US3822418A - Electrically driven artificial hand for upper extremity prosthesis - Google Patents

Electrically driven artificial hand for upper extremity prosthesis Download PDF

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Publication number
US3822418A
US3822418A US00176530A US17653071A US3822418A US 3822418 A US3822418 A US 3822418A US 00176530 A US00176530 A US 00176530A US 17653071 A US17653071 A US 17653071A US 3822418 A US3822418 A US 3822418A
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US
United States
Prior art keywords
finger
thumb
artificial hand
fingers
slide block
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
US00176530A
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English (en)
Inventor
Lliin B Popov
A Skachkov
N Skudina
S Forichey
G Degtyarev
M Bir
N Kovanov
J Melnikov
L Voskoboinikova
Y Yakobson
A Sysin
V Leonov
V Ignatovich
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Individual
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Individual
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints

Definitions

  • the artificial band now in common use suffers from an inadequate stability and a low force of finger-pinch grasp; moreover, it takes much time for a fist grasp to occur andin some cases the latter is difficult to make due to the necessity to apply some force to retract thelast two digits.
  • the mechanical linkage interconnecting the reversible electric drive and said thumb-opposing finger is essentially a 2 disengageable unidirectional (non-reversible) linkage ensuring the positive effect of the reversible electric drive upon said finger occurring only in the direction of extension thereof, with said finger being associated with a spring which actuates the same in the direction of flexion thereof and being provided with a lock to ensure against extension of said finger caused by any external force applied thereto.
  • the mechanical linkage of the electric drive with said thumb-opposing finger be effected through a slide block connected to the latter, with the block being mounted in guide-ways for free reciprocation therealong and adapted to interact with a pushrod fixed to the actuating lever of the thumb.
  • the lock preventing said finger against being extended from any external force may be defined by a movable wedging plate with a hole through which a guide stem passes, with said plate being movably mounted on the slide block at a point removed from the guide stem at a distance enabling its becoming askew and being self-wedged with respect to said guide stem.
  • slide block and the selfwedging plate be located on a common guide stem.
  • the self-wedging plate be spring-actuated with respect to the slide block in the direction of its selfiwedging when said slide block travels to extend said thumb-opposing finger.
  • the artificial hand of the invention may be provided with a rocking pressure strip adaptedto interact by one of its sides with the pushrod provided on the actuating lever of the thumb, and by the other side,,with the movable self-wedging plate at the point enabling it to be unwedgedwhen motion is transmitted from the pushrod to the slide block.
  • the present artificial hand is also preferably equipped with an automatic stop lock to fix said thumbopposing finger in the position corresponding to fingerpinch grasp.
  • the automatic stop lock may be a rocking strip artic ulated to the artificial hand and connected to a throw over spring which serves to fix said strip in its extreme positions, and provided with projections, while the slide. block in this case is provided with the corresponding beads to interact with the strip projections.
  • rocking strip have a projection to bring it from the extreme positions and another projection to fix the slide block in the position of the finger-pinch grasp.
  • the ring and little fingers be interlinked with the fore and middle fingers whose main phalanges are dead fixed to each other, via a friction coupling provided with a positive stop to restrict the degree of their extension with respect to the fore and middle fingers.
  • the present artificial hand enables finger-pinch, fist,
  • the thumb-opposing fingers serve as a fixed rest and the entire power of the electric drive is imparted to the thumb, as well as in the attainment of higher stability, reliability and accuracy of a finger-pinch grasp due to the provision of a positive linkage between the main phalanges of the fore and middle fingers and a lock to fix the slide block in the position corresponding to finger-pinch grasp.
  • FIG. 1 illustrates a kinematic diagram of an artificial hand for upper extremity prosthesis, according to the invention.
  • FIGS. 2 through illustrate a variety of relative positions of the slide block and the automatic stop lock to fix the fore and middle fingers in the position corresponding to a finger-pinch grasp.
  • the artificial hand of the present invention comprises a thumb l with an actuating lever 2, a fore finger 3 with a main phalanx 4, a middle finger 5 with a main phalanx 6, a ring finger 7 and a little finger 8.
  • the main phalanges 4 and 6 of the fore finger 3 and the middle finger 5, respectively are dead-fixed to each other to form a single cluster.
  • the ring finger 7 and the little finger 8 are interconnected through a friction coupling 9 provided with a positive stop 10 to restrict the degree of extension of the little finger 8 with respect to the ring finger 7. To this end, the positive stop 10 isfree to travel alongan arcuate recess in the wall of the friction coupling 9.
  • the ring finger 7 is connected to the main phalanges 6 and 4 of the middle finger 5 and the fore finger 3, respectively through a friction coupling 11 provided with a positive stop 12 to restrict the degree of extension of the ring finger 7 with respect to the middle finger 5 and the fore finger 3.
  • a reversible electric drive 13 is located in the metacarpal portion of the artificial hand, and said drive comprises a DC. reversible electric motor 14, an elastic-jaw coupling 15, two pairs of helical gears 16 and a screw pair including a screw 17 and anut 18 adapted to reciprocate along a guideway 19.
  • the elastic-jaw coupling enables discrete rotary motions from the shaft of the motor 14 to be pulsewise imparted to the grasping actuator of the artificial hand, whereby the grasping force thereof is increased due to a few extra pulses delivered and the object to be grasped is thus reliably gripped.
  • the nut 18 is connected to the actuating lever 2 of the thumb 1 through a kinematic couple 20.
  • One of the members of the kinematic couple 20 is a spherical head 21 while the other is a socket 22 with a lengthwise slot (not shown) enabling the spherical head 21 to swivel and travel longitudinally.
  • either of the members of the kinematic couple 20 is capable of both rotating and travelling with respect to the other member.
  • a guide stem 23 Fixed in the artificial hand is a guide stem 23 along which a slide block 24 reciprocates, with block being mechanically interlinked through rods 25 and 26 with the fore finger 3 and the middle finger 5.
  • Motion is imparted from a pushrod 27 of the actuating lever 2 at a definite phase of finger extension through a pressure strip 29 rocking about a pivot pin '28 and adapted to act upon a stepless lock 30 which, in turn, transmits motion to the slide block 24.
  • a clearance A is left between the pressure strip 29 and the pushrod 27 to ensure that the mechanical linkage interconnecting the electric drive 13 with the clustered main phalanges 4 and 6 of the fore finger 3 and the middle finger 5 is a unidirectional (non-reversible) one capable of transmitting motion from the electric drive 13 to the pressure strip 29 only at a definite stage of finger extension.
  • the lock 30 to ensure against extension of the fore finger 3 and the middle finger 5 from any external force, is essentially a wedging plate with a hole through which the guide stem 23 may pass.
  • the lock 30 is movably mounted on the slide block 24 at a point removed from the guide stem 23 at a distance enabling it to be made askew and self-wedged with respect to the fixed guide stem 23.
  • the plate of the lock 30 withits edge is loosely mounted in a slot 8" at a clearance allowing the lock 30 to be made askew and traverse crosswise with respect to the slide block 24.
  • the lock 30 is actuated by a spring 31 with respect to the slide block 24 in the direction of its self-wedging.
  • the slide block 24 is traversable in the direction of extension of the fore finger 3 and the middle finger 5 via a spring 32 having one end connected to the body of the artificial hand and the other end connected to the slide block 24.
  • the stop lock is essentially a rocking lever 34 articulated to the artificial hand through a pivot pin 33 and connected to a throw over spring 35 that holds said lever 34 in its extreme positions, with said lever having arms 36 and 37 adapted to interact with corresponding abutments 38 and 39 of the slide block 24.
  • the thumb 1 To effect a lateral or fist-lateral grasp the thumb 1 must be shifted in opposition to in the case of a fingerpinch grasp, into the position of retraction, in which it is capable, while flexing, of approximating the laterodistal surface of the fore finger 3.
  • a two-position mechanism 40 for a passive shifting of the thumb 1 into either of said two positions.
  • the mechanism 40 turns the thumb 1 about a pivot pin 41 which is square with a pivot pin 42 around which the thumb 1 is to turn when flexing or expanding.
  • the mechanism 40 incorporates a segment 43 provided with teeth or holes and a lock which is defined by ment 43.
  • the thumb 1 is shifted-from one position into the other by pressing it against a table or any other suitable object.
  • the artificial hand functions as follows:
  • the DC. reversible electric motor 14 (P10. 1) fed from a storage battery (not shown) is switched on by control signals which are essentially bio-electrical potentials produced by two truncated muscles of the invalid.
  • the control signals first are delivered to the electronic control unit in which they are appropriately amplified and converted into a form suitable for a key-or proportional-control of the electric motor 14.
  • the fore finger 3 and the middle finger 5 are not flexed farther than to form a finger-pinch grasp. This is achieved due to the provision of an automatic stop lock to fix the fore finger 3 and the middle finger 5 in that position.
  • the rocking lever 34 of the stop lock assumes the position, in which the fore finger 3 and the middle finger 5 are free to flex only until the abutment 38 of the slide block 24 butts against the arm 36 of the rocking lever 34.
  • the invalid has to send a control signal to extend the fingers in response to which the shaft of the electric motor 14 starts rotating in a direction opposite to that which is effective in finger flexion.
  • Said contact is established as late as during the last half of the thumb. 1 extension procedure when the pushrod 27 imparts motion to the pressure strip 29 thus urging it to turn around the pivot pin 28.
  • the turn of the strip 29 causes the slide block 24 to travel along the guide stem 23 in the direction of finger extension which, in turn, acts through the rods 25 and 26 to cause the fore finger 3 and the middle finger 5 to extend.
  • Disengagement of the automatic stop lock of the fore finger 3 and the middle finger is accomplished due to the fact that, prior to making a fist grasp, the invalid has to completely extend the fingers of the artificial hand.
  • the arm 36 of the rocking lever 34 is actuated by the throw-over spring 35 to drop down onto surface 45 of the slide block 24 (FIG. 4).
  • the artificial hand gets ready for flexing the fingers to make a pinch-grasp.
  • the slide block 24 (FIG. 5) travelling backwards in the direction of finger flexion, the abutment 38 of the slide block 24 will butt against the arm 36 of the rocking lever 34 with the result that the movement of the fore finger 3 (FIG. 1) and the middle finger 5 will discontinue in the position of the finger-pinch grasp.
  • the thumb 1 To make a lateral grasp, the thumb 1 must be shifted from opposition into the position of retraction by pressing the thumb against any suitable object or against the other hand of the invalid, with the thumb passive shifting mechanism 40 being provided for this purpose.
  • the thumb 1 When in either of the aforementioned positions, the thumb 1 is held by the spring latch 44.
  • the lock to fix the middle and fore fingers in the position of a finger-pinch grasp remains engaged.
  • the movement of only the thumb l is employed, with the fore finger 3 remaining fixed in the position of a finger-pinch grasp. This adds the convenience of the lateral grasp, wherein the object is gripped in between the laterodistal surface of the fixed fore finger 3 and the thumb 1 brought close thereto.
  • the lock to fix the fore and middle fingers in the position of a finger-pinch grasp is disengaged due to the preliminary complete extension of the fingers.
  • the thumb 1 assumes the position as in the case of a lateral grasp, while the other fingers are in the position of a fist grasp.
  • the fingers are capable of adapting to the shape of the object being grasped.
  • the friction couplings 9 and 11 ensure that the ring finger 7 and the little finger 8 follow the fore finger 3 and the middle finger 5 when the latter two fingers are flexed or extended. At the same time, the friction couplings 9 and 11 enable a preliminary passive setting of the ring finger 7 and the little finger 8 to a most convenient, functionally advantageous and desirable (from the aesthetic point of view) position, as well as allow said fingers to extend to some degree with respect to the middle finger 5 when grasping a relatively largesized object, so as to adapt to the configuration thereof.
  • the present artificial hand is favorably comparable with the known artificial hands due to a combination of high functional characteristics with a simple and reliable construction, an easy and convenient control of motions performed by the fingers of an artificial hand, in response to only two control signals, say, bioelectrical potentials produced by two truncated muscles.
  • the artificial hand features a small size for its mechanisms thus allowing all the mechanisms, the drive inclusive, to be accommodated in the metacarpal portion thereof.
  • the delivery of bio-electrical signals lasts a short time due to the high rate of clenching and opening of the hand, whereby the control of the motions performed by the fingers of the artificial hand proves to be indefatigable.
  • An artificial hand for upper extremity prosthesis comprising: a frame; a thumb pivotally attached to said frame; at least two fingers located opposite said thumb; said at least two fingers being pivotally attached to said frame; an actuating lever connected to said thumb; a reversible electric drive mounted on said frame; said electric drive being kinematically coupled with said actuating lever of the thumb and interconnected through a disengageable unidirectional non-reversible mechanical linkage with at least one of said thumb-opposing fingers so that-the positive effect exerted by said electric drive upon said thumb-opposingfinger occurs only in the direction of extension thereof, a spring connected to said thumb-opposing finger to actuate said thumbopposing finger in the direction of flexion thereof; and a lock connected to said thumb-opposing finger to ensure against extension of said thumb-opposing finger under any external force applied thereto.
  • said lock preventing said finger from extending under an external force includes a movable wedging plate provided with a hole, and a guide stem attached to said frame and passing through said hole, said plate being movably mounted on said slide block at a point removed from said guide stem at a distance that enables said plate to be made askew and self-wedged with respect to said guide stem.
  • said automatic stop lock includes a rocking lever articulated to said frame, and a throw-over spring interconnected with said lever and adapted to fix the lever in its extreme positions, said lever having arms and said slide block having abutments adapted to'interact with said arms of the lever.
  • one of said arms provided on said rocking lever serves to bring said lever from the extreme positions, while the other of said arms is to fix said slide block in the position of a finger-pinch grasp.

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  • 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)
US00176530A 1970-09-04 1971-08-31 Electrically driven artificial hand for upper extremity prosthesis Expired - Lifetime US3822418A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SU1465355A SU339078A1 (ru) 1970-09-04 1970-09-04 ИСКУССТВЕННАЯ КИСТЬ ДЛЯ ПРОТЕЗОВ-•-»•»- .— г л L.-' ! СогД

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US3822418A true US3822418A (en) 1974-07-09

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US00176530A Expired - Lifetime US3822418A (en) 1970-09-04 1971-08-31 Electrically driven artificial hand for upper extremity prosthesis

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US (1) US3822418A (cg-RX-API-DMAC10.html)
AT (1) AT333418B (cg-RX-API-DMAC10.html)
CA (1) CA955007A (cg-RX-API-DMAC10.html)
FR (1) FR2107244A5 (cg-RX-API-DMAC10.html)
GB (1) GB1333176A (cg-RX-API-DMAC10.html)
SU (1) SU339078A1 (cg-RX-API-DMAC10.html)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3927424A (en) * 1973-01-19 1975-12-23 Agency Ind Science Techn Mechanical hand
US4114464A (en) * 1976-02-25 1978-09-19 Messerschmitt-Bolkow-Blohm Gesellschaft Mit Beschrankter Haftung Artificial hand and drive apparatus for such hand
US5800561A (en) * 1996-05-15 1998-09-01 Massachusetts Institute Of Technology Power-assisted upper extremity orthosis
WO2008088204A1 (es) * 2007-01-17 2008-07-24 Luis Armando Bravo Castillo Mecanismo de prótesis funcional para mano
RU2416380C2 (ru) * 2009-04-29 2011-04-20 Федеральное государственное учреждение "Санкт-Петербургский научно-практический центр медико-социальной экспертизы, протезирования и реалибилитации инвалидов им. Г.А. Альбрехта Федерального агентства по здравоохранению и социальному развитию" (ФГУ "СПбНЦЭР им. Альбрехта Росздрава") Протез предплечья
WO2017075884A1 (zh) * 2015-11-04 2017-05-11 中国科学院深圳先进技术研究院 假肢手
US9974667B1 (en) 2015-05-28 2018-05-22 Blain Joseph Cazenave Electromagnetic actuation mechanism for individual digit control of an artificial hand
WO2020128982A1 (en) * 2018-12-20 2020-06-25 Touch Bionics Limited Energy conservation of a motor-driven digit
US11517454B2 (en) * 2017-01-14 2022-12-06 Stefan Schulz Hand prosthesis base body
US11890208B2 (en) 2013-02-05 2024-02-06 Touch Bionics Limited Multi-modal upper limb prosthetic device control using myoelectric signals
US12059362B2 (en) 2016-09-02 2024-08-13 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US12115087B2 (en) 2020-11-03 2024-10-15 Touch Bionics Limited Sensor for prosthetic control

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2452282A1 (fr) * 1979-03-29 1980-10-24 Denoel Guy Nouveaux mecanismes pour mains mecaniques
FR2822404B1 (fr) * 2001-03-22 2003-07-18 Gilles Lopez Prehenseur anthropomorphe a serrage automatique
WO2004026540A1 (fr) * 2002-09-02 2004-04-01 Gilles Lopez Prehenseur anthropomorphe a serrage automatique
RU2472469C1 (ru) * 2011-07-06 2013-01-20 ФЕДЕРАЛЬНОЕ ГОСУДАРСТВЕННОЕ УЧРЕЖДЕНИЕ "САНКТ-ПЕТЕРБУРГСКИЙ НАУЧНО-ПРАКТИЧЕСКИЙ ЦЕНТР МЕДИКО-СОЦИАЛЬНОЙ ЭКСПЕРТИЗЫ, ПРОТЕЗИРОВАНИЯ И РЕАБИЛИТАЦИИ ИНВАЛИДОВ ИМ. Г.А. АЛЬБРЕХТА ФЕДЕРАЛЬНОГО МЕДИКО-БИОЛОГИЧЕСКОГО АГЕНТСТВА" (ФГУ "СПбНЦЭПР им. Альбрехта ФМБА России") Искусственная кисть
RU189912U1 (ru) * 2018-11-19 2019-06-11 Общество с ограниченной ответственностью "Миолимб" (ООО "Миолимб") Приспособление к протезу кисти человека

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3521303A (en) * 1967-07-12 1970-07-21 Yakov Savelievich Yakobson Artificial hand for prostheses with bioelectrical control
US3604017A (en) * 1969-11-10 1971-09-14 D W Dorrance Co Inc Spring-actuated prosthetic hand with a frictional latching clutch means

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3521303A (en) * 1967-07-12 1970-07-21 Yakov Savelievich Yakobson Artificial hand for prostheses with bioelectrical control
US3604017A (en) * 1969-11-10 1971-09-14 D W Dorrance Co Inc Spring-actuated prosthetic hand with a frictional latching clutch means

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3927424A (en) * 1973-01-19 1975-12-23 Agency Ind Science Techn Mechanical hand
US4114464A (en) * 1976-02-25 1978-09-19 Messerschmitt-Bolkow-Blohm Gesellschaft Mit Beschrankter Haftung Artificial hand and drive apparatus for such hand
US5800561A (en) * 1996-05-15 1998-09-01 Massachusetts Institute Of Technology Power-assisted upper extremity orthosis
WO2008088204A1 (es) * 2007-01-17 2008-07-24 Luis Armando Bravo Castillo Mecanismo de prótesis funcional para mano
US20100217405A1 (en) * 2007-01-17 2010-08-26 Louis Armando Bravo Castillo Functional Hand Prosthesis Mechanism
US8021435B2 (en) 2007-01-17 2011-09-20 Luis Armando Bravo Castillo Functional hand prosthesis mechanism
RU2416380C2 (ru) * 2009-04-29 2011-04-20 Федеральное государственное учреждение "Санкт-Петербургский научно-практический центр медико-социальной экспертизы, протезирования и реалибилитации инвалидов им. Г.А. Альбрехта Федерального агентства по здравоохранению и социальному развитию" (ФГУ "СПбНЦЭР им. Альбрехта Росздрава") Протез предплечья
US11890208B2 (en) 2013-02-05 2024-02-06 Touch Bionics Limited Multi-modal upper limb prosthetic device control using myoelectric signals
US9974667B1 (en) 2015-05-28 2018-05-22 Blain Joseph Cazenave Electromagnetic actuation mechanism for individual digit control of an artificial hand
WO2017075884A1 (zh) * 2015-11-04 2017-05-11 中国科学院深圳先进技术研究院 假肢手
US12059362B2 (en) 2016-09-02 2024-08-13 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US11517454B2 (en) * 2017-01-14 2022-12-06 Stefan Schulz Hand prosthesis base body
WO2020128982A1 (en) * 2018-12-20 2020-06-25 Touch Bionics Limited Energy conservation of a motor-driven digit
US11547581B2 (en) 2018-12-20 2023-01-10 Touch Bionics Limited Energy conservation of a motor-driven digit
US12279977B2 (en) 2018-12-20 2025-04-22 Touch Bionics Limited Energy conservation of a motor-driven digit
US12115087B2 (en) 2020-11-03 2024-10-15 Touch Bionics Limited Sensor for prosthetic control

Also Published As

Publication number Publication date
FR2107244A5 (cg-RX-API-DMAC10.html) 1972-05-05
DE2143850A1 (de) 1972-04-13
ATA746771A (de) 1976-03-15
SU339078A1 (ru) 1973-10-19
DE2143850B2 (de) 1976-06-16
AT333418B (de) 1976-11-25
CA955007A (en) 1974-09-24
GB1333176A (en) 1973-10-10

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