WO2017208100A1 - Prothèse myoélectrique de la main obtenue par impression 3d avec un mouvement amélioré du pouce - Google Patents

Prothèse myoélectrique de la main obtenue par impression 3d avec un mouvement amélioré du pouce Download PDF

Info

Publication number
WO2017208100A1
WO2017208100A1 PCT/IB2017/052890 IB2017052890W WO2017208100A1 WO 2017208100 A1 WO2017208100 A1 WO 2017208100A1 IB 2017052890 W IB2017052890 W IB 2017052890W WO 2017208100 A1 WO2017208100 A1 WO 2017208100A1
Authority
WO
WIPO (PCT)
Prior art keywords
prosthesis
pinion
fingers
myoelectric
mechanisms
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/IB2017/052890
Other languages
English (en)
Spanish (es)
Inventor
Jorge Alberto ROBLEDO RAMIREZ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of WO2017208100A1 publication Critical patent/WO2017208100A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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

Definitions

  • the present invention relates to robotic prostheses for limb replacements, in particular with a myoelectric hand prosthesis manufactured by three-dimensional printing.
  • robotic prostheses for limb replacement which work with both electric power (for example myoelectric prostheses) and include mechanical devices, these are generally very expensive and have difficulty adjusting to any size.
  • the adjustment to the dimensions of the limbs of children is particularly difficult, since any modification in the dimensions of the prosthesis requires the change of the manufacturing mold. This limits access to a large number of patients to prosthetic aids that reduce the discomforts of amputations or congenital defects.
  • the present invention solves the problems of the state of the art by providing a hand-held myoelectric prosthesis obtained by 3D printing, which comprises a plurality of mechanisms that provide independent movement to each finger and allow to adjust to any size of prosthesis, maintaining the strength and speed of the movements. Additionally, advantageously, the prosthesis of the present invention allows both the opposition of the thumb to the other fingers and the subterminolateral opposition thereof (key grip), and therefore provides a functionality closer to that of a human hand.
  • Figure 1 shows a front view of the myoelectric prosthesis of the present invention.
  • Figure 2 corresponds to a rear view of the myoelectric prosthesis of the present invention.
  • Figure 3 illustrates the detail of the engine operation and the pinion arrangement that allows the movement of each of the fingers.
  • Figure 4 shows the preferred way of closing the fingers in the myoelectric prosthesis of the invention, taking the index finger as a model.
  • Figure 5 shows the preferred way in which hand opening occurs in the myoelectric prosthesis of the present invention, illustrated with the index finger.
  • Figures 6A and 6B illustrate the mechanism for performing thumb opposition in the myoelectric prosthesis of the invention.
  • Figures 7A and 7B show the preferred way of performing the thumb-to-bottom (key grip) opposition of the prosthesis of the present invention.
  • Figure 8 shows the preferred way of adjusting the motor and pinions to resize the prosthesis of the invention.
  • FIGS 9A and 9B illustrate the preferred way of performing the size reduction of the prosthesis of the invention.
  • hand prostheses are required that can be made to the exact measure of the user's needs, maintaining the strength and speed of movements in any size and that provide finger movements more similar to one hand human
  • the present invention solves the problems of the state of the art by providing a hand-held myoelectric prosthesis obtained by 3D printing, which allows a millimeter adjustment to the user's needs, has constant force and speed of movements regardless of the size of the prosthesis, and allows improved finger movements.
  • the present invention relates to a hand-held myoelectric prosthesis obtained by 3D printing that comprises a plurality of mechanisms for moving the fingers, which allows to adjust to any size of prosthesis.
  • Said plurality of mechanisms provides independent movement of each finger and allows both the opposition of the thumb to the other fingers and their subterminolateral opposition (key grip), similar to how it is done in a human hand.
  • the prosthesis of the invention has myoelectric sensors that are located in contact with the user's skin, and capture the signals produced by the muscles to convert them into a binary signal. Said binary signal is conducted to a microcontroller, which interprets it, sends a transformed signal to the controller circuit of the plurality of mechanisms for moving the fingers, and thanks to software translates this signal into movement of the prosthesis.
  • the myoelectric prosthesis of the invention employs two myoelectric sensors located in the user's forearm that transmit the signals for the opening, closing and the different hand grips.
  • Figures 1 and 2 show a preferred embodiment of the prosthesis of the invention
  • each of the fingers moves independently thanks to a plurality of mechanisms that respectively operate the index, middle, ring and little fingers (1), (2 ), (3) and (4).
  • the thumb (9) has two mechanisms for its movement, a mechanism for flexion or extension (5) that achieves the opposition of the thumb to the other fingers and a mechanism for independent movement (6), that is, to obtain the subterminolateral opposition of the thumb.
  • Each of the fingers comprises a lower phalanx (7) and an upper phalanx (8).
  • the clamping parts (10) and (1 1) house the mechanisms for the movement of the fingers, which are fixed by means of screws (13) to the outer housing (12 ) which also houses the electronic part, forms the back of the hand and wrist and joins the contact cavity with the user.
  • the plurality of mechanisms for the movement of the fingers of each of the fingers (1), (2), (3) and (4) comprises a motor (14), and an arrangement of pinions .
  • the pinion arrangement of the plurality of mechanisms for moving the fingers of the myoelectric prosthesis of the invention It comprises a metal sprocket reduction mechanism (15) in which the motor (14) is embedded, and a first straight sprocket (16) which, when rotated, transmits the movement to one or more sprockets.
  • the metal pinion reduction mechanism converts the engine rotation speed, with low torque, into a movement with lower speed but greater torque. From this metal pinion reduction mechanism (15) there is an axis parallel to the motor shaft (14) where the first straight pinion (16) is connected.
  • the first straight pinion (16) is connected to a reducing pinion (17), which in turn moves a second straight pinion (18), attached to a cylinder (21).
  • the Cylinder (21) holds a semi-rigid belt (19) of a pulley (20). The transmission of the movement to the upper phalanges (8) is obtained by means of the semi-rigid belt (19).
  • the motor (14) is a direct current motor, more preferably a direct current metallic micro geared motor.
  • the motor (14) has a torque between 0.01 and 3 Kg / cm, more preferably between 0.05 and 2.5 Kg / cm.
  • Figure 4 shows the preferred way of closing each of the fingers of the myoelectric prosthesis of the invention, taking as an example the index finger.
  • the rotation of the motor (14) is transmitted by the reduction mechanism (15) to the first straight pinion (16), the reducing pinion (17), and the second straight pinion (18), and the semi-rigid belt (19 ) makes traction in the upper phalanx (8), which transmits the movement to the lower phalanx (7) to the point where the tip of the finger touches the palm of the hand, where the motor (14) stops.
  • the myoelectric prosthesis of the invention generates the opening movement, by reversing the direction of rotation of the motor (14), which causes the semi-rigid belt (19) to perform traction on the upper phalanx (8) in the opposite direction, that is, upwards.
  • the movement is transmitted to the lower phalanx (7) and continues until the finger is fully extended.
  • the myoelectric prosthesis of the present invention advantageously provides two independent movements of the thumb, controlled by two different mechanisms: a mechanism for flexion or extension (5) and a mechanism for independent movement (6), that is to say to obtain the subterminolateral opposition of the thumb. This advantageously makes the myoelectric prosthesis of the present invention provide movements closer to those possessed by a human hand.
  • the opposition of the thumb to the other fingers is controlled by the flexion or extension mechanism (5) as evidenced in Figures 6A and 6B.
  • said mechanism for flexion or extension (5) the output of the motor (14) with a metal pinion reduction mechanism (15) a first straight pinion (16) is connected, which in turn is connected to a reduction pinion ( 17).
  • this reducer pinion (17) is connected to an additional reducer pinion (22), which is connected to the second straight pinion (18).
  • Said second straight pinion (18) is attached to a support (23) that is responsible for supporting the entire mechanism for independent movement (6), and the thumb (9).
  • the second straight pinion (18) moves, traction is made on the thumb (9) until it is in front of the other fingers.
  • the inversion of the rotation allows the movement of the thumb (9) in the opposite direction, returning it to its open palm position.
  • the myoelectric prosthesis of the present invention also allows for the sub-lateral opposition of the thumb, the "key grip", as shown in Figures 7A and 7B.
  • the mechanism for independent movement (6) preferably comprises a motor (14), embedded in a metal pinion reduction mechanism (15), where the output of this motor is connected to a first straight pinion (16) , which is connected to a reduction pinion (17), which in turn is connected to a second straight pinion (18).
  • This second straight pinion (18) is attached to a cylinder (21) that holds a semi-rigid belt (24), which is connected to the thumb (9).
  • the mechanism for independent movement (6) moves the thumb (9) by the traction made by the semi-rigid belt (24).
  • the myoelectric prosthesis that is the object of the present invention advantageously provides movements closer to those of a human hand, such as the thumb's sub-lateral opposition, with high precision, force and speed, regardless of the prosthesis size
  • said force and speed of finger movements is adjusted by changing the torque value of the motor (14), and decreasing the diameters and number of teeth of the arrangement of pinions, for example of the first straight pinion (16), the reducing pinion (17) and the second straight pinion (18).
  • the strength and speed of finger movements are kept constant.
  • the variation of the size of the myoelectric prosthesis of the invention is carried out by 3D printing of the clamping pieces (10) and (1 1) and the outer shell (12) in the desired dimensions, and the adjustment of the movement mechanisms of the fingers (1), (2), (3), (4), (5) and (6), varying the diameters of the first straight pinion (16), the reducing pinion (17) and the second straight pinion (18).
  • the torque required to move the fingers is 0.49 Kg / cm.
  • a motor (14) with an output torque of 0.30 kg / cm is used and this is connected to the first straight pinion (16). Being directly on the motor shaft, the first straight pinion (16) retains the torque.
  • said first straight pinion (16) has a diameter of 9.5mm and 24 teeth, when calculating the necessary output torque, it is obtained that it is possible to dispense with the reducing pinion (17) and connect the first straight pinion (16 ) to the second straight pinion (18), if the latter has a diameter of 17mm and 32 teeth.
  • eliminating the gear pinion (17) results in a significant reduction in the length of the finger, and due to the torque ratio of the motor (14) and the diameters of the pinion arrangement connected to it, the torque to move the finger remains constant (0.49 Kg / cm).
  • a motor (14) with a different torque it is possible to vary the diameter of the pinion arrangement to fit any size, maintaining the final torque needed to move the fingers.

Landscapes

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

Abstract

La présente invention concerne une prothèse myoélectrique de la main obtenue par impression 3D, laquelle comprend une pluralité de mécanismes qui offre un mouvement indépendant à chaque doigt et permet une adaptation à une quelconque taille de prothèse, maintenant la force et la vitesse des mouvements. En outre, de manière avantageuse, la prothèse de cette invention permet aussi bien l'opposition du pouce par rapport aux autres doigts que l'opposition sub termino latérale (adhérence de clé) de celui-ci, et offre donc une fonctionnalité plus proche de celle d'une main humaine.
PCT/IB2017/052890 2016-05-31 2017-05-17 Prothèse myoélectrique de la main obtenue par impression 3d avec un mouvement amélioré du pouce Ceased WO2017208100A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CO16142424 2016-05-31
CO16142424 2016-05-31

Publications (1)

Publication Number Publication Date
WO2017208100A1 true WO2017208100A1 (fr) 2017-12-07

Family

ID=60479189

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2017/052890 Ceased WO2017208100A1 (fr) 2016-05-31 2017-05-17 Prothèse myoélectrique de la main obtenue par impression 3d avec un mouvement amélioré du pouce

Country Status (1)

Country Link
WO (1) WO2017208100A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116079690A (zh) * 2023-02-10 2023-05-09 哈尔滨工业大学 一种拇指安装装置及驱动器内置式灵巧手
US11660821B2 (en) 2020-07-28 2023-05-30 International Business Machines Corporation Collaboration of three dimensional printing

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3509583A (en) * 1965-09-09 1970-05-05 Bendix Corp Electro-mechanical hand having tactile sensing means
WO2003017878A1 (fr) * 2001-08-27 2003-03-06 Bergomed Ab Main mecanique possedant la capacite de prehension d'une main humaine
CO5290261A1 (es) * 2002-11-06 2003-06-27 Paez Fabio Barbosa Protesis electrica articulada de mano muneca y antebrazo
EP2653137A1 (fr) * 2012-04-20 2013-10-23 Prensilia S.r.l. Prothèse de main multifonctionnel et autonome
WO2016005871A1 (fr) * 2014-07-07 2016-01-14 University Of Cape Town Prothèse de main sous-actionnée
US20160073584A1 (en) * 2014-09-12 2016-03-17 Washington State University Robotic systems, methods, and end-effectors for harvesting produce

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3509583A (en) * 1965-09-09 1970-05-05 Bendix Corp Electro-mechanical hand having tactile sensing means
WO2003017878A1 (fr) * 2001-08-27 2003-03-06 Bergomed Ab Main mecanique possedant la capacite de prehension d'une main humaine
CO5290261A1 (es) * 2002-11-06 2003-06-27 Paez Fabio Barbosa Protesis electrica articulada de mano muneca y antebrazo
EP2653137A1 (fr) * 2012-04-20 2013-10-23 Prensilia S.r.l. Prothèse de main multifonctionnel et autonome
WO2016005871A1 (fr) * 2014-07-07 2016-01-14 University Of Cape Town Prothèse de main sous-actionnée
US20160073584A1 (en) * 2014-09-12 2016-03-17 Washington State University Robotic systems, methods, and end-effectors for harvesting produce

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11660821B2 (en) 2020-07-28 2023-05-30 International Business Machines Corporation Collaboration of three dimensional printing
CN116079690A (zh) * 2023-02-10 2023-05-09 哈尔滨工业大学 一种拇指安装装置及驱动器内置式灵巧手

Similar Documents

Publication Publication Date Title
CN107041825B (zh) 一种术后肘膝关节康复器
CN108743243B (zh) 一种手腕康复装置
US8808397B2 (en) Prostheses with mechanically operable digit members
CN103099719B (zh) 一种膝关节柔性辅助康复装置
CN106618813A (zh) 假肢手
ITPI20120049A1 (it) Protesi di mano multifunzionale autocontenuta
CN106491312B (zh) 人体仿生膝关节、髋关节传动系统
CN103538077B (zh) 一种多自由度机器仿生手
CN104799982B (zh) 基于连续体差动机构的单电机欠驱动假肢手
CN113101020B (zh) 一种刚柔耦合灵巧假肢手
US20210068988A1 (en) Driving Assembly for Moving Body Part
CN106491250B (zh) 用于残疾人假手的电机内置式高仿耦合拇指
CN110640774B (zh) 一种六自由度五指机械手
WO2017208100A1 (fr) Prothèse myoélectrique de la main obtenue par impression 3d avec un mouvement amélioré du pouce
CN104688392A (zh) 完全自身力源仿生机械手
CN110538015B (zh) 一种机械假肢手臂
CN111110408A (zh) 一种仿人手指指节、仿人手指及手掌结构
CN108784892B (zh) 一种机械传动式假肢手臂
RU2727893C1 (ru) Палец протеза со спироидным редуктором и модульная конструкция протеза верхней конечности
CN207605118U (zh) 一种肘膝关节康复器
JP2021509828A (ja) 把持装置
CN104434349B (zh) 分类组合轻型假手
CN104257443B (zh) 一种假手
CN204800661U (zh) 一种两自由度仿人手腕装置
CN104367404B (zh) 一种仿人型肌电假手的手掌机构

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17805957

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17805957

Country of ref document: EP

Kind code of ref document: A1