WO2021087557A1 - Gant d'amélioration de la force manuelle - Google Patents

Gant d'amélioration de la force manuelle Download PDF

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Publication number
WO2021087557A1
WO2021087557A1 PCT/AU2020/051195 AU2020051195W WO2021087557A1 WO 2021087557 A1 WO2021087557 A1 WO 2021087557A1 AU 2020051195 W AU2020051195 W AU 2020051195W WO 2021087557 A1 WO2021087557 A1 WO 2021087557A1
Authority
WO
WIPO (PCT)
Prior art keywords
glove
tendons
strength enhancement
finger
fingers
Prior art date
Application number
PCT/AU2020/051195
Other languages
English (en)
Inventor
Eric Michael Thompson
Carrie Lirae Merck
Mathotarallage Amani Rasika Mathota
Norberto Hector Perales Solis
Adrian Fernando SANCHEZ TORRES
Alejandra ESTRADA MEZA
Original Assignee
Ansell Limited
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 Ansell Limited filed Critical Ansell Limited
Publication of WO2021087557A1 publication Critical patent/WO2021087557A1/fr

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Classifications

    • 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
    • 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
    • A61F5/0104—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 without articulation
    • A61F5/0118—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 without articulation for the arms, hands or fingers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves

Definitions

  • Embodiments of the present invention relate generally to protective articles and, more particularly, to glove systems capable of assisting tendons.
  • Gloves are used in many industries and in households. Many activities are of a repetitive nature, which can cause or exacerbate repetitive motion injuries, such as lateral epicondylitis and carpal tunnel syndrome and musculo-skeletal disease. Also, the longer a person engages in activities using the hand, the more tired the hand can become.
  • the gripping power of gloves can aid users to cope with these problems. For example, gloves having various textures have been manufactured, which improve oil, dry, and/or wet gripping properties. And, gloves have been made to assist users, i.e., a force is provided to a glove to close and keep closed the hand during activities.
  • FIG. 1 A depicts a palm side of a thin, flexible, knitted left-handed inner glove having tendons, according to some embodiments of the disclosure
  • FIG. IB depicts a palm side of a thin, flexible, knitted left-handed inner glove having tendons, according to some embodiments of the disclosure
  • FIG. 2 depicts a backhand side of a thin, flexible, knitted right-handed inner glove having tendons, according to some embodiments of the disclosure
  • FIG. 3 A and FIG. 3B depict backhand and palm views, respectively, of an outer right- handed glove, in accordance with some embodiments of the disclosure;
  • FIG. 4 A and 4B depict the palm and backhand views of FIG. 1 A and FIG 2, respectively, along with a robotic sleeve portion attached to the cuff, in accordance with some embodiments of the disclosure;
  • FIG. 5 depicts a palm side of a thin, flexible, knitted left-handed inner glove having a modified cuff and tendons, according to some embodiments of the disclosure
  • FIG. 6 depicts a palm side of a thin, flexible, knitted left-handed inner glove having a modified cuff, tendons, and a stabilizer having tunnels, according to some embodiments of the disclosure.
  • FIGS. 7A and 7B show a “radial” glove embodiment
  • FIGS. 8 A and 8B show an “ulnar” glove embodiment
  • FIG. 9 illustrates display options for a battery pack
  • FIG. 10 shows a glove with controller elements
  • FIG. 11 shows a glove with a controller sleeve
  • FIGS. 12A and 12B show two views of an ulnar glove embodiment with controller sleeve, as on a user’s hand;
  • FIGS. 13A and 13B show two views, palm and backhand respectively, of a radial glove embodiment
  • FIG. 14 shows a controller unit for the controller module.
  • Embodiments of the present disclosure may advantageously be used to assist users in gripping tools and other objects by applying additional force(s) provided by embodiments of the glove having tendons.
  • Embodiments of the present disclosure may advantageously be used to prevent injuries, including injuries because of repetitive motions.
  • Embodiments of the present disclosure may advantageously be used to enhance productivity and ergonomics.
  • Embodiments of the present disclosure may advantageously be used to protect parts of equipment and systems comprising embodiments described herein.
  • an inner glove there is an inner glove, and an outer glove.
  • FIG. 1 depicts a palm side of a thin, flexible, knitted left-handed inner glove 100 having tendons 150, according to some embodiments of the disclosure.
  • the glove 100 is a left-handed inner glove in which the palm 112 is displayed.
  • the glove 100 includes a thumb 102, an index finger 104, a middle finger 106, a ring finger 108, a little finger 110, a cuff 114, and an opening 116 capable of receiving the hand of a wearer.
  • Each of the thumb 102, the index finger 104, the middle finger 106, the ring finger 108, and the little finger 110 further comprises tips at distal ends, a thumb tip 102a, an index fingertip 104a, a middle fingertip 106a, a ring fingertip 108a, and a little fingertip 110a.
  • the glove 100 also comprises tendons 150.
  • the thumb 102 and the index finger 104 each comprise the tendon 150. In practice, there can be a tendon 150 in each of the thumb 102, and the fingers 104, 106, 108, and 110 or any combination thereof.
  • the tendons 150 can be a yam, a string, a polymer, a wire, a fiber, or any monofilament.
  • the tendon 150 is a filament comprising, for example, a high performance polyethylene (HPPE) filament.
  • HPPE high performance polyethylene
  • the tendon 150 is a braided HPPE filament, which optionally further comprises a coating, such as a polytetrafluoroethylene coating or a silicon coating.
  • many knitted gloves marketed by Ansell Ltd. can have the tendons 150 added to manufacture the glove 100. For example, either of models GT3279 or GT3280 would be suitable for the inner glove 100.
  • At least one other exemplary inner glove 100 is model GT3287 or model GT3440.
  • the glove 100 also depicts borders or zonal bands 120.
  • the zonal bands 120 are typically bunched in areas that roughly correlate to positions of knuckles on a human hand.
  • the tendons 150 are adhered or otherwise tied to a fingertip or thumb tip, such as thumb tip 102a and the index fingertip 104a.
  • the tendons 150 are sewn (e.g., chain stitched) and/or knotted to the zonal bands 120 at the outsides of the fingers (or there are two or more linkages to the tendons at the borders 120).
  • the tendon 150 travels outside the index finger 104, enters through the knitted structure or otherwise into the depth of the glove at insertion point 164a, wherein the border 120 is between the knot 134a and the insertion point 164a.
  • insertion points 164b, 166a and 166b are indicated by the circles to the left of insertion point 164a.
  • Insertion points 162b and 162a are to the left of insertion point 164a.
  • Further knots 134b, 136a and 136b are indicated by the closed circles to the left of knot 134a.
  • Knots 132b and 132a are to the left of insertion point 134a.
  • the tendon 150 stays inside the index finger 104 before exiting at an insertion point 164.
  • the tendon 150 then re enters the index finger 104 and exits at borders 102.
  • the tendons 150 traverse a lateral perimeter of the index finger 104.
  • the tendon 150 on the index finger 104 enters and exits the glove twice or more in a manner configured to the tendon 150 to shorten so as to draw the user’s knuckles to close.
  • a plurality of insertion and exit points are possible.
  • providing a pulling force P at inflection points 180 of the tendons 150 causes a bending of the corresponding fingers.
  • the tendons are optionally inserted into palm areas, and/or inserted into a floating thumb strap.
  • the tendons 150 may be attached by sewing channels directly onto the glove 100, on palm or back of hand, and/or lacing the tendons 150 between the glove 100 and the sewn channel thread.
  • the borders 120 can be viewed as having no structure different than the glove 100 and exists only to show the relative positioning of the tendons 150.
  • the borders 120 may comprise fortified areas, e.g., reinforcements, for example, reinforcements having variable knit plaiting yarns to strengthen the areas around the ingress and egress of the tendons 150 into the glove 100.
  • the borders 120 can be reinforcements made of patches of material.
  • the borders 120 may be made by Knitted Variable Stitch Dimension (KVSD).
  • variable stitch dimension is achieved by one or more of 1) varying the depth of penetration of the knitting needle into fabric being knitted by a computer program, 2) adjusting the tension of yam between a pinch roll and knitting head by a mechanism controlled by a computer and 3) casting off or picking up additional stitches in a course, as is described in US Patent No. 7,434,422, which is commonly assigned and incorporated by reference in its entirety.
  • An inner glove 100 may also comprise a knitted layer having two or more yarns, seamless knit technology according to the co-pending, commonly assigned U.S. Patent Publ. Nos. 2010/0275341 and 2010/0275342, each of which is herein incorporated by reference in its entirety.
  • the inner glove 100 may also comprise a knitted layer incorporating Automated Knitted Liner (AKL) technologies, developed by Ansell Limited.
  • the inner glove 100 may also comprise a knitted layer having two or more yarns having variable plaiting, as is known to those in the art, to make an inner glove 100 having borders 120.
  • At least one embodiment according to the present disclosure includes at least one of three ridge reinforced gloves, light duty, medium duty, and heavy duty gloves, as disclosed in US Publ. No. 2013/0205469, which is commonly assigned and incorporated herein by reference in its entirety.
  • Those ridge-reinforced gloves comprise ridges. Accordingly, the ridge can be used as the borders 120 and the ridge-reinforced gloves can be used as the inner glove 100.
  • the thin, flexible, seamless, knitted gloves 100 can be made from a yam having one of various deniers and using 13- or 15- or 18-knit gauges, and can be comprised of such materials as nylons, KEVLAR®, p-aramids, NOMEX®, m-aramids, SPECTRA®, DYNEEMA®, ultra- high molecular weight polyethylene, TSUNOOGA®, SPANDEX®, LYCRA®, elastane yarns, polyesters, rayon, cotton, fiberglass, and the like, and blends of the foregoing.
  • yams comprising these materials may be treated with chemicals to impart other desirable properties, such as flame- and/or heat-resistance.
  • knitted liners can be imparted to knitted liners by plaiting various yarns into the knitted glove.
  • the knitted liners may comprise separately knitted sections and/or KVSD, the use of which allows relatively dense, knitted conductive sections at finger and thumb tips, facilitating their effectiveness with capacitive touchscreens, which, in some applications, may be more effective than plaiting a conductive yam within the fingertips because of a greater number of conductive stitches per inch.
  • FIG. 2 depicts a backhand side of a thin, flexible, knitted right-handed inner glove 200 having tendons , according to some embodiments of the disclosure.
  • the glove 200 is a right-handed inner glove in which the backhand side is displayed.
  • the glove 200 includes a thumb, an index finger, a middle finger, a ring finger, a little finger, a cuff, and, optionally, a bead for assisting the wearer to don the glove 200.
  • the tendons 150 can be a yam, a string, a polymer, a wire, a fiber, or any monofilament.
  • the tendon 150 is a monofilament comprising nylon materials, such as nylon 6, nylon 6,6, or nylon 4,6. In at least one embodiment, the tendon 150 is a monofilament comprising polyvinylidene fluoride (PVDF). In at least one embodiment, the tendon 150 is a filament comprising polyethylene, such as an ultra-high molecular weight polyethylene (UHMWPE), marketed as DACRON®, SPECTRA® or DYNEEMA®. In at least one embodiment, the tendon 150 comprises an HPPE material, as discussed above. Also, at least one embodiment comprises a braid of the HPPE materials described above or braids combining any of the filaments or monofilaments described above.
  • UHMWPE ultra-high molecular weight polyethylene
  • the tendons 150 would be positioned on the palm side so that when a pulling force is applied, as described above, the associated fingers and/or thumb of a wearer become closed.
  • One or more of the power actuators described below are connected with one or more tendons 150 in one or more of the thumb 102, the index finger 104, the middle finger 106, the ring finger 108, and the little finger 110, respectively. It is to be understood that the power actuators can also be employed on the glove.
  • the inner glove 200 comprises elastic yams, such as SPANDEX® or LYCRA®, for promoting the stretchability of the glove.
  • FIG. 3A and FIG. 3B depict an inner right-handed glove 300, in accordance with some embodiments of the disclosure.
  • the inner right-handed glove 300 will be sized to fit with an outer glove, discussed below (and/or a middle glove, as discussed below), to protect the inner glove 300 (or middle glove) from wear.
  • FIG. 3A depicts a palm side 360 of the inner right- handed glove 300.
  • the inner glove 300 comprises force detecting sensors 340 on a thumbtip 302, an index fingertip 304, a middle fingertip 306, a ring fingertip 308, and a little fingertip 310.
  • the force detecting sensors 340 are in electrical communication with conductive members 350, 352, 354, 356, 358 (illustrated on the backside in Fig.
  • the conductive members 350, 352, 354, 356, 358 may comprise conductive threads, conductive inks, wires, or, as described below, conductive yarns, etc., as are known to those in the art.
  • the force detecting sensors 340 are strain gauges.
  • the force detecting sensors 340 are non-stretchable.
  • the force detecting sensors 340 are stretchable and are encapsulated within various polymeric layers, as described below. Suitable stretchable sensors are supplied by, for example, Tacterion GmbH of Germany, DuPont of Wilmington, Delaware and others. Encapsulating the force detecting sensors advantageously protects the sensors against water/moisture damage.
  • FIG. 3B depicts a backhand side 370 of the inner right-handed glove 300.
  • the inner glove 300 comprises force detecting sensors 340 on a thumbtip 302, an index fingertip 304, a middle fingertip 306, a ring fingertip 308, and a little fingertip 310.
  • the right-handed glove 300 may comprise a strap 380, wherein the strap 380 (located for example on an outer glove) exits from the strap outlet and returns into the outer right-handed glove.
  • the strap 380 can releasably engage the right-handed outer glove with the inner glove 100, 200, 300.
  • the hooks (of a hook and loop fastener) of the strap 380 can engage loops that are inherently part of the knitted structure at a distal end 382.
  • at least one patch (not shown) comprising hooks is disposed on an internal part of the inner glove 300, wherein the hooks are capable of releasably adhering the inner glove 300 with the loops of the knitted structure of an outer glove.
  • embodiments of the disclosure include an inner glove 300 (or any inner glove disclosed herein) having tendons 150 attached to every fingertip 304, 306, 308, 310 and thumbtip 302 but wherein the force detecting sensors 340 are only present on a subset of fingers, for example, two fingertips 306, 308 and the thumbtip 302.
  • An outer glove (not shown), can be any glove to protect the inner glove 100, 200, 300 or any other inner glove disclosed herein. At least two suitable outer gloves are glove model nos. 11-840 and 11-800, manufactured by Ansell Limited, which are incorporated by reference in entirety.
  • Each of the thumb 302, the index finger 304, the middle finger 306, the ring finger 308, and the little finger 310 may optionally comprise conductive yams and/or conductive additives.
  • Conductive yarns can be used to electrically connect the force detecting sensors 340 with the microprocessor.
  • a conductive yarn may comprise a yarn treated with one or more metals to impart conductive properties, such as by dipping, spraying, vapor deposition, vacuum evaporation, sputtering, magnetron sputtering, ion plating, and autocatalytic electroless plating processes and other processes known in the art.
  • a yarn is knitted into a structure, many structures are then plated with a metal during the electroless process, and then de-knitted, leaving the yarn.
  • the yam is then plated with the metal, which is then knitted into, for example, a glove.
  • Many natural and synthetic yarns are suitable for the conductive yam, including nylon, polyester, cotton, rayon, and like materials and blends thereof.
  • the natural and synthetic yarns are treated with metals, such as, but not limited to, silver, gold, aluminum, nickel, tin, stainless steel, copper, carbon, or combinations thereof, and metal alloys such as aluminum-copper, aluminum-magnesium, copper-gold, copper-nickel, copper-palladium, gold-palladium, gold-silver, iron-nickel and silver-palladium, or combinations thereof.
  • metals such as, but not limited to, silver, gold, aluminum, nickel, tin, stainless steel, copper, carbon, or combinations thereof
  • metal alloys such as aluminum-copper, aluminum-magnesium, copper-gold, copper-nickel, copper-palladium, gold-palladium, gold-silver, iron-nickel and silver-palladium, or combinations thereof.
  • a conductive yarn may be plaited into the fingertips only or, alternatively, the entire glove.
  • the liner comprises a plaited conductive yam or a single layer incorporating more than one yarn
  • fewer than all five fingers may contain a conductive yarn, for example, only the thumb, index, and middle fingertips may comprise a conductive yarn.
  • it may be desirable to knit a conductive yarn in the fingertips and the crotch extending between the index finger and the thumb, the crotches between other fingers, or in other areas of the hand susceptible to contact with moving parts. For example, some devices or tools, such as table saws, have metal components which carry an electrical signal.
  • a change in conductivity results.
  • This change can be used to activate a safety system, for example, a braking system, disabling the device or tool and preventing further motion of, for example, a saw blade.
  • a safety system for example, a braking system
  • the use of conductive gloves with such tools results in fewer and less serious injuries to users, particularly where the gloves are knitted with a cut-resistant yarn, such as KEVLAR® as well as conductive yarn to form at least one conductive region.
  • KEVLAR® cut-resistant yarn
  • conductive yarns in regions or entirety of other knitted clothing, such as aprons, shirts, ties, and the like, that may become caught inadvertently in machines, such as two-roll mills, conveyors, industrial mixers, and the like, as well as saws, drills, and the like.
  • the force detecting sensors (e.g. stretchable) 140 can take a number of forms, according to embodiments of the disclosure.
  • a force detecting sensor 140 may be sandwiched between an encapsulant, which may be overprinted or coated onto the stretchable sensor 140, and a stretchable conductor.
  • the sensor 140 is then for example laminated with a thermoplastic material, such as a thermoplastic polyurethane material, onto a film or fabric.
  • the fabric is an inner glove, such as the inner glove 100 or inner glove 200 or inner glove 300 described above.
  • a sensor 140 may be washed, wherein the life of the inner glove is extended.
  • the fabric is an outer glove, such as a knitted glove similar to, for example, the models GT3279, GT3280, GT3287, or GT3440 gloves marketed by Ansell Ltd.
  • FIG. 4 A and 4B depict the palm and backhand views of gloves such as those of FIG.
  • the robotic sleeve portion 402 may be attached to the cuff 114 using hook and loop type fasteners or other suitable means.
  • the robotic sleeve portion 402 includes a hook and loop fastener 404 to secure the sleeve about a person’s wrist or forearm.
  • the robotic sleeve portion 402 includes a controller 406, also referred to as a control unit, and the tendon actuators and motors 408 that together, control movement of the tendons 150.
  • the one or more actuators 408 may be radial actuator including a radial winding spool for spooling the tendons 150.
  • the controller 406 can include at least one CPU or microprocessor, at least one memory storage, at least one input to receive information and communications signals including force detection signals from the force detectors 140, and at least one output to transmit information and communication signals.
  • the controller 406 may include wireless data capabilities such as BLUETOOTH, WIFI, NFC and the like for transmitting and receiving data.
  • the controller memory may store user usage statistics and programs that when executed, cause the actuators and tendons to perform specific functions.
  • one or more controllers may be in electrical communication with the at least one force detecting sensor 140 and the at least one actuator 408, wherein the at least one tendon 150 undergoes a tensile force pulling the at least one finger or thumb in a closed position upon detection of a force by the at least one force detecting sensor to enhance the hand strength of a user.
  • FIG. 5 depicts a palm side of a thin, flexible, knitted left-handed inner glove 500 having a modified cuff and tendons, according to some embodiments of the disclosure.
  • FIG. 5 depicts a palm side of a thin, flexible, knitted left-handed inner glove 500 having tendons 550, according to some embodiments of the disclosure.
  • the inner glove 500 is a left-handed inner glove in which the palm is displayed.
  • the inner glove 500 includes a thumb 502, an index finger 504, a middle finger 506, a ring finger 508, a little finger 510, a modified cuff 514, and an opening (not shown) capable of receiving the hand of a wearer.
  • the modified cuff 514 may be constructed such that materials comprising the modified cuff 514 stretch in an x direction (lateral) and do not stretch in a y direction (longitudinal), or stretch longitudinally in lesser amounts than in the x direction, to aid in a compression fit and stabilization of forces applied by the tendons 550.
  • the modified cuff 514 combines a raised portion above a natural wrist line of a wearer, and a natural wrist portion below the natural wrist line.
  • the raised portion of the modified cuff 514 has no or minimal stretch in x and y directions for stabilization of forces.
  • the natural wrist portion of the modified cuff 514 will either have minimal stretch similar to the raised portion, or else will allow stretch in y-direction for improved fit in wrist area.
  • the design of the modified cuff 514 may further comprise an integrated thumb strap, which “floats” along the back of the thumb area and allows the tendons 550 to be interlaced on both sides of the thumb areas, allowing a directional pull when the tendons 550 are activated.
  • the tendons 550 are housed within tendon channels 524. As shown, the tendon 550 for the thumb 502 traverse through the lateral tendon channels 524, across the palm 512 in a lateral direction and then into longitudinal tendon channels 526. The tendons 550 for the middle finger 506 and the ring finger 508 traverse through the longitudinal tendon channels 526. The longitudinal channels 526 are disposed within the palm 512 and the modified cuff 514. As shown, there are two lateral tendon channels 524 for housing one tendon 550 for the thumb 502. The lateral tendon channels 524 are disposed near the crotch areas 520 of the thumb 502. The lateral tendon channels 524 are approximately 1-2 mm in width for housing the tendon 550.
  • the lateral tendon channels 524 are approximately 20-60 mm in length. Also, as shown, there are three longitudinal tendon channels 526, one each for the tendons 550 for the thumb 502, the middle finger 506, and the ring finger 508. The longitudinal tendon channels 526 are approximately 3 mm in width for housing the tendons 550 and are approximately 100-150 mm in length. The lateral tendon channels 524 and the longitudinal tendon channels 526 may be knitted into a fabric of the inner glove 550.
  • Each of the thumb 502, the index finger 504, the middle finger 506, the ring finger 808, and the little finger 510 further comprises tips at distal ends, a thumb tip 502a, an index fingertip 504a, a middle fingertip 506a, a ring fingertip 508a, and a little fingertip 510a.
  • the inner glove 500 also comprises tendons 550.
  • the thumb 502, the middle finger 506, and the ring finger 508 each comprise the tendon 550. In practice, there can be a tendon 550 in any one of each of the thumb 502, and the fingers 504, 506, 508, and 510 or any combination thereof.
  • the tendons 550 can be a yarn, a string, a polymer, a wire, a fiber, or any monofilament.
  • the tendon 550 is a monofilament comprising materials and/or coating, as discussed above.
  • many knitted gloves marketed by Ansell Ltd. can have the tendons 550 added to manufacture the inner glove 500.
  • at least one inner glove 500 comprises one or more hooks and loops fastener strap 590 for securing the inner glove 500 to an outer glove, as described more fully below. As shown, there are two straps 590.
  • the tendons 550 are adhered or otherwise tied to a fingertip or thumb tip, such as thumb tip 502a, the middle fingertip 506a and the ring fingertip 508a at knots 532, 536, 538.
  • the tendon 550 is interlaced within, for example, the zonal bands 520.
  • the tendons 550 enter through the knitted structure of the middle finger 506.
  • the tendon 550 stays inside the middle finger 506 before exiting at a plurality of instances corresponding with zonal bands 580.
  • the tendons 550 traverse a lateral perimeter 570 of the middle finger 506. As will be described more fully below, providing a pulling force P at an inflection point of the tendon 550, significantly similarly as above, causing a bending of the middle finger 506.
  • the zonal bands 520 may comprise fortified areas, e.g., reinforcements, for example, reinforcements having variable knit plaiting yarns to strengthen the areas around the ingress and egress of the tendons 550 into the glove, and provide a variation in texture to enhance grip.
  • the zonal bands 520 are made stiffer and stronger, allowing a stronger pulling force to be applied without damaging the inner glove 500.
  • the zonal bands 520 can be reinforcements made by Knitted Variable Stitch Dimension (KVSD), as discussed above, as is described in US Patent No. 7,434,422, which is commonly assigned and incorporated by reference in its entirety.
  • KVSD Knitted Variable Stitch Dimension
  • the inner glove 500 may also comprise two or more yams, seamless knit technology according to the co-pending, commonly assigned U.S. Patent Publ. Nos. 2010/0275341 and 2010/0275342, each of which is herein incorporated by reference in its entirety.
  • the inner glove 500 may also comprise a knitted layer incorporating Automated Knitted Liner (AKL) technologies, developed by Ansell Limited.
  • the inner glove 500 may also comprise a knitted layer having two or more yams having variable plaiting, as is known to those in the art, to make an inner glove 500 having borders zonal bands 520.
  • At least one embodiment according to the present disclosure includes at least one of three ridge reinforced gloves, light duty, medium duty, and heavy duty gloves, as disclosed in US Publ. No.
  • ridge- reinforced gloves comprise ridges. Accordingly, the ridge can be used as the zonal bands 580 and the ridge-reinforced gloves can be used as the inner glove 500.
  • the inner glove 500 may have an outer glove releasably attached thereto. Also, embodiments described within the disclosure also contemplate a middle layer glove (not shown) disposed between the inner glove 500 and the outer glove. A middle layer glove may, optionally, be a very thin glove optionally attached to a cuff of the inner glove 500.
  • the inner glove 500 can comprise sensors for sensing forces applied by the fingers of a wearer of the inner glove 500, which in turn are in communication with actuators, as described above.
  • One such sensor is Interlink Electronics' FSRTM 400 series, which is part of the single zone Force Sensing ResistorTM family.
  • Force sensing resistors are robust polymer thick film (PTF) devices that exhibit a decrease in resistance with increase in force applied to the surface of the sensor. This force sensitivity is optimized for use in human touch control of electronic devices, such as many tools used in automotive electronics, medical systems, and in industrial and robotics applications.
  • a sensor FSR402 model is at least one suitable sensor.
  • at least one sensor includes elastic sensors, as described above.
  • At least one exemplary embodiment of the disclosure includes an elastic sensor comprising a dielectric elastomer.
  • at least one dielectric elastomer sensor comprises an elastic film that is coated with flexible electrodes. Such sensors measure electrical capacitance differences during deformation or tensile/compressive forces.
  • elastic sensors comprising a dielectric elastomer may be washed. Many other sensors, such as those listed above, are also suitable.
  • FIG. 6 depicts a palm side of a thin, flexible, knitted left-handed inner glove 600 having a modified cuff 514, tendons 550, and a stabilizer 594 having tunnels 596, according to some embodiments of the disclosure.
  • the inner glove 600 is a left-handed inner glove in which the palm 512 is displayed.
  • the inner glove 600 includes a thumb 502, an index finger 504, a middle finger 506, a ring finger 508, a little finger 510, a modified cuff 514, and an opening (not shown) capable of receiving the hand of a wearer.
  • the modified cuff 514 may be constructed such that materials comprising the modified cuff 514 stretch in an x direction (lateral) and do not stretch in a y direction (longitudinal), or stretch longitudinally in lesser amounts than in the x direction, to aid in a compression fit and stabilization of forces applied by the tendons 550.
  • the modified cuff 514 optionally combines a raised portion above a wrist line of a wearer, and a wrist portion below the natural wrist line, i.e., adjacent to a cuff 514 of the inner glove 600.
  • the raised portion of the modified cuff 514 has no or minimal stretch in x and y directions for stabilization of forces.
  • the wrist portion of the modified cuff 514 will either have minimal stretch similar to the raised portion, or else will allow stretch in y-direction for improved fit in wrist area.
  • the design of the modified cuff 514 may further comprise two integrated thumb straps 598 to tighten the inner glove 600 with an outer glove (not shown).
  • the tendons 550 are housed within tendon channels 524 that emanate from the thumb 502. As shown, the tendon 550 for the thumb 502 traverse through the lateral tendon channels 524, across the palm 512 in a lateral direction and then into longitudinal tendon channels 526. The lateral tendon channels 524 are disposed near the crotch areas 520 of the thumb 502. The tendons 550 are interlaced into and out of the inner glove 600 at the zonal bands 580, allowing a directional pull P when the tendons 550 are activated, which is substantially co-axial with a longitudinal axis of the inner glove 600.
  • the lateral tendon channels 524 are for example approximately 1-2 mm in width for housing the tendon 550.
  • the lateral tendon channels 524 are for example approximately 20-60 mm in length.
  • the longitudinal tendon channels 524 are for example approximately 3 mm in width for housing the tendons 550 and are for example approximately 100-150 mm in length.
  • the lateral tendon channels 524 may be knitted into a fabric of the inner glove 600.
  • the tendons 550 for the middle finger 506 and the ring finger 508 traverse to the stabilizer 594 and through the channels 596.
  • the stabilizer 594 may be screenprinted on the inner glove 600.
  • the stabilizer 594 may be a patch sewn onto the inner glove 600, wherein the channels 596 are formed by longitudinal stitching 599.
  • Each of the thumb 502, the index finger 504, the middle finger 506, the ring finger 808, and the little finger 510 further comprises tips at distal ends, a thumb tip 502a, an index fingertip 504a, a middle fingertip 506a, a ring fingertip 508a, and a little fingertip 510a.
  • the inner glove 500 also comprises tendons 550.
  • the thumb 502, the middle finger 506, and the ring finger 508 each comprise the tendon 550. In practice, there can be a tendon 550 in any one of each of the thumb 502, and the fingers 504, 506, 508, and 510 or any combination thereof.
  • the tendons 550 can be a yarn, a string, a polymer, a wire, a fiber, or any monofilament.
  • the tendon 550 is a monofilament comprising materials and/or coating, as discussed above.
  • many knitted gloves marketed by Ansell Ltd. can have the tendons 550 added to manufacture the inner glove 600.
  • at least one inner glove 600 comprises one or more hooks and loops fastener strap 598 for securing the inner glove 600 to an outer glove, as described more fully below. As shown, there are two straps 598, which provide a compression fit in the cuff 514 area of the glove.
  • the tendons 550 are adhered or otherwise tied to a fingertip or thumb tip, such as thumb tip 502a, the middle fingertip 506a and the ring fingertip 508a at knots 532, 536, 538.
  • the tendon 550 is interlaced within, for example, the zonal bands 580.
  • the tendons 550 enter through the knitted structure of the middle finger 506.
  • the tendon 550 stays inside the middle finger 506 before exiting at a plurality of instances corresponding with zonal bands 520, i.e., the tendons are interlaced.
  • the tendons 550 traverse a lateral perimeter 570 of the middle finger 506.
  • providing a pulling force P at an inflection point (not shown) of the tendon 550 significantly similarly as above, causing a bending of the middle finger 506, the ring finger 508, and the thumb 502.
  • the zonal bands 520 may comprise fortified areas, e.g., reinforcements, for example, reinforcements having variable knit plaiting yarns to strengthen the areas around the ingress and egress of the tendons 550 into the glove 600.
  • the zonal bands 580 are made stiffer and stronger, allowing a stronger pulling force to be applied without damaging the inner glove 600.
  • the zonal bands 520 can be reinforcements made by Knitted Variable Stitch Dimension (KVSD), as discussed above, as is described in US Patent No. 7,434,422, which is commonly assigned and incorporated by reference in its entirety.
  • the inner glove 600 may also comprise two or more yarns, seamless knit technology according to the co-pending, commonly assigned U.S. Patent Publ. Nos.
  • the inner glove 600 may also comprise a knitted layer incorporating Automated Knitted Liner (AKL) technologies, developed by Ansell Limited.
  • the inner glove 600 may also comprise a knitted layer having two or more yams having variable plaiting, as is known to those in the art, to make an inner glove 600 having borders zonal bands 580.
  • At least one embodiment of the disclosure comprises a middle glove, which can be any knitted liner.
  • the middle glove is sewn onto the inner glove 100, 200, 300, 500, 600 at the wrist.
  • the middle glove further comprises a sewn-on tab or extension which is used to create the tendon/wiring tunnel so that the tendons 180, 550 travel from the palm area of the inner glove 100, 200, 300, 500, 600 and out the cuff 514 of the inner glove for connection with the actuators.
  • the middle glove has channels sewn into the middle glove, substantially similar to the longitudinal stitching 599 discussed above.
  • the middle glove is sewn up one side of the “tunnel” extension, around the side and back at the wrist line, and then down the other side of the tunnel extension to close the assembly and create the tunnel.
  • the attachment method to the inner glove 100, 200, 300, 500, 600 is unique in that it allows the inner glove, such as the inner glove 600 and the cuff 514, to be fully constructed before any tendons 180, 550 or wires are attached.
  • the middle glove is integrated fully as the overlay for the inner glove 100, 200, 300, 500, 600 to improve don/doff and protect the tendons 180, 550 and electronics, i.e., sensors during use and when the outer glove is being replaced. This creates a layered inner glove once fully assembled.
  • the outer glove functions to protect the inner glove 100, 200, 300, 500, 600 and improve grip and/or durability for the user.
  • the outer glove comprises a dual-window clasp.
  • the strap(s) of the inner gloves 100, 200, 300, 500, 600 can be engaged with the outer glove.
  • FIGS. 7A and 7B show a right-handed “radial” glove, palm facing the viewer.
  • a radial glove is one the grip enhances the thumb and one or more additional fingers, optionally not including the little finger.
  • Tendons 650-2, 650-4 and 650-6 (e.g., 100 lb. test fishing line) operate to close the thumb 102, index finger 104 and middle finger 106, respectively.
  • the tendons are secured towards the tips of the fingers by attachments 652, and are threaded through “loops” 654 along the length of periphery of the fingers. Loops can be integrated into the knitting of the glove, or attached to the glove.
  • FIG. 7A shows a see-through version of tendon cover or sheath 690.
  • the tendon cover can be fabric, leather, polymer, or the like.
  • the tendon cover forms or encapsulates tendon sleeves 692 (channels), through which the tendons for a given finger slide.
  • Sleeves can incorporate polyfluoro polymers, or other polymers that can facilitate the sliding of the tendons through the sleeves.
  • sensors 640, conductive members 642, and electrical connect 644. Electrical connect 640 provides a releasable quick connect to electronics in the control module.
  • the cuff of the glove includes a strap, such as a strap with a hook-and- loop (e.g. Velcro®) system for snugly securing the strap.
  • a strap such as a strap with a hook-and- loop (e.g. Velcro®) system for snugly securing the strap.
  • the conductive members 642 are reversibly stretchable cables. In this fashion, the cables stretch with the movement of the glove, but return to a resting starting layout.
  • the mechanical assist is provided for the thumb, index finger and middle finger.
  • mechanical assist is typically triggered by the controller receiving feedback that the sensors are under pressure consistent with gripping force.
  • the controller at the user’s wrist can have a button for maintaining mechanical assist even when the user relaxes his/her musculature.
  • FIGS. 8A and 8B show a right-handed “ulnar” glove, where the mechanical assist is provided for two or more fingers not including the thumb, such as the middle, ring and little finger.
  • ulnar gloves provide cut-aways (which gloves of course may be formed without these finger sheaths) allowing a grip effective part of the thumb and another finger to grasp an object.
  • a user may wear a grip effective glove under the strength enhancement glove.
  • each finger has two sets of tendons (e.g., 650-6a, 650-6b).
  • Each set of tendons is linked to a separate snap-connect 694 (such as a quick turn female connector), allowing the force of two actuators to draw the fingers closed.
  • a separate snap-connect 694 such as a quick turn female connector
  • most of the thumb and index finger are exposed, allowing these fingers to interact directly with the object being manipulated.
  • the connections to snap connects 694 can be revised to activate different pairings of fingers or pairings of tendons from the same motor. For example, different tasks can in embodiments be better served with different such pairings.
  • conductive members 642 can be primarily configured on the dorsal portion of the glove, with only a limited portion extending to the palm side to connect the sensors 640.
  • the electrical connect 644 can be configured for example to connect on the dorsal side to electrical contacts secured to the controller or members that secure the controller.
  • the glove contains a memory module, such as a 5 x 10 mm or smaller board (e.g., board 646, Fig. 13 A), including for wear life tracking, glove identification and sensor calibration support.
  • the memory can be EEPROM memory.
  • FIG. 10 shows a controller module 720, powered by battery packs 710A and 710B.
  • Charging battery pack 710A with charger 714 results in charging battery pack 710B, either concurrently or serially, via power cord 712A.
  • the battery pack contains a rechargeable battery, such as a lithium ion battery (e.g., 3.7V/3200mAh). Connections for the power cords can be 4- pin connectors, for example female on the battery packs, and male on the cords.
  • power cord 712B plugs into battery pack 710A and draws power from battery packs 710A and 710B, either concurrently or serially.
  • Battery pack 710A can include for example charge control circuitry for controlling the distribution of power delivered to or drawn from the battery packs.
  • Battery pack 710A can include LEDs or a display or the like for indicating power levels for the combined first and second battery packs.
  • the controller sleeve (described below) can contain a window for viewing the display.
  • power levels can be indicated as in FIG. 9.
  • the first LED has two on states: one a simple light; and the second an enhanced symbol so highlight the low battery state.
  • the enhanced symbol flashes.
  • the illustrated open symbols are for the LED not being lit.
  • the illustrated open symbols are for the LEDs being in a flashing state.
  • Power cord 722 plugs into electrical connect 644 via second electrical connect 724.
  • Cords or rods 725 with second snap connects 726 reversibly connect with snap-connects 694, allowing the actuators in the controller module 720 to draw on the tendons 650.
  • the cord can be for example 3/64 wire rope.
  • the snap connect has a male fitting going into a female first snap connect 694.
  • the cord can extend through a hollow guide rod (not shown) that slidably seats in an channel through a guide bracket affixed inside the controller module.
  • the guide rod can be spring loaded to extend from the controller module an cover the cord until it reaches the second snap connect.
  • Optional rod stabilizer 728 seats in a fitting in the glove 100, such as at the wrist area, to minimize the tendency of the controller module crawl down a user’s wrist when the tendons are drawn.
  • FIG. 11 shows an exemplary controller sleeve 750 configured to hold the control module at the bottom side of the wrist, with the battery packs for example aligned on the sides of the wrist.
  • the controller sleeve has a resilient but stiff flange 752, such as with wrist wrap segment 752A and bridge segment 752B, that can secure to the wrist area of the glove (e.g., with hoop-and4oop fastener such as Velcro®).
  • the flange can act to impede the control module for crawling down the wrist due to pressure from the tendons, either alone or in conjunction with one or more rod stabilizers.
  • the flange and one or more rod stabilizers additively increase resistance to such crawling.
  • the flange can be further held in place by a strap 754 that secures with a pressure-responsive clamp, buckle or Velcro, or the like.
  • the main portion of the controller sleeve can be held in place for example with Velcro flaps.
  • a pull tab 756 can be used to adjust the positioning of the controller sleeve.
  • the compartments for the controller module and battery packs can be accessible for example with one or more zipper openings, such as located away from the side that interacts with the glove.
  • FIG. 12A shows an ulnar glove (palm view), controller module and controller sleeve fitted to a user.
  • Dimension A can be for example about 235 to about 368 mm.
  • Dimension B can be for example about 178 to about 254.
  • Dimension C can be for example about 213 mm.
  • controller display 730 e.g., a panel of LEDs
  • controller on/off switch 732 e.g., a panel of LEDs
  • the controller sleeve can have an opening for access to the on/off switch, and for viewing the controller display.
  • FIG. 12B is a side view (pinky finger on top) of the same ulnar glove.
  • the controller display comprises a plurality of LEDs (e.g., blue, red, purple).
  • the LEDs signal are configurable.
  • the LEDs may be set as follows:
  • the glove is operated as follows: [0068] In embodiments, the glove is placed in calibration mode at start-up, or when the sensors are not providing appropriate power boosts. In embodiments, calibration mode is activated by pressing and holding the control module’s power button for Y seconds
  • the controller module and the battery modules can be of dimensions that make feasible being fitted into a controller sleeve such as illustrated.
  • the controller module can be about 31 mm in height, about 73 mm in width, and about 116 mm in length.
  • the battery pack can be for example about 17 mm in height, about 39 mm in width, and about 89 mm in length.
  • FIGS. 13A and 13B show a palm-side and dorsal view of a radial glove. Note the continuity of the striped design feature. This continuity also applies to the ulnar glove.
  • the motors in the controller module can be a DC motor or brushless DC motor, such as a 1524E 006SR motor, for example operating with a Series IE2-1024 encoder (both exemplary components from Dr. Fritz Faulhaber GMBH & Co. KG, Schonaich, Germany).
  • the controller module can have a controller unit 740 (illustrated in FIG. 14), which can comprise a central processing unit (CPU) 744, a memory 742, and support circuits 746 for the CPU 744 and is coupled to and controls the synthesizer or, alternatively, operates to do so in conjunction with computers (or controllers) connected to the synthesizer.
  • CPU 744 may be realized as a general purpose CISC, RISC or other traditional microprocessor architecture, or it may be realized as a FPGA.
  • another electronic device can supply software, or operations may be calculated off-site with controller 740 coordinating off-site operations with the local environment.
  • the controller 740 may be one of any form of general-purpose computer processor, state machine, or an array of processors, that can be used for controlling various devices and sub-processors.
  • the memory, or computer-readable medium, 742 of the CPU 744 may be one or more of readily available memory technologies such as random access memory (RAM), read only memory (ROM), flash memory, floppy disk, hard disk, ReRAM, magnetic memory, or any other form of digital storage, local or remote.
  • the support circuits 746 are coupled to the CPU 744 for supporting the processor in a conventional manner.
  • circuits can include cache, power supplies, clock circuits, address decoders, input/output circuitry and subsystems, and the like.
  • Methods of operating the synthesizer may be stored in the memory 742 as software code that may be executed or invoked to control the operation of the synthesizer.
  • the software may also be stored and/or executed by a second CPU (not shown) that is remotely located from the hardware being controlled by the CPU 744. While the above discussion may speak of the "controller" taking certain actions, it will be recognized that it may take such action in conjunction with connected devices, such as BLUETOOTH connected devices.
  • controller can be operatively connected to the sensors, heating elements, robotic movement elements and the like of hand 100
  • the controller unit communicates with an external device, such as a cellphone or tablet.
  • the external device can provide further means of adjusting the control elements of the glove system.
  • the sensor sensitivity can be adjusted.
  • Further operating parameters can be displayed.
  • the calibration status of the sensors can be displayed.
  • counts of the activations of the tendons can be displayed.
  • battery status or motor usage can be displayed.
  • flexing refers to finger movements, such as bending fingers and/or fingertips, making a fist, gripping, grasping, clenching or otherwise folding the fingers.
  • fingertips of a glove may be defined as the distal end of a fingerstall or thumbstall of a glove.
  • a glove herein comprises one or more stalls for a finger and/or a thumb and/or defines an inner volume for receiving a hand or parts of a hand. Integrally formed means an article that, once formed, cannot be disassembled without causing the destruction of the article, such as the gloves in the present application
  • the liner comprises a polymeric or elastomeric material disposed thereon as a coating.
  • Typical polymeric or elastomeric materials include natural rubbers, synthetic rubbers, natural isoprene, synthetic isoprene, guayule, butadienes, styrene-butadienes, nitrile-butadienes, carboxylated nitrile-butadienes, poly (vinyl chloride), polyurethane, polychloroprene, and blends, mixtures thereof, and the like.
  • Polymeric and elastomeric materials that are particularly useful, in that they provide, instead of an insulative effect as nearly all polymeric and elastomeric materials do, and rather approach the conductivity of dielectric materials, are, for example, nitrile-butadiene rubbers.
  • the polymeric or elastomeric emulsion composition may comprise ingredients such as surfactants, defoamers, pigments, colorants, plasticizers, thixotropic agents, shear thickeners, shear thinners, processing aids, fillers, and the like, as known to those of ordinary skill in the art.
  • Some additives, such as carbon, carbon fiber, carbon nanotubes and the like are suitable conductive materials that provide conductive properties.
  • a glove with a polymeric or elastomeric coating is disposed on a liner by dipping, spraying, screenprinting, or otherwise painting processes. Dipping processes include a fingertip dip, a palm dip, a three-quarters dip, a full dip, or a dip covering the backhand and knuckles without a coating disposed on the fingertips, resulting in different levels and regions of protection, any of which may be appropriate for a given application.
  • the finger and palm areas may be coated, while the backhand may be uncoated.
  • the screenprinted stabilizer 594 may comprise a polymeric emulsion, dispersion, or suspension of natural or synthetic elastomer molecules.
  • emulsion generally analogous and indicate a system in which small particles of a substance, such as rubber particles, are mixed with a fluid (such as water and/or alcohols and/or other organic fluids) but are at least partially undissolved and kept dispersed by agitation (mechanical suspension) and/or by the molecular forces in a surrounding medium (colloidal suspension).
  • a fluid such as water and/or alcohols and/or other organic fluids
  • Any embodiment of the invention contemplated herein may further comprise emulsions having typical and suitable components for rubber or elastomeric formulations, such as accelerators, such as guanidines, thiazoles, thiurams, sulfenamids, thioureas, dithiocarbamates, and xanthanates.
  • accelerators such as guanidines, thiazoles, thiurams, sulfenamids, thioureas, dithiocarbamates, and xanthanates.
  • Emulsions according to embodiments of the invention may further comprise surfactants, such as sodium dodecyl sulfates and polyvinyl alcohols, activators, such as zinc oxides, cross-linking agents and curatives, such as elemental sulfur and/or polysulphidic donors, such as xanthogens, such as dibutyl xanthogen disulfides and/or diisopropyl xanthogen disulfides.
  • surfactants such as sodium dodecyl sulfates and polyvinyl alcohols
  • activators such as zinc oxides
  • cross-linking agents and curatives such as elemental sulfur and/or polysulphidic donors
  • xanthogens such as dibutyl xanthogen disulfides and/or diisopropyl xanthogen disulfides.
  • the emulsions contemplated herein may also comprise other additives, such as anti -oxidants, anti-ozonants, rheology-modifiers and thickening agents, such as various clays and aluminosilicates, pH adjusters, such as hydroxides, such as potassium hydroxide and/or ammonium hydroxide, pigments, processing agents, waxes/lubricating agents, and/or fillers as are known to those in the art.
  • additives such as anti -oxidants, anti-ozonants, rheology-modifiers and thickening agents, such as various clays and aluminosilicates
  • pH adjusters such as hydroxides, such as potassium hydroxide and/or ammonium hydroxide, pigments, processing agents, waxes/lubricating agents, and/or fillers as are known to those in the art.
  • polymer generally includes, but is not limited to, homopolymers, copolymers, such as for example, block, graft, random and alternating copolymers, terpolymers, etc., whether branched or linear polymers, and blends and modifications thereof. Furthermore, unless otherwise specifically limited, the term “polymer” includes all possible geometrical configurations of the molecule, including, but are not limited to, isotactic, syndiotactic and random symmetries.
  • thermoplastic generally includes polymer materials that become reversibly pliable, moldable, and heatable above a specific temperature and solidify upon cooling.
  • thermoset generally includes are polymer materials that strengthen following heating and solidification, but cannot be successfully remolded or reheated after an initial heat-forming due to cross-linking.
  • thermoplastic elastomer TPE
  • thermoplastic elastomer are a class of copolymers comprising both thermoplastic and elastomeric/thermoset materials properties and generally have crosslinking between adjacent polymeric molecular chains, generally allowing materials made therefrom to be re-heatable.
  • rubber generally indicates elastomers produced from natural rubber latexes or synthetic elastomers.
  • thermoplastics include, without limitation, polychloroprenes, butyl rubbers, natural rubber, synthetic polyisoprenes, poly(vinyl) chlorides, polyesters, polyamides, polyfluorocarbons, polyolefins, polybutadienes, polyurethanes, polystyrenes, poly(vinyl) alcohols, and copolymers of the foregoing, and elastomeric polymers such as elastic polyolefins, copolyether esters, polyamide polyether block copolymers, block copolymers having the general formula A-B-A' or A-B, such as nitrile-butadiene rubber (NBR), styrene-poly(ethylene- propylenej-styrene, styrene-poly(ethylene-butylene)-styrene, (polystyrene/poly(ethylene- butylenej/polystyrene, poly(styrene), poly(
  • a foamed polymeric or elastomeric coating comprises a microporous structure, for example, the foamed emulsion may contain approximately 10%, 20%, 30%, 40% or more aeration.
  • a foamed polymeric or elastomeric coating may be disposed on an inner, middle or outer glove, as disclosed herein.
  • the polymeric or elastomeric emulsion may comprise surfactants to stabilize the foamed emulsion.
  • the emulsion quickly gels on a liner because of the action of a coagulant, as discussed below, resident on the surfaces of the yarns, forming chocking regions between the fibers preventing further entry of the foamed latex emulsion into the thickness of the knitted liner.
  • Gloves having foamed and unfoamed features are disclosed in commonly-assigned U.S. Patent Publ. No. 2010/0275341 and 2010/0275342, each of which is herein incorporated by reference in its entirety.
  • the polymeric or elastomeric coating may optionally be foamed to provide a more flexible glove providing protection against physical wear as well as protecting the wearer from chemicals, oils, acids, and the like.
  • increasing the air cell content reduces the modulus of elasticity of the polymeric or elastomeric coating, thereby increasing the flexibility of the glove.
  • Some embodiments of the invention comprising a foamed latex coating may use a suitable combination of a surfactant, control of air content in the foamed coating, control of the viscosity of the elastomeric lattices, and suitable former temperatures for dipping processes.
  • Methods for disposing a foamed coating on a liner can include those of commonly assigned US Patent No. 7,814,571, herein incorporated by reference in its entirety.
  • the foamed coating may be cured and further post-treated with a chlorination process to provide a lubricious surface on the coating of the glove.
  • Terminology used for hand anatomy is applied to the corresponding regions of the glove.
  • any numerical values recited herein are exemplary, are not to be considered limiting, and include ranges therebetween, and can be inclusive or exclusive of the endpoints.
  • Optional included ranges can be from integer values therebetween, at the order of magnitude recited or the next smaller order of magnitude. For example, if the lower range value is 0.1, optional included endpoints can be 0.2, 0.3, 0.4 . . . 1.1, 1.2, and the like, as well as 1, 2, 3 and the like; if the higher range is 10, optional included endpoints can be 7, 6, and the like, as well as 7.9, 7.8, and/or the like.
  • a seamless, knitted, hand strength enhancement glove configured for use with a wrist-adhered actuator, the glove comprising: (a) for each side of two or more assisted glove fingers having sides, a tendon arrayed along the side and extending via a palm area of the glove to a cuff area of the glove, optionally such tendons are provided for three or more assisted fingers, optionally for three; (b) a tendon sheath comprising a leather or polymeric cover adhered to a knitted fabric of the glove and forming or encapsulating tendon sleeves through which the tendons slide, providing a pathway from just below a respective finger to the cuff area; (c) one or more mechanical couplers at the cuff region, each mechanical coupler connected the tendons for at least one assisted glove finger, with the tendon pairs for each assisted finger attached to a mechanical coupler, the mechanical couplers configured to connect with cords or rods that are driven to tension or remove tension to the tendons by a motor in the
  • Glove Embodiment 2 The strength enhancement glove of claim 1, wherein the glove is an ulnar glove comprising two or more of little, ring or middle fingers as assisted fingers.
  • Glove Embodiment 3 The ulnar strength enhancement glove of Glove Embodiment 2, wherein the glove lacks fabric over ends of and most of one or more fingers that are not assisted, allowing a user to directly contact a manipulated object, optionally two such fingers.
  • Glove Embodiment 4 The strength enhancement glove of one of the Glove Embodiments, wherein the glove is an radial glove comprising a thumb and one or more of ring, middle or index fingers as assisted fingers, optionally wherein the glove lacks fabric over ends of and most of one or more fingers that are not assisted, allowing a user to directly contact a manipulated object, optionally two such fingers.
  • Glove Embodiment 5 The strength enhancement glove of one of the Glove Embodiments, wherein the assisted fingers have two sets of tendons, with one partial length set configured to draw the associated finger to close from about a distal digital crease, and the other full length set configured to draw the associated finger to close from near the tip of the finger, optionally wherein the partial length tendons and the full length tendons connect to separate mechanical connectors.
  • the distal digital crease is approximately adjacent to the position of the outer finger knuckle.
  • One of skill, having benefit of this disclosure will recognize where to place the ends of the two sets of tendons so as to provide extra gripping force for finger closure at the last knuckle.
  • the tendons at the ends of the fingers curl the fingers closed, and the tendons attached lower pull the fingers down towards the palm. The two motions can combine to provide a more effective full grip closure.
  • Glove Embodiment 6 The strength enhancement glove of one of the Glove Embodiments, comprising an assisted thumb wherein the tendons from the thumb enter the tendon sheath at or near a thumb-side edge of the palm and above or toward the top of the thenar region of the glove. (One of skill, having benefit of this disclosure, will recognize that positions for the entry point such as those illustrated can be more effective in drawing the thumb to closure. Thus one of skill can interpret the location defined above.)
  • Glove Embodiment 7 The strength enhancement glove of one of the Glove Embodiments, wherein the tendon sheath is limited to a palm area of the glove, optionally wherein the tendon sheath covers about 75% or less of the area of the palm area.
  • a glove strength enhancement apparatus comprising: (1) a strength enhancement glove comprising sets of tendons configured so that pressure on a set of tendons draws an associated finger to close, which can be the glove of one of the Glove Embodiments; (2) one or more mechanical connects, each connected to one or more sets of tendons; (3) a actuator sleeve configured to reversibly enclose about a user’s forearm and comprising a controller, one or more batteries for providing power, and one or more motors each configured to draw one or more mechanical connects down to close associated fingers or to release closure pressure; and (4) a stiff, resilient flange with a distal reversible wrist closure extending from the actuator sleeve towards a design position for the strength enhancement glove, the distal wrist closure configured to over or near a cuff of the strength enhancement glove, the flange stabilizing a location of the actuator sleeve such that the actuator sleeve remains far enough from the glove so that there is
  • a glove strength enhancement apparatus comprising: (I) a strength enhancement glove according to one of the Glove Embodiments; (II) an actuator sleeve configured to reversibly enclose about a user’s forearm and comprising a controller, one or more batteries for providing power, and one or more motors each configured to draw one or more mechanical connects down to close associated fingers or to release closure pressure; and (III) a stiff, resilient flange with a distal reversible wrist closure extending from the actuator sleeve towards a design position for the strength enhancement glove, the distal wrist closure configured to over or near a cuff of the strength enhancement glove, the flange stabilizing a location of the actuator sleeve such that the actuator sleeve remains far enough from the glove so that there is enough room to drawn the mechanical connects an operative amount downward without intruding into the motor.
  • Apparatus Embodiment 3 The glove strength enhancement apparatus of one of the Apparatus Embodiments, further comprising a rod stabilizer [e.g., metallic] for strengthening the stabilization provided by the flange.
  • a rod stabilizer e.g., metallic
  • Apparatus Embodiment 4 The glove strength enhancement apparatus of one of the Apparatus Embodiments, further comprising a pull tab at a bottom of the actuator sleeve for positioning the actuator sleeve.
  • Apparatus Embodiment 5 The glove strength enhancement apparatus of one of the Apparatus Embodiments, wherein the motor(s) are configured in the actuator sleeve to rest against an anterior side of the forearm and two said batteries are configured to rest against lateral sides of the forearm.
  • Apparatus Embodiment 6 The glove strength enhancement apparatus of one of the Apparatus Embodiments, wherein a force applied to close one or more fingers is positively corelated with a pressure read at one or more pressure/force sensors, optionally there are three or more force levels applied depending on a maximum of pressure read at one or more pressure/force sensors, optionally four or more.
  • a glove strength enhancement apparatus comprising: (A) a strength enhancement glove comprising sets of tendons configured so that pressure on a set of tendons draws an associated finger to close; (B) one or more mechanical connects, each connected to one or more sets of tendons; and (C) a actuator sleeve configured to reversibly enclose about a user’s forearm and comprising a controller, one or more batteries for providing power, and one or more motors each configured to draw one or more mechanical connects down to close associated fingers or to release closure pressure, wherein the actuator sleeve provides a activator configured to turn on the apparatus when held for one duration, to lock the finger pressure on touching after the apparatus is turned on for a shorter duration, and to unlock finger pressure when touched subsequent to finger pressure being locked.
  • Apparatus Embodiment 8 The glove strength enhancement apparatus of Apparatus Embodiment 7, wherein touching the activator for another duration longer than the duration for locking finger pressure and of a different duration that for turning the apparatus on initiates a pressure/force sensor calibration process.

Abstract

L'invention concerne, entre autres, un gant tricoté, sans couture, d'amélioration de la force manuelle (100), avec une gaine à tendons pour acheminer efficacement la force provenant de tendons artificiels (150). L'invention concerne en outre un appareil d'amélioration de la force par gant avec une bride élastique résistante configurée pour monter efficacement les moteurs et contrôler les fonctions d'un gant d'amélioration de la force.
PCT/AU2020/051195 2019-11-05 2020-11-03 Gant d'amélioration de la force manuelle WO2021087557A1 (fr)

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US201962930845P 2019-11-05 2019-11-05
US62/930,845 2019-11-05

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100041521A1 (en) * 2006-09-01 2010-02-18 Bioservo Technologies Ab Strengthening glove
JP4818016B2 (ja) * 2006-07-31 2011-11-16 スキューズ株式会社 ハンド装置、及びハンド装置の駆動方法
US20130219586A1 (en) * 2012-02-29 2013-08-29 The U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration Human grasp assist device soft goods
US20170168565A1 (en) * 2014-03-02 2017-06-15 Drexel University Wearable Devices, Wearable Robotic Devices, Gloves, and Systems, Methods, and Computer Program Products Interacting with the Same
WO2019010520A1 (fr) * 2017-07-11 2019-01-17 Ansell Limited Gant d'amélioration de la force de la main

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4818016B2 (ja) * 2006-07-31 2011-11-16 スキューズ株式会社 ハンド装置、及びハンド装置の駆動方法
US20100041521A1 (en) * 2006-09-01 2010-02-18 Bioservo Technologies Ab Strengthening glove
US20130219586A1 (en) * 2012-02-29 2013-08-29 The U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration Human grasp assist device soft goods
US20170168565A1 (en) * 2014-03-02 2017-06-15 Drexel University Wearable Devices, Wearable Robotic Devices, Gloves, and Systems, Methods, and Computer Program Products Interacting with the Same
WO2019010520A1 (fr) * 2017-07-11 2019-01-17 Ansell Limited Gant d'amélioration de la force de la main

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