WO2011072750A1 - Prothèse de main - Google Patents

Prothèse de main Download PDF

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Publication number
WO2011072750A1
WO2011072750A1 PCT/EP2009/067507 EP2009067507W WO2011072750A1 WO 2011072750 A1 WO2011072750 A1 WO 2011072750A1 EP 2009067507 W EP2009067507 W EP 2009067507W WO 2011072750 A1 WO2011072750 A1 WO 2011072750A1
Authority
WO
WIPO (PCT)
Prior art keywords
pump
hand
prosthetic
hydraulic circuit
digit
Prior art date
Application number
PCT/EP2009/067507
Other languages
English (en)
Inventor
Jos Poirters
Original Assignee
Poirters Creative Innovations
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 Poirters Creative Innovations filed Critical Poirters Creative Innovations
Priority to PCT/EP2009/067507 priority Critical patent/WO2011072750A1/fr
Publication of WO2011072750A1 publication Critical patent/WO2011072750A1/fr

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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
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • 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
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • A61F2/742—Low pressure systems, e.g. vacuum pump
    • 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
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2/72—Bioelectric control, e.g. myoelectric
    • 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
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • A61F2002/5004—Prostheses not implantable in the body having damping means, e.g. shock absorbers operated by electro- or magnetorheological fluids
    • 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
    • A61F2002/5093—Tendon- or ligament-replacing cables
    • 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
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7625—Measuring means for measuring angular position

Definitions

  • the present invention relates to a hand prosthetic.
  • the invention also relates to a robotic gripping device.
  • the majority of today's electric hand-prosthetics are controlled by one or two signals from a patients residue muscles. Electrodes are placed externally on these residue muscles and the patient can, by contracting these muscles, open and close his prosthetic. This kind of control is known as “myo-electric control”. By contracting a muscle slow or fast, the patient can control the speed and the gripping force of the prosthetics fingers. This is called “proportional control” and is used in today's electric driven hand-prosthetics. Most of hand-prosthetics today are further driven by electric actuators powered by a battery worn by the user. These hand-prosthetics are however often not very fast in displacing a moveable finger or digit nor do these hand-prosthetics provide a sufficiently strong gripping mechanism, e.g. the hand-prosthetic available from Touch Bionics.
  • an improved hand prosthetic would be advantageous, and in particular a more efficient and/or reliable hand prosthetic would be advantageous.
  • a hand prosthetic in particular a prosthetic with 5 displaceable digits or fingers, that solves the above mentioned problems of the prior art with providing a both fast and strong gripping mechanism in a hand prosthetic.
  • a hand-prosthetic with a plurality of independently displaceable digit members, the hand-prosthetic being myo-electrically controllable by a user, the hand-prosthetic comprising :
  • each digit member being rotatably mounted on the casing, and a hydraulic circuit arranged for displacing the digit members, the hydraulic circuit comprising :
  • a decoupling device arranged for decoupling the first pump from the hydraulic circuit
  • the decoupling device is arranged to decouple the first pump from the hydraulic circuit during a closing operation of the hand-prosthetic.
  • the invention is particularly, but not exclusively, advantageous for obtaining a hand-prosthetic with high functionality, which can be controlled with 2 (or more) myo-electric signals from the user.
  • the disclosed hand-prosthetic may be fast, robust, have a high gripping force, use only the volume of the natural hand and have an acceptable weight, for instance less than 450 gram.
  • the present invention may enable a relatively small building volume, high power/weight ratio and economic energy consumption.
  • the decoupling device may be mechanically, electrically, hydraulically or magnetorheologically (RM) controllable.
  • the decoupling device may be a clutch of a conventional kind, where, for the hydraulic case, the system pressure may be used to generate the decoupling force.
  • the digit members are coupled to the hydraulic circuit in the sense that the hydraulic circuit is arranged for displacing the digit members based on the pressure within the hydraulic circuit.
  • the second high-pressure pump may be operated in a pressure regime which is at least 2 times, preferably 2.5 times, or most preferably at least 3 times higher than the pressure regime of the first low-pressure pump. More specifically, the first pump may be operable at a pressure interval of 10-30 bar, preferably 15-25 bar. Even more specifically, the second pump may be operable at a pressure interval of 50-90 bar, preferably 60-80 bar.
  • the hydraulic circuit of the hand-prosthetic may preferably be embedded in the casing, partly or completely, in order to protect the circuit against external wear and/or chocks.
  • the first pump, the second pump, the decoupling device, and/or the said motor of the hydraulic circuit may be arranged to be mounted outside of the casing on the arm portion of the user or similar parts of the user.
  • the pumps may be fixed on an underarm of a user.
  • each digit member may be connected to a hydraulic actuator, where each hydraulic actuator may be independently controllable by pressure control means for each digit member in order to provide realistic hand-like actuation of the hand-prosthetic.
  • the pressure control means for each digit member may comprise a valve in front of the hydraulic actuator, e.g. it may be electrical valves, piezo valves, or of the MEM-type, etc. It may
  • an angle sensor may be mounted in relation with a digit member to determine the rotational position of the corresponding digit member to provide accurate control of the digits.
  • at least one digit member may have a corresponding hydraulic cylinder with a displaceable piston, the piston being longitudinally displaceable arranged in the cylinder, and the piston comprising an end portion being in a cable or gear cooperation with a gear wheel, or pulley, capable of actuating the displacement of the said digit member.
  • a transmission may actuate one or more fingers not necessarily all fingers or digits.
  • a resilient means may be mounted to cooperate with a digit member to provide an opening force for each digit member, e.g. a spring will force the digits to open if not countered by the hydraulics.
  • hydraulic circuit upon a closing operation of the hand-prosthetic, may be arranged for being driven by the first and the second pump, and, as the digit members come into contact with an object to be gripped, the decoupling device may be arranged to de-couple the first pump thereby allowing the second pump to drive the hydraulic circuit.
  • a closing operation is provided with, initially, a fast gripping, and, subsequently, a slower but stronger gripping in the last part of the closing operation.
  • a decoupling valve may be provided in front of the first pump to hydraulically close off the first pump during high pressure operation in a closing operation of the hand-prosthetic, and thereby shut off the first pump in order to prohibit the oil (pressure) from leaking away over the first pump.
  • An adaptive grip of the digit members is provided because of the fact that fluid in a pressurized system follows the path of least resistance. This results in all digit members to follow the contours of a gripped object before considerable gripping force is exerted by the digit members.
  • the second pump may be driven directly by the motor and the first pump is coupled to the motor by the decoupling device.
  • the first and the second pump may be driven directly by the motor, and the first pump is arranged to be de-coupled by the decoupling device, e.g. by a common axis through the pumps.
  • the present invention relates to a method for operating a hand-prosthetic with a plurality of independently displaceable digit members, the hand-prosthetic being myo-electrically controllable by a user, the method comprising :
  • each digit member being rotatably mounted on the casing, and - providing a hydraulic circuit arranged for displacing the digit members, the hydraulic circuit comprising :
  • a decoupling device arranged for decoupling the first pump from the hydraulic circuit
  • the decoupling device is arranged to decouple the first pump from the hydraulic circuit during a closing operation of the hand-prosthetic.
  • the present invention relates to a robotic gripping device with a plurality of independently displaceable gripping members, the device comprising : a casing,
  • each digit member being rotatably mounted on the casing
  • a decoupling device arranged for decoupling the first pump from the hydraulic circuit
  • the decoupling device is arranged to decouple the first pump from the hydraulic circuit during a closing operation of the gripping device.
  • the principle of the present invention is particularly suited for working in a hand-prosthetic, it is contemplated that the advantages of the invention may also be beneficially applied in connection with gripping devices in general, in particular gripping devices for robots of various kinds, e.g . industrial robots, domestic robots, etc.
  • the first, second and third aspect of the present invention may each be combined with any of the other aspects.
  • Figure 1 is a schematic drawing of the bone parts of a human hand
  • FIG. 2 is a schematic drawing of an embodiment of the invention
  • FIG. 3 shows schematic drawings for two embodiments of the invention
  • Figure 4 shows a hydraulic circuit according to the present invention
  • Figure 5 shows a perspective drawing of a part of a hand-prosthetic according to the present invention
  • Figure 6 shows another perspective drawing of a hand-prosthetic according to the present invention.
  • FIG. 7 is a flow chart of a method according to the invention.
  • Figure 1 is a schematic drawing of the bone parts of a human hand. The drawing is included because the hand-prosthetic according to the present invention in preferred embodiments, at least to some extents, mimics or resembles the actual hand of a human being.
  • the distal phalanges are located, except for the thumb digit on the right, followed by a joint to the intermediate phalanges.
  • the proximal phalanges and metacarpals follow; the metacarpals are integrated onto the carpals as seen in Figure 1.
  • several anatomical parts e.g . joints and bone parts, have corresponding parts, e.g.
  • FIG. 2 is a schematic drawing of an embodiment of the invention.
  • the drawing schematically illustrates the hydraulic circuit forming part of the hand-prosthetic.
  • the hydraulic circuit is arranged for displacing the digit members (not shown for clarity) by actuation of three hydraulic actuators 201a, 201b, and 201c, though typically five actuators, one for each digit member of the hand-prosthetic, is applied.
  • Each digit member is connected to a hydraulic actuator 201, each hydraulic actuator being independently controllable by pressure control means, e.g. a valve, 202a, 202b, and 202c for each digit member.
  • the hydraulic circuit further comprises a first pump 203, said first pump being arranged for low pressure, high volume operation, e.g. the first pump is operable at a pressure interval of 10-30 bar, preferably 15-25 bar.
  • the hydraulic circuit also comprises a second pump 204, said second pump being arranged for high pressure, low volume pump operation as compared to said first pump 203, e.g. the second pump is operable at a pressure interval of 50-90 bar, preferably 60-80 bar.
  • a motor 205 For driving said first 203 and said second 204 pump, a motor 205 is provided and appropriately connected to each pump as schematically indicated by the arrows from the motor 205 to each of the pumps 203 and 204.
  • the motor 205 is preferably a servo-motor.
  • a decoupling device 206 is arranged for decoupling the first pump 203 from the hydraulic circuit.
  • the decoupling device may be any suitable kind of decoupling device, such as a decoupling device being mechanically, electrically, hydraulically or magnetorheologically (RM) controllable.
  • the decoupling device is typically a clutch, preferably of a mechanical or a hydraulic kind.
  • the decoupling device 206 is arranged to decouple the first pump 203 from the hydraulic circuit during a closing operation of the hand-prosthetic.
  • This pump-decoupling device configuration of the hand-prosthetic enables a small building volume, high power/weight ratio and/or economic energy consumption.
  • Figure 3 shows schematic drawings for two embodiments of the invention showing more detailed configurations of how to arrange the decoupling device 206 and the motor 206 with respect to the first 203 and second 204 pumps.
  • the decoupling device 206 is positioned between the first 203 and second 204 pumps.
  • the second pump 204 is driven directly by the motor 205, and the first pump 203 is coupled to the motor by the decoupling device 206. This is presently the preferred solution.
  • the decoupling device 206 and the motor 205 are positioned between the first 203 and second 204 pumps.
  • the first 203 and the second 204 pump are driven directly by the motor 205, the first pump being arranged to be de-coupled by the decoupling device 206.
  • a common axis (not shown) through the pumps may be provided, the common axis having a clutch for decoupling the first pump 203.
  • motor and/or "pump”
  • the motor could comprise several motors combined or integrated into a common motor unit i.e. a "motor”
  • pump could comprise several pumps combined or integrated into common pump unit, i.e. a "pump”.
  • Figure 4 shows a hydraulic circuit according to the present invention in more detail compared to Figure 2, and also five digit members 401 and 402 with some mechanical components are shown.
  • the index- 401a, middle- 401b, ring- 401c and little 401d -finger have each three parts corresponding to the anatomical phalanges, cf. Figure 1.
  • the rotation of these fingers proximal parts or "phalanges” is done in the four mechanical joints 403, corresponding to metacarpophelangeal joints (MCP), by means of 4 hydraulic actuators i.e. cylinders 404.
  • the rotation of each digit members 401 is done by means of a cable 405.
  • the cable is attached to the cylinders 404, or close thereto, and guided over a wheel to a pulley or gear wheel that is mounted in front of the cylinders 404.
  • each digit member 401 will rotate when the pulley rotates under actuation of the hydraulic cylinders 404.
  • the angle of rotation is determined by the ratio of the diameters of the wheel and the pulley.
  • each digit member 401 has a corresponding hydraulic cylinder 404 with a displaceable piston, the piston being longitudinally displaceable arranged in the cylinder, and the piston comprises an end portion having a geared part 417 acting on the gear wheel.
  • the digit member 402 corresponding to the thumb is similarly operated with hydraulic actuator 404, except that this digit member 402 has an additional degree of freedom provided by the rotational coupling 410.
  • the coupling 410 may be manually, hydraulically or electrically operated by a user.
  • the hydraulic actuators 404 are provided with compensators 411 having the dual purpose of storing the extra volume of oil as the cylinder-rods translate into the cylinders, and having the function to give a positive pressure on the suction-side of the pumps 203 and 204.
  • This positive pressure is necessary for the pumps to be able to suck in the hydraulic fluid, e.g. oil, and prevents under-pressure, as this would result in damage to the pumps.
  • Each digit member 401 and 402 is connected to a hydraulic actuator, 404, where each hydraulic actuator is independently controllable by pressure control means, e.g. the pressure control means for each digit member may comprise a first 415a and a second 415b valve connected in series in front of each hydraulic actuator 404.
  • the two electrical valves may be of an electric, a piezo, or a micro electrical mechanical (MEM) type, etc.
  • the valves 415 are micro-valves.
  • a normal valve always uses electro magnets that act on a steel rod to control an orifice, i.e. the actual part that controls the opening, for opening and closing of a valve.
  • an orifice i.e. the actual part that controls the opening, for opening and closing of a valve.
  • the orifice is the electric controlled part (piezo, MEM).
  • piezo, MEM-valves The possible flow and pressure through direct controlled piezo, MEM-valves is very low compared to normal valves and has therefore no use in ordinary hydraulics.
  • a decoupling valve 416 is provided in front of the first pump 206 to hydraulically close off the first pump during high pressure operation in a closing operation of the hand-prosthetic.
  • pumps 203 and 204 can deliver a high volume at low pressure
  • the fingers or digits 401 and 402 will move at high speed and with low gripping force.
  • the system hydraulic pressure will rise above typically 20 bars, and the decoupling device or clutch 206 will couple out the first pump 203.
  • the second pump 204 can now use the full torque of the motor 205 to deliver high pressure (strong grip) at low volume (low speed of the fingers).
  • Valve 416 is an electric controlled 2/2 valves, which is normally 10 closed. This valve ensures that when the first pump 203 is coupled out so that the high pressure from the second pump 204 doesn't flow back over the first pump 203.
  • valves 415 and 416 are micro valves.
  • Valve 415b is used to keep cylinders 15 404, being under a load, in a fixed position without having to use the pumps. This saves energy and results in less noise.
  • Valve 415a is used to control which finger(s) 401 and 402 are moving at the same time.
  • valves 415 and 416 Operation of these valves 415 and 416 is done with very little operation current 20 and they exert a relatively little opening force. They are not able to open against higher pressures than 5-10 bars. In order to be able to open such a valve under high pressure, the pump will equal out the pressure over the valve. If for example the cylinder of the thumb 402 is under high pressure, and the thumb has to be opened, it works as follows:
  • Valve 415a is directed open (electric valve 415a is already open because of the high pressure in the cylinder of the thumb 402).
  • the motor 205 gets the signal to drive the first 203 and second 204 pumps for a few microseconds to put high pressure on the system.
  • - Valve 416 is directed open (there is no pressure in the system). - Valve 415a and 415b are now open and the motor will get the signal to drive the first 203 and second 204 pumps to transport the oil out of the cylinder of the thumb 402, resulting in an opening of the thumb. This process takes typically a few milliseconds to complete, therefore this delay of the patient's control will not be perceived. In the same manner all other fingers 401 or 402 can be opened and closed.
  • the micro-valves 415 and 416 are relatively small and light, and they can handle high static pressure. This makes it possible to get a high functionality in a limited space at low weight.
  • the hydraulic system may be considered to have a pump-unit (pumps 203 and 204) connected to 5 hydraulic cylinders 404.
  • a pump-unit pumps 203 and 204
  • one of these rotating fingers or digits 401 or 402 comes in contact with an object to be gripped, the oil-flow will follow the path of the least resistance and rotate the other finger(s) until they are in contact with the object as well.
  • the system -pressure rises and gripping-force is exerted .
  • This results in an adaptive grip where all fingers 401 and 402 can "shape" itself to follow the contours of the gripped object.
  • a fast and adaptive grip results of the hand- prosthetic. It ensures a tight grip on every object and exact positioning of the hand-prosthetic is not necessary. This results in less necessary visual control of the user and therefore a more user-friendly system.
  • the pumps 203 and 204 control the angular speed of the fingers 401 and 401 while closing and opening. These pumps can only deliver pressure as the fingers close.
  • the force for opening the fingers is controlled by springs (not shown).
  • the system is a servo-system which means that the fingers 401 and 402 can grip with any given force, can move at any given speed and can stop at any given position within the limits of the system.
  • All fingers 401 and 402 are equipped with an angle sensor 402 and 420 positioned in the joint corresponding to the metacarpophalangeal (MCP, cf. Figure) joint.
  • the thumb 402 has an extra angle sensor 421 in the carpometacarpel joint (CMC, cf. Figure 1).
  • CMC carpometacarpel joint
  • the oil pressure- and return-transport is done by means of a rotating coupling 410 that enables the thumb 402 to be moved into any opposed position of the fingers whilst ensuring a continuously control of the thumb.
  • the corresponding CMC joint of the thumb 402 preferably has a fixation
  • gripping-patterns are: - Credit-card grip: where the fingers close first and the thumb afterwards rotates down on the side of the index finger.
  • Pinch grip where the index-, middle-finger and thumb touch each other at the finger tips.
  • Pointing with index finger where first the middle-, ring- and little-finger close and the thumb afterwards rotates down on these fingers.
  • Programming can be done by means of a person wearing a data-glove that "teaches" the hand-prosthetic how to move the fingers when the thumb is in a certain position. Whilst programming with the data-glove, the hand-prosthetic is copying these movements. When the gripping-pattern is complete, the data can be stored onto the hand-prosthetics microprocessor.
  • the positions of the thumb in between the fixed angles have no programmed pattern.
  • the hand-prosthetic in this situation gets a signal to close, all fingers will rotate at the same time. The patient is still able to stop the motion any finger by holding this finger or by putting it against an object. Some positions of the thumb and index finger have to be protected in order to avoid too much force on the side of the finger.
  • the software measures the position of each finger at any time and the pressure of the pump will be limited in such a scenario.
  • the 5 free programmable gripping-patterns give the opportunity to have each hand- prosthetic optimized and customized to a patients needs.
  • Figure 5 shows a perspective drawing of a part of a hand-prosthetic 600 according to the present invention .
  • the digit members 401 and 402 are digit members 401 and 402
  • the cylinder 404' of digit 401d has been left partly open (cut in half) to provide a view of the inside.
  • the hand-prosthetic 600 comprises a casing 503 to protect the hydraulic circuit. The hydraulic circuit is kept in place by
  • the hand-prosthetic 600 is provided with a joint 504 for connecting the remaining part of the users arm.
  • the first pump 203, the second pump 20 204, the decoupling device 206, and/or the motor 205 of the hydraulic circuit is arranged to be mounted outside of the casing on an arm portion of the user, i.e. the hydraulic circuit comprises a portion located on the arm .
  • Figure 6 shows a full perspective drawing of a hand-prosthetic 600 according to 25 the present invention with the digit members 401 and 402 mounted . It is noted that the casing 503 preferably protects and confines all the hydraulic components, and thereby the complete circuit.
  • Figure 7 is a flow chart of a method for operating a hand-prosthetic with a
  • SI providing a casing 503, 52 providing a plurality of displaceable digit members 401 and 402, each digit member being rotatably mounted on the casing, and
  • first pump 203 said first pump being arranged for low pressure, high volume operation
  • decoupling device 206 arranged for decoupling the first pump from the hydraulic circuit, wherein the decoupling device is arranged to decouple the first pump from the hydraulic circuit during a closing operation of the hand-prosthetic.

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

Abstract

L'invention concerne une prothèse de main comprenant une pluralité d'éléments de doigt mobiles. Un circuit hydraulique est agencé pour déplacer les éléments de doigt avec une première pompe, la première pompe étant conçue pour un fonctionnement à basse pression et gros volume, et une deuxième pompe, la deuxième pompe étant conçue pour un fonctionnement à haute pression et volume réduit comparativement à ladite première pompe. Un dispositif de découplage découple la première pompe du circuit hydraulique pendant une opération de fermeture de la prothèse de main. La prothèse de main divulguée peut être rapide, robuste et présenter une grande force de préhension, utilise uniquement le volume d'une main naturelle et a un poids acceptable, par exemple moins de 450 grammes. En résumé la présente invention peut permettre un volume de fabrication relativement réduit, un rapport puissance/poids élevé et une consommation d'énergie économique.
PCT/EP2009/067507 2009-12-18 2009-12-18 Prothèse de main WO2011072750A1 (fr)

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WO2011072750A1 true WO2011072750A1 (fr) 2011-06-23

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Cited By (5)

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Publication number Priority date Publication date Assignee Title
GB2537898A (en) * 2015-04-30 2016-11-02 Hy5Pro As Palm Unit for Artificial Hand
GB2537900A (en) * 2015-04-30 2016-11-02 Hy5Pro As Hydraulic pump assembly for artificial hand
JP2018519867A (ja) * 2015-04-30 2018-07-26 ハイファイブプロ エーエス 人工手用の指節の制御
GB2585054A (en) * 2019-06-26 2020-12-30 Hy5Pro As Method of controlling an artificial hand
WO2020260507A1 (fr) * 2019-06-26 2020-12-30 Hy5Pro As Procédé de commande d'une main artificielle

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DE19755465A1 (de) * 1997-12-03 1999-06-17 Alexander Dechert Künstliche Hand
DE20301116U1 (de) * 2003-01-24 2003-03-20 Sen Jung Chen Myoelektrisch gesteuerte künstliche Hand
WO2007076795A1 (fr) * 2005-12-23 2007-07-12 Otto Bock Healthcare Ip Gmbh & Co. Kg Accouplement de commutation destine a des protheses

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DE19755465A1 (de) * 1997-12-03 1999-06-17 Alexander Dechert Künstliche Hand
DE20301116U1 (de) * 2003-01-24 2003-03-20 Sen Jung Chen Myoelektrisch gesteuerte künstliche Hand
WO2007076795A1 (fr) * 2005-12-23 2007-07-12 Otto Bock Healthcare Ip Gmbh & Co. Kg Accouplement de commutation destine a des protheses

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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2537898A (en) * 2015-04-30 2016-11-02 Hy5Pro As Palm Unit for Artificial Hand
GB2537900A (en) * 2015-04-30 2016-11-02 Hy5Pro As Hydraulic pump assembly for artificial hand
WO2016174242A1 (fr) * 2015-04-30 2016-11-03 Hy5Pro As Unité de paume pour main artificielle
WO2016174241A1 (fr) * 2015-04-30 2016-11-03 Hy5Pro As Ensemble pompe hydraulique pour main artificielle
GB2537900B (en) * 2015-04-30 2018-02-21 Hy5Pro As Hydraulic pump assembly for artificial hand
GB2537898B (en) * 2015-04-30 2018-02-21 Hy5Pro As Palm unit for artificial hand
US20180133032A1 (en) * 2015-04-30 2018-05-17 Hy5Pro As Hydraulic Pump Assembly for Artificial Hand
JP2018519867A (ja) * 2015-04-30 2018-07-26 ハイファイブプロ エーエス 人工手用の指節の制御
JP2018519868A (ja) * 2015-04-30 2018-07-26 ハイファイブプロ エーエス 人工手用の手の平ユニット
GB2560420A (en) * 2015-04-30 2018-09-12 Hy5Pro As Palm unit for artificial hand
JP2018527496A (ja) * 2015-04-30 2018-09-20 ハイファイブプロ エーエス 人工手用の油圧ポンプアセンブリ
GB2560420B (en) * 2015-04-30 2019-04-24 Hy5Pro As Palm unit for artificial hand
EP3590476A1 (fr) 2015-04-30 2020-01-08 Hy5pro AS Unité de paume pour main artificielle
US10588758B2 (en) 2015-04-30 2020-03-17 Hy5Pro As Palm unit for artificial hand
US10772740B2 (en) 2015-04-30 2020-09-15 Hy5Pro As Control of digits for artificial hand
GB2585054A (en) * 2019-06-26 2020-12-30 Hy5Pro As Method of controlling an artificial hand
WO2020260507A1 (fr) * 2019-06-26 2020-12-30 Hy5Pro As Procédé de commande d'une main artificielle
GB2585054B (en) * 2019-06-26 2023-03-22 Hy5Pro As Method of controlling an artificial hand

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