+

WO2000069375A1 - Main prothetique operant avec dexterite - Google Patents

Main prothetique operant avec dexterite Download PDF

Info

Publication number
WO2000069375A1
WO2000069375A1 PCT/US2000/013811 US0013811W WO0069375A1 WO 2000069375 A1 WO2000069375 A1 WO 2000069375A1 US 0013811 W US0013811 W US 0013811W WO 0069375 A1 WO0069375 A1 WO 0069375A1
Authority
WO
WIPO (PCT)
Prior art keywords
digits
actuators
frame
coupled
digit
Prior art date
Application number
PCT/US2000/013811
Other languages
English (en)
Other versions
WO2000069375A9 (fr
Inventor
William Craelius
James A. Flint
Original Assignee
Rutgers, The State University Of New Jersey
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 Rutgers, The State University Of New Jersey filed Critical Rutgers, The State University Of New Jersey
Priority to AU51462/00A priority Critical patent/AU5146200A/en
Publication of WO2000069375A1 publication Critical patent/WO2000069375A1/fr
Publication of WO2000069375A9 publication Critical patent/WO2000069375A9/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2/72—Bioelectric control, e.g. myoelectric
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5093—Tendon- or ligament-replacing cables

Definitions

  • the present invention relates generally to prosthetic devices.
  • the present invention provides a prosthetic hand with independent movement of the digits.
  • prosthetics are available that provide for one degree of movement, i.e, gripping or grasping.
  • One example of such a grasping mechanism is discussed in U.S. Patent No. 4,623,354 to Childress et al.
  • the myoelectrically controlled hook opens and closes to grasp and release objects.
  • the device described can be covered with plastic, for aesthetic purposes, to resemble a human hand.
  • Other available devices require that the user wear a shoulder harness to operate the prosthesis.
  • the invention comprises a prosthesis or orthotic device including a frame, a plurality of digits pivotally mounted to the frame, a plurality of actuators mounted on the frame and coupled to the plurality of digits for causing at least one of the plurality of digits to move independently or concurrently relative to another.
  • the prosthesis or orthotic device also includes at least one actuator uniquely coupled to a first corresponding digit of the plurality of digits, and at least one actuators coupled to a second corresponding digit of the plurality of digits for causing the first digit and the second digit to move independently or concurrently relative to another.
  • the invention further includes a controlled prosthesis or orthotic device, including a frame, a plurality of digits pivotally mounted to the frame, a plurality of actuators mounted on said frame and coupled to the plurality of digits, the actuators being coupled to sensors for sensing a desired movement and generating a signal in response thereto, a controller responsive to the sensor signal for generating control signals for input to the at least one actuator, whereby at least one of said actuators receiving one of the signals causes at least one of the plurality of digits to move independently or concurrently relative to another.
  • a controlled prosthesis or orthotic device including a frame, a plurality of digits pivotally mounted to the frame, a plurality of actuators mounted on said frame and coupled to the plurality of digits, the actuators being coupled to sensors for sensing a desired movement and generating a signal in response thereto, a controller responsive to the sensor signal for generating control signals for input to the at least one actuator, whereby at least one of said actuators receiving one of the signals causes
  • Figure 1 illustrates the front view of the prosthesis according to the present invention.
  • Figure 2 illustrates the back view of the prosthesis according to the present invention.
  • Figure 3 illustrates a side view of the prosthesis according to the present invention.
  • Figure 4 illustrates a schematic diagram of a triply articulating digit.
  • Figure 5a is a palmer side view of the prosthesis holding an object with three digits.
  • Figure 5b is a back side view of the prosthesis holding an object with three digits.
  • the prosthetic hand 10 includes a plurality of digits 12a, 12b, 12 c, 12d, and 12e ("12a-e").
  • Digit 12e is preferably in the form of a thumb.
  • the digits 12a-e, represented as fingers, are pivotally mounted to a frame 14.
  • Digits 12a-d are pivotally mounted to the frame 14 with a cylindrical rod 16 bracketed 18 to the frame 14.
  • the cylindrical rod 16 provides an axis of rotation X for the digits 12a-d.
  • Digit 12e is also pivotally mounted at the base 42 of the digit 12e to the frame 14 and rotates on an axis Y separate from digits 12a-d.
  • the digits 12a-e can be mounted with any suitable means for rotation about axes X and Y on the frame 14.
  • Each of the digits 12a-e shown has at least a base segment 20 and a top segment 22.
  • the base segment 20 is preferably made of metal, such as aluminum, but may also be composed of a similar rigid and lightweight material such as a polymer, metal alloy, or other suitable composite material, depending upon the needs of the user.
  • the top segment 22 is preferably made of rubber or a polymer that provides non-slip or slightly tacky surface, such as a high molecular weight acetyl homopolymer.
  • the top segment 22 of each of the digits 12a-e is composed of aluminum, polymer, metal alloy, or other suitable composite material, or the entire digit can be composed of a single material, again depending upon the needs of the user.
  • the digit includes three segments 20, 24 and 26 as shown in FIG. 4.
  • Each of the digits 12a-e is hinged to provide the capability of performing motion on at least two separate axes as discussed herein.
  • two hinges 28 and 30 are provided on the digit to provide capability of motion on three different axes, A, B and X.
  • the hinges 28 and 30 and axes X, Y and A, B, and C correspond to the metacarpal phalangeal and proximal interphlangeal (PIP) joints of a human finger.
  • PIP metacarpal phalangeal and proximal interphlangeal
  • the axis of rotation X and the hinge 28 provide double articulating movement of the digits 12a-d on axes X and A.
  • the thumb 12e has doubly articulating movement on axes Y and C that is provided with the hinge 28 and the pivotal mounting to the frame 14 at the base 42 of the thumb 12e.
  • the digits 12a-e may be hinged by dowel pins, or other suitable means, to provide the axis of rotation.
  • Each joint or hinge 28 may or may not have a torsion spring, or rubber band 44 to facilitate digit extension as shown in FIG. 2.
  • the coupling of the digits 12a-e to the actuators 32 is discussed below.
  • the frame 14 is rigid to support digits 12a-e and actuators 32, and is lightweight for portability.
  • the frame 14 has the general shape of a human hand.
  • the frame 14 is composed of lightweight aluminum.
  • the frame is composed of a metal alloy, titanium, composite, polymer or other suitable material, provided that the frame is rigid, lightweight, and durable, depending upon the needs of the user.
  • a plurality of actuators 32 are mounted on the palmar portion 34 of the frame 14, and each actuator 32 is coupled to the digits 12a-e by a flexible cable 36. As shown in FIG. 1, each cable 36 is attached to one actuator arm 33 via a releaseable clip 37. The cables 36 are also attached to the distal end 38 of the digits 12a-e by a through-hole 39 and screw 40. In the thumb digit 12e, two actuators 32 are coupled thereto by two separate cables 36. One cable 36 couples the distal end 38 of the digit to the actuator 32, the other cable 36 couples to the base 42 of the thumb 12e.
  • the actuators 32 shown are servo motors that are compactly mounted for the closest spacing possible.
  • All servo motors are mounted in the frame 14 for easy insertion and removal.
  • the cables 36 are attached to the servo motor lever arms 33 at a point distal to the hinge 28, or hinges 28 and 30 of actuation.
  • Servo motors are currently available from Maxx Products International, Inc. of Zurich, Illinois.
  • Other suitable mounting means may also be used to connect the cables 36 to the digits 12a-e and to the actuators
  • Each cable 36 couples an actuator 32 to the distal end 38 of each digit 12a-e above the hinge 28 to provide doubly articulating movement of the digit.
  • the cable 36 can be coupled to the digit 12a-e below the hinge 28 to provide singly articulating movement along axis X.
  • the cables 36 provide the appropriate tension, and are formed of braided steel or a monofilament, such as nylon. Nylon is preferred as it provides strength and is lightweight. Other suitable cable materials may also be used.
  • Six actuators 32 are preferably mounted to the frame in the palmar portion thereof 34 with the use of screws, struts, or other suitable mounting means. At least two actuators 32 are coupled by cables 36 to two digits 12a and 12b in a one- to-one relationship, and at least one actuator 32 is directly coupled to the thumb 12e. This provides movement in three digits 12a, 12b, and 12e as shown in FIGS. 5a and 5b. Alternatively, the thumb can be manually operated or in a fixed position. Any number of digits 12a-e are operable for movement independently and or concurrently as desired by the user.
  • actuators 32 are coupled to four of the digits 12a-d, and two actuators 32 are coupled to the thumb digit 12e via two cables 36 to provide doubly articulating movement at the hinge 28 and the base of the thumb digit 42.
  • the actuators 32 are servo motors, as they may be compactly mounted within the frame 14 for optimal use of limited space.
  • other suitable actuator means may be employed in the prosthetic hand 10.
  • the actuators 32 are typically powered by battery, but a manual override may also be present.
  • the override could enable the user to flex digits by shoulder flexion, transmitted by a harness. This would be accomplished by coupling the harness to the cables 36.
  • the prosthesis 10 operates with a controller such as that described in
  • the present prosthesis 10 operates in three modes: tapping, grasping, and proportional control.
  • the mode selection depends on the programming of the microcontroller as set forth in U.S. Patent Application 09/271,673.
  • the default mode programmed by the controller could be tapping, wherein the thumb will be passively extended and the digits are quickly tapped and released a fixed distance in response to a control.
  • the grasping mode the digits and /or thumb remain flexed on an object until extended by a volitional release signal as described in U.S. Patent Application Serial No. 09/271,673.
  • the grasping control mode may also be programmed as the default mode.
  • the proportional mode the signal is under direct user control, and the digits may be moved a variable distance.
  • the default mode is, of course, programmed according to the needs of the user.
  • the thumb 12e or other digits 12a-d may also be activated directly from the biomimetic sensors.
  • FIG. 2 the back view of the prosthetic hand 10 is illustrated.
  • FIG. 2 there are a plurality of elastic bands 44 attached to the back of the digit 12a-12e by screws 45. Other means of mounting the bands 44 to the digits 12a-e may be used. Springs or other means may be used to return the digits 12a-e to the original state. After the digits 12a-e are actuated to perform an flexion movement, the elastic bands 44 cause the digits to return to the original state in an extension movement.
  • Extending from the actuators 32 are connecting wires and connectors 46 that operate with the sensors and the controller as described in U.S. Patent Application Serial No. 09/271,673, incorporated herein.
  • the sensors are selectively placed to receive muscle and tendon movement in the appropriate portion of the user's natural arm.
  • the actuators are coupled to the sensors for sensing a desired movement and generate a signal in response thereto.
  • a controller as described in the application incorporated herein, is responsive to the sensor signal and generates control signals for input to at least one actuator.
  • the actuator receiving one of the signals causes at least one of the digits 12a-e to move independently or concurrently relative to another.
  • FIG. 2 there are a series of adjustable grooves 48 in the base segments 20 of the digits 12a-e that permit adjustment to the tension of the prosthetic hand 10. The tension is adjusted by tightening or loosening the screws 50, according to the needs of the user.
  • FIG. 3 there is shown a right side view of a left prosthetic hand 10.
  • the hand 10 is shown with the digits 12a-d slightly curved, which proximates the natural curvature of a human hand.
  • This view shows the hand 10 connected to an artificial limb member 60, which may be mounted on a user.
  • the prosthetic hand 10 at the base is threaded (seen in FIG. 1) to facilitate the mounting of the hand 10 into a socket of such a prosthetic arm 60.
  • the hand 10 may be unscrewed and replaced with other terminal devices. Grooves 48 are also seen in FIGS. 3 and 5b.
  • the structure of the digits includes either singly, doubly, or triply articulating movement at each hinge 28 and 30 and axes X, A and B.
  • the choice of articulating movement depends upon the user, i.e., a user may desire triply articulating movement, and will thus have two hinges 28 and 30, and the appropriate cables 32 connected to a digit or digits 12a-e at a point distal 52 to the hinge 28 and or hinges 28 and 30 of actuation to provide the desired movement.
  • the user may, however, only desire doubly or singly articulating movement, and the cables 32 are connected to the digits 12a-e at the appropriate location to accommodate the user.
  • the prosthetic hand 10 is shown holding a cup 62 with digits 12a, 12b, and 12e. Digits 12c and 12d are shown in phantom in FIG. 5a.
  • the structure resembles the human endoskeleton, both anteriorly and posteriorly, unless covered with a flexible cover, resembling skin and other external features associated with human epidermis.
  • a protective covering is desired by the user, the structure of the covering is generally in the shape of a glove made of silicon, rubber, or other suitable materials that do not impede hand motion.
  • the protective covering is preferably relatively stiff in the palmar portion, and more flexible in the hinge area, such as an accordion- like configuration, to reduce restraining torque in the movements of the hinges and axes of rotation.

Landscapes

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

Abstract

La présente invention concerne un dispositif prothétique (10) dont le mouvement de chaque doigt (12) est indépendant. Ce dispositif comprend un cadre (14) sur lequel plusieurs doigts sont montés. Plusieurs actionneurs (32) sont également montés sur le cadre et sont couplés auxdits doigts, ce qui permet à au moins un desdits doigts de bouger de façon indépendante ou simultanée par rapport à un autre doigt. Les actionneurs du dispositif prothétique peuvent être couplés à des détecteurs, afin de détecter un mouvement et de générer un signal en réponse au mouvement. Un organe de commande réagissant au signal du détecteur génère des signaux de commande destinés à être introduits dans au moins un actionneur. L'actionneur recevant le signal met au moins un des doigts en mouvement, de façon indépendante ou simultanée par rapport aux autres doigts.
PCT/US2000/013811 1999-05-19 2000-05-19 Main prothetique operant avec dexterite WO2000069375A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU51462/00A AU5146200A (en) 1999-05-19 2000-05-19 Dexterous prosthetic hand

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US13488299P 1999-05-19 1999-05-19
US60/134,882 1999-05-19

Publications (2)

Publication Number Publication Date
WO2000069375A1 true WO2000069375A1 (fr) 2000-11-23
WO2000069375A9 WO2000069375A9 (fr) 2002-02-21

Family

ID=22465444

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2000/013811 WO2000069375A1 (fr) 1999-05-19 2000-05-19 Main prothetique operant avec dexterite

Country Status (2)

Country Link
AU (1) AU5146200A (fr)
WO (1) WO2000069375A1 (fr)

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2386886A (en) * 2002-03-25 2003-10-01 Shadow Robot Company Ltd Humanoid type robotic hand
WO2008058061A2 (fr) * 2006-11-03 2008-05-15 President And Fellows Of Harvard College Dispositif de préhension adaptatif, compliant et robuste et procédé de fabrication
EP2125091A2 (fr) * 2007-02-06 2009-12-02 Hanger Orthopedic Group, Inc. Système et procédé d'utilisation d'un doigt pour positionner un dispositif prothétique ou orthétique
US8696763B2 (en) 2009-09-25 2014-04-15 Touch Emas Ltd. Prosthetic apparatus and control method
US8991885B2 (en) 2012-11-09 2015-03-31 Irobot Corporation Compliant underactuated grasper
US9004559B2 (en) 2012-11-09 2015-04-14 Irobot Corporation Compliant underactuated grasper
US9089977B2 (en) 2012-11-09 2015-07-28 Irobot Corporation Compliant underactuated grasper
US9278012B2 (en) 2011-09-16 2016-03-08 Touch Bionics Limited Prosthesis or an orthosis and a method for controlling a prosthesis or an orthosis
US9387095B2 (en) 2012-07-23 2016-07-12 Touch Bionics Limited Prosthetics and orthotics
US9402749B2 (en) 2009-06-24 2016-08-02 Touch Bionics Limited Method of controlling a prosthesis
US9463100B2 (en) 2011-09-16 2016-10-11 Touch Bionics Limited Method and apparatus for controlling a prosthetic device
WO2016180365A1 (fr) * 2015-05-14 2016-11-17 汪雯 Mécanisme différentiel de continuum et bras mécanique
US9545727B1 (en) 2015-11-05 2017-01-17 Irobot Corporation Robotic fingers and end effectors including same
CN108186171A (zh) * 2017-12-28 2018-06-22 中国科学院深圳先进技术研究院 一种仿生手装置及机器人
US10265197B2 (en) 2014-05-09 2019-04-23 Touch Bionics Limited Systems and methods for controlling a prosthetic hand
US10369016B2 (en) 2014-02-04 2019-08-06 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
US10369024B2 (en) 2016-09-02 2019-08-06 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US10398576B2 (en) 2011-08-18 2019-09-03 Touch Bionics Limited Prosthetic feedback apparatus and method
US10449063B2 (en) 2014-10-03 2019-10-22 Touch Bionics Limited Wrist device for a prosthetic limb
US10610385B2 (en) 2013-02-05 2020-04-07 Touch Bionics Limited Multi-modal upper limb prosthetic device control using myoelectric signals
US10758379B2 (en) 2016-05-25 2020-09-01 Scott MANDELBAUM Systems and methods for fine motor control of fingers on a prosthetic hand to emulate a natural stroke
US10973660B2 (en) 2017-12-15 2021-04-13 Touch Bionics Limited Powered prosthetic thumb
US11083600B2 (en) 2014-02-25 2021-08-10 Touch Bionics Limited Prosthetic digit for use with touchscreen devices
US11185426B2 (en) 2016-09-02 2021-11-30 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
CN114887299A (zh) * 2022-04-08 2022-08-12 北京科技大学 一种基于恒转矩柔性铰链的手指手腕康复机构
US11547581B2 (en) 2018-12-20 2023-01-10 Touch Bionics Limited Energy conservation of a motor-driven digit
US11931270B2 (en) 2019-11-15 2024-03-19 Touch Bionics Limited Prosthetic digit actuator
US12115087B2 (en) 2020-11-03 2024-10-15 Touch Bionics Limited Sensor for prosthetic control

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3694021A (en) * 1970-07-31 1972-09-26 James F Mullen Mechanical hand
US4643473A (en) * 1986-02-03 1987-02-17 General Motors Corporation Robotic mechanical hand
US5080682A (en) * 1990-07-05 1992-01-14 Schectman Leonard A Artificial robotic hand
US5326369A (en) * 1992-06-12 1994-07-05 Schectman Leonard A Flexible actuating screw
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3694021A (en) * 1970-07-31 1972-09-26 James F Mullen Mechanical hand
US4643473A (en) * 1986-02-03 1987-02-17 General Motors Corporation Robotic mechanical hand
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
US5080682A (en) * 1990-07-05 1992-01-14 Schectman Leonard A Artificial robotic hand
US5326369A (en) * 1992-06-12 1994-07-05 Schectman Leonard A Flexible actuating screw

Cited By (47)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2386886A (en) * 2002-03-25 2003-10-01 Shadow Robot Company Ltd Humanoid type robotic hand
US8231158B2 (en) 2006-11-03 2012-07-31 President And Fellows Of Harvard College Robust compliant adaptive grasper and method of manufacturing same
WO2008058061A2 (fr) * 2006-11-03 2008-05-15 President And Fellows Of Harvard College Dispositif de préhension adaptatif, compliant et robuste et procédé de fabrication
WO2008058061A3 (fr) * 2006-11-03 2008-07-31 Harvard College Dispositif de préhension adaptatif, compliant et robuste et procédé de fabrication
EP2125091A4 (fr) * 2007-02-06 2013-01-16 Hanger Orthopedic Group Inc Système et procédé d'utilisation d'un doigt pour positionner un dispositif prothétique ou orthétique
US7828857B2 (en) * 2007-02-06 2010-11-09 Hanger Orthopedic Group Inc. System for using a digit to position a prosthetic or orthotic device
EP2125091A2 (fr) * 2007-02-06 2009-12-02 Hanger Orthopedic Group, Inc. Système et procédé d'utilisation d'un doigt pour positionner un dispositif prothétique ou orthétique
US9402749B2 (en) 2009-06-24 2016-08-02 Touch Bionics Limited Method of controlling a prosthesis
US8696763B2 (en) 2009-09-25 2014-04-15 Touch Emas Ltd. Prosthetic apparatus and control method
US11259941B2 (en) 2011-08-18 2022-03-01 Touch Bionics Limited Prosthetic feedback apparatus and method
US10398576B2 (en) 2011-08-18 2019-09-03 Touch Bionics Limited Prosthetic feedback apparatus and method
US9463100B2 (en) 2011-09-16 2016-10-11 Touch Bionics Limited Method and apparatus for controlling a prosthetic device
US9278012B2 (en) 2011-09-16 2016-03-08 Touch Bionics Limited Prosthesis or an orthosis and a method for controlling a prosthesis or an orthosis
US9387095B2 (en) 2012-07-23 2016-07-12 Touch Bionics Limited Prosthetics and orthotics
US9114540B2 (en) 2012-11-09 2015-08-25 Irobot Corporation Compliant underactuated grasper
US9327412B2 (en) 2012-11-09 2016-05-03 Irobot Corporation Compliant underactuated grasper
US9089977B2 (en) 2012-11-09 2015-07-28 Irobot Corporation Compliant underactuated grasper
US8991885B2 (en) 2012-11-09 2015-03-31 Irobot Corporation Compliant underactuated grasper
US9004559B2 (en) 2012-11-09 2015-04-14 Irobot Corporation Compliant underactuated grasper
US11890208B2 (en) 2013-02-05 2024-02-06 Touch Bionics Limited Multi-modal upper limb prosthetic device control using myoelectric signals
US10610385B2 (en) 2013-02-05 2020-04-07 Touch Bionics Limited Multi-modal upper limb prosthetic device control using myoelectric signals
US10369016B2 (en) 2014-02-04 2019-08-06 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
US11464654B2 (en) 2014-02-04 2022-10-11 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
US11083600B2 (en) 2014-02-25 2021-08-10 Touch Bionics Limited Prosthetic digit for use with touchscreen devices
US10265197B2 (en) 2014-05-09 2019-04-23 Touch Bionics Limited Systems and methods for controlling a prosthetic hand
US11234842B2 (en) 2014-05-09 2022-02-01 Touch Bionics Limited Systems and methods for controlling a prosthetic hand
US12097131B2 (en) 2014-10-03 2024-09-24 Touch Bionics Limited Wrist device for a prosthetic limb
US10449063B2 (en) 2014-10-03 2019-10-22 Touch Bionics Limited Wrist device for a prosthetic limb
US11357646B2 (en) 2014-10-03 2022-06-14 Touch Bionics Limited Wrist device for a prosthetic limb
WO2016180365A1 (fr) * 2015-05-14 2016-11-17 汪雯 Mécanisme différentiel de continuum et bras mécanique
US9744677B2 (en) 2015-11-05 2017-08-29 Irobot Corporation Robotic fingers and end effectors including same
US9545727B1 (en) 2015-11-05 2017-01-17 Irobot Corporation Robotic fingers and end effectors including same
US11759337B2 (en) 2016-05-25 2023-09-19 Scott MANDELBAUM Systems and methods for fine motor control of the fingers on a prosthetic hand to emulate a natural stroke
US10758379B2 (en) 2016-05-25 2020-09-01 Scott MANDELBAUM Systems and methods for fine motor control of fingers on a prosthetic hand to emulate a natural stroke
US10369024B2 (en) 2016-09-02 2019-08-06 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US11185426B2 (en) 2016-09-02 2021-11-30 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US12059362B2 (en) 2016-09-02 2024-08-13 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US10973660B2 (en) 2017-12-15 2021-04-13 Touch Bionics Limited Powered prosthetic thumb
US11786381B2 (en) 2017-12-15 2023-10-17 Touch Bionics Limited Powered prosthetic thumb
CN108186171B (zh) * 2017-12-28 2020-08-28 中国科学院深圳先进技术研究院 一种仿生手装置及机器人
CN108186171A (zh) * 2017-12-28 2018-06-22 中国科学院深圳先进技术研究院 一种仿生手装置及机器人
US11547581B2 (en) 2018-12-20 2023-01-10 Touch Bionics Limited Energy conservation of a motor-driven digit
US12279977B2 (en) 2018-12-20 2025-04-22 Touch Bionics Limited Energy conservation of a motor-driven digit
US11931270B2 (en) 2019-11-15 2024-03-19 Touch Bionics Limited Prosthetic digit actuator
US12115087B2 (en) 2020-11-03 2024-10-15 Touch Bionics Limited Sensor for prosthetic control
CN114887299A (zh) * 2022-04-08 2022-08-12 北京科技大学 一种基于恒转矩柔性铰链的手指手腕康复机构
CN114887299B (zh) * 2022-04-08 2023-03-07 北京科技大学 一种基于恒转矩柔性铰链的手指手腕康复机构

Also Published As

Publication number Publication date
WO2000069375A9 (fr) 2002-02-21
AU5146200A (en) 2000-12-05

Similar Documents

Publication Publication Date Title
WO2000069375A1 (fr) Main prothetique operant avec dexterite
CN101340867B (zh) 具有两个驱动装置的手假肢
US4246661A (en) Digitally-controlled artificial hand
US10271966B2 (en) Mechanical prosthetic hand
JP7034487B2 (ja) 使用者の把持力を向上する装置
EP2178680B1 (fr) Dispositif mécatronique portable
WO2008030419A2 (fr) Dispositif mécanique modulaire ressemblant à un bras humain et à une main humaine
WO2000015157A1 (fr) Dispositifs prothetiques, orthetiques et autres dispositifs de readaptation actionnes par des materiaux intelligents
WO2003017880A1 (fr) Pouce d'une main mecanique
WO1994009727A2 (fr) Orthose et prothese
US5222986A (en) Hand prosthesis for grasping large and small objects
WO2007103957A2 (fr) prothese de bras
US7614673B2 (en) Conforming artificial finger mechanism
US20210361445A1 (en) Powered finger with locking rack mechanism
US20070276303A1 (en) Gripping Device and Method
Mohammadi et al. A paediatric 3d-printed soft robotic hand prosthesis for children with upper limb loss
US4834760A (en) Bi-articulated prosthetic terminal device
US5219323A (en) Method and apparatus for rotating a wrist
US20230320873A1 (en) Biomedical finger assembly with ratcheting lock
Nemoto et al. F3Hand II: A flexible five-fingered prosthetic hand using curved pneumatic artificial muscles
US5484394A (en) Method and apparatus for rotating a wrist
US20220072715A1 (en) Wearable robot hand device removable from hand structure
WO1999045864A1 (fr) Appareil d'ergotherapie
Dechev et al. Thumb design of an experimental prosthetic hand
WO2022197805A1 (fr) Prothèse de main partielle

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AL AM AT AU AZ BA BB BG BR BY CA CH CN CR CU CZ DE DK DM EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG US UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
AK Designated states

Kind code of ref document: C2

Designated state(s): AE AL AM AT AU AZ BA BB BG BR BY CA CH CN CR CU CZ DE DK DM EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG US UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: C2

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

COP Corrected version of pamphlet

Free format text: PAGES 1/5-5/5, DRAWINGS, REPLACED BY NEW PAGES 1/4-4/4; DUE TO LATE TRANSMITTAL BY THE RECEIVING OFFICE

REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: JP

点击 这是indexloc提供的php浏览器服务，不要输入任何密码和下载