WO2022075414A1 - 義手 - Google Patents

義手 Download PDF

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Publication number
WO2022075414A1
WO2022075414A1 PCT/JP2021/037172 JP2021037172W WO2022075414A1 WO 2022075414 A1 WO2022075414 A1 WO 2022075414A1 JP 2021037172 W JP2021037172 W JP 2021037172W WO 2022075414 A1 WO2022075414 A1 WO 2022075414A1
Authority
WO
WIPO (PCT)
Prior art keywords
bevel gear
finger
artificial
prosthesis
hand
Prior art date
Application number
PCT/JP2021/037172
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
浩史 横井
正博 石原
佑介 山野井
岳彦 高木
Original Assignee
国立大学法人電気通信大学
株式会社ブレースオンアール・名古屋
国立研究開発法人国立成育医療研究センター
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 国立大学法人電気通信大学, 株式会社ブレースオンアール・名古屋, 国立研究開発法人国立成育医療研究センター filed Critical 国立大学法人電気通信大学
Priority to JP2022555563A priority Critical patent/JPWO2022075414A1/ja
Publication of WO2022075414A1 publication Critical patent/WO2022075414A1/ja

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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

Definitions

  • the present invention relates to a prosthetic hand.
  • Prostheses include decorative prostheses that are intended only to restore the appearance, work prostheses that are specialized for specific tasks, and active prostheses that enable arbitrary movements using other parts of the body via harnesses, etc. are categorized. Of these, the decorative prosthesis cannot perform any movement, and a working prosthesis or an active prosthesis is used when functional restoration is desired.
  • Patent Document 1 includes a slider mechanism including a slider axis and a slider, and drives the thumb-side link and the four-finger-side link by adduction / abduction and flexion / extension of the thumb CM joint to perform a picking operation.
  • a prosthetic hand having a pinching mechanism that can be performed is disclosed.
  • the thumb CM joint is rotated and bent toward the four fingers side according to the intention of the person wearing the artificial hand, thereby referring to the thumb. It is possible to drive four fingers to perform a picking operation.
  • the picking mechanism of Patent Document 1 is relatively large, it may be difficult to handle a small hand such as an infant.
  • the pinching mechanism of Patent Document 1 is a sliding pair in which the slider shaft slides with respect to the slotted hole of the slider, there is a possibility that the movement may be astringent or worn due to friction, and countermeasures are required. Become.
  • the present invention has been made in view of the problems of the prior art, and an object of the present invention is to provide an artificial hand that is compact and can operate with high efficiency.
  • One of the typical artificial hands of the present invention for solving the above problems is an artificial hand attached to a hand with a missing finger.
  • the first bevel gear and A first artificial finger that extends radially with respect to the first bevel gear and rotates with the first bevel gear.
  • a second prosthesis that extends radially with respect to the second bevel gear and rotates with the second bevel gear. It has a shaft support portion that rotatably supports the first bevel gear and the second bevel gear.
  • FIG. 1 is a diagram showing a state in which the artificial hand according to the first embodiment is attached to a hand.
  • FIG. 2 is a diagram showing a model of the artificial hand according to the first embodiment.
  • FIG. 3 is a diagram for explaining the operation of the artificial hand, and shows a state seen from the side.
  • FIG. 4 is a diagram for explaining the operation of the artificial hand, and shows a state seen from the front.
  • FIG. 5 is a diagram similar to FIG. 1 showing the artificial hand of the second embodiment.
  • FIG. 1 is a diagram showing a state in which the artificial hand 10 according to the first embodiment is attached to the hand HD.
  • the hand HD it is assumed that only the ring finger F4 and the little finger F5 remain. Both the ring finger F4 and the little finger F5 are capable of flexion / extension movement and adduction / abduction movement.
  • the artificial hand 10 includes a socket 20, a drive device 30, a first artificial finger 41 corresponding to the thumb, a second artificial finger 42 corresponding to the index finger, and a third artificial finger 43 corresponding to the middle finger.
  • a coupling mechanism 50 With a coupling mechanism 50.
  • the roots of the second prosthesis 42 and the third prosthesis 43, which are parallel to each other, are connected to each other and can be moved integrally.
  • a decorative cover member 60 made of silicon is provided so as to cover the first artificial finger 41, the second artificial finger 42, and the third artificial finger 43.
  • the socket 20 is in the shape of a belt wound around, for example, through the palm of the hand HD, and serves as a support portion for the drive device 30.
  • the drive device 30 has a copper wire 31, a first bevel gear 32, and a second bevel gear 33.
  • the wire 31 is bent in a substantially U shape, and both ends are fixed to the socket 20 on the palm of the hand HD. Further, the wire 31 has a cylindrical first shaft support portion 31a extending straight so as to go between the first artificial finger 41 and the second artificial finger 42, and the second artificial finger 42 and the third artificial finger 43. It has a cylindrical second shaft support portion 31b extending straight in parallel with the root of the. By bending the wire 31 so as to form an acute angle, the first shaft support portion 31a and the second shaft support portion 31b are formed so as to sandwich the acute angle. By using the wire 31, the drive device 30 can be formed inexpensively and simply.
  • the first bevel gear 32 is formed by coaxially connecting the bevel gear portion 32a and the cylindrical support portion 32b, and has a through hole 32c that penetrates them in the axial direction.
  • the through hole 32c is rotatably fitted to the first shaft support portion 31a of the wire 31.
  • an annular first locking portion 31c is attached in the vicinity of the support portion 32b to prevent the first bevel gear 32 from moving in the axial direction.
  • the support portion 32b is connected to the root of the first artificial finger 41 extending in the radial direction of the first bevel gear 32 via the first connecting tool 41a, whereby the support portion 32b and the first artificial finger are connected to each other. It can rotate integrally with 41.
  • the second bevel gear 33 is formed by coaxially connecting the bevel gear portion 33a and the cylindrical support portion 33b, and has a through hole 33c penetrating these in the axial direction.
  • the through hole 33c is rotatably fitted to the second shaft support portion 31b of the wire 31.
  • an annular second locking portion 31d is attached in the vicinity of the support portion 33b to prevent the second bevel gear 33 from moving in the axial direction.
  • the support portion 33b is connected to the root of the second artificial finger 42 extending in the radial direction of the second bevel gear 33 via the second connecting tool 42a, whereby the support portion 33b and the second artificial finger are connected to each other.
  • the 42 and the third prosthesis 43 can rotate integrally.
  • the bevel gear portion 32a of the first bevel gear 32 and the bevel gear portion 33a of the second bevel gear 33 are meshed so as to be able to transmit power.
  • the axis X1 of the first bevel gear 32 and the axis X2 of the second bevel gear 33 intersect at an intersection angle ⁇ .
  • the intersection angle ⁇ is less than 90 degrees, preferably 60 to 80 degrees.
  • the connecting mechanism 50 has a ring member 51 attached to the second joint of the ring finger F4, and a connecting member 52 that connects the outer circumference of the ring member 51 and the base of the third artificial finger 43.
  • FIG. 2 is a diagram showing a model of the artificial hand 10 according to the first embodiment.
  • the hand HD and the connecting mechanism 50 form an asymmetric four-node link mechanism LK.
  • the asymmetric four-node link mechanism LK consists of the following four links.
  • Link LK1 Connects between the intersection (joint) J1 between the center of the ring finger F4 and the ring member 51 and the intersection (joint) J2 between the ring member 51 and the connecting member 52.
  • Link LK2 The joint J2 is connected to the intersection (joint) J3 between the second artificial finger 42 and the second connecting tool 42a.
  • Link LK3 The joint J3 and the MP joint (joint) J4 of the ring finger F4 are connected.
  • Link LK4 The joint J4 and the joint J1 are connected.
  • Joints J1 to J4 connect two links in a pivotal manner.
  • the link LK3 is composed of a part of the artificial hand 10 and the hand HD, and the link LK4 is composed of the ring finger F4.
  • FIG. 3 and 4 are diagrams for explaining the operation of the artificial hand 10.
  • a person wearing the artificial hand 10 bends the ring finger F4 from the extended state shown in FIG. 1, the force thereof is applied to the third artificial finger 43 and the second artificial finger via the ring member 51 and the connecting member 52. It is transmitted to 42, and the third prosthesis 43 and the second prosthesis 42 also bend toward the palm side of the hand HD in conjunction with the ring finger F4.
  • the present embodiment when picking an object with the thumb and index finger, it may not be possible to pick the object well just by bringing the thumb and index finger two-dimensionally close to each other along the same surface.
  • the first bevel gear 32 and the second bevel gear 33 that mesh with each other, the first artificial finger 41, the second artificial finger 43, and the third artificial finger 43 are used. And can be made to move toward and away from the object along the intersecting surfaces instead of being linear.
  • Such a mechanism is called an opposite rotation mechanism.
  • the first prosthesis 41, the second prosthesis 42, and the third prosthesis 43 can be flexed and stretched at the same time by the bending and stretching motion of the remaining ring finger F4. Therefore, although the support of the actuator is not required, the picking operation can be arbitrarily performed according to the intention of the person wearing the artificial hand 10. Obviously, if only the thumb and index finger are missing, the flexion and extension of the middle finger can be used to drive the first and second prostheses 41 and 42.
  • the friction loss is smaller than that of the sliding kinematic pair, and high-efficiency operation is realized. At the same time, it is possible to suppress the consumption of parts due to wear.
  • the number of parts of the drive device 30 is small, a compact and lightweight artificial hand 10 can be realized, which is particularly suitable for use by infants and the like. By manufacturing the metal parts of the artificial hand 10 using, for example, stainless steel, the risk of corrosion can be suppressed, safety to the human body can be ensured, and environmental protection can be achieved.
  • the artificial hand 10 of the present embodiment can replace the movement of all the missing fingers, not limited to the thumb, by modularizing the artificial hand 10, for example, changing the shape of the second connecting tool 42a. This makes it possible to deal with cases where the ring finger or little finger is missing.
  • the first artificial finger 41 and the second artificial finger 42 and the third artificial finger 43 move in the same locus, so that the first artificial finger is the first.
  • the position of the second prosthesis 42 with which the prosthesis 41 abuts is always the same. Therefore, depending on the object to be picked, it may not be picked well. Therefore, in the artificial hand 10 of the present embodiment, the position where the first artificial finger 41 abuts is made variable by utilizing the lateral movement of the ring finger F4.
  • the prosthesis 10 has an asymmetric four-node link mechanism LK as described above.
  • the link LK4 rotates clockwise (in the direction of arrow A) around the joint J4, whereby the joint J1 moves.
  • the link LK2 connected via the joint J2 rotates so as to be triggered to the right.
  • the second prosthesis 42 and the third prosthesis 43 connected to the connecting member 52 rotate clockwise (in the direction of arrow B) about the joint J3.
  • the lateral motion of the ring finger F4 is converted into the rotational motion of the second prosthesis 42 and the third prosthesis 43.
  • the first prosthesis 41, the second prosthesis 42 and the third prosthesis 43 can be arbitrarily moved. It is possible to select and approach any position between and, and it is possible to realize a picking operation according to the intention.
  • the length and the connecting position of the connecting member 52 for example, the amount of rotational movement of the second prosthesis 42 and the third prosthesis 43 with respect to the lateral movement of the ring finger F4 can be finely adjusted.
  • FIG. 5 is a diagram similar to FIG. 1 showing the artificial hand 10'of the second embodiment.
  • the artificial hand 10'of this embodiment can be used when the ring finger F4 cannot be bent or stretched, or the ring finger or little finger is also missing.
  • the artificial hand 10'of this embodiment has an actuator 70 that rotationally drives the first bevel gear 32 instead of providing the connecting mechanism 50. Further, in order to connect the actuator 70 to the first bevel gear 32, the first shaft support portion 31a of the wire 31 is terminated in the first bevel gear 32. Since the other configurations are the same as those of the first embodiment, overlapping description will be omitted.
  • the first prosthesis 41 and the second prosthesis 42 are rotated in one direction via the actuator 70 in response to a power supply from a power source (not shown).
  • the first prosthesis 41 and the second prosthesis 42 and the third prosthesis 43 are brought into contact with each other by performing an approaching motion with the third prosthesis 43 and rotating the first bevel gear 32 in the other direction. It is possible to make a separation movement.
  • the actuator 70 may be configured to rotationally drive the second bevel gear 33 instead of the first bevel gear 32.

Landscapes

  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)
PCT/JP2021/037172 2020-10-07 2021-10-07 義手 WO2022075414A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2022555563A JPWO2022075414A1 (de) 2020-10-07 2021-10-07

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-169821 2020-10-07
JP2020169821 2020-10-07

Publications (1)

Publication Number Publication Date
WO2022075414A1 true WO2022075414A1 (ja) 2022-04-14

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PCT/JP2021/037172 WO2022075414A1 (ja) 2020-10-07 2021-10-07 義手

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JP (1) JPWO2022075414A1 (de)
WO (1) WO2022075414A1 (de)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009519797A (ja) * 2005-12-20 2009-05-21 オットー・ボック・ヘルスケア・アイピー・ゲーエムベーハー・ウント・コンパニー・カーゲー 義手
EP2653137A1 (de) * 2012-04-20 2013-10-23 Prensilia S.r.l. Kompakte multifunktionelle Handprothese
CN108784892A (zh) * 2018-05-21 2018-11-13 长春市漫思教育科技有限公司 一种机械传动式假肢手臂

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009519797A (ja) * 2005-12-20 2009-05-21 オットー・ボック・ヘルスケア・アイピー・ゲーエムベーハー・ウント・コンパニー・カーゲー 義手
EP2653137A1 (de) * 2012-04-20 2013-10-23 Prensilia S.r.l. Kompakte multifunktionelle Handprothese
CN108784892A (zh) * 2018-05-21 2018-11-13 长春市漫思教育科技有限公司 一种机械传动式假肢手臂

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JPWO2022075414A1 (de) 2022-04-14

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