WO2011054983A1 - Dispositif d'actionnement destiné à une main handicapée - Google Patents

Dispositif d'actionnement destiné à une main handicapée Download PDF

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Publication number
WO2011054983A1
WO2011054983A1 PCT/ES2010/000436 ES2010000436W WO2011054983A1 WO 2011054983 A1 WO2011054983 A1 WO 2011054983A1 ES 2010000436 W ES2010000436 W ES 2010000436W WO 2011054983 A1 WO2011054983 A1 WO 2011054983A1
Authority
WO
WIPO (PCT)
Prior art keywords
segments
finger
hand
segment
glove
Prior art date
Application number
PCT/ES2010/000436
Other languages
English (en)
Spanish (es)
Inventor
Esteban PEÑA PITARCH
Original Assignee
Universitat Politècnica De Catalunya
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 Universitat Politècnica De Catalunya filed Critical Universitat Politècnica De Catalunya
Publication of WO2011054983A1 publication Critical patent/WO2011054983A1/fr

Links

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
    • 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
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/013—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the arms, hands or fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure

Definitions

  • 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.
  • 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.
  • 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
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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,
  • 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.
  • 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.
  • the proposed device comprises a glove 22 that tightly wraps ⁇ 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • the hand 30 of the user in question is fitted between the inner wall 22 ⁇ and the palmar face 22p of the same glove 22, all of which, exoskeleton 1 and hand 30, form a compact assembly.
  • 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.
  • 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.
  • 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.
  • 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.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Transplantation (AREA)
  • Epidemiology (AREA)
  • Nursing (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Prostheses (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne un exosquelette (1) formé par une série de segments longitudinaux (3, 5, 7, 9) articulés entre eux par des extrémités au moyen de pièces intermédiaires respectives (11a, 11b, 11c) articulées à leur tour sur des supports respectifs élevés (S) fixés au niveau de leurs bases (20) à différents points prédéfinis de chaque doigt, l'extrémité libre d'un premier (3) segment (3, 5, 7, 9) étant fixée à une partie mobile (40) de l'utilisateur, et certains segments (5, 7, 9) comprenant une partie saillante de poussée (E1, E2, E3) destinée à pousser le doigt respectif au niveau de différents points lorsque la partie mobile (40) se déplace déclenchant le mouvement simultané des segments (3, 5, 7, 9), de manière que la main se dirige vers une position plus fermée, les doigts se repliant en direction du pouce, ou vice versa.
PCT/ES2010/000436 2009-10-26 2010-10-26 Dispositif d'actionnement destiné à une main handicapée WO2011054983A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES200902086A ES2358251B1 (es) 2009-10-26 2009-10-26 Dispositivo de accionamiento para una mano discapacitada.
ESP200902086 2009-10-26

Publications (1)

Publication Number Publication Date
WO2011054983A1 true WO2011054983A1 (fr) 2011-05-12

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2010/000436 WO2011054983A1 (fr) 2009-10-26 2010-10-26 Dispositif d'actionnement destiné à une main handicapée

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ES (1) ES2358251B1 (fr)
WO (1) WO2011054983A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016077872A1 (fr) * 2014-11-21 2016-05-26 Curtin University Of Technology Orthèse
NL2017228B1 (en) * 2016-07-25 2018-01-31 Univ Delft Tech Exoskeleton glove
CN110731842A (zh) * 2019-09-20 2020-01-31 上海健康医学院 一种用于智能手的气动肌肉驱动的拇指装置
CN111135011A (zh) * 2019-11-04 2020-05-12 苏州瑞迈康健医疗科技有限公司 一种闭链级联式可穿戴外骨骼手部机器人

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2553277A (en) * 1950-07-10 1951-05-15 George B Robinson Control and operating means for paralyzed hands
US4167044A (en) * 1978-02-23 1979-09-11 Iowa State University Research Foundation, Inc. Means for actuating artificial or disabled arm members
WO1999021478A1 (fr) * 1997-10-24 1999-05-06 Virtual Technologies, Inc. Dispositif exosquelette permettant de mesurer directement la position des bouts de doigts et d'en deduire l'angle des articulations des doigts
JP2002345861A (ja) * 2001-05-29 2002-12-03 Harada Denshi Kogyo Kk 指動作補助装置
WO2004021936A1 (fr) * 2002-09-04 2004-03-18 Northern Sydney Area Health Service Dispositif d'aide au mouvement
JP2007313093A (ja) * 2006-05-26 2007-12-06 Tokyo Univ Of Science 指駆動システム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2553277A (en) * 1950-07-10 1951-05-15 George B Robinson Control and operating means for paralyzed hands
US4167044A (en) * 1978-02-23 1979-09-11 Iowa State University Research Foundation, Inc. Means for actuating artificial or disabled arm members
WO1999021478A1 (fr) * 1997-10-24 1999-05-06 Virtual Technologies, Inc. Dispositif exosquelette permettant de mesurer directement la position des bouts de doigts et d'en deduire l'angle des articulations des doigts
JP2002345861A (ja) * 2001-05-29 2002-12-03 Harada Denshi Kogyo Kk 指動作補助装置
WO2004021936A1 (fr) * 2002-09-04 2004-03-18 Northern Sydney Area Health Service Dispositif d'aide au mouvement
JP2007313093A (ja) * 2006-05-26 2007-12-06 Tokyo Univ Of Science 指駆動システム

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016077872A1 (fr) * 2014-11-21 2016-05-26 Curtin University Of Technology Orthèse
NL2017228B1 (en) * 2016-07-25 2018-01-31 Univ Delft Tech Exoskeleton glove
WO2018021909A1 (fr) * 2016-07-25 2018-02-01 Technische Universiteit Delft Gant d'exosquelette
US11305418B2 (en) 2016-07-25 2022-04-19 Adjuvo Motion B.V. Exoskeleton glove
CN110731842A (zh) * 2019-09-20 2020-01-31 上海健康医学院 一种用于智能手的气动肌肉驱动的拇指装置
CN110731842B (zh) * 2019-09-20 2021-11-19 上海健康医学院 一种用于智能手的气动肌肉驱动的拇指装置
CN111135011A (zh) * 2019-11-04 2020-05-12 苏州瑞迈康健医疗科技有限公司 一种闭链级联式可穿戴外骨骼手部机器人

Also Published As

Publication number Publication date
ES2358251A1 (es) 2011-05-09
ES2358251B1 (es) 2012-03-26

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