JP2011050529A - Prosthetic finger device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To inexpensively provide a prosthetic finger device securely gripping an article. <P>SOLUTION: A finger skeleton 12 is bent or extended by a first actuator 71, and powder is loaded in bags 52-55 covering the finger skeleton 12. The inside of the bags 52-55 is evacuated and solidified by a second actuator 73 after bending the finger skeleton 12. Accordingly, the finger skeleton 12 is bent to make the prosthetic finger abut to the surface of the article while the bags 52-55 are not solidified, and the bags 52-55 are solidified after adjusting the shapes of the flexible bags 52-55 along the shape of the article, so that the article can be securely gripped without requiring specially strong gripping power. In addition, if the first actuator 71 can bend and extend the finger skeleton, complicated control such as the control of the gripping power and bending amount of the prosthetic finger by using a sensor, etc., is not necessary, and the second actuator 72 which can evacuate the inside of the bags 52-55 is sufficient. As a result, the prosthetic finger device can be provided at an extremely low price. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a prosthetic finger device used for a prosthetic hand, and more particularly to a prosthetic finger device that can be bent by an actuator to grip an article.

  A tongue-shaped portion formed by cutting and raising one of the thin metal plates in the joint of the mandrel of the prosthetic finger for a prosthetic hand, wherein the end portions of a plurality of thin metal plates are stacked and pivotally supported. Patent Document 1 below discloses that a frictional force is generated by elastically pressing the other side against a thin metal plate and the bending angle of the joint can be arbitrarily changed.

  Patent Document 2 below discloses an arbitrary shape holding device that stores powder in a flexible and airtight bag body and makes the bag body vacuum while keeping the arbitrary shape rigid. Is known.

Japanese Patent No. 111162 Japanese National Patent Publication No. 5-503653

  Currently, various prosthetic hands with artificial fingers that are bent by an actuator and grip an article have been put into practical use.However, since an artificial finger is difficult to adapt to the shape of the article, the article easily slips and falls. If the gripping force is increased to prevent this, the article may be damaged. There are also known sensors that control the operation of the actuator by detecting the gripping force and bending angle of the prosthetic finger, and those that operate the actuator by reading the user's intention from the electrical signals flowing through the muscles and spinal cord. There was a problem that these things were very expensive.

  The present invention has been made in view of the above-described circumstances, and an object thereof is to provide a prosthetic finger device that can reliably hold an article at a low cost.

  To achieve the above object, according to the invention described in claim 1, a finger skeleton, a first actuator that bends and extends the finger skeleton, a plurality of bags covering the finger skeleton, and the bag There is proposed a prosthetic finger device comprising: a powder filled in a body; and a second actuator that evacuates and solidifies the inside of the bag after the finger skeleton is bent.

  According to the invention described in claim 2, in addition to the structure of claim 1, the finger skeleton is configured by connecting a plurality of links in series with a plurality of hinges. A device is proposed.

  According to the invention described in claim 3, in addition to the configuration of claim 1 or claim 2, the hinge is biased in the extending direction by a return spring, and the first actuator has a tip more than the hinge. A prosthetic finger device is proposed in which a link on a side is pulled with a cable and bent with respect to a link on the proximal end side with respect to the hinge.

  According to the invention described in claim 4, in addition to the configuration of any one of claims 1 to 3, the first actuator causes the plurality of hinges to bend from the proximal hinge. A prosthetic finger device is proposed which is completed in order toward the hinge on the distal end side.

  According to the invention described in claim 5, in addition to the configurations of claims 1 to 4, a prosthetic finger device comprising the bag corresponding to each of the plurality of links. Proposed.

  According to the invention described in claim 6, in addition to the configuration of claim 5, the second actuator moves the plurality of bag bodies from the bag body on the proximal end side of the finger skeleton to the bag body on the distal end side. A prosthetic finger device characterized by solidifying in turn is proposed.

  According to the invention described in claim 7, in addition to the structure of claim 6, the adjacent bag bodies are connected to each other through an orifice, and the most proximal bag body of the finger skeleton is the first bag body. A prosthetic finger device is proposed which is connected to two actuators and is evacuated.

  The end link 13, the middle link 14, the base link 15, and the middle link 16 of the embodiment correspond to the links of the present invention, and the first hinge pin 17, the second hinge pin 18, and the third hinge pin of the embodiment. 19 corresponds to the hinge of the present invention, the first return spring 36, the second return spring 38 and the third return spring 40 of the embodiment correspond to the return spring of the present invention, the first cable 43 of the embodiment, The second cable 46 and the third cable 49 correspond to the cable of the present invention, and the end joint bag body 52, the middle joint bag body 53, the base joint bag body 54 and the middle glove body 55 of the embodiment are the bag body of the present invention. Correspondingly, the first tube 58, the second tube 59 and the third tube 60 of the embodiment correspond to the orifice of the present invention.

  According to the configuration of the first aspect, the finger skeleton is bent and extended by the first actuator, the bag body covering the finger skeleton is filled with powder, and the inside of the bag body is vacuumed by the second actuator after the finger skeleton is bent. Since it is pulled and solidified, the finger skeleton is bent in a state where the bag is not solidified and the artificial finger is brought into contact with the surface of the article, so that the shape of the flexible bag conforms to the shape of the article. By solidifying the bag body later, the article can be securely gripped without requiring a particularly strong gripping force. In addition, the first actuator only needs to be able to bend and extend the finger skeleton, and it is not necessary to control the gripping force and bending amount of the artificial finger using a sensor or the like. As long as it can be evacuated, it can be realized at a very low price.

  According to the configuration of claim 2, since the finger skeleton is configured by connecting a plurality of links in series with a plurality of hinges, the finger skeleton can be reliably bent and extended while correctly maintaining the shape of the entire artificial finger. .

  According to the third aspect of the present invention, the hinge is urged in the extending direction by the return spring, and the first actuator pulls the link on the distal end side with respect to the hinge with the cable to the link on the proximal end side with respect to the hinge. In contrast, the cable can be pulled to grip the article with the artificial finger, and the cable can be loosened to release the grip.

  According to the fourth aspect of the present invention, since the first actuator completes the bending of the plurality of hinges in order from the proximal hinge to the distal hinge, the prosthetic finger is securely wound around the article. It can be gripped.

  Moreover, according to the structure of Claim 5, since the bag body is provided corresponding to each of the plurality of links, it is possible to prevent the powder from shifting to a part of the artificial finger and losing its shape.

  According to the configuration of the sixth aspect, the second actuator solidifies the plurality of bags in order from the proximal-side bag body of the finger skeleton toward the distal-side bag body, so that the object can be gripped more reliably. be able to.

  According to the seventh aspect of the present invention, the adjacent bag bodies are connected to each other via the orifice, and the bag body on the most proximal side of the finger skeleton is connected to the second actuator for evacuation. It can be made to solidify in order toward the front end side bag body from the proximal end side bag body of the prosthetic finger.

The perspective view of a prosthetic hand provided with a prosthetic finger. FIG. 2 is an enlarged sectional view taken along line 2-2 of FIG. FIG. 3 is a sectional view taken along line 3-3 in FIG. 2. FIG. 4 is a cross-sectional view taken along line 4-4 of FIG. FIG. 5 is a sectional view taken along line 5-5 of FIG. Part drawing of the finger skeleton of a prosthetic finger. The disassembled perspective view of a prosthetic finger. The perspective view of a 1st-4th bag body and a surface film. 9 is an enlarged view of 9 parts in FIG. FIG. 10 is a view in the direction of arrow 10 in FIG. 9. Action explanatory drawing corresponding to FIG. The figure corresponding to the said FIG. 2 which shows a state when a prosthetic finger is bent.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS.

  As shown in FIG. 1, the prosthetic hand H includes five artificial fingers 11 to which the present invention is applied. Since the structure of the five prosthetic fingers 11 is basically the same except for the thumb, the prosthetic finger 11 of the index finger will be described below as a representative.

  As shown in FIG. 2, the finger skeleton 12 of the prosthetic finger 11 includes a distal segment link 13 corresponding to the distal phalanx, the middle phalanx, the proximal phalanx, and the metacarpal bone of the human body from the distal side toward the proximal side. A node link 14, a proximal link 15 and a middle link 16 are provided. The end link 13 and the middle link 14 are connected to each other by a first hinge pin 17 corresponding to a first joint so as to be bent. The node link 15 is connected to bendable by a second hinge pin 18 corresponding to the second joint, and the proximal link 15 and the middle hand link 16 are connected to bendable by a third hinge pin 19 corresponding to the middle finger joint.

  As shown in FIGS. 2 to 7, the end link 13 has two middle plates 21 and 21 laminated on both sides of one inner plate 20 and two outer plates 22 and 22 laminated on both sides thereof. It has a five-layer structure, and a circular first communication hole 23 penetrates left and right. A notch 20a is formed in the rear portion of the inner plate 20, the notch 20a and the first communication hole 23 are connected by a tube storage hole 20b extending in the front-rear direction, and a spring storage hole 20c extends forward from the notch 20a. To do. A notch 21a slightly larger than the notch 20a of the inner plate 20 and a guide pin hole 21b are formed in the rear portion of the intermediate plate 21. A hinge pin hole 22a into which the first hinge pin 17 is fitted and a guide pin hole 22b are formed in the rear part of the outer plate 22.

  The middle link 14 has a five-layer structure in which two inner plates 25, 25 are stacked on both sides of one inner plate 24, and two outer plates 26, 26 are stacked on both sides thereof. The second communication hole 27 penetrates from side to side. A notch 24a is formed in the rear portion of the inner plate 24, and the notch 24a and the front end of the inner plate 24 are connected by a tube storage hole 24b that extends through the second communication hole 27 and extends in the front-rear direction. The spring storage hole 24c extends forward. Furthermore, the lower part of the inner plate 24 is divided into two vertically by a cable housing hole 24d extending in the front-rear direction. A notch 25a slightly larger than the notch 24a of the inner plate 24 and a guide pin hole 25b are formed in the rear portion of the intermediate plate 25, and the first hinge pin 17 is fitted in the front portion of the intermediate plate 25. A hinge pin hole 25c, a spring support pin hole 25d, and a guide pin hole 25e are formed. A hinge pin hole 26 a into which the second hinge pin 18 is fitted and a guide pin hole 26 b are formed in the rear part of the outer plate 26, and the rear end of the outer plate 22 of the end link 13 is formed in the front part of the outer plate 26. A fitting notch 26c and a guide pin hole 26d are formed.

  The base link 15 has a five-layer structure in which two inner plates 29 and 29 are stacked on both sides of one inner plate 28 and two outer plates 30 and 30 are stacked on both sides thereof. The third communication hole 31 penetrates from side to side. A notch 28a is formed in the rear portion of the inner plate 28, and the notch 28a and the front end of the inner plate 24 are connected by a tube storage hole 28b extending through the third communication hole 31 in the front-rear direction, and extending from the notch 28a. The spring storage hole 28c extends forward. Further, the lower portion of the inner plate 28 is divided into two vertically by a cable housing hole 28d extending in the front-rear direction. A notch 29 a slightly larger than the notch 28 a of the inner plate 28 and a guide pin hole 29 b are formed in the rear part of the inner plate 29, and the second hinge pin 18 is fitted in the front part of the intermediate plate 29. A hinge pin hole 29c, a spring support pin hole 29d, and a guide pin hole 29e are formed. A hinge pin hole 30a into which the second hinge pin 18 is fitted and a guide pin hole 30b are formed in the rear portion of the outer plate 30, and the rear end of the outer plate 24 of the middle link 14 is formed in the front portion of the outer plate 26. A notch 30c and a guide pin hole 30d are formed.

  The middle link 16 has a five-layer structure in which two inner plates 33 and 33 are stacked on both sides of one inner plate 32 and two outer plates 34 and 34 are stacked on both sides thereof. The fourth communication hole 35 penetrates from side to side. The inner plate 32 is formed with a tube storage hole 32a extending through the fourth communication hole 35 and extending in the front-rear direction, and the lower portion of the inner plate 32 is divided into two vertically by a cable storage hole 32b extending in the front-rear direction. A hinge pin hole 33a into which the third hinge pin 19 is fitted, a spring support pin hole 33b, and a guide pin hole 33c are formed in the front portion of the intermediate plate 33. In the front part of the outer plate 34, a notch 34a into which the rear end of the outer plate 30 of the base link 15 is fitted and a guide pin hole 34b are formed.

  A first return spring 36 is fitted to the first hinge pin 17 that pivotally supports the end link 13 and the middle link 14, and one end of the first return spring 36 is a spring accommodating hole 20 c of the middle plate 20 of the end link 13. And the other end engages with a spring support pin 37 press-fitted into the spring support pin holes 25d, 25d of the middle link 14, so that the end link 13 extends straight with respect to the middle link 14. Biased in the direction. The bendable range of the end link 13 with respect to the middle link 14 is such that the middle plates 21 and 21 and the outer plates 22 and 22 of the end link 13 abut against the middle plates 25 and 25 and the outer plates 26 and 26 of the middle link 14. It is regulated by.

  A second return spring 38 is fitted to the second hinge pin 18 that pivotally supports the middle link 14 and the base link 15, and one end of the second return spring 38 is stored in the spring of the middle plate 24 of the middle link 14. The other end engages with the spring support pin 39 press-fitted into the spring support pin holes 29d and 29d of the proximal link 15 so that the middle link 14 is connected to the proximal link 15 while being fitted into the hole 24c. It is urged in a direction that extends straight. The bendable range of the middle link 14 relative to the base link 15 is such that the middle plates 25 and 25 and the outer plates 26 and 26 of the middle link 14 contact the middle plates 29 and 29 and the outer plates 30 and 30 of the base link 15. It is regulated by touching.

  A third return spring 40 is fitted to a third hinge pin 19 that pivotally supports the proximal link 15 and the middle link 16, and one end of the third return spring 40 is housed in the spring 28 of the intermediate plate 28 of the proximal link 15. The other end engages with the spring support pin 41 that is press-fitted into the spring support pin holes 33 b and 33 b of the middle hand link 16, so that the base link 15 is engaged with the middle hand link 16. It is urged in a direction that extends straight. The bendable range of the proximal link 15 relative to the middle link 16 is such that the middle plates 29 and 29 and the outer plates 30 and 30 of the proximal link 15 contact the middle plates 33 and 33 and the outer plates 34 and 34 of the middle link 16. It is regulated by touching.

  The first cable 43 (see the solid line) having one end fixed to the guide pin holes 25e, 25e; 26d, 26d of the middle plates 25, 25 and the outer plates 26, 26 of the middle link 14 is fixed to the end node. After the link 13 is slidably wound around the guide pins 44 that are press-fitted into the middle plates 21 and 21 and the guide pin holes 21b and 21b; 22b and 22b of the outer plates 22 and 22, the inner plate 24 of the middle link 14 is obtained. The cable storage hole 24d, the cable storage hole 28d of the inner plate 28 of the proximal link 15 and the cable storage hole 32b of the inner plate 32 of the middle link 16 are pulled out.

  The second cable 46 (see the one-dot chain line) having one end fixed to the guide pin holes 29e, 29e; 30d, 30d of the intermediate plates 29, 29 and the outer plates 30, 30 of the base link 15 After being slidably wound around the guide pins 47 press-fitted in the middle plates 25, 25 and the outer plates 26, 26 of the middle link 14 and the outer plates 26, 26, the inner link 15 The cable 28 is pulled out through the cable storage hole groove 28 d of the plate 28 and the cable storage hole 32 b of the inner plate 32 of the middle hand link 16.

  A third cable 49 (see a two-dot chain line) having one end fixed to a guide pin 48 press-fitted into the guide pin holes 33c, 33c; 34b, 34b of the middle plates 33, 33 and the outer plates 34, 34 of the middle hand link 16 is After the intermediate link 29 of the base link 15 is slidably wound around the guide pin 50 press-fitted into the guide pin holes 29e, 29e; 30d, 30d of the outer plates 30, 30, the intermediate link 16 It passes through the cable housing groove 32b of the inner plate 32 and is pulled out.

  As shown in FIG. 2 to FIG. 5 and FIG. 8, the periphery of each of the terminal link 13, the middle link 14, the base link 15, and the middle hand link 16 is formed in a U-shaped cross section and fine powder is formed inside. 51 is covered with a flexible rubber end joint bag body 52, a middle joint bag body 53, a base joint bag body 54 and a middle glove body 55. The end node bag body 52, the middle node bag body 53, the base node bag body 54, and the middle glove body 55 are connected to each other at the contact portion, and only the end node bag body 52 covers the distal end of the end node link 13 and the abdomen. The volume of is increasing. In a normal state, the end joint bag body 52, the middle joint bag body 53, the base joint bag body 54 and the middle glove body 55 are flexible, and the end joint link 13, the middle joint link 14, the base joint link 15 and the middle hand link 16 are bent. Does not interfere with exercise.

  Two openings 52a and 52a are formed in the inner surface of the U-shaped groove of the end node bag body 52, and these openings 52a and 52a (see FIG. 4) are connected to the outer plate 22 of the end node link 13 via the grommets 56 and 56. , 22 are fixed to the first communication holes 23, 23 by adhesion. Filters 57, 57 are provided inside the grommets 56, 56 to prevent the powder 51 of the end node bag body 52 from leaking into the first communication holes 23, 23. Due to the same structure, the inner space of the middle joint bag body 53, the base joint bag body 54, and the middle glove body 55 is provided in the second to fourth communication holes 27 of the middle joint link 14, the base joint link 15, and the middle hand link 16, respectively. , 31 and 35 are communicated via grommets 56.

  The first communication hole 23 of the end node link 13 and the second communication hole 27 of the intermediate node link 14 are formed in the tube storage hole 20b of the inner plate 20 of the end node link 13 and the tube storage hole 24b of the inner plate 24 of the intermediate node link 14, respectively. It communicates via the accommodated rubber first tube 58. The second communication hole 27 of the middle link 14 and the third communication hole 31 of the base link 15 are the tube storage hole 24 b of the inner plate 24 of the middle link 14 and the tube storage hole of the inner plate 28 of the base link 15. It communicates via a rubber second tube 59 accommodated in 28b. The third communication hole 31 of the proximal link 15 and the fourth communication hole 35 of the middle link 16 are a tube storage hole 28 b of the inner plate 28 of the proximal link 15 and a tube storage hole of the inner plate 32 of the middle link 16. It communicates via a rubber third tube 60 housed in 32a. The fourth communication hole 35 of the middle hand link 16 is guided to the outside of the finger skeleton 12 via a rubber fourth tube 61 housed in the tube housing hole 32 a of the inner plate 32.

  Therefore, when the fourth tube 61 is evacuated, the middle glove body 55, the base joint bag body 54, the middle joint bag body 53, and the end joint bag body 52 are connected via the third tube 60, the second tube 59, and the first tube 58. The inside becomes a negative pressure, and the powder 51 is bonded to each other, so that the powder 51 becomes rigid from a state that is easily deformed to a state that is difficult to deform. At that time, the small diameter third tube 60, the second tube 59 and the first tube 58 function as orifices, and the inside of the middle glove body 55, the base joint bag body 54, the middle joint bag body 53 and the end joint bag body 52, Evacuate in that order.

  Next, the structure of the actuator that operates the artificial finger 11 will be described with reference to FIGS. 9 and 10. In the present embodiment, a first actuator 71 that pulls the first cable 43, the second cable 46, and the third cable 49, the first tube 58, the second tube 59, the third tube 60, and the fourth tube 61. And a second actuator 72 for evacuating the air. The first and second actuators 71 and 72 are housed inside the palm portion or the lower arm portion connected to the artificial finger 11.

  The first and second actuators 71 and 72 include two guide rods 74 and 74 arranged in parallel, and two front guide pipes 75 and 75 slidably fitted to the guide rods 74 and 74, respectively. And two rear guide pipes 76, 76 slidably fitted to the guide rods 74, 74. The first plate 77 is fixed to the front ends of the guide rods 74, 74, the second plate 78 is fixed to the front ends of the front guide pipes 75, 75, and the third plate 79 is intermediate between the front guide pipes 75, 75. The fourth plate 80 is fixed to the rear ends of the front guide pipes 75, 75, and the fifth plate 81 is fixed to the guide rods 74, 74 at the rear of the fourth plate 80. The sixth plate 82 is fixed to the rods 76 and 76. The sixth plate 82 is fixed to the palm or lower arm of the prosthetic hand H.

  The front and rear ends of the first bellows 83 are coupled to the third plate 79 and the fourth plate 80, the front and rear ends of the second bellows 84 are coupled to the fourth plate 80 and the fifth plate 81, and the fifth plate 81 and the sixth plate. The front and rear ends of the third bellows 85 are coupled to 82. A guide pipe 87 fixed to the second plate 78 is slidably fitted to the guide pipe 86 fixed to the first plate 77 and fixed to the third plate 79 to the guide pipe 87 fixed to the second plate 78. Then, the guide pipe 88 communicating with the inside of the first bellows 83 is slidably fitted. The rear end of the fourth tube 61 is connected to the front end of the guide pipe 88.

  The first cable 43 is coupled to the third plate 79, the second cable 46 is coupled to the fourth plate 80, and the third cable 49 is coupled to the fifth plate 81.

  A fourth tube 89 fixed to the sixth plate 82 and communicating with the inside of the third bellows 85 is connected to a negative pressure pump 90 provided on the user's abdomen or armpit. The negative pressure pump 90 operates by inflating or denting the abdomen using the abdominal muscles, or by moving the upper arm up and down, and generates negative pressure that operates the first and second actuators 71 and 72. appear. The fifth tube 89 is provided with an air release valve 91 that is opened to the atmosphere by a user operation.

  The third plate 79 is provided with an orifice 92 and a check valve 93 that allow the first bellows 83 and the guide pipe 88 to communicate with each other. The check valve 93 only allows air to flow from the first bellows 83 side to the guide pipe 88 side. Is allowed and air movement in the reverse direction is prohibited. The fourth plate 80 is provided with an orifice 94 and a check valve 95 that allow the second bellows 84 and the first bellows 83 to communicate with each other. The check valve 95 allows air to flow from the second bellows 84 side to the first bellows 83 side. Only inflow is allowed and air movement in the reverse direction is prohibited. The fifth plate 81 is provided with an orifice 96 and a check valve 97 that allow the third bellows 85 and the second bellows 84 to communicate with each other. The check valve 97 allows air to flow from the third bellows 85 side to the second bellows 84 side. Only inflow is allowed and air movement in the reverse direction is prohibited.

  The portion from the palm of the prosthetic hand H having the above-described configuration is covered with a rubber surface film 98 (see FIG. 8), and the end joint bag body 52, the middle joint bag body 53, the base joint bag body 54, and the middle gloves. Grease for improving slippage is applied to the inner surface of the surface film 98 that contacts the body 55. Further, a hard claw 99 is provided in a portion where the surface film 98 covers the end node bag body 52, and the shape of the back side of the end node bag body 52 is maintained by the nail 99.

  Next, the operation of the embodiment having the above configuration will be described.

  In the normal state, the prosthetic finger 11 of the prosthetic hand H is in a state in which the finger skeleton 12 is straightened by the elastic force of the first to third return springs 36, 38, and 40, and the end joint bag body 52 and the middle joint bag body 53 The inside of the base bag body 54 and the medium glove body 55 is maintained at a flexible state at atmospheric pressure (see FIG. 2).

  When the negative pressure pump 90 is operated to hold the article from this state, the air inside the third bellows 85 is sucked through the fifth tube 89. At this time, since the orifice 96 is disposed between the third bellows 85 and the second bellows 84, the negative pressure of the third bellows 85 is difficult to be transmitted to the fourth bellows 84. Accordingly, as shown in FIG. 11 (B), only the third bellows 85 initially contracts, and the fifth plate 81 moves rearward with respect to the fixed sixth plate 82, so that the fifth plate 81 The first plate 77 connected via the guide rods 74 and 74 also moves backward. The fourth plate 80 connected to the fifth plate 81 via the second bellows 84 and the second plate 78 connected to the fourth plate 80 via the front guide pipes 75 and 75 are integrated. The third plate 79 that moves rearward and is connected to the fourth plate 80 via the first bellows 83 moves rearward integrally. As a result, the first cable 43 connected to the third plate 79, the second cable 46 connected to the fourth plate 80, and the third cable 49 connected to the fifth plate 81 are pulled backward. .

  When the first cable 43 is pulled rearward, the guide pin 44 is pulled rearward, whereby the end link 20 is bent inwardly around the first hinge pin 17, and when the second cable 46 is pulled rearward, the guide When the pin 47 is pulled rearward, the middle link 24 is bent inward around the second hinge pin 18 and when the third cable 49 is pulled rearward, the guide pin 50 is pulled rearward so that the base link 28 bends inwardly around the third hinge pin 19.

  When the third bellows 85 is completely contracted, the air inside the second bellows 84 is now sucked as shown in FIG. At this time, since the orifice 92 is disposed between the second bellows 84 and the first bellows 83, the negative pressure of the second bellows 84 is difficult to be transmitted to the first bellows 83. Accordingly, this time, only the second bellows 84 contracts and the fourth plate 80 moves rearward with respect to the fifth plate 81, so that the third plate connected to the fourth plate 80 via the first bellows 83. 79 moves together and moves backward. As a result, the first cable 43 connected to the third plate 79 and the second cable 46 connected to the fourth plate 80 are pulled backward.

  When the first cable 43 is pulled backward, the guide pin 44 is pulled backward, whereby the end link 20 is further bent inward around the first hinge pin 17, and when the second cable 46 is pulled backward, When the guide pin 47 is pulled rearward, the middle link 24 is further bent inward around the second hinge pin 18.

  When the second bellows 84 is completely contracted, the air inside the first bellows 83 is now sucked as shown in FIG. At this time, since the orifice 93 is disposed between the guide pipe 88 and the fourth tube 61, the negative pressure of the first bellows 83 is difficult to transmit to the fourth tube 61. Accordingly, only the first bellows 83 contracts this time, and the third plate 79 moves rearward with respect to the fourth plate 80. As a result, the first cable 43 connected to the third plate 79 is pulled backward.

  When the first cable 43 is pulled rearward, the terminal pin link 20 is further bent inward around the first hinge pin 17 by pulling the guide pin 44 rearward.

  As described above, when the third bellows 85 contracts, the first to third cables 43, 46, and 49 are pulled simultaneously, and the end link 20, the middle link 21, and the base link 22 are bent at the same time. When the second bellows 84 contracts, the first and second cables 43 and 46 are pulled simultaneously, and the end link 20 and the middle link 21 bend simultaneously. When the first bellows 83 contracts, the first cable 43 pulls. Thus, the end link 20 is bent. That is, the bending of the proximal link 28 at the third hinge pin 19 is finished first, then the bending of the middle link 24 at the second hinge pin 18 is finished, and finally the bending of the end link 20 at the first hinge pin 17 is finished. To do. Thereby, as shown in FIG. 12, the finger skeleton 12 is bent so as to wrap around the article, and the article can be securely gripped.

  When the prosthetic finger 11 grips the article as described above, since the end joint bag body 52, the middle joint bag body 53, the base joint bag body 54, and the middle glove body 55 are in a flexible state, the shape thereof is the surface of the article. It deforms to follow the shape, making it difficult for the article to fall.

  When the first to third bellows 83, 84, 85 are completely contracted, the end node bag body 52 via the fourth tube 61, the third tube 60, the second tube 59, and the first tube 58 connected to the first bellows 83, The inside of the middle joint bag body 53, the base joint bag body 54, and the middle glove body 55 is decompressed, and the powder in the inside is bonded and solidified, so that the artificial finger 11 can securely hold the article. it can. At this time, the first tube 58, the second tube 59, and the third tube 60 having a small diameter function as orifices, so that the middle glove body 55, the base joint bag body 54, the middle joint bag body 53, and the end joint bag body 52 are in order. Since the pressure is reduced and solidified, the article can be gripped more reliably.

  When the atmosphere release valve 91 is opened and the atmosphere is introduced into the fifth tube 89, the check valves 97, 95, 93 are opened, the orifices 96, 94, 92 are disabled, and the third bellows 85, second bellows 84 are opened. In addition, air quickly flows into the first bellows 83. At this time, since the end link 20, the middle link 24 and the base link 28 are urged in the extending direction by the elastic force of the first to third return springs 36, 38, 40, the first to third cables. The third bellows 85, the second bellows 84, and the first bellows 83 are expanded by being pulled by 43, 46, and 49, the artificial finger 11 returns to the original extended state, and the gripping of the article is released.

  The air from the opened air release valve 91 passes through the third bellows 85, the second bellows 84, and the first bellows 83, so that the middle glove body 53, the base joint bag body 54, the middle joint bag body 53, and the end joint bag body. Since it also flows into the interior of 52, solidification thereof is released and the state returns to a flexible state.

  As described above, according to the present embodiment, the powder 51 is filled into the plurality of bags 52 to 55 that cover the finger skeleton 12 bent and extended by the first actuator 71, and the finger skeleton 12 is bent. Since the inside of the bag bodies 52 to 55 is evacuated and solidified by the second actuator 72 after being brought into contact with the surface of the article, the shape of the flexible bag bodies 52 to 55 is made to conform to the shape of the article. By solidifying afterwards, the article can be securely gripped without requiring a particularly strong gripping force. Moreover, since it is not necessary to control the gripping force and the bending amount of the artificial finger 11 using a sensor or the like, it can be realized at an extremely low price.

  Further, since the finger skeleton 12 is configured by connecting a plurality of links 13 to 16 in series with a plurality of hinges 17 to 19, the finger skeleton 12 can be reliably bent and extended while correctly maintaining the shape of the entire artificial finger 11, And since the bag bodies 52-55 were divided | segmented into plurality, it can prevent that the internal powder 51 is biased and the shape of the artificial finger 11 collapse | crumbles.

  Further, the hinges 17 to 19 are biased in the extending direction by return springs 36, 38, and 40, and the first actuator 71 pulls the links 13 to 15 on the tip side of the hinges 17 to 19 by cables 43, 46, and 49. As a result, the cables 14, 46, and 49 are pulled to grip the article, and the cables 43, 46, and 49 are loosened to release the grip. can do. At this time, the first actuator 71 completes the bending of the plurality of hinges 17 to 19 in order from the proximal-side hinges 17 to 19 toward the distal-end hinges 17 to 19, so that the artificial finger 11 is firmly attached to the article. It can be wound and securely gripped.

  Further, adjacent bag bodies 52 to 55 are connected to each other through small diameter tubes 58 to 60 functioning as orifices, and the bag body 55 on the most proximal side of the finger skeleton 12 is connected to the second actuator 72 to evacuate. Therefore, the object can be gripped more reliably by solidifying sequentially from the proximal end side bag body 55 of the prosthetic finger 11 toward the distal end side bag body 52 with a simple structure.

  The embodiments of the present invention have been described above, but various design changes can be made without departing from the scope of the present invention.

  For example, in the embodiment, the prosthetic finger 11 of the index finger has been described, but the present invention can also be applied to fingers other than the index finger, and the book is applied to only one to four fingers out of five fingers. The invention can be applied. In addition, since the thumb does not include the middle joint and the middle phalanx, the middle joint bag body 53 and the middle joint link 14 can be eliminated to simplify the structure. Of course, the structure may be simplified by reducing the number of bags and links for all fingers.

  In the embodiment, the first actuator 71 and the second actuator 72 are integrally formed, but they can be formed separately.

12 Finger skeleton 13 End link (link)
14 Middle section link (link)
15 Base link (link)
16 Nakate Link (Link)
17 First hinge pin (hinge)
18 Second hinge pin (hinge)
19 Third hinge pin (hinge)
36 First return spring (return spring)
38 Second return spring (return spring)
40 Third return spring (return spring)
43 First cable (cable)
46 Second cable (cable)
49 Third cable (cable)
51 Powder 52 End-of-season bag (bag)
53 Middle section bag (bag)
54 Basic bag (bag)
55 Medium gloves (bag)
58 First tube (orifice)
59 Second tube (orifice)
60 Third tube (orifice)
71 First actuator 72 Second actuator

Claims (7)

A finger skeleton (12);
A first actuator (71) for bending and extending the finger skeleton (12);
A plurality of bags (52, 53, 54, 55) covering the finger skeleton (12);
Powder (51) filled in the bag (52, 53, 54, 55);
A second actuator (72) for evacuating and solidifying the interior of the bag (52, 53, 54, 55) after the finger skeleton (12) is bent;
A prosthetic finger device comprising:   The finger skeleton (12) is configured by connecting a plurality of links (13, 14, 15, 16) in series by a plurality of hinges (17, 18, 19). The prosthetic finger device described.   The hinges (17, 18, 19) are urged in the extending direction by return springs (36, 38, 40), and the first actuator (71) is more distal than the hinges (17, 18, 19). The link (13, 14, 15) is pulled by the cable (43, 46, 49) and bent with respect to the link (14, 15, 16) on the proximal end side relative to the hinge (17, 18, 19). The prosthetic finger device according to claim 1 or 2, characterized in that:   The first actuator (71) completes the bending of the plurality of hinges (17, 18, 19) in order from the proximal hinge (19) toward the distal hinge (17). The prosthetic finger device according to any one of claims 1 to 3.   5. The bag according to claim 1, further comprising the bag (52, 53, 54, 55) corresponding to each of the plurality of links (13, 14, 15, 16). The prosthetic finger device according to item.   The second actuator (72) moves the plurality of bags (52, 53, 54, 55) from the proximal bag (55) to the distal bag (52) of the finger skeleton (12). The artificial finger device according to claim 5, wherein the artificial finger device is solidified in order.   Adjacent bag bodies (52, 53, 54, 55) are connected to each other via orifices (58, 59, 60), and the most proximal bag body (55) of the finger skeleton (12) is the first bag body (55). 7. A prosthetic finger device according to claim 6, characterized in that it is evacuated by being connected to two actuators (72).

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