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WO2003017879A1 - Systeme modulaire de main mecanique - Google Patents

Systeme modulaire de main mecanique Download PDF

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Publication number
WO2003017879A1
WO2003017879A1 PCT/SE2002/001515 SE0201515W WO03017879A1 WO 2003017879 A1 WO2003017879 A1 WO 2003017879A1 SE 0201515 W SE0201515 W SE 0201515W WO 03017879 A1 WO03017879 A1 WO 03017879A1
Authority
WO
WIPO (PCT)
Prior art keywords
modules
module
mechanical hand
finger
hand
Prior art date
Application number
PCT/SE2002/001515
Other languages
English (en)
Inventor
Stellan Brimalm
Original Assignee
Bergomed Ab
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 Bergomed Ab filed Critical Bergomed Ab
Publication of WO2003017879A1 publication Critical patent/WO2003017879A1/fr

Links

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
    • 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
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/585—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
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • 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
    • 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
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30329—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
    • 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
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30329—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
    • A61F2002/30426—Bayonet coupling
    • 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
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30329—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
    • A61F2002/30476—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements locked by an additional locking mechanism
    • A61F2002/305—Snap connection
    • 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
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30329—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
    • A61F2002/30476—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements locked by an additional locking mechanism
    • A61F2002/30507—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements locked by an additional locking mechanism using a threaded locking member, e.g. a locking screw or a set screw
    • 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
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30535—Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30604—Special structural features of bone or joint prostheses not otherwise provided for modular
    • 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
    • A61F2002/5081—Additional features
    • A61F2002/5083—Additional features modular
    • 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
    • A61F2/586—Fingers
    • A61F2002/587—Thumbs
    • 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
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
    • 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
    • A61F2220/00—Fixations or connections for prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
    • A61F2220/0025—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
    • 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
    • A61F2250/00—Special features of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
    • A61F2250/0058—Additional features; Implant or prostheses properties not otherwise provided for
    • A61F2250/006—Additional features; Implant or prostheses properties not otherwise provided for modular

Definitions

  • the present invention concerns a mechanical gripping element intended to simulate the human hand in appearance and gripping ability.
  • the invention is based on the mechanical hand being produced in the form of modules which constitute units, each of which is assembled to form a complete hand.
  • a hand prosthesis should have the same size as a human hand, and have a metacarpus, fingers and thumb which resemble the corresponding elements of a real human hand as closely as possible in length and appearance.
  • the movements of the hand element should follow a natural movement pattern.
  • the known prior art here is an arrangement disclosed in specification US 5 080 682 which has a mechanical hand of natural size, four fingers, a thumb and a metacarpus, where the length of the fingers and the size of the individual parts of the hand are natural and well proportioned to each other.
  • a known mechanical hand is also shown in specification US 4 792 338.
  • the hand in the arrangement shown uses the fingers and thumbs which are not possible to bend using joints along the fingers, which means that all fingers are stiff and hence have an unnatural appearance in certain positions, as such a hand cannot be held flat for example.
  • One disadvantage of using known mechanical hands as prostheses is that these are essentially constructed as an integral unit. This means that each individual mechanical hand which e.g. will be attached to an amputated lower arm in a human must be constructed in full, which in turn means that delivery times are long and the costs high as each hand must be assembled from its constituent parts.
  • One object of the present invention is to provide such a mechanical hand.
  • One aspect of the present invention is to provide a mechanical hand which is composed of modules into a complete unit, where each module has a defined interface to its adjacent modules in a system which constitutes a complete mechanical hand.
  • a hand module thus constitutes an exchangeable subsystem or exchangeable unit which is easy to connect to other modules to construct a complete custom-made hand, or easy to remove from the complete hand to be replaced by another module with corresponding function to the module removed.
  • defined interface means that modules matched to each other are matched functionally, by connection and geometrically.
  • the advantages of the design of the hand as a modular system are: simpler production and design of the modules, it is easier to make changes to an individual module in the system if required by engineers or users without the changes affecting the function or geometry of other modules in the system, variants of each individual module in the system can be provided, a particular module can be used in many variants of the complete hand, which means that the production volume for each individual module can be kept low, which in turn reduces overall costs, - as each individual module has its specific function and a well-defined interface to other modules, it is possible to perform functional tests and verifications before assembling the modules into a complete hand, it is easier to provide the market with standardised modules which means that delivery times to the user are shorter, service and maintenance are simplified when each individual module has a defined function.
  • the modules which constitute the finished hand consist of at least some of the modules of the group: a wrist module, a metacarpus module, finger module and thumb module where the names indicate which parts of the human hand or modules join together.
  • the module system also allows shortened prostheses. For the case where an arm is amputated in a human in front of the wrist, an artificial hand can be produced where the mechanical wrist module is excluded.
  • the modules are connected to each other with fast fixings such as bayonet fastenings or snap fastenings, where such a fixing is made using a fixing tool such as a screw, locking pin, rivet or corresponding locking element.
  • fast fixings such as bayonet fastenings or snap fastenings
  • a fixing tool such as a screw, locking pin, rivet or corresponding locking element.
  • the mechanical hand is naturally intended for use together with a glove made of a material which is highly resistant to influences of various types.
  • the glove is available in different sizes and with different pigmentation to offer a natural appearance in combination with the hand presented in this description, which in turn offers natural hand movements.
  • Figures la and lb show diagrammatically in two perspective views from two different directions a complete mechanical hand according to the invention.
  • Figure 2 shows a sketch of the various modules which constitute a complete hand.
  • Figure 3 shows in overview a connection e.g. between the metacarpus and the wrist.
  • FIGS la and lb show an example of a mechanical hand 1 according to the invention.
  • reference 2 indicates a platform which simulates the metacarpus in a human hand.
  • the platform 2 is referred to as the metacarpus 2, which in the invention constitutes a metacarpus module.
  • the metacarpus 2 which in the invention constitutes a metacarpus module.
  • the front part of the wrist is referred to as the carpus 5.
  • the wrist comprises one of the modules according to the invention and is referred to as the wrist module.
  • the axis of symmetry at the prosthesis connection 6 is intended to be an extension of the longitudinal axis of an amputated human lower arm.
  • the prosthesis connection 6 also constitutes one of the modules of the module system.
  • Figure 2 shows the modules which together form a complete hand with modules slightly separated from each other.
  • the finger modules are indicated by reference 7.
  • the thumb module is reference 8.
  • All fingers except the thumb are referred to as ordinary fingers which have the following reference numbers: index finger 10, middle finger 11, ring finger 12 and little finger 13.
  • the ordinary fingers 10 - 13 are attached to the front 14 of the metacarpus 2.
  • Each of the ordinary fingers at the finger base is arranged mobile at the fixing towards the metacarpus 2 by means of a pivotable joint formed around an axis 15 which is largely parallel to the said front 14 of the metacarpus 2 with the said joint axis 15 at the finger base positioned substantially in a plane constituting a longitudinal linear cross- section of the metacarpus 2.
  • the pivotable joint at the axis 15 allows the inside finger bone on each finger 10 - 13 to bend through around 90 degrees from a substantially straight position to an angle of around 90 degrees inwards to the palm, i.e.
  • the ordinary fingers 10 - 13 can bend around at least one further finger joint.
  • the front part of each finger element is bent by means of a pantograph rod 16 arranged at the said further finger joint.
  • the said pantograph rod 16 is furthermore attached at its other inner end - the rear end - at an axis arranged aligned parallel to the joint axis 15, where the pantograph rod 16 turns in the front part of the finger element concerned so that the front part is forced to bend inwards when the associated ordinary finger is pivoted down in relation to metacarpus 2.
  • the thumb module 8 is constituted by a thumb 17 arranged by means of a mounting based on a thumb base 18 constituted by a cylinder placed in the mechanical hand at a position corresponding to the thumb base (metacarpal 1) of the human hand.
  • the thumb base 18 is therefore located at the lower part of one side of the metacarpus 2 next to the first finger element 10.
  • the thumb base cylinder 18 is arranged pivotably. It can pivot about its own axis of symmetry 19 by means of an electric motor built into the cylinder.
  • the finger modules 7 and thumb module 8 are designed to be attached to the metacarpus 2 by means of fast fixings 19 which are received by corresponding openings for fast fixings 19 in the front 14 or side of the metacarpus.
  • the force connection and control signal connections engage in each other when the finger modules 7 or thumb module 8 and metacarpus are connected in this way.
  • the finger modules 7 and thumb module 8 are suitably locked to the metacarpus 2 by means of fixing tools such as a screw, locking pin, rivet or corresponding object inserted in hole 21 provided for this purpose.
  • Figures 3a and 3b show a coupling, which for example can be constituted by the coupling between the metacarpus 2 and the wrist 4.
  • This coupling constitutes part of the interface defined for adaptation between in this case the metacarpus module and the wrist module.
  • a first fixing 22 is attached to the metacarpus, where the respective half of the coupling 9a constitutes part of the metacarpus module.
  • the second fixing 23 is attached to the wrist module 4 and constitutes part of this.
  • the coupling half in coupling 9a is fitted with a locking groove 25 intended to receive locking screw 24 from the other coupling half when the coupling halves are joined together laterally. By tightening the locking screws 24 the coupling halves are attached to each other.
  • a contact pin 26 is also shown in one coupling half which is intended to engage in a contact socket in the other coupling half when these are joined together laterally. This ensures the electrical connection between the two said modules.

Landscapes

  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Transplantation (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (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)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une main mécanique (1) destinée à simuler une main humaine, cette main mécanique étant divisée en modules (2, 4, 6, 7, 8), chacun des modules adjacents, en relation l'un avec l'autre, possédant une interface définie.
PCT/SE2002/001515 2001-08-27 2002-08-26 Systeme modulaire de main mecanique WO2003017879A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0102838A SE0102838D0 (sv) 2001-08-27 2001-08-27 Modulsystem för mekanisk hand
SE0102838-0 2001-08-27

Publications (1)

Publication Number Publication Date
WO2003017879A1 true WO2003017879A1 (fr) 2003-03-06

Family

ID=20285133

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2002/001515 WO2003017879A1 (fr) 2001-08-27 2002-08-26 Systeme modulaire de main mecanique

Country Status (2)

Country Link
SE (1) SE0102838D0 (fr)
WO (1) WO2003017879A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006005569A2 (fr) * 2004-07-09 2006-01-19 Otto Bock Healthcare Products Gmbh Prothese de doigt ou d'orteil
CN1292719C (zh) * 2004-02-11 2007-01-03 哈尔滨工业大学 欠驱动自适应假手装置
CN101879101A (zh) * 2010-08-19 2010-11-10 上海理工大学 腕关节驱动仿生机械假手
EP3459505A1 (fr) * 2017-09-20 2019-03-27 HKK Bionics GmbH Orthèse de main, élément modulaire destiné à l'utilisation dans une orthèse à main et procédé de fabrication d'une orthèse à main
WO2019166990A1 (fr) * 2018-03-01 2019-09-06 Brink Bionics Inc. Mains prothétiques modulaires
US11771571B2 (en) 2021-06-28 2023-10-03 Alt-Bionics, Inc. Modular prosthetic hand system

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1385669A (en) * 1919-07-22 1921-07-26 Dilworth Otto Le Grand Artificial limb
US2497493A (en) * 1946-08-19 1950-02-14 Edwards Harold Theodore Artificial arm
GB715664A (en) * 1951-07-24 1954-09-15 Theodore Opuszenski Artificial hand
US4685929A (en) * 1983-10-05 1987-08-11 Compagnie Generale de Participations, S.A. Total hand prostheses

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1385669A (en) * 1919-07-22 1921-07-26 Dilworth Otto Le Grand Artificial limb
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GB715664A (en) * 1951-07-24 1954-09-15 Theodore Opuszenski Artificial hand
US4685929A (en) * 1983-10-05 1987-08-11 Compagnie Generale de Participations, S.A. Total hand prostheses

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CN1292719C (zh) * 2004-02-11 2007-01-03 哈尔滨工业大学 欠驱动自适应假手装置
WO2006005569A2 (fr) * 2004-07-09 2006-01-19 Otto Bock Healthcare Products Gmbh Prothese de doigt ou d'orteil
BE1016116A4 (nl) * 2004-07-09 2006-03-07 Cubber Jan De Modulair frame met cosmetische cover ter vervanging van de vingerbotstructuur.
WO2006005569A3 (fr) * 2004-07-09 2006-04-27 Bock Otto Healthcare Prod Gmbh Prothese de doigt ou d'orteil
CN101879101A (zh) * 2010-08-19 2010-11-10 上海理工大学 腕关节驱动仿生机械假手
EP3459505A1 (fr) * 2017-09-20 2019-03-27 HKK Bionics GmbH Orthèse de main, élément modulaire destiné à l'utilisation dans une orthèse à main et procédé de fabrication d'une orthèse à main
WO2019057811A1 (fr) * 2017-09-20 2019-03-28 Hkk Bionics Gmbh Orthèse pour la main, élément modulaire destiné à être utilisé dans une orthèse pour la main et procédé de fabrication d'une orthèse pour la main
CN111263624A (zh) * 2017-09-20 2020-06-09 Hkk仿生学有限责任公司 手矫形器、用于手矫形器的指节模块和手矫形器生产方法
CN111263624B (zh) * 2017-09-20 2022-04-19 Hkk仿生学有限责任公司 手矫形器、用于手矫形器的指节模块和手矫形器生产方法
US11446199B2 (en) 2017-09-20 2022-09-20 Hkk Bionics Gmbh Hand orthosis, module member for using in a hand orthosis, and method for producing a hand orthosis
WO2019166990A1 (fr) * 2018-03-01 2019-09-06 Brink Bionics Inc. Mains prothétiques modulaires
US11771571B2 (en) 2021-06-28 2023-10-03 Alt-Bionics, Inc. Modular prosthetic hand system

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