pin and the switch box, so that the adjustment piston has an elastic restoring force, A battery attached to an outer surface of one side of the switch box, A connection jack attached to the other outer surface of the switch box and connected to the wiring jack of the reduction motor; The number of artificial functions, characterized in that attached to one side of the battery, including a power switch for turning on / off the power of the battery. The number of artificial functions according to claim 25, wherein the piston princess distance adjusting button is formed of a rotatable ellipsoid to adjust a contact distance between the first switch and the second switch. 23. The method of claim 22, wherein the bending force generating and transmitting means is disposed on the lower end of the upper arm support means, a reduction motor for rotating the pinion engaged with the half moon gear fixed to one side of the lower end of the upper arm support means; The number of artificial functions, characterized in that the wire is connected to the deceleration motor, the control member to be worn around the user's upper arm and configured to control the forward and reverse rotation of the reduction motor by the contraction and expansion of the upper arm muscles. 28. The method of claim 27, wherein the control member is disposed on one side of the upper arm muscles, and a third switch for detecting the upper arm muscles moving when bending the arm, A fourth switch disposed on the other side of the upper arm muscle and detecting the upper arm muscle moving when the arm is extended; The number of artificial functions, characterized in that the safety switch is installed on one side of the lower end of the upper support means, to prevent over-rotation of the lower support means.