US1225415A - Artificial arm and hand. - Google Patents

Description

M. E. CRO-NEMILLERL mmcm ARM AND mmo.

APPLICATIDN FILED FEB-9,1916.

' PatentedMay 8, 1917.

suzns-suzn 1.

' stun/M01 loses li'fiarlemhll'ery Minoan-"Emma. ARTIFICIAL ARM AND HAND.

Ilol. mm H18, 9. me.

Patented May 8, 1917.

a swans-Super 2.

gmmwkoz A106 :3 Cro n eh 71 1 UNITED STATES PATENT OFFICE.

-& Teal; whom, it may concern:

'5." forroperating and controlling the wrist of the hand'gupon the artificial forearm; to im rovements in the finger operating mechfioifamsm whereby-the joints of the fingers may ".'*-*9onfonn-'inore' nearlyin operation to the movements of the natural hand and to the construction of the harness by which the movements of the parts are effected. ""25" '-Other objects will appear from the fol- 'f lowing detailed description of my invention iiiicbnriedion with the accompanying drawin whichi u e 1 is a side elevation of an arm and 80' hand embodying'my invention, a portion of :i 'l h'twrist being broken away to show the ojjei"ati1ig'cords; Fig. 2 is a side elevation genie same with the parts turned at right ar'1'gles"to that of Fig. 1, and with a portion ""35" of the forearm broken away to show the opfifigei ating lever mechanism; Fig. 3 is an enlarged detail of the thumb and contained leyer;niechanism; "Fig. 4 is an enlarged per- "jiebti've view ofa portion of the hand showfih"gthe finger-operating mechanism Flg'. 5 1s 'an 'enlarged plan view of the inner side of the .Plate in the outer end of the forearm Wltl'l the ,attachedwrist-controlling mechanism; J is 'af'fsectional view on the line 66 Figl'5fFig. 7 isa sectional view on the ,..,],i,n e ,Z 7 of Fig, 5; Fig. 8 is a plan View of i htli elgidplate in the wrist; Fig. 9 is an enfi"-e,2

.la' rg'e dperspective view of the locking deefltofldcking the wrist in different poas it is shifted forward or back- .lflwaig'dr-Jfig. '10 is a longitudinal sectlon one of the fingers to show the lever mechanism forbendi'ng the oints; Fig. 11

. is; a v sid eelevation of the forearm showing ,55 the'gniding pulleys for operating cords Specification of Letters Patent.

'E'Be it known that LMosns E. Cnonnmru ;a:L 3zR ,a,.citizen ofthe United States, residing passes through the bracket 17 and the MOSES E. CRONEMIL1lEB, OF PA'I'TON, PENNSYLVANIA.

ARTIFICIAL ARM AND-HAND.

Patented May 8, 1917.

Application filed February 9, 1916. Serial No. 77,271.

at the elbow joint; Figs. 12 and 13 arc back I andfront views of the supporting and operating harness; and Figs. 14 and 15 are detail views of certain operating parts.

The artificial hand comprises a main portion 1, to which the thumb 2, and fingers 3, 4, 5, 6 are pivotally connected. 'The actuating levers lof the thumb and fin ers'are connected by links to a rock-sha t 8 ex-" tending transversely across the body part of the hand, 'this shaft'being connected by a link .9 to a pulley 16 pivoted in a bracket 12 and to which'the operating cords-are connected. As appears from Figs. 1, 4 and 10, the finger joints are pivoted to each other at 14 and 15, while the inner joints are pivotally mounted upon the transverse rod 16,

carried by brackets 17. The outer finger joint a.'is operatively connected to the intermediate joint 12, by toggle links. 20, 21 pivotally connected ata: and pivotally mounted at opposite ends on pins 18 and 19; and the intermediate finger joint I) is operatively connected to the innermost joint 0, by toggle links 23, 24, pivotally connected at 3 and pivoted at opposite ends on pins 22, .25. The outer links 20 and 23, of the toggles are connected by connecting-rods 26, 27 respectively with cars 28, 29 on the sta tionary brackets 13 and 17. The rod 16 pins 15 and pass through the bracket 13. A link bar member 30 connected at 31 to the innermost joint'c, and swinging upon the pivot rod 16, is connected by connectingrod or link 34, with the rock-shaft 8.

- It will be seen, therefore, that if the link 9 is moved in the direction of the'arrow in Figs. 4 and 10, a pull in the same direction will be exerted by the rock-shaft and connecting-rod 34, upon the innermost joints 0 of each of the fingers, causing them to swing on the PlWt-I'Od 16 upward toward 'the palm of the hand, i. e., upward in the form the fore-linger with. only two joints or sections, asjindi'cated in Figs. 1 and 4.

.By referring to Figs. 1,3 and 4, it will be observed thatthe outer joint a of the thumb pivoted at 4-0 to the inner joint I), and the latteris pivoted at {l9 to the main part 1 of IllQlliilULlllG u'iovcments being guided by the pin 4-1, A lever-bar held by the pivot 40 and a pin it] is pivotally connected at 47 to a. link 48 which slidably fulcrums upon a pin The inner end of the link 48 is connected by a link 50 to a rock arm 52 confore, the shaft .1-

irally pivoted to the standard or bracket 54, the lower end of the arm 52 being connected by link the I'()Cl'\ shaf hen, there rocked by a. pull on the link 9 in. the direction of the arrow in Fig.

4, to cause the joints of the fingers to fold -o\'er toward the palm of the hand in the manner previously described,- the link 56 pushingiuponthe lower end of the rock lever 5?, will cause the upper end and the link 50 to more in the opposite direction, as indicated, and this \vill"'(:ause the lever link 48 to slide on the fulcrum pin 49, pushing upon the lever 45, which rocks upon the pivot -10 and bends the outer joint a'- inwardly to-' ,ward the palm. The thumb thus bends inwardly simultaneously with the fingers to cor operate with them in grasping an object. or

to close tightly againstthe palm of the hand,

orto close against the palm of the hand.

The closing or openin movements of the fingers and thumb are e etced by the rotary -movement of the pulley disk 10 in one directionor the other, by a pull upon either the cord 61 or the cord 62-. These cords, which are preferably rawhide, pass centrally through the wrist portion and then through grooves or channels upon opposite sides of the fore arm 60, and are fastened to straps of the harness passing about the neck and shoulders in the manner illustrated in Figs.

'12 and 13L The hand is pivoted to brackets 67, 68, secured to opposite sides of the \lm member 70 and may be aclpistetl in different angular relations thereto by means of the springpressed dog or catch '71, which engages one or another of the holes in a plate'72. see Fig. 9, and may b unlatched by lifting the finger piece 73.

' The wrist-member T0 is provided with a base plate '75, having a flange T5 which surrounds a flange 78 projecting from the plate 34-, on the end of the fore-arm portion and having a central apertuie surrounded by an annular flanger79 threaded to a hollow stem 82, projectingfrom the miter-gear S4. The

miter-gear 84 is secured to the end plate-86,

on the forearm by means of a nut S7,'tl 1rea'ded upon a hollow stem 89, projecting from said plate 86, the nut bearing upon a loose ring 91, which engages an internal flan 85 on the miter-gear. This construction orms a secure conneetionbetween the wrist-memher and the forearm while permitting "the miter-gear and wrist to rot-a e freely-about the hollow stem 89.

For the purpose of causing the hand'andf wrist to partially rotate, simulati-"nfg; 'lhe movement of the natural handfas the-fore.

arm is moved upwardly upon-:thogelbow hinges, I provide a spur-gear "1O0, with actuating, mechanism in a recess i'n'the' -outer point of the lever 116, which is pivoted at 117 and connected by alink 1I8,;with the elbow lever 120, rovision-being-made for lost motion by 'a' shot 119. -The re]bow lever 120, is pivoted at 121 to. a bracket 123,'and secured in any suitable mannontothe upper arm member 125.: It will be apparent that when the forearm is'swun .upw ardlv' to-.

ward the up )er-arm,-the lin 111-5 will first be shifted 'rearwardl v'to the opposite or rear side of the pivot 121 and then moved toward the elbow, swingin'gthe, lever 116 in the direction of the arrowin Fig.:;' 2 thereby iexertin' a pull-upon the link 115 and open ating tirough the-lever 11.0 to rotate the spi'ir-gear 81 in-amesh therewith, itl n'is eilecting a partial rotation ofthe hand and wrist. The parts maybe so proportioned that the hand 'willbe turnedv about while the forearm mores upwardly through the same angle. a v f. v

It is sometimes desirable to disconnect the mechanism which ,actuates the mit'er gear to turn the hand and wrist and to Iockthe wrist in anv desired angular relation with respect to thearm, 'Asone means for accomplishing this purpose. I providethc system of levers'ishown in detail in Fig. 5, in connection with .the operating cord pull upon the cord ,63 attached to one end of a lever 130. centrally pivoted'to a bracket 131, causes the other end of the 1, a

to beer upon thelevev 145 Swinging it ujjon its" pivot 14 6 and projecting the" lock- 'ifiig pin 14,7 throu h. the arm plate 84, intjo 011.6 of the holes t6 *thereby-loc'lithe Wrist in the desired align 1hr qsitlonf I Tieme'ehenis'm which a'ctuates the spurgear 100 and the miter-gee; 84 must be disengaged sininlteneonsly with'the locking of the wrist plate in order'to perm.it,'eny desired movement of -the forearm. To efiect; is. disengagement, the arm 136' of the th .hr 136, bears against "one end of the bellen-ink .le,\ e1' 150, pivoted at 151, and formed at'the opposite end into a yoke 150' which embraces the'sheft'IOLhe tween the spnr- I gear -1O0Eu 1id: the .elutch lever 106. When 0 the bel lgcrgtn-k ieier lfis swung, uponits f pivo't iiitghedirection of the arrow 1n Fig. 5 5,;tlie'y6kb end 1150 SlideS the lever or-clutch member- 106 iilongi'thej shaft 10L away from the sp gear 00; the action of the s 'rin'g "1'52; ufit {the pin'108 moves out of.

' t e notch 1T09ihthgsp1ir 1; As the lever 1.36 swings laterally to e 'ect the movement 'just described; the :mg; 154 of the lever 1156, iv'otedlet 1651, which is forced downwardly 4 y the spri 159,e1 ides overthe top ofthe lug 1,58fon e lever 136(and' snaps behind it;-"thereby preventi'n the eetnrn of the systemf interconneete levels and thus leek- "-l 9$i i91 l 1 he Piniinebf the hdle's'; 1.49 and the ile irithedesired' posh wiiiietlre firearm may Joe-moved 1g and ments 'oflathe'leversmlfil 110' and-links" 115 18;;=mere1yreausingthe lever-106 to the theft without affecting the L m; heed, to iinlock the. rite. 3 endzc miect the spilt-gear with theectunt:

. iri'f letters in: Ithe .1 foiiear n, the letter is which control" the finger-e'etuiitiig i m i 9,,ii1-the wrist plate 75, a

-si de of the maimed member;

8 l h drom h plite 0 that the chitlchlever 106 free to. moye t the shaft 101.- The hand; end wnet.

own without Y'aficting them; t 'e' "mo'v'e rollers 66,-Betix ;een which t egpms einotnmlk'po' t on, slid gear until the pin 108*6 10%? and withdr wing-the n 147 fit the wrist plgte. The wrist an hind will, then move angularly inunison with the vertical movements of the forearm.

{gauges the "notch The harness which supports the artificiel arm and to which the a'ctuetin' cords are attached, around the net j w the sh'oifl, eijs o: Ev wflfilfci' ii -{the shown m reare'n. front,- views ew ii-eup -amm mm-em:' up ported by stra 'e,1 LTIend I-ZB over the shou der.

pull y 1.0, are eonniii fi dt y ing 1 11 9 1 2 ec r d. t the n. at e rear and irentresp ctiyelf f t t Wh 'e e'edr' 63 which controls the locking c thewrist and the disconnectingof thefwri ectuefting K e'p Hi3, cured to the harness at. the 'frohtof the mechanism, is connected to stf shoulder of the opposite onwh ole grid, The

' the desired 'pnlls u on the operati gwcorde by .r'er ticall streps 1 5 and 176, eonneetedihy the 7' The l -r le 6.1" 5,3;

the under-arm strep 177;, gen

sidefrom the maimed men) i g" rm-1y held: by 1 wet-Med" qr.

'- belt-I7 8.

er, weathermfeet the. i oifement sof the forearm, wriejt. the

nd nge will n'de i t 1 t foregoing detailed descr'fwearer has lost. only the movements of the fore arlnr'wil Q. i. Q0111 end th fertifiii then m -hielj w rece ve. the J effected rne ally, he artifi ial being t v r 2 M st n e ree; the-Pee? 121, as indicated in Fig, 2 at the se ne'time the pull upon. the cord 61.11130. not disk or pulley 1'05-iii'fthedi-1fecti0i iii-re n in Fig. 4. .i'vh'ich cen see. the fi' ,rs

' and thumb tdnnove in-te the 1305mm].

The degreeefinoi enient.of'the fingersfdepends upon the i 'modnt' ofmtertical' mica-1einent impr nted to the forg ving- 11 fiilg'fQrthe persorifmn first cause the 'te'rearn to more, part} is have-lhent mu! tsit mg, theltmmie'bodily llflfltl-i the, bend sot:

'rnulnlfs tllv-ohjt'rt to ho graspmlant {finally mow the forcari-n sullicirntly to tightly ;'1 hp'lhc object. I

z' 'lhc tort-*arin Ina) ho mor al at oncu to the '5 dsirrd height or positimi hr the tension ;a tlifl'urtnt ccutor from the pivot 15, upon \\'l]l(ll tho finger joint- 6 turnsg' a morcn'n-l'lt of the jointpl), in the direction of the arrow in .Fig. 10, will cause the link 26 to pull the car 20' of. thc togglc link 20 "inward upon the strap 171 and. coral (31 through tll( ":ll1 l cause the toggle 20. 21 to buckle or m vforward nim'mnent Uf,tl1 $l.'l.l1ll]) in the n'n'urhcnd at its pivot connection in. 'Iihis1rmvonor above loscrlhcd.the fingm-s living sinnil nn-nt causcsthe outer finger joint; a to bend tant ously bent or .lohlcd into .clostwl fposltoward tho ioil'lt I). turning upon its pivot IO ti'on' by tho pull of the cord (ll. actingon 1- The strainupont-hepii ot.14c ccmnccting 75 ""1111? pullc dusk 1-0. The lii'lgcrs nu thou the joints a and '7), is relieved both'nuthr he-"iii'pcnct["toany (licsired t-Xtrut.-\\'-hi lo-i'nain mg .h, inks \vhichare pirotcd atllfi'ainl .19 .faiilling the raised position. of tho fQlQilll'il-Y to the rospectifve joints. and also hr the op in? tho following manner. livmaisi'ng 'tli crating-or"tension."link 26. which is (-,on

' I shoulderadjacbnt the artificial. arm" a pull ,mtqd'r-o-tlw ear-ao and to the bracket g5 m' 'tonsion will be exerted upon the strayrll'il fattinhetl'to the first or inner ioint Morealhklf tllr' attached cord (32. while the fermion titer. it" will ln ohsc rrcd that lnv svst'em of upon the 'st-ra-p (")1 isrm'respm'ttlingly slaclclink connections remains entire l'i within the shr ll with theresult that the pulley disk contour of'the finger joints during all more 10 js'turn'ed in the -ppositc direction from. ments of the lingers which contrillutcs. to the 3, the arrow in Fig. 4, thereby causing the mgpcara'nce of the hand. will he undvrlingers to open. desired; the fingcrs can stood of course, that all'of the Various parts he again closed to ,Q'lip a uohjeot:. by lowerof the hand and arm are provided With a ing: the 'ncx'iously i'a'isetl 'shoultlera-nd thus smooth outer covering of .suitahlc"1naterial 25- lhosning the tnsion'up n cor-(l (l-land, pulland texture so that they will he ncat. at- 90. j nguppn "tho cord (31. Thus it will he soon tractiiw and. i1icpnspic'nous.. Another i'cz'u t,hat tho fingers and. thumb nntv-lrtwopcncd -tur-e which contributes-to tho couipactl'iess andrlosed at \iill 'htraising' and loweringof'thc niechanism contained Within the the shoulderadjacent the artificial arm. structure of. t he,hand residcsin thc'lnanner A As I have previously explained. the operv of arranging the system of .levrs which spluz-gea'rltltlg so thatth'e movements of the iiore-arln nill not-rausefany angular -1nove-f pmcntsaof. th twist and hand. b'y-raising the actuate the fingers and the simplicity of the actuating mechanismQall' bging controlled by a singlcv fiat pulley disk 10 which is mounted withinthe palm portion of the,

shoulder, upon the cpp'ositc' side from thehand, .There are nog'ears or other tleric'es artificial ar i l there n"pausing-a tension or to projectbeyondthenormal Contour of a pull upon the cordGSJu'hich alsmcahsestheha L I, i p pin H17 to loc-k theurist'in'tl1crlesired po= In rd t id fli i t mechanism .j. sition. It ill b obsc'lve'cl that? "the cords for controlling the swivel or twisting mow; 4O (32 and63i15as$lovr g'uidc rollers 62' and ments oft-he Wrist upon thefore-arin' within I 63 respct'iyely carried by brackets adja a. small compass, so that the wristcan be 5 cent. t-hs Ielbon bingo, s'o'that notension is made of the normal size I haved'vised' the "placelipon thesecords by thefmovements system of iinterconnect'ed levers shown in f the ior-arm, ')n t-h 'o't-htfhand 'theplan "iew-in-Fig. '5 and I have so arranged 45 guides 66flfor the; cord 61 are carried by the them that rtheyare distributed over a com- 1 10 -,leyer at a distanc' frointl'ie 'lb'ow hinge parativelysmall superficial area. Theena-o ;;1 21,,s that; a forwar'tl ino'vernent of tire system of levcrsis. controlled by-a single the-11p )cr.a1111- nndr the control of the fcord 63 which operates by a, single "pulley -oerson' s stump; p a e f tiai l'i and leverage to--simnltianeously;disengage the wrist turn- 50 line tdsaid .dista-nc from th" e11: ow pivot, ingmechanism-.- and. lock th i $0 5 ,hich; causes ,the upward moiet'n'intof the fore-arm in the desired angular relation. :iore-amn. i i 'i The actuation of (the,swivel'movments of p 'l h iacl antages deri cd from ho use" of the wrist to automatically turn the hand -'=my iinpror'cments will be apparel .t to thoseso that' th'epalm W11I' bB toward the face b5 farniliar .with, thet construction' and operflwhen the forearm is raised, simulatlng the 120 -tijon .ofartificia-l' limbs and also by engineers movements offthe natural armand "hand, familiarwithnthc principles of-z nechanjcah is eflecteth bi -a singleline of-levers and "devices. The lsystcin of toggl'; annections "linkswhich are connected to the elbow hinge a'nd'links. connctin ,the joints of the 'I'netnber 120. *By providinlg bhedlnk 118 80 "gers, shown indetaipin Fig-1Q, not qnly af: with an extended slot' 12 3, @p-xoylde a-ccr- 125 'fords great. strength to t-lieffin'g'ers', but. 1)}6- taiin' amount of 10St .m0t1 O n wh chf permlts .-tluccs HWIIIOIQ powerful and feflicicnt a non th' fore-arm to stung sl ghtly backward than priorqderices with whj'c'h Ilatn famila.nd'*forward without actuating-the levers 'i'ar; I have e$plainedthat since the; link" *controlhng the ,wrlstswivela' It; wlll be un- 13.

6 26, pivoted in the bracket 28, swings upon d'erstood that that'is forthepurpos'e of -per'-.

a will appear, therefore, that I have greatly simplified the mechanism for actuating and controlling the movements, of artificial hands and arms and at the sametime, I

, have. made the operating mechanism more eflicient. I have described in detail the con struction illustrated in the accompanying drawings for'the purpose of fully disclosing an embodiment of my invention, but I am aware that various changes and modifi-- from the spirit of my invention.

cations may be made therein within the scope of my claims and without departing I claim:

1. An artificial hand having a plurality of fingers each composed of a plurality of pivotally connected joints or members, a toggle lever having its links pivoted at their outer ends to adjacent'finger members, and an actuating link-rod connected to the outer toggle link and to a part separate from said ad acent members. a 2. An artificial hand having a plurality of fingers each composed of a plurality of pivotally connected joints or members, a toggle lever having its links pivoted at their outer ends to adjacent finger members, and

- means directly connected with said toggle lever for causing it to fold or bend when the finger is swung toward thepalm of the hand.

3. An artificial hand having a plurality of fingers each composed of a plurality of pivotally connected joints or members, toggle levers connecting the adjacent members, a rod extending transversely across the hand upon which the innermost finger members are pivoted, a link bar member secured-to said innermost finger joint and pivoted on said rod, a rock-shaft, and linksconnecting said rock-shaft with the said link bar member.

4. An artificial hand having a plurality of fingers, each composed of a plurality of pivotally connected joints or members, a rock-shaft extending transversely of the hand, links connecting said shaft with the respective fingers, a rotary disk mounted to rotate in the plane of the hand, and a connecting rod or link pivoted to said disk and to said rock-shaft respectively.

' An artificial hand having a plurality of fingers, each composed of a plurality of pivotally "connected jomts or members, toggle-levers connecting adjacent members, meansfor causing said toggles to bend or fold when the fingers are moved toward the palm of the hand, a rock-shaft extending transversely ofthe hand, links connecting said shaft with the respective fingers, a rotary disk mounted to rotate in the plane of the hand, and a connecting rod or llnk pivpivotally oted to said disk andto said'rock-shaft respectively; v

v 6; An artificial hand having a plurality of fingers, each composed of a plurality of connected joints or members, toggle-levers connectin adjacent members, a connecting rod or lin connecting the inner toggle of each joint with a bracket on the body ofthe hand, andia connectin rod or link connecting the outer toggle with a fixed part on the innermost joint or memtioned gear-wheel to cause a swivel wrist movement, locking means adapted to prevent'said swivel movement, a system of coacting leversadapted to simultaneously shift said clutch device out of engagement with said first mentioned gear-wheel and to actuate said locking device, a latch to automatically hold said systemof levers in'moved position and having atrip-arm in the path of said clutch device when in disengaged position, and means under control of the wearer for vactuating said lever system and for causing said clutch device to engage said trip-arm.

8. The combination in an artificial arm of a fore-arm member, a rotary gear-wheel carried' upon a shaft mounted in the outer end of said fore-arm member, a c1utch device loosely mounted upon said shaft and normally spring-pressed into operative engagement with said. ear-wheel, a wrist-member swiveled upon t e outer end of said forearm, a gear wheel carried by said; wrist.- member and meshing with said first mentioned gear-wheel to cause a swivel wrist movement, an elbow lever pivoted to the upper or inner end of said fore-arm, a pair of levers pivoted to the side of said'fiore-arm and connected by a link, one of said levers being connected to said clutch device, and a link connecting the other lever to said elbow of a fore-arm member, a rotary gear wheel carried upon a shaft mounted 'in the outer end of said member, an actuating member loosely mounted upon sald shaft and normally spring-pressed intov operative en- I gagement with said gear wheel, a gearwheel rotarlly mounted 1n mesh with said first mentioned gear, a wrist-member 'se- 130 1 fol-min cured iipbn the hu b bf said last mentioned gear-wheel, an elbow lever pivot/ed to the up'per or inner end of said ion-arm and is swung 'upon said hinge-member, and

"means under control of th wearer for m0v-- an 'elbow 'hinge-member, lever mechamsm connecting said actuating mem her and said elbow hinge-member to there by actuate said gears when the fore-arm ing said actlm along said shaft 10 to disengage it mm said first mntioned gear-wheel. V v 1 -In testi'm y whereof I aflix. my signature .in presence of two witnesses.

' MOSES E. CRONEMILLER.

Witnesses; I

CHARLES C. Cnoxnmmmn, WILBER F. Sfiom,

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