CN101340866A - 具有可铰接式取向的手指的手假肢 - Google Patents
具有可铰接式取向的手指的手假肢 Download PDFInfo
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Abstract
本发明涉及一种手假肢,该手假肢具有一个基架,多个手指假肢铰接地支承在该基架上,这些手指假肢可通过驱动装置绕至少一个摆动轴相对于该基架并且彼此相向地运动。本发明的任务在于,提供一种手假肢,该手假肢具有简单的控制装置,工作可靠并且可廉价地制造。该任务这样来解决:在一个公用的驱动装置上的一些力传递装置(10)这样与这些手指假肢(3,4,5)相耦合,使得从一个无动作位置起至少两个手指假肢(3,4,5)与该驱动装置的转动方向相关地相对于该基架(2)走过不同的调整角度。
Description
本发明涉及一种手假肢,该手假肢具有一个基架,多个手指假肢铰接地支承在该基架上,这些手指假肢可通过驱动装置绕至少一个摆动轴相对于该基架并且彼此相向地运动。
手假肢的任务在于,尽可能与自然一致地替代必须被替代的手的外观和功能。为此,手假肢必须能够使可构造成手指模拟装置的握持装置彼此相对移位,以便可握持物体。
由US 2004/00195638A1公知了一种两指握持器,在该两指握持器中,两个握持装置可从张开的位置移位到合拢的位置中,在该合拢的位置中,握持装置直接彼此对置。因此可保持处于握持装置之间的物体。为了松开握持,可进行驱动装置的转动方向换向。
由WO 03/017880A1公知了一种假肢手,在该假肢手中在支承在基架上的每个单个手指假肢中设置有一个单独的驱动装置。通过这种假肢手可实现不同的握持状况,例如捏或侧握。不利的是用于每个单个手指的高的控制投入、具有组合在手指中的驱动装置的费事的技术以及由于复杂结构形式造成的高的易受干扰性。
从所述现有技术出发,本发明的任务在于,提供一种手假肢,该手假肢具有简单的控制装置,工作可靠并且可廉价地制造。
根据本发明,该任务通过具有权利要求1的特征的手假肢来解决。本发明的有利构型和进一步构型在从属权利要求中描述。
根据本发明的手假肢具有一个基架,多个手指假肢铰接地或弹性地支承在该基架上,这些手指假肢可通过驱动装置绕至少一个摆动轴相对于该基架并且彼此相向地运动,该手假肢规定:在一个公用的驱动装置上的一些力传递装置这样与手指假肢相耦合,使得从手指假肢的无动作位置起至少两个手指假肢与驱动装置的转动方向相关地相对于基架走过不同的调整角度。如果驱动装置在一个转动方向上被激活,则例如首先食指和中指在朝手心的方向上从无动作位置运动,而拇指较迟地或较缓慢地被激活。于是通过这三个手指可实现所谓的“侧握”。在另一个转动方向时,从无动作位置起——在该无动作位置中手假肢占据张开的姿态,首先拇指被激活或较快速地在朝手心的方向上运动,由此,手指假肢的指尖聚集在一起,以便实现“捏”。即与驱动装置的转动方向相关地进行不同时间顺序的运动,其中,手指假肢机械地与驱动装置相耦合,由此可用少的控制投入即用简单的转动方向换向来调节两个不同的握持状态,通过这些握持状态可实施最通常的握持工作。
除了或者实现捏或者实现侧握的调整角度,也可在相应协调机构的情况下实现捏的不同位置。机械耦合可非常廉价地建立。此外,仅需要唯一一个公用的驱动装置,该公用的驱动装置优选安置在假肢手的基架中,其由于与手指假肢相比宽敞的位置情况下而可构造得功率显著高。
本发明的一个进一步构型提出,力传递装置可转动地支承在一个可摆动的耦合元件、例如转盘上,以便可用最小的辅助力来传递期望的力,所述辅助力由在刚性支承的情况下材料弯曲得到。耦合元件本身可构造得可转动或可摆动,其中,一个特别简单的构型在于,将一个转盘这样设置在基架内部,使得耦合元件的转动轴基本上相对于基架的手掌表面正交地延伸。在驱动装置与耦合元件之间可设置一个传动装置,以便必要时提供所需的降速。优选驱动装置的从动轴也相对于基架的手掌表面正交,由此,必要时所需的传动装置级可始终以平行的转动轴工作。如果由于驱动装置或基架的几何尺寸而需要改变转动方向或定向转动轴,则这例如可通过倾角传动装置来实现。
不同的调整角度的特别简单的实现方案这样获得:力传递装置这样与耦合元件相耦合,使得这些力传递装置的驱动侧的支承装置具有不同的止点位置。在一个力传递装置支承在转盘上的情况下,随着转盘的转动运动而实现在呈正弦曲线构型的运动分量上的移位。与所走过的转角相关地引起方向分量上的不同的移位。通过该力传递装置可转动地支承在耦合元件上,仅在方向分量上的移位有效。如果现在这样选择力传递装置在耦合元件或转盘上的支承点,使得当在第一转动方向上激活时首先拇指走过止点位置,则首先其余假肢手指例如食指和中指移位,而在相反的转动方向时用于食指和中指的调整位移小于用于拇指的调整位移。作为替换方案,不同的调整角度的实现通过力传递装置滚动到凸轮盘上来进行,该凸轮盘的半径对于每个转动方向不同。如果从无动作位置起凸轮盘在第一转动方向上运动,则例如呈拉条构型的力传递装置滚动到比用于拇指的力传递装置具有更大半径的凸轮盘上。由此,首先食指和中指朝手掌移位,而拇指随后。在相反的转动方向上,这相应地换向进行。复位运动可通过手指假肢的弹簧预应力来进行。通过凸轮盘也可调节各个手指假肢的不同运动过程,例如首先引起高的摆动速度,该摆动速度随着手指假肢摆动角度的增大而减小或换向。
为了可传递大的力,驱动装置优选构造成扁平转子电机,该扁平转子电机可简单地安置在基架中,该基架可构造成手掌的造型。优选构造成缓慢运转的电极的扁平转子电机可在结构形式相对紧凑并且转速低的情况下产生高力矩。转速可通过摆线传动装置或谐波传动装置进一步降低到期望的转速。
本发明的一个进一步构型提出,力传递装置构造成在拉力下刚性的并且在压力下挠性的或者弯曲弹性的,由此可在有限程度上实现从手掌到手指假肢传递力时的弹性,而反之不可实现假肢手在驱动装置未被解锁情况下张开或不可实现转动方向换向。由此保证可靠握持。力传递装置可在一定程度上压力稳定,以便可提供必要时用于支持张开运动的压力。
为了稳定地传递拉力而提出,力传递部件具有绳索、绞线或纤维部件,其中,下面出于简单原因而仅谈及绳索部件。其它部件相应包括在其中。
绳索部件可构造成敞开的、闭合的或扭转的回线并且具有弹性体部件,以便可实现例如在轴位置不正时全面移位。另外,当弹性体部件至少部分地包围绳索部件时,弹性体部件保护绳索部件以免外部影响。
在力传递装置中可设置用于接收轴的轴承套,这些轴承套配置给基架或驱动装置和手指假肢。在力传递装置的有弹簧弹性的构型中,优选这样确定弹簧刚度的大小,使得当力传递装置被加载以压力时使得手指假肢复位到初始位置中。
下面借助于附图来详细描述本发明的实施例。附图表示:
图1一个手假肢的示意性视图;
图2一个手假肢的功能结构的示意性视图的手掌俯视图;
图3图2的侧视图;
图4侧握时合拢的手;
图5捏时合拢的手;以及
图6拇指假肢的单个视图。
图1中示出了一个手假肢1,该手假肢包括一个手基架2和至少三个铰接地支承在手基架2上的手指假肢3、4、5。手指假肢3、4、5相应于一个自然手的拇指、食指和中指。这三个手指假肢3、4、5的可运动的并且可通过一个公用的驱动装置6促动的支承装置足够可实施手的多个握持工作。其余两个手指即无名指和小指可被动地一起运动并且由弹性体材料构成,以便获得尽可能自然的感觉。呈电动机构型的驱动装置6与属于它的传动装置支承在手基架2内部。一个用于驱动装置6的未示出的能量源也可设置在手基架2内部。驱动装置6的控制通过一个控制装置来进行,该控制装置可设置在手基架2中。相应信号可通过一个远程操作装置来产生或构造成肌电信号。
图2中示出了手假肢1的工作原理的示意性视图。三个手指假肢3、4、5可绕铰接轴15摆动地支承在手基架2上。手指假肢3、4、5通过力传递装置10与一个转盘7相连接,这些力传递装置的结构在下面还要详细描述,该转盘由电动机6驱动。力传递装置10在转盘7上在轴16上或者直接地或者通过摇摆件8支承。食指4和无名指5通过摇摆件8彼此相耦合,该摇摆件可转动地支承在转盘7上。转盘7本身或者直接地支承在驱动装置6的从动轴上或者支承在传动装置输出轴上。如果驱动装置6被激活,则转盘7运动一个相应的转角。由此,轴16相对于手指假肢3、4、5的摆动轴15移位,这由于力传递装置10的在拉力下刚性的构型和力传递装置10在手指假肢3、4、5上的与转动轴15间隔开的铰接而使得手指假肢3、4、5摆动。如果驱动装置6反向并且转盘7运动到轴16相对于手指假肢3、4、5的摆动轴15具有最小距离的位置中,则达到张开的初始位置或无动作位置。通过力传递装置10的有弹簧弹性的特性,于是手指假肢3、4、5运动到它们的张开的初始位置中。在此提出,力传递装置10可传递比压力显著高的拉力。这相应于自然手的生理学事实,自然手在手合拢时比在张开时可施加显著大的力。
出于清楚原因,没有示出无名指和小指,无名指和小指可被动地铰接在中指5上并且由此一起运动。无名指和小指也可铰接在扩宽的摇摆件8上,主动地铰接其它手指假肢3、4、5的其它力传递装置10耦合在该扩宽的摇摆件上。
在图3中以图2的侧视图示出了在无动作位置中的手假肢,在该无动作位置中,拇指3、食指4和中指5在稍微张开的、近似自然手姿态的无动作位置中示出。从该图可获知,力传递装置10在支承部位16′上铰接在手指假肢4、5上,这些支承部位相对于手指假肢4、5的转动轴15间隔开。通过转动轴16在耦合元件7上移位使得手指假肢4、5由于所传递的拉力而屈曲。现在,从图2和图3中所示的无动作位置起,如果转盘7如在图4a中所示的那样顺时针转动,则首先食指假肢和中指假肢4、5在朝手心的方向上运动,而拇指假肢3之后才在朝手心的方向上移位,因为配置给拇指假肢3的力传递装置10必须首先走过止点,即必须走过驱动侧的转动轴16与摆动轴15之间的最短距离。通过食指假肢和中指假肢4、5的力传递装置10的特殊布置,食指假肢和中指假肢较快速地或在另一个角度范围上朝手掌移位,由此,拇指假肢3靠置在食指假肢4的径向的侧上。由此可实现所示的侧握。
图5中示出了在逆时针的转动方向时手指假肢3、4、5的位置。
在那里,首先拇指假肢3朝手掌和尺骨绕摆动轴15运动,而手指假肢4、5必须首先走过它们的止点或者这样铰接在转盘7上,使得在相应的转角下仅实现较小的角度移位。拇指假肢3因此首先向内被引导并且手指假肢3、4、5的指尖在它们的终端位置中彼此靠置,由此实现所谓的“捏”。
为了还可提供其它握持可能性,可在拇指假肢3中设置一个附加的驱动装置,该附加的驱动装置如图6中所示。另外,在图6中还可看到,拇指假肢3除了第一摆动轴15之外还具有一个第二摆动轴31,至少拇指假肢3的远中端部可绕该第二摆动轴摆动地被支承着。通过第二驱动装置30和斜螺旋传动装置32或多头蜗杆传动装置使从动蜗杆33运动,该从动蜗杆与一个齿轮段34啮合并且因此使得食指假肢3与驱动装置30和传动装置32绕摆动轴31移位。如果两个驱动装置6、30同时被激活,则按照移位速度实施拇指假肢3朝手掌和尺骨的组合运动,这相应于自然的拇指运动性。
在该图中详细地示出了拇指假肢3的功能,该拇指假肢具有一个成形体36,该成形体模拟自然拇指的轮廓。在构造成空心体的成形体36内部是一个自由空间,第二驱动装置30设置并且固定在该自由空间中。成形体36由此耦合例如粘接、固定地夹紧或形状锁合地连接在驱动装置30上。驱动装置30通过一个呈斜螺旋传动装置32构型的倾角传动装置和图2中所描述的蜗杆33与齿轮段34相耦合。
当驱动装置30被激活时,蜗杆33在一个或另一个方向上转动。由于绕转动轴31可摆动地支承在齿轮段34上,可实现绕摆动轴31在双箭头方向上运动。在此可实施径向的或朝尺骨的运动。齿轮段34本身可绕第一摆动轴15摆动地被支承着并且可通过转盘7的转动和力传递元件10的由此引起的移位而朝手掌或背侧摆动。这种摆动运动也通过绕摆动轴15的双箭头来指示。
第二驱动装置30也是一个电动机并且优选处于鞍状关节与指骨间关节之间的纵向轴线上。由于小的结构形式以及必要时所需的高的驱动力矩,驱动装置30构造成快速转子,其中,变速传动装置32可构造成斜螺旋传动装置并且产生从动轴相对于第二驱动装置30的纵向轴线在45°至135°的角度范围内的偏转。由于从动轴的这种偏角,与齿轮段34啮合的蜗杆33可引起相应的拇指运动。
设置在手基架2中的第一驱动装置6优选是一个缓慢运转的具有高转矩的扁平转子电机,该扁平转子电机与高降速的传动装置相耦合,以便可实施相应缓慢且有力的握持运动。控制信号或者可由远程控制装置或者由肌电信号或控制装置来产生。通过该第一驱动装置6和转盘7可使齿轮段34连同蜗杆33以及被成形体36遮盖住的传动装置32和驱动装置30移位。
Claims (16)
1.手假肢,具有一个基架,多个手指假肢铰接地或弹性地支承在该基架上,这些手指假肢可通过驱动装置绕至少一个摆动轴相对于该基架并且彼此相向地运动,其特征在于:在一个公用的驱动装置(6)上的一些力传递装置(10)这样与这些手指假肢(3,4,5)相耦合,使得从一个无动作位置起至少两个手指假肢(3,4,5)与该驱动装置(6)的转动方向相关地相对于该基架(2)走过不同的调整角度。
2.根据权利要求1的手假肢,其特征在于:这些力传递装置(10)可转动地支承在一个可摆动的耦合元件(7)上。
3.根据权利要求1或2的手假肢,其特征在于:该耦合元件(7)构造成转盘。
4.根据权利要求2或3的手假肢,其特征在于:该耦合元件(7)的转动轴基本上相对于该基架(2)的手掌表面正交地取向。
5.根据上述权利要求中一项的手假肢,其特征在于:该驱动装置(6)的从动轴基本上相对于该基架(2)的手掌表面正交地取向。
6.根据权利要求2至5中一项的手假肢,其特征在于:这些力传递装置(10)这样与该耦合元件(7)相耦合,使得这些力传递装置的驱动侧的支承装置具有不同的止点位置。
7.根据上述权利要求中一项的手假肢,其特征在于:该驱动装置(6)构造成扁平转子电机。
8.根据上述权利要求中一项的手假肢,其特征在于:该驱动装置(6)与一个摆线传动装置或一个谐波传动装置相耦合,该耦合元件(7)设置在该摆线传动装置或谐波传动装置上。
9.根据上述权利要求中一项的手假肢,其特征在于:所述力传递装置(10)构造成在拉力下刚性的并且在压力下挠性的或者弯曲弹性的。
10.根据上述权利要求中一项的手假肢,其特征在于:所述力传递部件(10)具有绳索、绞线或纤维部件(11)。
11.根据权利要求10的手假肢,其特征在于:该绳索、绞线或纤维部件(11)构造成闭合的回线。
12.根据上述权利要求中一项的手假肢,其特征在于:所述力传递装置(10)具有弹性体部件(12)。
13.根据权利要求10或12的手假肢,其特征在于:该弹性体部件(12)至少部分地包围该绳索、绞线或纤维部件(11)。
14.根据上述权利要求中一项的手假肢,其特征在于:这些力传递装置(10)具有用于接收轴(15,16)的轴承套,这些轴承套配置给该基架(12)和这些手指假肢(3,4,5)。
15.根据上述权利要求中一项的手假肢,其特征在于:所述力传递装置(10)构造得有弹簧弹性。
16.根据权利要求15的手假肢,其特征在于:这样确定所述力传递装置(10)的弹簧刚度的大小,使得当所述力传递装置(10)被加载以压力时使得所述手指假肢(3,4,5)复位到初始位置中。
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JPS6121064Y2 (zh) * | 1980-11-13 | 1986-06-24 | ||
US4921293A (en) * | 1982-04-02 | 1990-05-01 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Multi-fingered robotic hand |
FR2557450B1 (fr) * | 1983-10-05 | 1986-05-02 | Monestier Jacques | Perfectionnements apportes aux protheses totales de main |
US4623354A (en) * | 1984-10-22 | 1986-11-18 | Northwestern University | Myoelectrically controlled artificial hand |
US4685924A (en) * | 1985-10-04 | 1987-08-11 | Massey Peyton L | Prehensile thumb and finger prosthesis |
SE451053B (sv) * | 1985-10-15 | 1987-08-31 | Centri Gummifabrik Ab | Handprotes |
US4643473A (en) * | 1986-02-03 | 1987-02-17 | General Motors Corporation | Robotic mechanical hand |
DE3827417C1 (zh) * | 1988-08-12 | 1989-08-31 | Messer Griesheim Gmbh, 6000 Frankfurt, De | |
US4946380A (en) | 1989-05-30 | 1990-08-07 | University Of Southern California | Artificial dexterous hand |
US5080682A (en) * | 1990-07-05 | 1992-01-14 | Schectman Leonard A | Artificial robotic hand |
GB9404830D0 (en) * | 1994-03-12 | 1994-04-27 | Lothian Health Board | Hand prosthesis |
DE19854762C2 (de) | 1998-11-27 | 2002-07-18 | Marc Franke | Künstliche Hand |
DE19906294A1 (de) | 1999-02-15 | 2000-09-07 | Daniel Gurdan | Jonglierhandschuh-servotechnische Fingerprothese |
JP3086452B1 (ja) * | 1999-05-19 | 2000-09-11 | 原田電子工業株式会社 | 義肢用可動指、その可動指を用いた義手、およびその可動指用制御装置 |
DE10104868A1 (de) | 2001-02-03 | 2002-08-22 | Bosch Gmbh Robert | Mikromechanisches Bauelement sowie ein Verfahren zur Herstellung eines mikromechanischen Bauelements |
SE0102833D0 (sv) | 2001-08-27 | 2001-08-27 | Bergomed Ab | Drivanordning vid en fingerprotes |
SE0102835D0 (sv) | 2001-08-27 | 2001-08-27 | Bergomed Ab | Tumme vid mekanisk hand |
JP3893453B2 (ja) * | 2002-04-16 | 2007-03-14 | 独立行政法人産業技術総合研究所 | 義手 |
US7144430B2 (en) | 2002-07-12 | 2006-12-05 | Motion Control, Inc. | Wrist device for use with a prosthetic limb |
DE10237373A1 (de) | 2002-08-12 | 2004-03-04 | Marc Franke | Künstliches Gelenk |
DE20301116U1 (de) | 2003-01-24 | 2003-03-20 | Sen Jung Chen | Myoelektrisch gesteuerte künstliche Hand |
-
2005
- 2005-12-20 DE DE102005061313A patent/DE102005061313A1/de not_active Withdrawn
-
2006
- 2006-12-07 EP EP06828627A patent/EP1971297B1/de active Active
- 2006-12-07 CN CN2006800482807A patent/CN101340866B/zh active Active
- 2006-12-07 KR KR1020087016695A patent/KR101265934B1/ko active IP Right Grant
- 2006-12-07 JP JP2008546105A patent/JP5242409B2/ja active Active
- 2006-12-07 RU RU2008125981/14A patent/RU2387412C2/ru active
- 2006-12-07 AT AT06828627T patent/ATE548002T1/de active
- 2006-12-07 CA CA2631982A patent/CA2631982C/en active Active
- 2006-12-07 AU AU2006332318A patent/AU2006332318B2/en not_active Ceased
- 2006-12-07 US US12/097,804 patent/US7867287B2/en active Active
- 2006-12-07 WO PCT/DE2006/002177 patent/WO2007076765A2/de active Application Filing
- 2006-12-07 BR BRPI0619028A patent/BRPI0619028B8/pt not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
RU2008125981A (ru) | 2010-01-27 |
ATE548002T1 (de) | 2012-03-15 |
JP5242409B2 (ja) | 2013-07-24 |
AU2006332318B2 (en) | 2012-07-26 |
KR101265934B1 (ko) | 2013-05-20 |
JP2009519797A (ja) | 2009-05-21 |
US20080262636A1 (en) | 2008-10-23 |
US7867287B2 (en) | 2011-01-11 |
KR20080079305A (ko) | 2008-08-29 |
BRPI0619028B8 (pt) | 2021-06-22 |
WO2007076765A2 (de) | 2007-07-12 |
WO2007076765A3 (de) | 2007-10-11 |
CN101340866B (zh) | 2011-05-04 |
BRPI0619028A2 (pt) | 2011-09-20 |
CA2631982A1 (en) | 2007-07-12 |
DE102005061313A8 (de) | 2008-09-04 |
EP1971297A2 (de) | 2008-09-24 |
CA2631982C (en) | 2012-07-17 |
RU2387412C2 (ru) | 2010-04-27 |
AU2006332318A1 (en) | 2007-07-12 |
DE102005061313A1 (de) | 2007-08-16 |
EP1971297B1 (de) | 2012-03-07 |
BRPI0619028B1 (pt) | 2017-12-05 |
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