NL2027368B1 - A prosthetic gripping mechanism - Google Patents

A prosthetic gripping mechanism Download PDF

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Publication number
NL2027368B1
NL2027368B1 NL2027368A NL2027368A NL2027368B1 NL 2027368 B1 NL2027368 B1 NL 2027368B1 NL 2027368 A NL2027368 A NL 2027368A NL 2027368 A NL2027368 A NL 2027368A NL 2027368 B1 NL2027368 B1 NL 2027368B1
Authority
NL
Netherlands
Prior art keywords
drive portion
cable
spring
prosthetic
gripping mechanism
Prior art date
Application number
NL2027368A
Other languages
Dutch (nl)
Inventor
Smit Gerhardus
Lommerse Luuk
Original Assignee
Univ Delft Tech
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Univ Delft Tech filed Critical Univ Delft Tech
Priority to NL2027368A priority Critical patent/NL2027368B1/en
Priority to PCT/NL2021/050736 priority patent/WO2022158965A1/en
Application granted granted Critical
Publication of NL2027368B1 publication Critical patent/NL2027368B1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/588—Hands having holding devices shaped differently from human fingers, e.g. claws, hooks, tubes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5072—Prostheses not implantable in the body having spring elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A61F2002/587—Thumbs

Landscapes

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

Abstract

A prosthetic gripping mechanism (1) comprising grip— ping elements (1’, 1”) that are openable and closable by oper— ation of a drive portion (ll) connected to the gripping ele— ments (1’, 1”), wherein the drive portion (ll) connects to a cable (8), which cable (8) serves to drive the drive portion (ll), wherein intermediate between the drive portion (ll) and the cable (8) a movable link (9) is provided to which both the drive portion (ll) and cable (8) are connected, which movable link (9) is spring—loaded with a spring (6) so as to assist the operation of the drive portion (ll).

Description

A prosthetic gripping mechanism The invention relates to a prosthetic gripping mecha- nism comprising gripping elements that are openable and closa- ble by operation of a drive portion connected to the gripping elements, wherein the drive portion connects to a cable, which cable serves to drive the drive portion.
RU 2506931 discloses a hand prosthesis with fingers acting as the gripping elements of a gripping mechanism, where- in the joints of the fingers are provided with drive portions that connect to cables that serve driving of the drive por- tions.
It is an object of the invention to make operation of the prosthetic gripping mechanism according to the preamble easier for its user.
The prosthetic gripping mechanism of the invention is therefore provided with the features of one or more of the ap- pended claims.
In a first aspect of the invention the feature is ap- plied that intermediate between the drive portion and the cable a movable link is provided to which both the drive portion and cable are connected, which movable link is spring-loaded with a spring so as to assist the operation of the drive portion. This can make the operation of the prosthetic gripping mechanism of the invention easier during all operational stages of the mech- anism. It is possible that the movable link is embodied as a pulley, however this is not essential.
In a preferred embodiment of the prosthetic gripping mechanism of the invention distant from the movable link the spring is connected to a movable base link, which movable base link is positionable between two positions, a first position wherein the spring assists the drive portion when closing the gripping elements and a second position wherein the spring as- sists the drive portion when opening the gripping elements. Any position between the first position and the second position is also possible.
Suitably the movable base link is driven by a motor through a drivetrain to which the motor connects. The motor is for instance an electric motor, which can be battery-powered.
It is further preferred that the cable is provided with a force sensor to provide a measure of a force exerted on the drive portion by the cable.
It may also be preferable that the mechanism comprises at least one sensor, or preferably two sensors, to detect a po- sition assumed by at least one, or preferably both the movable link and the movable base link. With one or two sensors the po- sition and extension of the spring can be determined, and thus the applied moment. In this way it is possible to vary the as- sisting moment accurately.
In a further preferred embodiment the at least one sensor is connected to a processor that drives the motor. The processor can use the input from the sensors to control the mo- tor to provide the desired assistance.
The invention will hereinafter be further elucidated with reference to a schematic drawing of an exemplary embodi- ment of a prosthetic gripping mechanism according to the inven- tion that is not limiting as to the appended claims.
In the drawing: -figure 1 shows a first position of the prosthetic gripping mechanism of the invention; and -figure 2 shows a second position of the prosthetic gripping mechanism of the invention.
Whenever in the figures the same reference numerals are applied, these numerals refer to the same parts.
Although the invention is more generally applicable, figure 1 and figure 2 schematically show the prosthetic grip- ping mechanism 1 of the invention embodied as a prosthetic hand.
The prosthetic gripping mechanism 1 comprises gripping elements 1’, 1’' that are openable and closable by operation of a drive portion 11 connected to the gripping elements 1’, 177’. Figure 1 shows the operation when the drive portion 11 closes the gripping elements 1’, 1'’ as depicted by arrows A, and fig- ure 2 shows the operation when the drive portion 11 opens the gripping elements 17, 17’ as depicted by arrows B.
The figures 1, 2 show that the drive portion 11 con- nects to a cable 8, which cable 8 serves to drive the drive portion 11, and for which purpose intermediate between the 40 drive portion 11 and the cable 8 a movable link 9 is provided to which both the drive portion 11 and cable 8 are connected. According to the invention the movable link 9 is spring-loaded with a spring 6 so as to assist the operation of the drive por- tion 11.
Both figures further show that distant from the mova- ble link 9 the spring 6 is connected to a movable base link 5, which movable base link 5 is positionable between two posi- tions, a first position which is shown in figure 1, wherein the spring 6 assists the drive portion 11 when closing the gripping elements 1’, 1’' and a second position which is shown in figure 2, wherein the spring 6 assists the drive portion 11 when open- ing the gripping elements 17, 177. It is of course also possi- ble that any intermediate position between the positions of figure 1 and figure 2 is assumed.
Although it is not essential to the invention the fig- ures further show that the movable base link 5 is driven by a motor 12 through a drivetrain to which the motor 12 connects. The drivetrain suitably comprises for instance a worm 2, a gear 3 and possibly a sensor 4 to monitor the operation of the drivetrain.
Also not essential but shown in the figures 1, 2 is that the cable 8 is provided with a force sensor 7 to provide a measure of a force exerted on the drive portion 11 by the cable
8. The figures further show that a rotatable axle on which the movable link 9 is mounted may be provided with a sensor 10 to monitor the angular position of the movable link 9.
The sensors 4, 10 may be for instance be potentiome- ters or Hall sensors, or any other suitable type of sensor. The sensors 4, 10 and preferably also the force sensor 7 may be connected to a processor 13 that drives the motor 12.
Although the invention has been discussed in the fore- going with reference to an exemplary embodiment of the pros- thetic gripping mechanism of the invention, the invention is not restricted to this particular embodiment which can be var- ied in many ways without departing from the invention. The dis- cussed exemplary embodiment shall therefore not be used to con- strue the appended claims strictly in accordance therewith. On the contrary the embodiment is merely intended to explain the wording of the appended claims without intent to limit the 40 claims to this exemplary embodiment. The scope of protection of the invention shall therefore be construed in accordance with the appended claims only, wherein a possible ambiguity in the wording of the claims shall be resolved using this exemplary embodiment.
Aspects of the invention are itemized in the following section.
1. A prosthetic gripping mechanism (1) comprising gripping ele- ments (17, 1’7) that are openable and closable by operation of a drive portion (11) connected to the gripping elements (17, 17"), wherein the drive portion (11) connects to a cable (8), which cable (8) serves to drive the drive portion (11), charac- terized in that intermediate between the drive portion (11) and the cable (8) a movable link (9) is provided to which both the drive portion (11) and cable (8) are connected, which movable link (9) is spring-loaded with a spring (6) so as to assist the operation of the drive portion (11).
2. The prosthetic gripping mechanism of claim 1, characterized in that distant from the movable link (9) the spring (6) is connected to a movable base link (5), which movable base link (5) is positionable between two positions, a first position (fig. 1) wherein the spring (6) assists the drive portion (11) when closing the gripping elements (17, 177) and a second posi- tion (fig. 2) wherein the spring (6) assists the drive portion (11) when opening the gripping elements (17, 177).
3. The prosthetic gripping mechanism of claim 2, characterized in that the movable base link (5) is driven by a motor (12) through a drivetrain (2, 3) to which the motor (12) connects.
4. The prosthetic gripping mechanism of any one of claims 1 - 3, characterized in that the cable (8) is provided with a force sensor (7) to provide a measure of a force exerted on the drive portion {11} by the cable (8).
5. The prosthetic gripping mechanism of any one of claims 1 - 4, characterized in that the mechanism further comprises at least one sensor (4, 10) to detect a position assumed by at least one of the movable link (9) and the movable base link (5).
6. The prosthetic gripping mechanism of claim 3 and claim 4 or 5, characterized in that the at least one sensor (4, 10) and/or the force sensor (7) are connected to a processor (13) that 40 drives the motor (12).

Claims (6)

CONCLUSIESCONCLUSIONS 1. Prothetisch grijpmechanisme {1) omvattende grijp- elementen (1', 1'') die te openen en te sluiten zijn door be- diening van een aandrijfgedeelte (11) dat is verbonden met de grijpelementen (1', 1''), waarbij het aandrijfgedeelte (11) is 5 aangesloten op een kabel (8), welke kabel (8) dient om het aan- drijfgedeelte (11) aan te drijven, met het kenmerk, dat tussen het aandrijfgedeelte (11) en de kabel (8) een beweegbare scha- kel (9) is voorzien waarop zowel het aandrijfgedeelte (11) als de kabel (8) zijn aangesloten, welke beweegbare schakel (9) veerbelast is met een veer (6) om de werking van het aandrijf- gedeelte (11) te ondersteunen.A prosthetic gripping mechanism {1) comprising gripping elements (1', 1'') openable and closing by operation of a drive portion (11) connected to the gripping elements (1', 1'') wherein the drive portion (11) is connected to a cable (8), which cable (8) serves to drive the drive portion (11), characterized in that between the drive portion (11) and the cable ( 8) a movable link (9) is provided to which both the drive portion (11) and the cable (8) are connected, which movable link (9) is spring-loaded with a spring (6) to prevent the operation of the drive portion (11) to support. 2. Prothetisch grijpmechanisme volgens conclusie 1, met het kenmerk, dat op afstand van de beweegbare schakel (9) de veer (6) is verbonden met een beweegbare basisschakel (5), welke beweegbare basisschakel (5) tussen twee posities positio- neerbaar is, een eerste positie (fig. 1) waarin de veer (6) het aandrijfgedeelte (11) ondersteunt bij het sluiten van de grijp- elementen (1', 1'') en een tweede positie (fig. 2) waarin de veer (6) het aandrijfgedeelte (11) ondersteunt bij het openen van de grijpelementen (1', 1'').Prosthetic gripping mechanism according to claim 1, characterized in that at a distance from the movable link (9) the spring (6) is connected to a movable base link (5), which movable base link (5) is positionable between two positions. , a first position (fig. 1) in which the spring (6) supports the drive portion (11) when closing the gripping elements (1', 1'') and a second position (fig. 2) in which the spring ( 6) supports the drive portion (11) when opening the gripping elements (1', 1''). 3. Prothetisch grijpmechanisme volgens conclusie 2, met het kenmerk, dat de beweegbare basisschakel (5) wordt aan- gedreven door een motor (12) via een aandrijflijn (2, 3) waar- mee de motor (12) is verbonden.A prosthetic gripping mechanism according to claim 2, characterized in that the movable base link (5) is driven by a motor (12) via a driveline (2, 3) to which the motor (12) is connected. 4. Prothetisch grijpmechanisme volgens een van de con- clusies 1 - 3, met het kenmerk, dat de kabel (8) is voorzien van een krachtsensor (7) om een maat te leveren voor een kracht die door de kabel (8) wordt uitgeoefend op het aandrijfgedeelte (11).A prosthetic gripping mechanism according to any one of claims 1 to 3, characterized in that the cable (8) is provided with a force sensor (7) to provide a measure of a force exerted by the cable (8) on the drive section (11). 5. Prothetisch grijpmechanisme volgens één van de con- clusies 1-4, met het kenmerk, dat het mechanisme verder ten minste één sensor (4, 10) omvat om een positie te detecteren die wordt ingenomen door ten minste één van de beweegbare scha- kel (9) en de beweegbare basisschakel (5).A prosthetic gripping mechanism according to any one of claims 1-4, characterized in that the mechanism further comprises at least one sensor (4, 10) for detecting a position occupied by at least one of the movable shafts. kel (9) and the movable base link (5). 6. Prothetisch grijpmechanisme volgens conclusie 3 en conclusie 4 of 5, met het kenmerk, dat de ten minste ene sensor (4, 10) en/of de krachtsensor (7) is verbonden met een proces- sor (13) die de motor (12) aandrijft.A prosthetic gripping mechanism according to claim 3 and claim 4 or 5, characterized in that the at least one sensor (4, 10) and/or the force sensor (7) is connected to a processor (13) which controls the motor ( 12) drives.
NL2027368A 2021-01-22 2021-01-22 A prosthetic gripping mechanism NL2027368B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
NL2027368A NL2027368B1 (en) 2021-01-22 2021-01-22 A prosthetic gripping mechanism
PCT/NL2021/050736 WO2022158965A1 (en) 2021-01-22 2021-12-06 A prosthetic gripping mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NL2027368A NL2027368B1 (en) 2021-01-22 2021-01-22 A prosthetic gripping mechanism

Publications (1)

Publication Number Publication Date
NL2027368B1 true NL2027368B1 (en) 2022-08-05

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NL2027368A NL2027368B1 (en) 2021-01-22 2021-01-22 A prosthetic gripping mechanism

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WO (1) WO2022158965A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2822404A1 (en) * 2001-03-22 2002-09-27 Gilles Lopez Automatic clamping anthropomorphous gripper comprises thumb and articulated finger provided with phalange opened by cable and closed by spring
WO2013076683A1 (en) * 2011-11-23 2013-05-30 University Of Cape Town Prosthesis with underactuated prosthetic fingers
RU2506931C2 (en) 2012-05-03 2014-02-20 ФЕДЕРАЛЬНОЕ ГОСУДАРСТВЕННОЕ БЮДЖЕТНОЕ УЧРЕЖДЕНИЕ "САНКТ-ПЕТЕРБУРГСКИЙ НАУЧНО-ПРАКТИЧЕСКИЙ ЦЕНТР МЕДИКО-СОЦИАЛЬНОЙ ЭКСПЕРТИЗЫ, ПРОТЕЗИРОВАНИЯ И РЕАБИЛИТАЦИИ ИНВАЛИДОВ ИМ. Г.А. АЛЬБРЕХТА ФЕДЕРАЛЬНОГО МЕДИКО-БИОЛОГИЧЕСКОГО АГЕНТСТВА" (ФГБУ СПб НЦЭПР им. Г.А. Альбрехта ФМБА России) Hand prothesis
US20160367383A1 (en) * 2015-06-19 2016-12-22 Rehabilitation Institute Of Chicago Lockable Finger System and Related Methods

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2822404A1 (en) * 2001-03-22 2002-09-27 Gilles Lopez Automatic clamping anthropomorphous gripper comprises thumb and articulated finger provided with phalange opened by cable and closed by spring
WO2013076683A1 (en) * 2011-11-23 2013-05-30 University Of Cape Town Prosthesis with underactuated prosthetic fingers
RU2506931C2 (en) 2012-05-03 2014-02-20 ФЕДЕРАЛЬНОЕ ГОСУДАРСТВЕННОЕ БЮДЖЕТНОЕ УЧРЕЖДЕНИЕ "САНКТ-ПЕТЕРБУРГСКИЙ НАУЧНО-ПРАКТИЧЕСКИЙ ЦЕНТР МЕДИКО-СОЦИАЛЬНОЙ ЭКСПЕРТИЗЫ, ПРОТЕЗИРОВАНИЯ И РЕАБИЛИТАЦИИ ИНВАЛИДОВ ИМ. Г.А. АЛЬБРЕХТА ФЕДЕРАЛЬНОГО МЕДИКО-БИОЛОГИЧЕСКОГО АГЕНТСТВА" (ФГБУ СПб НЦЭПР им. Г.А. Альбрехта ФМБА России) Hand prothesis
US20160367383A1 (en) * 2015-06-19 2016-12-22 Rehabilitation Institute Of Chicago Lockable Finger System and Related Methods

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