JP5882145B2 - 電動義手 - Google Patents
電動義手 Download PDFInfo
- Publication number
- JP5882145B2 JP5882145B2 JP2012140417A JP2012140417A JP5882145B2 JP 5882145 B2 JP5882145 B2 JP 5882145B2 JP 2012140417 A JP2012140417 A JP 2012140417A JP 2012140417 A JP2012140417 A JP 2012140417A JP 5882145 B2 JP5882145 B2 JP 5882145B2
- Authority
- JP
- Japan
- Prior art keywords
- shape
- detection sensor
- control
- forearm
- arm
- 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.)
- Expired - Fee Related
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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
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- 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
- A61F2/588—Hands having holding devices shaped differently from human fingers, e.g. claws, hooks, tubes
-
- 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
- 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
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
- A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial 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)
- Cardiology (AREA)
- Prostheses (AREA)
Description
2 形状検知センサ
2a,4a センサ部分
3 前腕部
4 第二形状検知センサ
5 肩峰(人体の一部)
6 ハンド部
7a,7b アーム
8 制御部本体
9 金属プレート
10,13,24 接続コード
11 ベース体
12 粘着部
14 センサ信号
15 センサ信号受付回路
16 第二センサ信号
17 第二センサ信号受付回路
18 制御信号
19 制御信号生成送出回路
20 基準形状設定回路
21 初期形状変更設定回路
22 アーム軸支部
23 駆動モータ
25 開閉機構部
26 一時記憶回路
A1 回内動作
A2 回外動作
B1 肩上げ動作
B2 肩下げ動作
H 上肢切断者
Claims (4)
- 上肢切断者の前腕部または上腕部の一部に装着され、前記前腕部または前記上腕部の形状を検知する形状検知センサと、
少なくとも一対のアームを有し、前記アームによる開閉動作が可能なハンド部と、
前記形状検知センサと電気的に接続され、前記前腕部または前記上腕部の形状に応じて前記形状検知センサから出力されるセンサ信号を受付けるセンサ信号受付回路、及び、受付けた前記センサ信号に基づいて、前記前腕部または前記上腕部の予め規定された初期形状からの変形方向に基づいて決定される、前記アームの動作方向を制御する制御方向、及び初期形状からの変形量に基づいて決定される、前記アームの動作距離を制御する制御量を含む制御信号を生成し、前記制御方向及び前記制御量に基づいて前記アームの開閉動作を制御するために、電気的に接続された前記ハンド部に前記制御信号を送出する制御信号生成送出回路を有する制御部本体と
を具備することを特徴とする電動義手。 - 前記形状検知センサの装着位置と異なる前記上肢切断者の人体の一部に装着され、前記人体の一部の形状を検知する第二形状検知センサをさらに具備し、
前記制御部本体は、
前記第二形状検知センサと電気的に接続され、
前記人体の一部の形状に応じて前記第二形状検知センサから出力される第二センサ信号を受付ける第二センサ信号受付回路とをさらに具備し、
前記制御信号生成送出回路は、
受付けた前記第二センサ信号に基づいて、前記人体の一部の予め規定された第二初期形状からの変形方向に基づいて決定される、前記アームの動作の内容、及び前記第二初期形状からの第二変形量に基づいて決定される、前記アームの動作の実施状態を含む前記制御信号が生成されることを特徴とする請求項1に記載の電動義手。 - 前記制御部本体は、
前記前腕部または前記上腕部の任意の形状を前記初期形状に変更する、及び/または、前記人体の一部の任意の形状を前記第二初期形状に変更する初期形状変更設定回路をさらに具備することを特徴とする請求項2に記載の電動義手。 - 前記第二形状検知センサは、
前記上肢切断者の肩峰に装着されることを特徴とする請求項2または請求項3に記載の電動義手。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012140417A JP5882145B2 (ja) | 2012-06-22 | 2012-06-22 | 電動義手 |
PCT/JP2013/063004 WO2013190928A1 (ja) | 2012-06-22 | 2013-05-09 | 電動義手 |
EP13806083.5A EP2865358A4 (en) | 2012-06-22 | 2013-05-09 | ARTIFICIAL HAND WITH POWER SUPPLY |
US14/405,803 US9510958B2 (en) | 2012-06-22 | 2013-05-09 | Electrically powered artificial hand |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012140417A JP5882145B2 (ja) | 2012-06-22 | 2012-06-22 | 電動義手 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014004050A JP2014004050A (ja) | 2014-01-16 |
JP5882145B2 true JP5882145B2 (ja) | 2016-03-09 |
Family
ID=49768534
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012140417A Expired - Fee Related JP5882145B2 (ja) | 2012-06-22 | 2012-06-22 | 電動義手 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9510958B2 (ja) |
EP (1) | EP2865358A4 (ja) |
JP (1) | JP5882145B2 (ja) |
WO (1) | WO2013190928A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015120076A1 (en) | 2014-02-04 | 2015-08-13 | Rehabilitation Institute Of Chicago | Modular and lightweight myoelectric prosthesis components and related methods |
GB201403265D0 (en) | 2014-02-25 | 2014-04-09 | Touch Emas Ltd | Prosthetic digit for use with touchscreen devices |
JP6570066B2 (ja) * | 2015-11-30 | 2019-09-04 | 学校法人早稲田大学 | ロボット制御装置 |
ITUA20163505A1 (it) * | 2016-05-17 | 2017-11-17 | Cesare Rossi | Dispositivo di afferraggio antropomorfo |
US10973660B2 (en) | 2017-12-15 | 2021-04-13 | Touch Bionics Limited | Powered prosthetic thumb |
US11931270B2 (en) | 2019-11-15 | 2024-03-19 | Touch Bionics Limited | Prosthetic digit actuator |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3866246A (en) * | 1972-11-14 | 1975-02-18 | Us Navy | Shoulder disarticulation prosthetic system |
US4074367A (en) * | 1976-09-16 | 1978-02-21 | The United States of America as represented by the Administrator of Veterans' Affairs | Prosthetic load-lift hook locking mechanism |
US5376128A (en) * | 1992-08-31 | 1994-12-27 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Control system for prosthetic devices |
GB2302949B (en) * | 1995-07-01 | 1999-04-14 | Univ Salford | A transducer |
US5716330A (en) * | 1995-07-13 | 1998-02-10 | Goldman; David A. | Body and limb position/motion detector and power assist apparatus and method |
JPH10201782A (ja) * | 1997-01-27 | 1998-08-04 | Fukushin Denki Kk | 電動式義手 |
US6344062B1 (en) * | 1999-03-18 | 2002-02-05 | The State University Rutgers | Biomimetic controller for a multi-finger prosthesis |
US7373721B2 (en) * | 2002-12-30 | 2008-05-20 | Massimo Bergamasco | Goniometric sensor |
CA2679585C (en) * | 2007-02-06 | 2015-10-06 | Gregory R. Lanier | Method and apparatus for control of a prosthetic |
EP1955679B1 (en) | 2007-02-09 | 2013-11-06 | Semiconductor Energy Laboratory Co., Ltd. | Assist device |
JP2009022577A (ja) * | 2007-07-20 | 2009-02-05 | Nagasaki Univ | 能動把持装具 |
JP5079458B2 (ja) | 2007-11-07 | 2012-11-21 | アクティブリンク株式会社 | 動作支援装置 |
JP5472680B2 (ja) * | 2009-04-09 | 2014-04-16 | 国立大学法人 筑波大学 | 装着式動作補助装置 |
US9931230B2 (en) * | 2011-08-01 | 2018-04-03 | George Mason University | Artificial body part control system using ultrasonic imaging |
-
2012
- 2012-06-22 JP JP2012140417A patent/JP5882145B2/ja not_active Expired - Fee Related
-
2013
- 2013-05-09 EP EP13806083.5A patent/EP2865358A4/en not_active Withdrawn
- 2013-05-09 US US14/405,803 patent/US9510958B2/en not_active Expired - Fee Related
- 2013-05-09 WO PCT/JP2013/063004 patent/WO2013190928A1/ja active Application Filing
Also Published As
Publication number | Publication date |
---|---|
JP2014004050A (ja) | 2014-01-16 |
EP2865358A1 (en) | 2015-04-29 |
EP2865358A4 (en) | 2015-06-10 |
WO2013190928A1 (ja) | 2013-12-27 |
US9510958B2 (en) | 2016-12-06 |
US20150182355A1 (en) | 2015-07-02 |
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