KR102389180B1 - Wire Driven Prosthetic Hand for Sports - Google Patents

Abstract

The present invention relates to a wire-driven sports prosthesis, and more particularly, to a wire-driven sports prosthetic that implements an action of grabbing an object instead of a human hand.
The wire-driven sports prosthesis for achieving the above-described object has the effect of being able to firmly and stably grip an object.

Description

Wire Driven Prosthetic Hand for Sports

The present invention relates to a wire-driven sports prosthesis, and more particularly, to a wire-driven sports prosthetic that implements an action of grabbing an object instead of a human hand.

If you lose your hand in an accident or have a congenital disability, a robotic prosthesis is sometimes used to take over the role of grabbing an object.

In the case of such a robotic prosthetic, in most cases, the bending operation of a human's finger joint is simply simulated one-dimensionally. In the case of such a conventional robotic prosthetic, most of the cases do not have a configuration that simulates only the shape of the finger itself and replaces the movement and role of the metacarpal located inside the palm or the back of the hand. In particular, the metacarpal bone of the ring finger and the small part plays an important role when grabbing a rod-shaped object such as a golf club.

In the case of a wire-driven sports prosthesis that does not have the function to respond to the movement of the ring finger and metacarpal bone, it is difficult to firmly and stably hold the object when an external shock is applied to the object, such as when holding a golf club and swinging a golf club. There is this.

Japanese Patent Laid-Open No. 2013-240863 (published on December 5, 2013) Korean Patent Publication No. 10-2012-0119622 (published on October 31, 2012)

The present invention has been devised to solve the above-described problems, and it provides a wire-driven sports prosthesis that can firmly and stably hold an object, including a configuration that simulates the role of the metacarpal of the ring finger and the holding part of a human hand aim to do

Wire-driven sports prosthetic of the present invention for solving the above object, the hand body; a thumb member connected to the hand body so as to be bendable in the palm direction of the hand body; A first stunting link is bendably connected with respect to the hand body in a direction facing the thumb member, and a first stunted link and the first stunted link are bendably connected to the palm of the hand with respect to the first stunting link. at least one first finger member having a first end joint link that is bendably connected to the palm of the hand; a heavy water link connected to the hand body through a universal joint; a second stunting link connected to the heavy water link through a universal joint; a second heavy articulated link connected to the second stunting link to be bendable in a palm direction with respect to the second stunting link; and at least one second finger member having a second end articulation link that is bendably connected in a palm direction with respect to the second central articulation link; at least one first wire connected to the first segment link of the first finger member and extending to the palm of the hand body via the first segment link and the first segment link; and at least one second wire connected to the second end joint link of the second finger member and extending to the palm of the hand body via the second middle joint link and the second stunt link. .

In addition, the wire-driven sports prosthesis of the present invention, the hand body; a thumb member connected to the hand body so as to be bendable in the palm direction of the hand body; A first stunting link is bendably connected with respect to the hand body in a direction facing the thumb member, and a first stunted link and the first stunted link are bendably connected to the palm of the hand with respect to the first stunting link. at least one first finger member having a first end joint link that is bendably connected to the palm of the hand; A second stun link is connected to the hand body through a universal joint, a second stun link is connected to the second stun link in a palm direction, and a second stun link is connected to the second stun link in a palm direction to be bendable in a palm direction. at least one second finger member having a second end-joint link; at least one first wire connected to the first segment link of the first finger member and extending to the palm of the hand body via the first segment link and the first segment link; and at least one second wire connected to the second end joint link of the second finger member and extending to the palm of the hand body via the second middle joint link and the second stunt link. .

The wire-driven sports prosthesis for achieving the above-described object has the effect of firmly and stably gripping an object.

1 is a plan view of a wire-driven sports prosthesis according to a first embodiment of the present invention.
FIG. 2 is an operation view of the wire-driven sports prosthesis shown in FIG. 1 .
FIG. 3 is a diagram illustrating a state of holding an object with the wire-driven sports prosthesis shown in FIG. 1 .
4 is a plan view of a wire-driven sports prosthesis according to a second embodiment of the present invention.

Hereinafter, a wire-driven sports prosthesis according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a plan view of a wire-driven sports prosthesis according to a first embodiment of the present invention, and FIG. 2 is an operation view of the wire-driven sports prosthesis shown in FIG. 1 .

The wire-driven sports prosthesis of the present invention is to implement a wire-driven sports prosthetic that mimics a human hand and operates similarly to the motion of the hand.

1 and 2, the wire-driven sports prosthesis according to an embodiment of the present invention includes a hand body 100, a thumb member 200, and two sets of a first finger member 300 and a second finger, respectively. A member 400 is provided.

The hand body 100 has a configuration similar to the metacarpal and carpal bones of a human hand. The hand body 100 is configured to support the thumb member 200 , the first finger member 300 , and the second finger member 400 , which are components corresponding to the fingers, and is configured to serve as the palm and the back of the hand.

In the present embodiment, one thumb member 200 and two first finger members 300 and second finger members 400 are respectively connected to the hand body 100 .

The thumb member 200 is connected to the hand body 100 so as to be bendable in the palm direction of the hand body 100 . The thumb member 200 is connected to the hand body 100 and various configurations that operate in a bent or folded manner with respect to the hand body 100 may be used. In the present embodiment, as shown in FIG. 1 , the thumb member 200 having a structure in which three nodes (links) are bendably connected and tension is transmitted by a thumb wire to operate is used.

As described above, the wire-driven sports prosthesis of this embodiment includes two first finger members 300 . The first finger member 300 of this embodiment has a configuration corresponding to the index and middle fingers of a human hand.

The first finger member 300 includes a first stun link 310 , a first middle link link 320 , and a first joint link 330 . The first stun link 310 is connected to the hand body 100 so as to be bendable in a direction facing the thumb member 200 (ie, the palm direction). The first stun link 320 is connected to the first stun link 310 to be bendable in the palm direction. The first segment link 330 is connected to the first segment link 320 to be bendable in the palm direction. Accordingly, the first stun link 310 , the first middle joint link 320 , and the first end joint link 330 of the first finger member 300 are formed in a shape similar to that of a human finger, respectively. is composed

The first wire 510 is connected to the first end joint link 330 of the first finger member 300 and is connected to the hand body 100 via the first joint link 320 and the first stunt link 310 . It is arranged so as to extend to the palm of the hand. Accordingly, when the first wire 510 is pulled, the first finger member 300 is bent in the palm direction of the hand body 100 by the tension transmitted by the first wire 510 .

The first reinforcing wire 520 is connected to the first hollow link 320 . The first reinforcing wire 520 is disposed to extend to the palm of the hand body 100 via the first stun link 310 . Accordingly, when the first reinforcing wire 520 is pulled, the tension between the first reinforcing link 320 and the first stunning link 310 of the first finger member 300 is generated by the tension transmitted by the first reinforcing wire 520 . The connecting joint (joint) and the connecting joint (joint) between the first stun link 310 and the hand body 100 are operated to be bent.

As described above, the wire-driven sports prosthesis of this embodiment includes two second finger members 400 . The second finger member 400 of the present embodiment has a configuration corresponding to the ring finger and the holding finger of a human hand.

The second finger member 400 includes a middle joint link 410 , a second stun link 420 , a second middle joint link 430 , and a second distal joint link 440 .

The heavy water link 410 is connected with a universal joint to the hand body 100 . The position where the heavy water link 410 and the hand body 100 are connected is a position closer to the wrist than the position where the first finger member 300 is connected with the hand body 100 . By this configuration, the metacarpal link 410 of the second finger member 400 simulates the movement of the metacarpal bone of a human hand.

The second stun link 420 is connected to the heavy water link 410 by a universal joint. The connection position between the middle water link 410 and the second stun link 420 of the second finger member 400 is the connection position between the first stun link 310 and the hand body 100 of the first finger member 300 . It is preferable to be arranged substantially on the same line with The imaginary line connecting the connection position of the first stun link 310 and the hand body 100 and the connection position of the heavy water link 410 and the second stun link 420 does not need to be a straight line, but has a curved shape such as a parabola. may be connected.

The second stun link 430 is connected to the second stun link 420 to be bendable in the palm direction. The second joint link 440 is connected to the second joint link 430 to be bendable in the palm direction. Accordingly, the metacarpal link 410 , the second stunt link 420 , the second middle joint link 430 , and the second metacarpal link 440 of the second finger member 400 are metacarpal bones, coccyx bones, and metacarpal bones of a human finger, respectively. It is composed of a shape similar to that of a bone and terminal bone.

The second wire 610 is connected to the second end joint link 440 of the second finger member 400 and sequentially passes through the second middle joint link 430 , the second stunt link 420 and the heavy water link 410 . to extend to the palm of the hand body 100 . Accordingly, when the second wire 610 is pulled, the second finger member 400 is bent in the palm direction of the hand body 100 by the tension transmitted by the second wire 610 .

The second reinforcing wire 620 is connected to the second hollow link 430 . The second reinforcing wire 620 is arranged to extend to the palm of the hand body 100 via the second stun link 420 and the heavy water link 410 . Accordingly, when the second reinforcing wire 620 is pulled, the tension between the second reinforcing link 430 and the second stunning link 420 of the second finger member 400 is generated by the tension transmitted by the second reinforcing wire 620 . The connecting joint (joint), the connecting joint (universal joint) between the second stun link 420 and the heavy water link 410, and the connecting joint (universal joint) between the heavy water link 410 and the body are bent.

The first wire 510 , the second wire 610 , the first reinforcing wire 520 , and the second reinforcing wire 620 are each connected to a driving unit (not shown) and tension is adjusted while being pulled.

On the other hand, the main joint of the wire-driven sports prosthesis according to the present embodiment may have a configuration that transmits tension in the direction of the back of the hand so that the hand is in an open state in a free state, and a hinge spring is installed in each bending joint. An elastic force may be provided in the direction in which the hand is extended.

Hereinafter, the operation of the wire-driven sports prosthesis configured as described above will be described.

The wire-driven sports prosthesis of this embodiment is configured to correspond to each finger when the thumb wire, the first wire 510, the second wire 610, the first reinforcing wire 520 and the second reinforcing wire 620 are pulled. This hand bends toward the bottom of the hand, allowing it to grasp objects. The driving unit for pulling each of these wires may be configured in various forms. The driving unit may be configured to operate by pulling each wire individually, or it may be operated by pulling the wire by applying an insufficient driving method. It is also possible to configure the driving unit so that the first wire 510 and the first reinforcing wire 520 are connected to each other at the ends and pulled by one pulley or pulley. It is possible that the connection of the second wire 610 and the second reinforcing wire 620 is similarly configured.

When the first wire 510 and the second wire 610 are pulled, tension is transferred to the first end joint link 330 and the second end joint link 440 as described above, and the first finger member 300 and the second finger The member 400 is bent from the end.

At this time, if the first reinforcing wire 520 and the second reinforcing wire 620 are pulled, the first finger member 300 and the second finger member 400 may be more stably and firmly operated. As described above, since the first reinforcing wire 520 and the second reinforcing wire 620 are respectively connected to the first hollow link 320 and the second hollow link 430, the wire-driven sports prosthesis of this embodiment is As the first finger member 300 and the second finger member 400 are more closely attached to the object to be grasped by the method, it is possible to stably hold the object. In particular, the first reinforcing wire 520 and the second reinforcing wire 620 make the first and second reinforcing links 320 and 430 closely adhere to the object, and the first reinforcing link 320 and the first stunning The joint between the link 310 and the second joint link 430 and the second stun link 420 are effectively bent and act to stably hold the object.

The main joints of the two first finger members 300 corresponding to the thumb and index finger are configured to operate in one degree of freedom. Accordingly, the first stun link 310 , the first middle joint link 320 , and the first end joint link 330 of the first finger member 300 rotate about the rotation axis in the same direction to be bent.

Unlike the first finger member 300 , the second finger member 400 has two two-degree-of-freedom joints.

As described above, the heavy water link 410 of the second finger member 400 is connected to the hand body 100 by a universal joint. The second stun link 420 is also connected with a universal joint to the heavy water link 410 . Accordingly, the heavy water link 410 rotates with two degrees of freedom with respect to the hand body 100 , and the second stun link 420 also rotates with two degrees of freedom with respect to the heavy water link 410 . For this reason, as shown in FIG. 2 , when the second wire 610 and the second reinforcing wire 620 are pulled, the second finger member 400 abducts with respect to the hand body 100 .

Accordingly, as shown in FIG. 3 , the second finger member 400 is bent in a direction corresponding to the shape of the object to more stably adhere to the object to be grasped. That is, by the two degrees of freedom movement of the heavy water link 410 and the second stun link 420 , the second finger member 400 can operate in various angles and directions corresponding to the shapes of various objects. Due to such a structure, the wire-driven sports prosthesis of the present invention has the effect of being able to more stably adhere to the object to be held and hold the object firmly with stronger force compared to the conventional hand robot.

In addition, unlike the conventional hand robot configured by simulating the proximal, metatarsal, and distal osteotomy of the finger, the wire-driven sports prosthesis of this embodiment corresponds to the metacarpal by the metacarpal link 410 of the second finger member 400 . By simulating the anatomical structure of a finger, it has a feature that is configured to perform a motion more similar to that of a human hand. Accordingly, in the case of the second finger member 400 corresponding to the ring finger and the small finger, the heavy water link 410 of the portion corresponding to the palm is also operated while the position and direction are adjusted according to the shape of the object. Due to the structure of the heavy water link 410 as described above, the wire-driven sports prosthesis of the present embodiment can effectively grip the object.

As shown in FIG. 3 , the thumb member 200 and the first finger member 300 serve to stably support the object to be grasped, and the second finger member 400 adjusts the object according to the shape of the object. It acts as a wrapper. In this way, the roles and functions of the thumb member 200 and the first finger member 300 and the roles and functions of the second finger member 400 are shared with each other and interact with each other. Compared to hand robots, it is possible to perform dramatically more effective movements. In addition, the wire-driven sports prosthesis of the present embodiment has the advantage that it is possible to implement an operation almost similar to that of a human hand by a relatively simple structure without simulating all the joints of the human hand.

Next, a wire-driven sports prosthesis according to a second embodiment of the present invention will be described.

The wire-driven sports prosthesis according to the second embodiment of the present invention has a structure similar to that of the wire-driven sports prosthesis according to the first embodiment as shown in FIG. 4 .

Specifically, the wire-driven sports prosthesis according to the second embodiment has the same structure as the wire-driven sports prosthesis according to the first embodiment, except that the heavy water link 410 is not provided. Accordingly, the same configuration will be described below by giving the same reference numerals as in the configuration of the first embodiment.

A thumb member 200 , a first finger member 300 , and a second finger member 401 are connected to the hand body 110 . The thumb member 200 and the first finger member 300 are the same as the thumb member 200 and the first finger member 300 of the first embodiment.

The second finger member 401 includes a second stun link 421 , a second middle link link 431 , and a second end joint link 441 . The second stun link 421 of the second finger member 4010 is directly connected to the hand body 110 by a universal joint.

The first finger member 301, the second finger member 401, the first wire 510, the second wire 610, the first reinforcing wire 520, the second reinforcing wire 620, etc. are each two sets. is provided The connection position between the second stun link 421 of the second finger member 401 and the hand body 110 is a connection position between the first stun link 310 of the first finger member 300 and the hand body 110 . is placed on the same line as

The wire-driven sports prosthesis of the second embodiment configured as described above has an effect similar to that of the first embodiment by the universal joint connection of the second stun link 421 . The wire-driven sports prosthesis of the second embodiment has a simpler structure and lower manufacturing cost compared to the case with the heavy water link 410 of the first embodiment, while the effect of grabbing an object is slightly lowered, but has a similar effect. will have The wire-driven sports prosthesis of the second embodiment is similar to the first embodiment, in that the first wire 510, the second wire 610, the first reinforcing wire 520 and the second reinforcing wire 620 are not shown, respectively. Operate by pulling the actuator.

In the above, preferred examples of the present invention have been described, but the scope of the present invention is not limited to the form previously signed and illustrated.

For example, the thumb member 200 has been described as an example in which three link structures are configured to be bendable, but various other configurations may be used. It is possible to use other various types of thumb members as long as they are connected to the hand body and are configured to be bent in the direction of the palm of the hand.

In addition, although a wire-driven sports prosthesis having a structure having two sets of first and second finger members 300 and 400 and 401, respectively, has been described above as an example, the number of first and second finger members and combinations may vary according to need. It is also possible to configure a wire-driven sports prosthesis with one first finger member and three second finger members, and it is also possible to variously change the number of all finger members.

In addition, the specific structures of the stunted link, the middle link, and the distal link constituting the first finger member and the second finger member, and the structure of the connecting joint with adjacent links can also be changed into various shapes other than those shown in the drawings. Do.

In addition, although it has been described above that the first reinforcing wire is connected to the first reinforcing link and the second reinforcing wire is connected to the second reinforcing link, the positions at which the first reinforcing wire and the second reinforcing wire are connected may vary. For example, it is also possible to configure the wire-driven sports prosthesis of the present invention such that the first reinforcing wire is connected to the first stun link and the second reinforcing wire is connected to the second stun link.

100, 110: hand body 200: thumb member
300: first finger member 310: first stun link
320: first clause link 330: first clause link
400, 401: second finger member 410: medium link
420, 421: second stun link 430, 431: second stun link
440, 441: second end link 510: first wire
520: first reinforcing wire 610: second wire
620: second reinforcing wire

Claims (16)

hand body;
a thumb member connected to the hand body so as to be bendable in the palm direction of the hand body;
A first stunting link is bendably connected to the hand body in a direction facing the thumb member; at least one first finger member having a first end joint link that is bendably connected to the palm of the hand;
a heavy water link connected to the hand body by a universal joint, a second stunting link connected to the heavy water link through a universal joint, a second hollow link connected to the second stunting link to be bendable in a palm direction, and the at least one second finger member having a second end articulation link that is bendably connected in a palm direction with respect to the second central articulation link;
at least one first wire connected to the first segment link of the first finger member and extending to the palm of the hand body via the first segment link and the first segment link; and
at least one second wire connected to the second end joint link of the second finger member and extending to the palm of the hand body via the second middle joint link and the second trunk link; and
A connection position of the middle finger link and the second stun link of the second finger member is disposed on the same line as a connection position of the first stun link of the first finger member and the hand body. The method of claim 1,
and at least one first reinforcing wire connected to the first stun link of the first finger member and extended to the palm of the hand body via the first stun link. The method of claim 1,
The wire-driven sports prosthesis further comprising: at least one first reinforcing wire connected to the first stun link of the first finger member and extending to the palm of the hand body. 3. The method of claim 2,
and at least one second reinforcing wire connected to the second middle link of the second finger member and extending to the palm of the hand body via the second stunting link. 4. The method of claim 3,
The wire-driven sports prosthesis further comprising: at least one second reinforcing wire connected to the second stun link of the second finger member and extending to the palm of the hand body. 6. The method according to any one of claims 2 to 5,
A wire-driven sports prosthesis comprising the first finger member, the first wire, and the first reinforcing wire in a plurality of sets. 6. The method according to claim 4 or 5,
A wire-driven sports prosthesis comprising a plurality of sets of the second finger member, a second wire, and a second reinforcing wire. delete delete delete delete delete delete delete delete delete

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