WO2011054983A1

WO2011054983A1 - Actuator device for a disabled hand

Info

Publication number: WO2011054983A1
Application number: PCT/ES2010/000436
Authority: WO
Inventors: Esteban PEÑA PITARCH
Original assignee: Universitat Politècnica De Catalunya
Priority date: 2009-10-26
Filing date: 2010-10-26
Publication date: 2011-05-12
Also published as: ES2358251B1; ES2358251A1

Abstract

The invention relates to an exoskeleton (1) formed by longitudinal series of segments (3, 5, 7, 9) hingedly connected to one another at the ends thereof by means of respective intermediate pieces (11a, 11b, 11c) in turn hingedly connected to respective raised mountings (S) attached by the bases (20) thereof to various predetermined points of each finger. The free end of the first (3) of the segments (3, 5, 7, 9) is attached to a mobile part (40) of the user. In addition, part of the segments (5, 7, 9) include a projecting push portion (E1, E2, E3) for pushing the respective finger at different points when the aforementioned mobile part (40) is moved, triggering the simultaneous movement of the segments (3, 5, 7, 9), such that the hand is directed towards a more closed position, in which the fingers retract towards the thumb, or vice-versa.

Description

Drive device for a disabled hand

Technical sector

The present invention concerns, in general, an actuation device for a hand with a disability, and in particular an actuation device for a hand that is unable to be closed in particular in a grasping operation by the body of an individual possessing it.

It is characteristic of the proposed device, that the user of said device can, with the help of this device, close a diseased hand to take, grab or grab an object and then reopen it.

Prior art

There are people who for some particular cause, whether pathological, accidental or other, have affected their muscles and / or flexor / extensor nerves of their fingers so that they are unable to close one of their hands, or both, which prevents them take, grab or grab any particular object. An example of this is in accidents suffered by some motorists who experience a neuron condition! which makes it impossible for them to execute said pressing movement. In order to alleviate this handicap, some devices are known that help to activate the hand in the sense of non-possibility.

Such devices include that of US Patent 4,167,044 which describes means for operating a member of an incapacitated or artificial arm whose control mechanism can be used either to control the operation of an artificial hand or a prosthesis attached to a disabled arm Such means or device comprise, in combination: a prosthesis adapted to be secured to one hand, said prosthesis comprising a rigid thumb support portion and a flexible finger support portion, said finger support portion having a normal flexure whereby the fingers are supported by it and normally held in an open position with respect to the supported thumb; an elongated flexible cable element having an operatively secured end to said support portion of the fingers to move said fingers towards a closed position, relative to the thumb, when said cable element is operated in one direction, the device being adapted other end of said cable element to be operatively secured to a mobile portion of the person's body; and a mechanical control operatively connected to said cable element to open said supported fingers, maintaining a fixed position of said fingers by closing them by making a simple impulse by the person. Said mechanical control includes control means to block said supported fingers in a fixed closed position when said cable is quickly and instantly loosened and to relax said supported fingers to allow them to move towards an open position when said cable is slowly loosened and gradually.

In order to achieve the described series of movements and positions, the device of document US 4,167,044 in addition to the cited cable set is completed with a kind of box housed over the user's wrist, in which a series of mechanical elements such as a zipper, a ratchet and some poleitas for conduction and government of the mentioned cables.

The aforementioned US patent 4,167,044 thus involves a certain complexity of mechanical elements that complicate both its construction and its installation and, ultimately, its cost price.

On the other hand, the aforementioned document does not clearly explain the mobile portion of the body of the person or the type of impulse that the user must make to operate the device to be moved by the sick member. Brief Explanation of the Invention

In view of the above, it appears necessary to offer an alternative to the state of the art, which overcomes the drawbacks indicated above, and in particular to provide a device for a disabled hand that is simple, practical to install and effective at the same time.

For this, the present invention concerns a drive device for a disabled hand, of the type comprising means for moving, by means of an impulse from a mobile part of the user's body, one or more fingers of said disabled hand, from a first position wherein the hand is partially open to a second position in which said or said fingers have been retracted in the direction of the thumb, for the purpose of grasping or gripping an object, said actuator device comprising an exoskeleton applicable to the dorsal face of said hand.

Unlike conventional proposals, in the device proposed by the present invention said exoskeleton comprises at least one longitudinal series of segments articulated with each other by ends, at a first height with respect to the dorsal face of the finger, through respective intermediate pieces articulated in turn, through two joints, to a second height with respect to the dorsal face of the finger, to respective raised supports fixed by their bases to different predetermined points of said finger, preferably coinciding with the knuckles, the free end of a first of said segments being fixed to said moving part, and some of the segments comprising a respective portion protruding thrust in contact with said finger, to push it through different points when said moving part is displaced by triggering the simultaneous movement of the transmitted segments by pivoting each of the intermediate pieces around its respective articulation, so that said finger goes to said second position, or vice versa.

An application of the device proposed by the present invention is to help a person with a hand with a disability who, although he can partially close it to try to take, for example, a glass, cannot close it sufficiently, or keep it in said partial closed position with enough force, to be able to raise the glass without it falling.

To this end, starting from said partially closed position in which said person has almost taken the vessel, the device proposed by the present invention allows, by exercising a small movement, for example of wrist, this is activated so as to push the fingers to adopt said second position, in which the vessel is held sufficiently to be able to raise it.

Advantageously, the device proposed by the invention comprises a brake mechanism that locks the segments when they are in said second position, to prevent the finger or fingers from moving away from the thumb, that is, as regards the application described in the previous paragraphs, to prevent the hand from opening by dropping the glass.

Brief description of the drawings

For a better understanding of the nature of the invention, sheets of drawings are attached, by way of non-limiting example, in which:

Figure 1 represents a perspective view of the brief exoskeleton, in a position corresponding to that of an open or extended hand. Figure 2 illustrates a view of the present device applied to a disabled hand and all wrapped in a glove, representing two positions: a first position with the exoskeleton in a fine line and corresponding to an open or extended hand position, and another position of the complete device corresponding to the position of the device itself with said partially closed hand.

Figure 3a is a perspective view illustrating one of the articulation plates shown in Figures 1 and 2, mounted on an articulated pillar-shaped support, in a rest position.

And Figure 3b illustrates, also in perspective, the plate and the support of Figure 3a, in an operative position where one of the segments articulated to the plate has been rotated by thrust.

Detailed description of the invention

According to the described figures, the device object of the invention mainly comprises an exoskeleton 1 consisting of a set formed by a series of segments 3, 5, 7, 9 for each of the index, major, ring and little fingers, which series cited For each finger it consists of a first 3, a second 5, a third 7 and a fourth segment 9 corresponding respectively to the metacarpal bone, proximal phalanx, middle phalanx and distant phalanx! of a corresponding finger.

According to a preferred embodiment, each mentioned segment 3, 5, 7, 9 of the same finger is articulated in an articulated manner, at its ends, at a first height with respect to the dorsal face of the finger, with the next segment by one piece intermediate or articulation plate 1 1a, 1 1b, 11c. Thus, the first segment 3 is linked to the second segment 5 or a first lia plate, the second segment 5 is linked to the third segment 7 by a second plate 1 1 b, and the third segment 7 is linked to the fourth segment 9 by a third plate 11c.

Each of said plates line ia 11c is in turn articulated, through two joints 1, at a second height referred to the dorsal face of the finger, to respective raised supports S fixed by their bases 20 at different predetermined points of each finger, in particular to the knuckles.

For the illustrated embodiment example the said second height is greater than said first height, although for another exemplary embodiment it may not be the other way around. All the first segments 3 are connected to each other, at their free or proximal end, by a transverse axis 13, fixed to the movable part 40 (in this case an area of the forearm adjacent to the wrist), while the distal end of the fourth segments 9 is applied on the corresponding distal phalanx.

Considering said exoskeleton 1 applied to the dorsal part of a hand 30, said segments 3, S, 7, 9 run parallel over said bones and phalanges and the same segments mentioned consist essentially of longitudinally elongated rigid strips, with the particularity of that the second and third segments 5 and 7 have approximately a significant broadening or protuberance directed towards the dorsal surface of a corresponding finger, whose protuberance has at least one hole 15.

Said protuberances constitute respective protruding thrust portions 121, E2 which, together with the thrust portion E3, are in contact with the respective finger, to push it through different points (in 2 areas that do not coincide with the knuckles) when the moving part 40 is displaced by triggering the simultaneous movement of segments 3, 5, 7, 9 transmitted by pivoting each of the intermediate feet lia, 11b, 11c around its respective joint 19, so that said finger is directs to said second position.

The protruding thrust portions El, E2, E3 are, for said second 5 and third 7 segments, intermediate portions El, E2 thereof, and, for said fourth segment 9 a distal end portion E3 thereof.

It can be seen in Fig. 3a how the support S has a pillar shape (illustrated and pallet with a broken line), each of the joints 19 comprising configurations 19a at the free end of the support S, in the form of pins, and complementary configurations 19b, in the form of holes, arranged close to one end of each of said intermediate pieces 1 la, 1 Ib, 1 1 c,

According to the same exemplary embodiment, each of the plates mentioned l, 11b, 11c is elongated as a lug in the palmar-dorsal direction of the hand 30, in this case forming a hollow shell with two through holes 19b, one in. each major face, although for another exemplary embodiment, not illustrated, the plates are solid and only have a major face with a through hole 19b to be inserted into a corresponding pin 19a of the support S. From approximately the middle of a major face of said plates, two articulation pivots 16,17 extend transversely, which are articulated in corresponding holes at the ends of two consecutive segments, as illustrated in Figures 3a and 3b, with respect to to segments 3 and 5.

In Fig. 3a the plate H a is shown in the rest position with respect to the support S, and in Fig. 3 b it has been illustrated once it has turned, in a clockwise direction indicated by the arrow illustrated on the plate 1 due to the thrust that segment 3 has exerted on it, which has caused the articulation pivot 16, and therefore the end of the segment 5 articulated thereto, to be raised, causing it to move according to the direction of the arrow illustrated in Fig. 3b associated therewith.

For an exemplary embodiment, the proposed device comprises a glove 22 that tightly wraps α the hand 30, the bases 20 of the raised supports S being fixed at different predetermined points of a first wall 22i of said glove 22 arranged just above said different default finger points.

For the illustrated embodiment, said bases 20 of the raised supports S comprise through holes 18, through which they are fixed to said predetermined points of a first wall 22i of said glove 22, each of which rests on a corresponding knuckle, by means of fixing elements or systems of conventional type, for example by sewing.

While with a glove 22 that only wraps around the hand 30 is sufficient to carry out the invention, the aesthetic effect of the exoskeleton being visible from the outside may not be considered desired. That is why, for the exemplary embodiment illustrated by Fig. 2, the glove 22 tightly wraps both the assembly of the exoskeleton 1 and the hand 30, presenting for this a dorsal tasting 22d and a palmar face 22p, and being said first wall 22i an intermediate internal wall 22i that divides it into two cavities: one for the exoskeleton proper 1 and a second cavity, formed by said inner wall 22i and the palmar face 22p of the glove 22, which envelops the hand 30 itself .

For another example of embodiment, not illustrated, the device proposed by the present invention does not comprise a glove, and is fixed to the fingers through another class of elements fixed thereto, such as rings inserted in the fingers and positioned coincident with said predetermined points of the fingers. It can be seen in Fig. 2 how the protruding thrust portions El, E2, E3 are fixed to the first wall 22i of the glove 22 by means of corresponding fixing elements or systems. In particular, in the intermediate portions El and E2 of segments 5 and 7, holes 15 are defined which are fixed to corresponding points of the inner wall 22i of the glove 22, and the thrust portion E3 of the fourth segment 9, which is not other than that constituted by the free or distal end of the latter, it has a hole 15a that serves to fix to a corresponding point of the inner wall 22i of the glove, point that rests against the dorsal face of the distal phalanx of the corresponding finger , with all of which the exoskeleton 1 is fixed to said glove 22, for example by sewing.

According to the embodiment of Fig. 2, the hand 30 of the user in question is fitted between the inner wall 22í and the palmar face 22p of the same glove 22, all of which, exoskeleton 1 and hand 30, form a compact assembly. Note that the thumb 24 may, optionally, be wrapped by the same glove, although it could also be left out of it for which a hole (not shown) should be made in said glove 22 to exit the mentioned thumb.

As for the transverse axis 13 that joins and sludges the proximal ends of the first segments 3, it is fixed by appropriate means (not shown) on a movable part 40 of the forearm adjacent to the user's wrist, which will also be wrapped by the glove 22.

In use, when the user makes a movement, around the articulation defined by the wrist, either from the hand 30 outwards, in the direction indicated by arrow B indicated in Fig. 2, or from part 40 of the forearm adjacent to the wrist, in the direction of arrow A (case illustrated in Fig. 2, where the initial position of the movable part 40 is illustrated with more fma line), the movable part 40 pushes to the proximal end of the first segment 3 (in the direction indicated by the arrow illustrated in said segment 3), which, at its distal end, pushes the plate ia which oscillates in the direction of the arrow "C", pushing the proximal end of the second segment 5 towards above (according to the position of the hand illustrated in Fig. 2), which causes the thrust portion El to move downward by pushing the finger along the portion thereof α which is fixed. The distal end of the second segment 5 pivots the plate 11b by pushing the proximal end of the third segment 7 up, and therefore the thrust portion E2 down to push the corresponding finger part, and making the end distal of the third segment 7 pivot the plate 1 in the same manner, whereby the fourth segment 9 moves its proximal end up and its distal end towards the dorsal face of the finger, pressing the thrust portion E3 to the finger by its phalanx distal

As a result of all these movements that cause the aforementioned finger thrusts at different points, a curvature of the hand 30 is obtained that closes the same towards the thumb 24, on purpose to grab or grip an object (not visible). Making a movement of the hand or forearm, around the wrist, in the opposite direction to that mentioned above, the opening of the hand 30 and the release of the object mentioned are achieved.

For an exemplified embodiment for which, unlike the one illustrated, each joint 19 is arranged below the articulation pivots 16, 17, it will be necessary to make movements of the movable part 40 in a direction opposite to those described, to perform the same functions.

Unlike the prior art and in view of what has been described, the simplicity of the present exoskeleton 1 becomes evident in comparison with those mechanical complications of said prior art set forth at the beginning, simplicity that makes it easier to construct and obtain more economically.

One skilled in the art could introduce changes and modifications in the described embodiments, such as the fixing system of the exoskeleton 1 to the glove 22, but without departing from the scope of the invention as defined in the appended claims.

Claims

1. - Drive device for a disabled hand, of the type comprising means for moving, by means of an impulse from a mobile part of the user's body, at least \ in finger of said disabled hand, from a first position in which the hand it is partially open to a second position in which at least said finger has been retracted in the direction of the thumb, or vice versa, said drive device comprising an exoskeleton applicable to the dorsal face of said hand and being characterized in that said exoskeleton (1) comprises at least one longitudinal series of segments (3, 5, 7, 9) articulated with each other by ends, at a first height in relation to the dorsal face of the finger, through respective intermediate pieces (line, 11b, 11c) articulated in turn, through two joints (19), at a second height with respect to the dorsal side of the finger, to respective raised supports (S) fixed by their bases (20) at different points predetermined of said finger, the free end of a first (3) of said segments (3, 5, 7, 9) fixed to said movable part (40), and comprising at least part of the segments (5, 7, 9 ) an protruding thrust portion (El, E2, E3) in contact with said finger, to push it through different points when said movable part (40) moves triggering the simultaneous movement of the segments (3, 5, 7, 9 ) transmitted by pivoting each of the intermediate pieces (line, 11b, 11c) around its respective joint (19), so that said finger is directed to said second position, or vice versa.

2. - Device according to claim 1, characterized in that said second height is greater than said first height.

3. Device according to claim 2, characterized in that said supports

(S) have a pillar shape and because each of said joints (19) comprises configurations (19a) at the free end of said support (S) and complementary configurations (19b) arranged close to one end of each of said intermediate pieces (l ia, 1 Ib, 11c).

4. Device according to claim 1, characterized in that said predetermined points of said finger correspond to the knuckles thereof or areas immediately thereto.

5. - Device according to any of the preceding claims, characterized in that said exoskeleton comprises several of said longitudinal series of segments (3, 5, 7, 9), each of them associated with a respective finger.

6. - Device according to any of the preceding claims, characterized in that each longitudinal series of articulated segments consists of four successive segments: said first segment (3) that runs substantially parallel and above a respective metacarpal bone and links said mobile part (40) of the user's body with a second segment (5); said second segment that runs substantially parallel and above a respective proximal phalanx and links to a third segment (7); said third segment that runs substantially parallel and above a middle phalanx and links to a fourth segment (9) that runs substantially parallel and above a distal phalanx.

7. - Device according to claim 6, characterized in that said protruding thrust portions (El, E2, E3) are, for said second (5) and third (7) segments, intermediate portions (El, E2) thereof, and, for said fourth segment (9) a distal end portion (E3) thereof.

8. - Device according to claim 1, characterized in that said intermediate parts (line, 11b, 11c) are respective elongated articulation plates (line, 11b, 11c), according to a palmar-dorsal direction, extending transversely from one side greater than each of them two articulation pivots (16, 17): one to connect the distal end of the immediately preceding segment and another to connect the proximal end of the next immediate segment, through respective holes defined at said ends,

9. - Device according to any of the preceding claims, characterized in that it comprises a glove (22) that wraps tightly at least to the hand (30), the bases (20) of the raised supports (S) being fixed at different predetermined points of a first wall (22i) of said glove (22) disposed just above said different predetermined points of the finger.

10. - Device according to claim 9, characterized in that said glove (22) tightly envelops both the exoskeleton assembly (1) and the hand

(30), presenting for this a dorsal face (22d) and a palmar face (22p), and said first wall (22i) being an intermediate internal wall (22i) that divides it into two cavities: one for the exoskeleton itself (1) and one for the hand with disabilities itself (30),

11. - Device according to claim 9 or 10, characterized in that said bases (20) of the raised supports (S) comprise through holes (1 8), through which they are fixed to said predetermined points of a first wall ( 22i) of said glove (22) by means of fixing elements or systems.

12. * Device according to claim 9 or 10 when dependent on 7, characterized in that said protruding thrust portions (El, E2, E3) are fixed to said first wall (22i) of the glove (22) by means of corresponding elements or fixing systems

13. - Device according to claim 5, characterized in that all the first segments (3) of said longitudinal series of segments meet in a transverse axis of rotation (13) conveniently fixed to the movable part of the user's body (40) .

14. - Device according to claim 1 or 9, characterized in that said mobile part of the user's body (40) is an area adjacent to the wrist of the disabled hand.

15. - Device according to claim 1, characterized in that said segments (3, 5, 7, 9) are constituted by liras of a rigid material.

16. - Device according to any of the preceding claims, characterized in that it comprises a brake mechanism that blocks said segments (3, 5, 7, 9) when they are in said second position, to prevent the finger or fingers from moving away from the thumb.