hand model

Abstract

A hand model has a central part including a joint part and a metacarpal part, the joint part including a first outer side part and a first inner side part, the first outer side part housing the first inner side part in a manner that the first inner side part is rotatable, the first outer side part having at least one guide part, the guide part of the first outer side part limiting uniaxial rotation of the first inner side part about one of three rotation axes. The object of the present invention is to reproduce the structure of the movable region and the non-movable region of a human finger and the structure of various manifestations of a human finger well.

Description

TECHNICAL FIELD

[0001] The present application relates to a hand model. BACKGROUND

[0002] As background art of the present technical field, there is Japanese Patent Application Publication No. 2022-28002 (Patent Literature 1). In this publication, it is described that: “A joint structure of a hand of an anthropomorphic body, which has a wrist 110 provided on an extension of a lower arm portion 80, a back of a hand 115 connected to the wrist 110, and a plurality of fingers 120 including a thumb 120A connected to the back of a hand 115, wherein the back of a hand 115 has a notch portion 131 and a protrusion portion 132 formed apart from the notch portion 131 at a portion connected to the wrist 110, the wrist 110 is connected via a first ball joint 141 buried in a portion of the protrusion portion 132 displaced from the position of the wrist 110 in a state in which a distal end portion thereof is disposed in the notch portion 131 of the back of a hand 115, and is rotatable with respect to the back of a hand 115 about the first ball joint 141” (see Abstract).

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2022-28002 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] In the Patent Literature 1, a structure of a joint structure of a limb end portion of an anthropomorphic body capable of performing a motion close to that of a human being is described. However, in the Patent Literature 1, a structure for well reproducing movable and non-movable regions of a finger of a human being, or a structure for reproducing various expressions of a finger of a human being is not discussed.

[0008] Therefore, the present application provides a structure for well reproducing movable and non-movable regions of a finger of a human being, and a structure for reproducing various expressions of a finger of a human being.

[0009] TECHNICAL SOLUTION FOR SOLVING THE PROBLEMS

[0010] In order to solve the above problems, for example, the structure described in the claims is adopted.

[0011] The present application includes various solutions to the above problems, and if one example is given, a hand model is provided, characterized by having a central member including a joint portion and a middle phalanx portion, the joint portion including a first outer portion and a first inner portion, the first outer portion housing the first inner portion in a manner that the first inner portion is rotatable, the first outer portion having at least one guide portion, the guide portion of the first outer portion restricting uniaxial rotation of the first inner portion about one of three rotation axes.

[0012] Effects of the Invention

[0013] According to the present application, a structure that well reproduces movable and non-movable regions of a human finger, or a structure that reproduces various expressions of a human finger can be provided.

[0014] The above problems, structures, and effects other than those described above are clarified by the following embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1A is an example of an appearance view of a hand model 1 composed of a plurality of movable portions;

[0016] Figure 1B is an example of an appearance view of a hand model 1 composed of a plurality of movable portions; Figure 1A

[0017] Figure 2 is an example of an appearance view of a central member 200;

[0018] Figure 3 is an example of an explanatory view that explains the relationship between an outer portion 220 and an inner portion 300 of a CM joint portion 20;

[0019] Figure 4 is an example of an explanatory view that explains rotation of the inner portion 300 in a first rotation direction RD1;

[0020] Figure 5 is an example of an explanatory view that explains rotation of the inner portion 300 in a second rotation direction RD2;

[0021] Figure 6 is an example of an appearance view of the hand model 1 when the CM joint portion 20 is in a state of A; Figure 5

[0022] Figure 7 is an example of an appearance view of the hand model 1 when the CM joint portion 20 is in a state of C; Figure 5

[0023] Figure 8 is an example of an explanatory view that explains rotation of the inner portion 300 in a first rotation direction RD1;​​​

[0024] Figure 9 is an example of an appearance view of the hand model 1 when the CM joint portion 20 is in a state of Figure 8 ;

[0025] Figure 10 is an example of an explanatory view that explains the relationship of the thumb metacarpal portion 115, the index finger metacarpal portion 125, and the middle finger metacarpal portion 135;

[0026] Figure 11 is an example of an explanatory view that explains the movable area of the thumb metacarpal portion 115;

[0027] Figure 12 is an example of an appearance view of the hand model 1 when the thumb metacarpal portion 115 is in a state of Figure 11 ;

[0028] Figure 13 is an example of an explanatory view that explains the expansion mechanism that expands the range of rotation of the thumb metacarpal portion 115;

[0029] Figure 14 is an example of an appearance view of the hand model 1 when the thumb metacarpal portion 115 is in a state of Figure 13 ;

[0030] Figure 15 is an example of an explanatory view that explains two different postures of the thumb metacarpal portion 115;

[0031] Figure 16 is an example of an appearance view of the hand model 1 when the thumb metacarpal portion 115 is in a posture of Figure 15 B, Figure 15 D;

[0032] Figure 17A is an example of an appearance view of the hand model 1 that explains the movable area of the thumb metacarpal portion 115 corresponding to the posture of Figure 15 A;

[0033] Figure 17B is an example of an appearance view of the hand model 1 that explains the movable area of the thumb metacarpal portion 115 corresponding to the posture of Figure 15 B;

[0034] Figure 18 is an example of an explanatory view that explains the connection state of the metacarpal portion 10 of each finger portion 30;

[0035] Figure 19 is an example of an explanatory view that explains the metacarpal portion 10 in a flatter state;

[0036] Figure 20is an example of an explanatory view of the metacarpal portion 10 in a more rounded state;

[0037] Figure 21 is an example of an explanatory view of the structure of the finger portion 30;

[0038] Figure 22 is an example of an explanatory view of the middle finger range 2120 of the hand model 1; Figure 21

[0039] Figure 23 is an example of an explanatory view of the MP joint portion 40;

[0040] Figure 24 is an example of an explanatory view of the rotation of the MP joint portion 40;

[0041] Figure 25 is an example of an appearance view of the hand model 1 illustrating radial deviation and ulnar deviation of the middle finger portion 130;

[0042] Figure 26 is an example of an explanatory view of the rotation of the MP joint portion 40;

[0043] Figure 27 is an example of an appearance view of the hand model 1 in which the amount of rotation of the MP joint portion 40 is different;

[0044] Figure 28 is an example of an explanatory view of the structure of the IP joint portion 50;

[0045] Figure 29 is an example of an explanatory view of dorsiflexion and palmar flexion of the DIP joint portion 52;

[0046] Figure 30 is an example of an appearance view of the hand model 1 illustrating movable ranges of the MP joint portion 40 and the IP joint portion 50;

[0047] Figure 31 is an example of another appearance view of the hand model 1 illustrating an example of the movable ranges of the MP joint portion 40 and the IP joint portion 50;

[0048] Figure 32 is an example of an explanatory view of the CM joint portion 20 in a divided state; and

[0049] Figure 33 is another example of an explanatory view illustrating the connection state of the metacarpal portion 10 of each finger portion 30.

[0050] Symbol Explanation

[0051] ​1…hand model; 10…metacarpal part; 20…CM joint part; 30…finger part; 31…base part; 32…middle part; 33…tip part; 40…MP joint part; 50…IP joint part; 51…PIP joint part; 52…DIP joint part; 60…wrist end part; 110…thumb part; 115…thumb metacarpal part; 120…index finger part; 125…index finger metacarpal part; 130…middle finger part; 135…middle finger metacarpal part; 140…ring finger part; 145…ring finger metacarpal part; 150…little finger part; 150…little finger metacarpal part; 200…center part; 210…dorsal side of middle finger metacarpal part 135; 220…lateral side of CM joint part 20; 221…lateral side of thumb CM joint part 20; 222…first linear guide edge; 223…second linear guide edge; 224…first curved guide edge; 225…second curved guide edge; 226…first support protrusion; 227…second support protrusion; 230…center axis; 300…medial side of CM joint part 20; 310…first guide protrusion; 320…second guide protrusion; 330…connecting protrusion; 340…inner wall part of middle finger metacarpal part 135; 350…accommodation part for thumb metacarpal part 115; 360…palmar side of middle finger metacarpal part 135; 400…first guide part; 410…hook part; 500…second guide part; 700…range; 710…fixing part insertion hole; 720…recess; 810…thumb side end point; 820…first distance; 830…little finger side end point; 840…second distance; 1000…hinge part; 1011…thumb CM joint part; 1020…medial side of thumb CM joint part 1011; 1100…contact protrusion part; 1120…stop wall part; 1121…outermost contact position of stop wall part 1120; 1300…expansion part; 1301…expansion part protrusion part; 1310…expansion part accommodation area; 1311…stop recess; 1320…rotation recess; 1321…rotation protrusion; 1330…rotation part; 1500…MP joint part mounting recess; 1501…plane of MP joint part 40 mounting recess; 1510…thumb ball part; 1520…thumb ball part accommodation part; 1710…contact edge of stop wall part 1120; 1720…upper edge of thumb metacarpal part; 1810…first support protrusion insertion hole; 1820…second support protrusion insertion hole; 1900…MP joint accommodation recess; 1910…first imaginary curve; 2000…gap between each metacarpal part; 2010…second imaginary curve; 2020…innermost point of little finger metacarpal part 155; 2101…middle finger base part; 2102…middle finger middle part; 2103…middle finger tip part; 2111…thumb base part; 2113…thumb tip part; 2120…middle finger range; 2200…distal end contour of middle finger metacarpal part 135; 2210…proximal end contour of middle finger base part 2101; 2300…MP joint base;2301 … proximal connecting portion; 2302 … first rotation supporting portion; 2310 … first rotation portion (MP joint radial deviation / ulnar deviation portion) of MP joint portion 40; 2311 … distal connecting portion; 2320 … second rotation portion (MP joint dorsiflexion / palmar flexion portion) of MP joint portion 40; 2322 … second rotation supporting portion; 2710 … MP joint portion of little finger; 2720 … MP joint portion of ring finger; 2730 … PIP joint portion of little finger; 2740 … PIP joint portion of ring finger; 2750 … DIP joint portion of little finger; 2760 … DIP joint portion of ring finger; 2810 … IP joint fixing portion; 2811 … proximal connecting portion; 2812 … fixing portion protrusion; 2813 … position of fixing portion protrusion 2812; 2820 … IP joint rotation portion; 2821 … distal connecting portion; 2822 … rotation portion step; 2823 … rotation shaft body; 2824 … rotation range; 2920 … contour of distal end of middle section portion; 2930 … contour of proximal end of terminal section portion; 3110 … MP joint portion of index finger; 3115 … DIP joint portion of index finger; 3120 … MP joint portion of middle finger; 3125 … DIP joint portion of middle finger; 3210 … first half of lateral portion 220 of CM joint portion 20; 3211 … first cylindrical member; 3220 … second half of lateral portion 220 of CM joint portion 20; 3221 … second cylindrical member; 3222 … connecting portion with middle finger metacarpal portion 135; 3230 … cylindrical member insertion hole; 3310 … spherical connecting portion; 3320 … third supporting protrusion; 3320 … insertion hole for third supporting protrusion. DETAILED DESCRIPTION

[0052] Hereinafter, the embodiments will be described using the drawings. Also, in the following embodiments, the right hand is exemplified for description, but the left hand can also be applied by being flipped left and right. For example, by being configured so as to flip each of the components described later left and right, the embodiments described later can be applied as a model of the left hand. Also, in this case, the configuration of each joint portion described later can also be common to the model of the right hand and the model of the left hand.

[0053] Also, in the model of the hand 1 of Fig. 1 and the like, as for the appearance, the shape that imitates the hand of a person is designed. In other embodiments, in the model of the hand 1, as for the appearance, for example, as for the ratio or the shape of each portion, the shape that imitates the appearance of the hand of an infant or an elderly person can also be designed. Also, the shape or the contour and the like of each portion can be designed taking into consideration the shape or the contour that reproduces, for example, the degree of fleshiness or the degree of bone protrusion.

[0054] Figure 1A is an example of an appearance view of the model of the hand 1 configured of a plurality of movable portions.

[0055] Figure 1AThe hand model 1 imitates a human hand, for example, has each finger metacarpal portion 10, a CM joint portion (wrist metacarpal joint portion) 20, each finger portion 30, an MP joint portion (metacarpophalangeal joint portion) 40, an IP joint portion (interphalangeal joint portion) 50, and the like.

[0056] The CM joint portion 20 is an example of a joint portion.

[0057] The MP joint portion 40 is an example of a second joint portion.

[0058] Figure 1A The hand model 1 is designed in a size similar to that of a hand of a general adult, but is not limited thereto, and can be designed in various sizes, such as a size similar to that of a hand of an infant or a child, and the like.

[0059] In particular, in a configuration in which the hand model 1 is used as a prosthetic hand, the size of the hand model 1 is preferably a size based on the size of the hand of the wearer of the prosthetic hand or the size of the hand relative to the body size of the individual who is the wearer of the prosthetic hand.

[0060] In addition, Figures 1A to 33 The ratio of the size or length of each of the constituent elements illustrated is also designed in a ratio corresponding to each portion of a finger of a hand of a general adult. However, in another embodiment, the ratio of the size or length corresponding to each portion of a finger of a hand of an animal other than a human being, particularly an animal of the order of Primates, such as a chimpanzee or an orangutan, and the like can be designed. In such a configuration of the hand model 1, it is more preferable to design the movable region or the non-movable region of the hand model 1 so as to correspond to the movable region or the non-movable region of the finger of the hand of each animal.

[0061] For example, when the hand model 1 is designed in a size smaller than that of a hand of a general adult, which is easier to carry, it is easy to carry the hand model 1 to various places, so the user is likely to perform a sketching exercise using the hand model 1 and the like in various situations, regardless of the place or the time period.

[0062] In yet another example, when the hand model 1 is designed in a size larger than that of a hand of a general adult, which is easily visually recognized from a distance, for example, in a classroom and the like, a person who is located far from the hand model 1, such as a student who receives a lecture or a lecture note on art or sketching, can also visually recognize the hand model 1 well, and is likely to perform a sketching exercise using the hand model 1 and the like. For example, in an art school and the like, when a plurality of students perform sketching on the same hand model 1 and the like, it is preferable to use such a large hand model 1.

[0063] The movable region and the immovable region of the hand model 1 can be well reproduced. For example, the movable region and the immovable region of the hand model 1 are preferably designed to reproduce the movable region and the immovable region of a human finger in a normal state. However, the movable region and the immovable region of the hand model 1 do not necessarily have to reproduce the movable region and the immovable region of a human finger in a normal state.

[0064] For example, in another embodiment, the hand model 1 can also be a structure that reproduces the movable region and the immovable region of a human hand in a state in which at least one joint is dislocated or subluxated.

[0065] Further, in terms of the movable region and the immovable region of the hand model 1, the movable region and the immovable region can also be set before and after an angle at which at least one joint starts to feel pain on a finger of a patient suffering from inflammation or arthrosis such as degenerative arthrosis. In such a structure, it is more preferable that the angle at which the pain starts can be selected based on, for example, statistical data on the arthrosis that becomes the object, or changed each time.

[0066] For example, in lecture notes, practice, further education, and the like of a university or a specialized school, or the like related to a hospital, or medical care, welfare, and the like, students or trainees can use the hand model 1 that reproduces the movable region or the immovable region of a hand of a patient who is injured or has a disability, and can learn the movable region or the immovable region of a human hand that is dislocated or subluxated while actually touching a three-dimensional object.

[0067] In addition, the hand model 1 can reproduce a state of a finger of an animal that is injured or has a disability. Such a hand model 1 can also provide an opportunity to learn a state of an injury or a disability of a rare animal, for example, for a veterinarian or the like.

[0068] Further, the hand model 1 can also reproduce a state of a finger of an animal that is injured or has a disability. Such a hand model 1 can also provide an opportunity to learn a state of an injury or a disability of a rare animal, for example, for a veterinarian or the like.

[0069] In the present specification, the five metacarpal portions of the thumb portion 110, the index finger portion 120, the middle finger portion 130, the ring finger portion 140, and the little finger portion 150 described later are sometimes collectively referred to as the respective finger metacarpal portions 10. Also, the thumb portion 110, the index finger portion 120, the middle finger portion 130, the ring finger portion 140, and the little finger portion 150 of the hand model 1 are sometimes referred to as the thumb, the index finger, the middle finger, the ring finger, and the little finger.

[0070] Figure 1B is Figure 1A An example of an appearance view of a mode that can be adopted by the hand model 1.

[0071] Figure 1B (1) is a view of the hand model 1 in a state in which the finger portions 30 are separated, as viewed from the back of the hand.

[0072] Figure 1B (2) is a view of the hand model 1 in a state in which the finger portions 30 are separated, as viewed from the palm side.

[0073] Figure 1B (3) is a view of the hand model 1 in a state in which the finger portions 30 are brought close to each other, as viewed from the back of the hand.

[0074] Figure 1B (4) is a view of the hand model 1 in a state in which the finger portions 30 are brought close to each other, as viewed from the palm side.

[0075] In the hand model 1 of the embodiment, Figure 1A Figure 1B In the hand model 1 of the embodiment,

[0076] The metacarpal portion 10 and the base portions 31 of the finger portions 30 are connected to each other via the MP joint portions 40.

[0077] The base portions 31 and the middle portions 32 are connected to each other via the PIP joint portions (proximal interphalangeal joint portions) 51, and the middle portions 32 and the distal portions 33 are connected to each other via the DIP joint portions (distal interphalangeal joint portions) 52.

[0078] In this specification, the term "proximal" means a position close to an imaginary wrist or body to which the wrist end portion 60 or the hand model 1 is connected, and the term "distal" means a position farther from the imaginary arm or body to which the wrist end portion 60 or the hand model 1 is connected.

[0079] The wrist end portion 60 is connected to the CM joint portion 20.

[0080] More specifically, the wrist end portion 60 is fixedly connected to the inner side portion 300 of the CM joint portion 20, and the wrist end portion 60 supports the inner side portion 300 of the CM joint portion 20 so as to be rotatable with respect to the outer side portion 220 of the CM joint portion 20.

[0081] In addition, the term "rotation" can also be referred to as "turning".

[0082] The CM joint portion 20 is composed of the inner side portion 300 fixedly connected to the wrist end portion 60 and the outer side portion 220 accommodating the inner side portion 300 so as to be rotatable.

[0083] The outer side portion 220 of the CM joint portion 20 is used as follows in the hand model 1 of the embodiment. Figures 2 to 4 ​As described in detail, the middle finger metacarpal portion 135 is formed integrally with or fixed to the middle finger metacarpal portion 135.

[0084] On the lateral portion 220 of the CM joint portion 20, the thumb metacarpal portion 115, the index finger metacarpal portion 125, the ring finger metacarpal portion 145, and the little finger metacarpal portion 155 are connected directly or indirectly in a movable manner with respect to the middle finger metacarpal portion 135. In such a configuration, in particular, the thumb metacarpal portion 115, the index finger metacarpal portion 125, the ring finger metacarpal portion 145, and the little finger metacarpal portion 155 are preferably movable with respect to the lateral portion 220 of the CM joint portion 20.

[0085] The thumb portion 110 corresponding to the human thumb is composed of the basal portion 31 and the distal portion 33, the MP joint portion 40 connecting the basal portion 31 so as to be rotatable with respect to the thumb metacarpal portion 115, and the IP joint portion 50 connecting the basal portion 31 and the distal portion 33 so as to be rotatable.

[0086] The basal portion 31, the middle portion 32, and the distal portion 33, and the MP joint portion 40 and the IP joint portion 50 of each finger portion 30 have similar configurations, and in the following description, for example, the description related to the basal portion 31, the middle portion 32, and the distal portion 33, and the MP joint portion 40 and the IP joint portion 50 of the middle finger portion 130 corresponding to the human middle finger can also be applied to the index finger portion 120, the ring finger portion 140, and the little finger portion 150.

[0087] Each finger portion 30 corresponding to the four fingers of the human index finger, the middle finger, the ring finger, and the little finger is composed of the basal portion 31, the middle portion 32, the distal portion 33, and the MP joint portion 40 connecting the basal portion 31 so as to be rotatable with respect to the metacarpal portion 10, the PIP joint portion 51 connecting the basal portion 31 so as to be rotatable with respect to the middle portion 32, and the DIP joint portion 52 connecting the distal portion 33 so as to be rotatable with respect to the middle portion 32. In the following description, the PIP joint portion 51 and the DIP joint portion 52 are sometimes collectively referred to as the IP joint portion 50.

[0088] The PIP joint portion 51 and the DIP joint portion 52 as the IP joint portion 50 have similar or identical configurations.

[0089] The MP joint portion 40 and the IP joint portion 50 have different configurations with respect to the movable regions, in particular, with respect to the degrees of freedom of movement.

[0090] Use Figures 2 to 29 These points are described in more detail.

[0091] Figure 2 is an example of an appearance view of the center member 200.

[0092] In Figure 2In the middle, the center member 200 is fixedly connected to the lateral portion 220 of the CM joint portion 20 and the middle phalangeal portion 135 and the inner portion 300 of the CM joint portion 20 is removed.

[0093] The lateral portion 220 of the CM joint portion 20 accommodates the inner portion 300 of the CM joint portion 20.

[0094] The lateral portion 220 of the CM joint portion 20 further has a lateral portion 221 of the thumb CM joint portion 1011 which constitutes a use Figure 10 A part of the thumb CM joint portion 1011 for the thumb which is specifically described.

[0095] Further, the lateral portion 220 of the CM joint portion 20 has a first support protrusion 226 which supports the index phalangeal portion 125 and a second support protrusion 227 which supports the ring phalangeal portion 145.

[0096] The lateral portion 220 of the CM joint portion 20 is an example of a first lateral portion and the inner portion 300 of the CM joint portion 20 is an example of a first inner portion.

[0097] The thumb CM joint portion 1011 for the thumb is an example of a thumb joint portion.

[0098] The lateral portion 221 of the thumb CM joint portion 1011 is an example of a second lateral portion.

[0099] As described using Figure 18 As specifically described, the index phalangeal portion 125 preferably has a first support protrusion insertion hole 1810 and the ring phalangeal portion 145 has a second support protrusion insertion hole 1820. In such a structure, the first support protrusion 226 is inserted into the first support protrusion insertion hole 1810 and the second support protrusion 227 is inserted into the second support protrusion insertion hole 1820, whereby the index phalangeal portion 125 and the ring phalangeal portion 145 can be held to the lateral portion 220 of the CM joint portion 20 while maintaining a rotatable state with respect to the lateral portion 220 of the CM joint portion 20.

[0100] The lateral portion 220 of the CM joint portion 20 has a first linear guide edge 222 and a second linear guide edge 223, and a first curved guide edge 224 and a second curved guide edge 225.

[0101] The first linear guide edge 222 and the second linear guide edge 223 form a first guide portion 400.

[0102] The first curved guide edge 224 and the second curved guide edge 225 form a second guide portion 500.

[0103] The center axis 230 indicated by a dotted line between L-L' is a straight line extending in the length direction of the center member 200, for example, a straight line passing through the center of the partial spherical shell formed in the lateral portion 220 of the CM joint portion 20 or the center of the spherical portion of the medial portion 300 of the CM joint portion 20 and extending in parallel with the plane in which the first curved guide rim 224 and the second curved guide rim 225 are located.

[0104] Figure 3 FIG. 6 is an explanatory view for explaining the relationship between the lateral portion 220 and the medial portion 300 of the CM joint portion 20.

[0105] Figure 3 (A) is a view illustrating the CM joint portion 20 in a state in which the lateral portion 220 and the medial portion 300 are separated.

[0106] Figure 3 (B) is a view illustrating the CM joint portion 20 in a state in which the medial portion 300 is accommodated in the lateral portion 220.

[0107] Further, in the actual use state, the CM joint portion 20 can also be configured as a structure incapable of separating the lateral portion 220 and the medial portion 300 without damage or deformation as illustrated in (A), but can be configured to be easily assembled by fitting a plurality of members in a form of sandwiching the medial portion 300 on the basis of the lateral portion 220 being composed of a plurality of members, and can also be configured to be separable after assembly. Figure 3

[0108] The two arrows of the symbol RD1, RD2 illustrated in (B) indicate a possible first rotation direction (permitted first rotation direction) RD1 and a second rotation direction (permitted second rotation direction) RD2 of the medial portion 300 in the state of being accommodated in the lateral portion 220. Figure 3

[0109] The medial portion 300 in the state of being accommodated in the lateral portion 220 is preferably configured to be restricted in rotation in at least a partial range in the third rotation direction (restricted rotation direction) RD3 indicated by the two arrows in (A). Figure 4

[0110] Further, the so-called restriction includes a case of hindering rotation, and allows a certain degree of play (rotation).

[0111] Thus, the lateral portion 220 is capable of accommodating the medial portion 300 by restricting the 3-degree-of-freedom rotational movement of the medial portion 300.

[0112] The so-called 3-degree-of-freedom rotational movement refers to, for example, a rotational movement composed of a pitch rotation, a yaw rotation, and a roll rotation with respect to the center axis 230. In the case of the CM joint portion 20, the 3-degree-of-freedom rotational movement of the medial portion 300 is restricted by the lateral portion 220. Figure 3 ​​​In the embodiment of (B), by restricting the rolling rotation with respect to the center axis 230, it is possible to restrict the 3-degree-of-freedom rotational movement of the inner side portion 300. For example, it is possible to be configured not to perform the rolling rotation, or to make the rolling rotation more difficult to perform than the pitching rotation or the yawing rotation.

[0113] Further, the pitching rotation, the yawing rotation, and the rolling rotation with respect to the center axis 230 are examples of the rotation of the rotation of the inner side portion 300 in three rotational axes, respectively, and the rolling rotation is an example of the single-axis rotation around one of the three rotational axes.

[0114] The middle finger metacarpal portion 135 has the inner wall portion 340 of the middle finger metacarpal portion 135 between the palmar side 360 of the middle finger metacarpal portion 135 and the dorsal side 210 of the middle finger metacarpal portion 135.

[0115] The inner wall portion 340 is formed with the accommodation portion 350 for the thumb metacarpal portion 115 and the thumb ball portion accommodation portion 1520 described later on the side of the thumb metacarpal portion 115.

[0116] Figure 32 is an example of an explanatory view that explains the CM joint portion 20 in a divided state.

[0117] The CM joint portion 20 can also have a structure according to Figures 3 to 5 instead of, for example, a structure according to Figure 32 The CM joint portion 20 having a structure according to Figure 32 is formed by combining the first half body 3210 and the second half body 3220.

[0118] The outer side portion 221 of the thumb CM joint portion 1011 and the first cylindrical member 3211 are provided on the first half body 3210. The second cylindrical member 3221 and the connecting portion 3222 of the middle finger metacarpal portion 135 are provided on the second half body 3220. A screw can be inserted through the first cylindrical member 3211, and the distance to the second cylindrical member 3221 can be adjusted by tightening or loosening the screw, whereby the frictional force generated between the inner side portion 300 and the outer side portion 220 can be adjusted. Further, with respect to the outer side portion 221, it is also possible to be configured in the same manner as the first half body 3210 and the second half body 3220 by combining two half bodies, and a threaded hole through which a screw is inserted is provided on each of the two half bodies, and the frictional force with the inner side portion 300 can be adjusted by inserting the screw.

[0119] Connecting portions identical to the connecting portion 3222 of the middle finger metacarpal portion 135 are also provided on the first half body 3210, and they are connected to the corresponding connecting portions on the side of the middle finger metacarpal portion 135 in pairs, maintaining the fixed connection between the middle finger metacarpal portion 135 and the CM joint portion 20.

[0120] More specific structures or functions of each of the components of the CM joint portion 20 will be described later.

[0121] In the hand model 1 having the CM joint portion 20 having a structure such as that according to Figures 3 to 5 or Figure 32 In the hand model 1 having the CM joint portion 20 having a structure such as that according to

[0122] For example, in the hand model 1 used as a sketching model, by being provided with a structure in which a larger frictional force is generated between the lateral portion 220 of the CM joint portion 20 and the medial portion 300 of the CM joint portion 20, it is possible to provide a structure in which the CM joint portion 20 or the component farther from the CM joint portion 20 is more difficult to move with respect to the wrist end portion 60. Thus, during movement or storage of the hand model 1 after the setting, and the like, it is possible to more reliably avoid deformation of the hand model 1 into an undesirable posture with respect to the wrist end portion 60 due to vibration, collision, or acceleration change, and the like.

[0123] For example, in the hand model 1 used as a prosthetic hand, by being provided with a structure in which a smaller frictional force is generated between the lateral portion 220 of the CM joint portion 20 and the medial portion 300 of the CM joint portion 20, it is possible to provide a structure in which the angle or the like of the CM joint portion 20 with respect to the wrist end portion 60 is more easily changed according to the activities in the daily life of the user. Thus, the angle or the like of the CM joint portion 20 with respect to the wrist end portion 60 is changed according to the daily activities of the user on which the prosthetic hand having the hand model 1 is mounted, particularly the activities of the arm on which the prosthetic hand is mounted, for example, based on changes in the direction, speed, or acceleration of the activities, and thus, it is possible to reproduce natural activities similar to the activities of an actual human hand within a natural movable region.

[0124] In the hand model 1, based on the above-described frictional force and the setting of the movable region and the non-movable region of the hand model 1, it is possible to reproduce the activities of an actual human hand, such as swinging, and the like, in the activities of the user even without an electrical control portion or a driving portion.

[0125] Further, the hand model 1 is preferably a structure in which the frictional force of each joint portion, for example, the frictional force generated between the lateral portion 220 of the CM joint portion 20 and the medial portion 300 of the CM joint portion 20, is adjustable. For such a structure, the following Figure 32 will be described.

[0126] Figure 4 is an example of an explanatory view that explains the rotation of the medial portion 300 in the first rotation direction RD1.

[0127] Figure 4 (A) The CM joint 20 is shown in a state where the outer portion 220 of the CM joint 20 and the inner portion 300 of the CM joint 20 are separated.

[0128] Figure 4 (B) The CM joint 20 is shown in a state where the inner portion 300 of the CM joint 20 is accommodated in the outer portion 220 of the CM joint 20 .

[0129] exist Figure 4 In (A), the dotted line indicates the first guide portion 400. The first guide portion 400 is a space sandwiched between the first linear guide edge 222 and the second linear guide edge 223 of the outer portion 220, and has a width long enough for the first guide protrusion 310 and the second guide protrusion 320 to pass through.

[0130] The first guide portion 400 is an example of at least one guide portion.

[0131] exist Figure 4 In (A), a central axis 230 is also shown, which passes through the center of the partial spherical shell formed by the outer portion 220. The restricted third rotation direction RD3 is the direction of rotation about the central axis 230.

[0132] exist Figure 4 In (A), the inner portion 300 has a first guide protrusion 310, a second guide protrusion 320, and a connecting protrusion 330. The connecting protrusion 330 is used to connect the inner portion 300 to the wrist end portion 60. The connecting protrusion 330 is provided with a hook portion 410. The hook portion 410 prevents the wrist end portion 60, which is connected to the inner portion 300 via the connecting protrusion 330, from rotating.

[0133] In addition, Figure 4 In the embodiment (A), the first guide portion 400 is formed as a linear space that is continuous and connected between the palm side and the back side. Alternatively, the first guide portion 400 may be formed as a space divided into two spaces: a first space on the palm side and a second space on the back side.

[0134] exist Figure 4 In (B), a portion of the first guide portion 400 is indicated by a dotted line. Figure 4 In (B), the first guide protrusion 310 exists outside the range of the first guide portion 400 , and the second guide protrusion 320 exists within the range of the first guide portion 400 .

[0135] exist Figure 4 In the state (B), the first guide portion 400 indicated by the dotted line is a space sandwiched between the first linear guide edge 222 and the second linear guide edge 223 of the outer portion 220, and its width is long enough for the first guide protrusion 310 and the second guide protrusion 320 to pass through.

[0136] In Figure 4 In the state of (B), the second guide protrusion 320 within the first guide portion 400 is restricted from moving in the width direction by the first linear guide edge 222 and the second linear guide edge 223. Thus, the rotation of the inner side portion 300 in the third rotation direction RD3 about the center axis 230 is hindered.

[0137] In particular, in a structure in which the width of the first guide portion 400 is suitable for the widths of the first guide protrusion 310 and the second guide protrusion 320, such as a structure in which the first guide protrusion 310 and the second guide protrusion 320 are in contact with the first linear guide edge 222 and the second linear guide edge 223 within the first guide portion 400, the rotation of the inner side portion 300 in the third rotation direction RD3 about the center axis 230 can be more reliably restricted.

[0138] The hand model 1 according to the present embodiment can well reproduce a state in which, when a human hand or arm performs radial abduction and palmar abduction, rotation of fingers further forward than the wrist with respect to the wrist is restricted.

[0139] Further, the third rotation direction RD3 can also be understood as a direction of rotation defined by a roll angle with respect to the center axis 230.

[0140] Likewise, the first rotation direction RD1 and the second rotation direction RD2 can also be understood as directions of rotation defined by a pitch angle and a yaw angle, respectively, with respect to the center axis 230.

[0141] In the following description, the rotation defined by the pitch angle is described using terms such as radial deviation and ulnar deviation. Likewise, the rotation defined by the yaw angle is described using terms such as palmar flexion and dorsal extension.

[0142] Further, with respect to the MP joint portions 40 and the IP joint portions 50 of the respective finger portions 30, likewise, with respect to the length axes of the basal portions 31, the intermediate portions 32, and the distal portions 33 of the respective finger portions 30, the rotation defined by the pitch angle and the rotation defined by the yaw angle are described using terms such as radial deviation and ulnar deviation, and terms such as palmar flexion and dorsal extension, respectively.

[0143] Figure 5 is an example of a view for describing the rotation of the inner side portion 300 in the second rotation direction RD2.

[0144] Figure 5 (A) describes a state in which the inner side portion 300 is rotated in the second rotation direction RD2 from Figure 5 (B) describes a state in which the inner side portion 300 is rotated in the palmar direction from the central position of the inner side portion 300 illustrated in (A) by viewing the view in the direction from the dorsal side toward the palmar side and the view in the direction parallel to the center axis 230. In Figure 5In (A), the first guide protrusion 310 of the medial portion 300 is positioned in the first guide portion 400 on the palm side, and the second guide protrusion 320 and the connecting protrusion 330 are positioned in the second guide portion 500.

[0145] Further, the central position of the medial portion 300 refers to, for example, a position where the connecting protrusion 330 of the medial portion 300 overlaps the center axis 230.

[0146] Figure 5 (B) illustrates a state where the medial portion 300 is at the central position of the medial portion 300, by a view observed in a direction from the back side toward the palm side and a view observed in a direction parallel to the center axis 230. At the central position of the medial portion 300, the connecting protrusion 330 of the medial portion 300 preferably overlaps, for example, the center axis 230 of the center member 200. In Figure 5 (B), the first guide protrusion 310 of the medial portion 300 is positioned in the first guide portion 400 on the palm side, and the second guide protrusion 320 is positioned in the first guide portion 400 on the back side, and the connecting protrusion 330 is positioned in the second guide portion 500.

[0147] Figure 5 (C) illustrates a state where the medial portion 300 is turned from Figure 5 (B) to the back side, by a view observed in a direction from the back side toward the palm side and a view observed in a direction parallel to the center axis 230. At the central position of the medial portion 300 illustrated in (B), the connecting protrusion 330 of the medial portion 300 is positioned in the second guide portion 500 on the back side. Figure 5 (C), the second guide protrusion 320 of the medial portion 300 is positioned in the first guide portion 400 on the back side, and the first guide protrusion 310 and the connecting protrusion 330 are positioned in the second guide portion 500. Further, although detailed description is omitted, in a state where the CM joint portion 20 is turned to the back side as in Figure 5 (A) or Figure 5 When turned in the second turning direction RD2 as illustrated in (C), in order to be provided with a movable range equal to that of the joint of the wrist of a human, the CM joint portion 20 side edge portion of the wrist end portion 60 and the lateral portion 220 are configured to contact at the limit position to restrict further movement.

[0148] Figure 6 is a state where the CM joint portion 20 is at Figure 5 (A), an example of an appearance view of the hand model 1 when the CM joint portion 20 is at

[0149] Figure 6 (A) is a view of the hand model 1 when the CM joint portion 20 is at Figure 5 (A), an example of an appearance view of the hand model 1 when the CM joint portion 20 is at

[0150] Figure 6 (B) is a view of the hand model 1 when the CM joint portion 20 is at Figure 5 (A), an example of an appearance view of the hand model 1 when the CM joint portion 20 is at

[0151] In Figure 6 (A), Figure 6 (B), as explained in connection with Figure 5 (A), because the first guide protrusion 310 of the inner side portion 300 is positioned within the first guide portion 400, the rotation of the wrist end portion 60 fixedly connected to the inner side portion 300 via the connecting protrusion 330 in the third rotation direction RD3 within the outer side portion 220 can be more reliably restricted.

[0152] The rotation of the finger portion with respect to the wrist portion in the third rotation direction RD3 of the inner side portion 300 restricted within the outer side portion 220 is also restricted in the anatomical structure of the wrist and hand of a human being different in structure from the present embodiment. Thus, the hand model 1 can well reproduce both the movable region and the non-movable region of the actual wrist and hand of a human being.

[0153] Figure 7 is an example of an appearance view of the hand model 1 when the CM joint portion 20 is in the state of Figure 5 (A).

[0154] Figure 7 (A) is an example of an appearance view of the hand model 1 when the CM joint portion 20 is in the state of Figure 5 (A).

[0155] Figure 7 (B) is an example of an appearance view of the hand model 1 when the CM joint portion 20 is in the state of Figure 5 (A).

[0156] Figure 7 (C) is an example of an enlarged view of the range 700 surrounded by a broken line in Figure 7 (A).

[0157] In the state of Figure 7 (A) to Figure 7 (C), as explained in connection with the explanation of Figure 5 (A), because the second guide protrusion 320 of the inner side portion 300 is positioned within the first guide portion 400, the rotation of the wrist end portion 60 fixedly connected to the inner side portion 300 via the connecting protrusion 330 in the third rotation direction (restricted rotation direction) RD3 within the outer side portion 220 can be more reliably restricted.

[0158] As in the case of Figure 6 , the rotation of the inner side portion 300 in the third rotation direction RD3 restricted within the outer side portion 220 is also restricted in the anatomical structure of the wrist and hand of a human being different in structure from the present embodiment.

[0159] As in the case of Figure 6 In this case as well, the hand model 1 can reproduce both the movable region and the non-movable region of the wrist and hand of an actual human being well. Figure 7 In this case as well, the hand model 1 can reproduce both the movable region and the non-movable region of the wrist and hand of an actual human being well.

[0160] The wrist end portion 60 preferably has a fixing member insertion hole 710 at the end thereof on the proximal side. More preferably, in the fixing member insertion hole 710, a fixing member provided on an object different from the hand model 1 can be inserted. The object different from the hand model 1 is, for example, a stand for placing the hand model 1 on a table or a shelf, an arm portion member for constituting a larger body model in combination with the hand model 1, or a connection portion of a forearm prosthesis or an upper arm prosthesis to a hand portion, and the like. Further, it can also be a structure fixed by four small holes (the number of holes can also be other numbers) around the fixing member insertion hole 710 shown in the drawing. Figure 7

[0161] The user holds the fixing member inserted into the fixing member insertion hole 710, or a stand or an arm portion member having the fixing member, and moves the hand model 1, so that the user can move the hand model 1 as a whole while stably maintaining the state in which the hand model 1 is set once. Thereby, the user can observe the hand model 1 in the same state from various angles of above and below, right and left, and front and back, and stably perform practice such as sketching, and the like.

[0162] Further, in the case where the hand model 1 is used as a prosthetic hand, it is easy to adopt the same posture as family members or friends or the like up to the details of the fingers, for example, at the time of photographing or the like, and it is also possible to contribute to the improvement of the quality of life (QOL) of the installer of the prosthetic hand. In the case where the hand model 1 is used as a prosthetic hand, when the hand model 1 can be replaced by a hand portion having another function or structure, for example, a hook-shaped hand portion, by releasing the connection in the fixing member insertion hole 710, it is possible to use them separately according to the scenes of daily life, and thus it is more preferable.

[0163] The wrist end portion 60 preferably has a recess 720 corresponding to, for example, coinciding with the contour shape, particularly the three-dimensional contour shape, of the outer side portion 221 of the thumb CM joint portion 1011. Thereby, it is possible to design the movable region of the CM joint portion 20 more flexibly.

[0164] Figure 8 is an example of an explanatory view illustrating the rotation of the inner side portion 300 in the first rotation direction RD1.

[0165] Figure 8 (A) indicates a state in which the inner side portion 300 is rotated from the Figure 8 (B) indicates a state in which the inner side portion 300 is rotated toward the little finger side from the central position of the inner side portion 300. In Figure 8 ​​​In (A), the first guide protrusion 310 and the second guide protrusion 320 of the inner side portion 300 are positioned in the first guide portion 400. The connecting protrusion 330 is positioned in the second guide portion 500, in contact with the first curved guide rim 224.

[0166] Figure 8 (B) indicates a state in which the inner side portion 300 is at the central position of the inner side portion 300. At the central position of the inner side portion 300, the connecting protrusion 330 of the inner side portion 300 is preferably overlapped with the central axis 230 of the center member 200, for example.

[0167] The first curved guide rim 224 and the second curved guide rim 225 are preferably designed to be asymmetric with respect to a center line L2-L2' passing through the centers of the first guide protrusion 310 and the second guide protrusion 320 of the inner side portion 300.

[0168] In particular, when the first distance 820 between the thumb-side end point 810 of the first curved guide rim 224 and the center line L2-L2' is shorter than the second distance 840 between the little finger-side end point 830 of the second curved guide rim 225 and the center line L2-L2', the movable region and the immovable region of an actual wrist of a human being can be imitated with a higher degree of reproduction, and thus this is more preferable.

[0169] Further, the first distance 820 and the second distance 840 are distances when viewed in a direction parallel to the central axis 230.

[0170] Figure 8 (C) indicates a state in which the inner side portion 300 is turned to the little finger side from the central position of the inner side portion 300 illustrated in (B). Figure 8 (B) indicates a state in which the inner side portion 300 is turned to the thumb side from the central position of the inner side portion 300 illustrated in (B). In (B), the connecting protrusion 330 of the inner side portion 300 is in contact with the first curved guide rim 224. Figure 8 (C) indicates a state in which the inner side portion 300 is turned to the little finger side from the central position of the inner side portion 300 illustrated in (B). Figure 8 (A), the first guide protrusion 310 and the second guide protrusion 320 of the inner side portion 300 are positioned in the first guide portion 400. The connecting protrusion 330 is positioned in the second guide portion 500, in contact with the second curved guide rim 225.

[0171] Figure 9 is an example of an appearance view of the hand model 1 when the CM joint portion 20 is in Figure 8 the state.

[0172] Figure 9 (A) is an example of an appearance view of the hand model 1 when the CM joint portion 20 is in Figure 8 the state of (A).

[0173] Figure 9 (B) is an example of an appearance view of the hand model 1 when the CM joint portion 20 is in Figure 8 the state of (C).

[0174] Further, in Figure 9 In the state of (A), when the wrist end portion 60 is moved while maintaining the state in which the connecting protrusion 330 is in contact with the first curved guide edge, at least one of the first guide protrusion 310 and the second guide protrusion 320 moves within the first guide portion 400. When the wrist end portion 60 is moved so that the connecting protrusion 330 departs from the first curved guide edge 224 and then comes into contact with the second curved guide edge 225, at least one of the first guide protrusion 310 and the second guide protrusion 320 moves within the first guide portion 400, and the hand model 1 is switched to Figure 9 the state of (B).

[0175] Figure 10 is an example of an explanatory view that explains the relationship of the metacarpal portion 115 of the thumb, the metacarpal portion 125 of the index finger, and the metacarpal portion 135 of the middle finger.

[0176] Figure 10 (A) is an example of an explanatory view that explains the state in which the metacarpal portions 10 (115, 125, 135) of the thumb, the index finger, and the middle finger are connected.

[0177] Figure 10 (B) is an example of an explanatory view that explains the state in which the metacarpal portions 10 (115, 125, 135) of the thumb, the index finger, and the middle finger are separated.

[0178] The central member 200 is connected to the metacarpal portion 125 of the index finger via an articulation portion (hinge plate-shaped connecting portion) 1000 provided in the metacarpal portion 135 of the middle finger. The metacarpal portion 135 of the middle finger and the metacarpal portion 125 of the index finger can slightly rotate with respect to each other about the articulation portion 1000.

[0179] The central member 200 is connected to the metacarpal portion 115 of the thumb via a thumb CM joint portion 1011 of the CM joint portion 20.

[0180] The thumb CM joint portion 1011 is constituted by an inner side portion 1020 of the thumb CM joint portion 1011 and an outer side portion 221 of the thumb CM joint portion 1011. The thumb CM joint portion 1011 is preferably configured so that the metacarpal portion 115 of the thumb can rotate with respect to the metacarpal portion 135 of the middle finger with one degree of freedom to three degrees of freedom.

[0181] The inner side portion 1020 of the thumb CM joint portion 1011 is an example of the second inner side portion.

[0182] Hereinafter, the rotation of the metacarpal portion 115 of the thumb will be specifically explained using Figure 11 to Fig. 17.

[0183] Figure 11 is an example of an explanatory view that explains the movable region of the metacarpal portion 115 of the thumb.

[0184] Figure 11 (A) is an example of an appearance view of the hand model 1 when the thumb CM joint portion 1011 is in a state of being moved to a first lateral position. In the first lateral position of the thumb CM joint portion 1011, the contact protrusion portion 1100 of the thumb metacarpal portion 115 contacts the outermost contact position 1121 of the stop wall portion 1120 of the index finger metacarpal portion 125.

[0185] When the thumb metacarpal portion 115 is rotated from the back of the hand toward the palm side, the contact protrusion portion 1100 contacts the stop wall portion 1120 of the index finger metacarpal portion 125. Thereby, the stop wall portion 1120 of the index finger metacarpal portion 125 restricts the thumb metacarpal portion 115 from being rotated toward the palm side (palmar flexion) beyond the palm surface.

[0186] Figure 11 (B) is an example of an appearance view of the hand model 1 when the thumb CM joint portion 1011 is in a state of being moved to a medial position. In the medial position of the thumb CM joint portion 1011, the contact protrusion portion 1100 of the thumb metacarpal portion 115 can also contact, for example, the inner wall portion 340 of the middle finger metacarpal portion 135.

[0187] The thumb CM joint portion 1011 preferably enables the thumb metacarpal portion 115 to have a plurality of track movement possibilities during movement from the first lateral position to the medial position. For example, the thumb metacarpal portion 115, when moved from the first lateral position to the medial position, preferably enables different rotational movements around the thumb CM joint portion 1011, or enables different states with respect to inclination, orientation, or posture.

[0188] Figure 12 is a state in which the thumb metacarpal portion 115 is in the first lateral position. Figure 11 is an example of an appearance view of the hand model 1 when the thumb metacarpal portion 115 is in the state of

[0189] Figure 12 (A) is an example of an appearance view of the hand model 1 when the thumb CM joint portion 1011 is in the state of Figure 11 (A) is an example of an appearance view of the hand model 1 when the thumb CM joint portion 1011 is in the state of

[0190] Figure 12 (B) is an example of an appearance view of the hand model 1 when the thumb CM joint portion 1011 is in the state of Figure 11 (B) is an example of an appearance view of the hand model 1 when the thumb CM joint portion 1011 is in the state of

[0191] The thumb metacarpal portion 115, during movement from the state of Figure 12 (A) to the state of Figure 12 (B), can move smoothly within the area of the index finger metacarpal portion 125.

[0192] In addition, in any state, the MP joint portion 40 and the IP joint portion 50 of the thumb portion 110 can rotate smoothly.

[0193] Likewise, in any state, the MP joint 40 and the IP joint 50 of the index finger 120 to the little finger 150 can rotate smoothly.

[0194] Since the state of the thumb CM joint 1011 does not hinder the rotation of the MP joints 40 and IP joints 50 of the fingers 30 , the hand model 1 according to this embodiment can very well reproduce the way human fingers behave.

[0195] Figure 13 This is an example of an explanatory diagram for explaining an expansion mechanism for expanding the rotation range of the thumb metacarpal portion 115 .

[0196] Figure 13 (A) The thumb metacarpal bone 115 is shown in a state where the thumb metacarpal bone 115 main body and the expansion portion 1300 are separated. Figure 13 (A) illustrates the expansion portion 1300 in a contained state and the expansion portion 1300 in an expanded state, respectively.

[0197] The expansion portion 1300 has a rotation protrusion 1321. Figure 13 In the assembled state (B), the rotation protrusion 1321 is accommodated in the rotation recess 1320 of the main body of the thumb metacarpal portion 115. Thus, the expandable portion 1300 can continuously rotate from the accommodated state to the expanded state.

[0198] Figure 13 (B) shows the thumb metacarpal portion 115 in a state where the expansion portion 1300 is accommodated.

[0199] Figure 13 (C) shows the thumb metacarpal portion 115 in a state where the expansion portion 1300 is expanded.

[0200] Figure 14 The thumb metacarpal bone 115 is located at Figure 13 An example of the appearance of the hand model 1 in the state.

[0201] Figure 14 (A) is the position of the thumb metacarpal bone 115 when viewed from the palm side Figure 13 (B) is an example of an external view of the hand model 1 in the state.

[0202] Figure 14 (B) is the position of the thumb metacarpal bone 115 when viewed from the palm side Figure 13 (C) is an example of an external view of the hand model 1 in the state.

[0203] In from Figure 14 (A) Status Figure 14During the state movement of (B), in a state where the contact protrusion portion 1100 of the thumb metacarpal portion 115 is in contact with, for example, the outermost contact position 1121 of the stop wall portion 1120 of the index finger, the expansion portion 1300 continuously rotates around the rotation portion 1330, and the thumb metacarpal portion 115 can further move outward. Further, when becoming the state of (B), since the movement of the expansion portion protrusion portion 1301 is limited by the stop recess portion 1311, the further movement of the expansion portion 1300 is limited. Figure 14 (B), the further movement of the expansion portion 1300 is limited.

[0204] In addition, although not illustrated, a pin is provided at the opposite side end portion of the arc surface of the expansion portion protrusion portion 1301, which is fitted into the stop recess portion 1311 and faces the Figure 13 (A) in the depth direction and the front direction, the stop recess portion 1311 becomes a groove on the arc, which guides the pin. Thereby, the expansion portion 1300 can be rotated on the arc, and the maximum movable range at the expansion can be limited.

[0205] During the movement of the expansion portion 1300 from the accommodation state to the expansion state, the MP joint portion 40 and the IP joint portion 50 of the thumb portion 110 can also be smoothly rotated. Similarly, in any state, the MP joint portion 40 and the IP joint portion 50 of the index finger portion 120 to the little finger portion 150 can be smoothly rotated.

[0206] Since the state of the expansion portion 1300 does not hinder the rotation of each MP joint portion 40 and IP joint portion 50 of each finger portion 30, the hand model 1 according to the present embodiment can further better reproduce the manner of the human finger performance.

[0207] Figure 15 is an example of an explanatory diagram that explains different two postures of the thumb metacarpal portion 115.

[0208] Figure 15 (A) is an example of an explanatory diagram that explains a posture of the surface side of the thumb metacarpal portion 115 toward the dorsal side in a direction substantially parallel to the central axis 230.

[0209] Figure 15 (B) is an example of an explanatory diagram that explains a posture of the surface side of the thumb metacarpal portion 115 toward the palmar side in a direction substantially parallel to the central axis 230.

[0210] In Figure 15 (A) and Figure 15 (B), the direction toward which the surface side of the thumb metacarpal portion 115 faces is set as a direction of the thumb metacarpal portion 115 that is perpendicular to the plane 1501 of the MP joint portion mounting recess 1500.

[0211] Further, the surface side of the thumb metacarpal portion 115 can also be referred to as the back side of the hand of the thumb metacarpal portion 115. In the hand model 1, as with the fingers of a human hand, the surface side (back side of the hand) of the thumb metacarpal portion 115 is able to face the palm side of the hand model 1.

[0212] Figure 15 (C) is an example of an appearance view of the thumb metacarpal portion 115 in a posture in which the thumb metacarpal portion 115 is in a state of being pressed against the center member 200. Figure 15 (A) of the thumb metacarpal portion 115.

[0213] Figure 15 (D) is an example of an appearance view of the thumb metacarpal portion 115 in a posture of the thumb metacarpal portion 115 in a state of being pressed against the center member 200. Figure 15 (B) of the thumb metacarpal portion 115.

[0214] In the posture of (C), the turning portion 1330 of the thumb metacarpal portion 115 is positioned more on the center member 200 side than the thumb ball portion 1510 of the thumb metacarpal portion 115. Figure 15 In the posture of (D), the thumb ball portion 1510 of the thumb metacarpal portion 115 is positioned more on the center member 200 side than the turning portion 1330 of the thumb metacarpal portion 115. The thumb ball portion 1510 is also movable further on the center member 200 side from the posture of (D) until it comes into contact with the thumb ball portion receiving portion 1520 of the middle finger metacarpal portion 135. Further, the maximum movable range of the thumb ball portion 1510 when moving on the center member 200 side is designed to be the position at which the thumb metacarpal portion 115 comes into contact with the outer side portion 220.

[0215] Figure 15 Figure 15 (D), the thumb ball portion 1510 of the thumb metacarpal portion 115 is positioned more on the center member 200 side than the turning portion 1330 of the thumb metacarpal portion 115. The thumb ball portion 1510 is also movable further on the center member 200 side from the posture of (D) until it comes into contact with the thumb ball portion receiving portion 1520 of the middle finger metacarpal portion 135. Further, the maximum movable range of the thumb ball portion 1510 when moving on the center member 200 side is designed to be the position at which the thumb metacarpal portion 115 comes into contact with the outer side portion 220.

[0216] Further, the thumb ball portion receiving portion 1520 is preferably a structure that is spatially connected to the receiving portion 350 for the thumb metacarpal portion 115. In such a structure, the thumb ball portion receiving portion 1520 is able to function as the receiving portion 350 for the thumb metacarpal portion 115, and likewise, the receiving portion 350 for the thumb metacarpal portion 115 is able to function as the thumb ball portion receiving portion 1520.

[0217] Since the thumb metacarpal portion 115 is able to take the different postures illustrated, the hand model 1 of the present embodiment is able to very well reproduce the various shapes exhibited by a human hand. Figure 15 As a supplement, the hand model 1 of the present embodiment preferably has a function of preventing the reproduction of shapes that a human hand is not able to exhibit due to the limitations of anatomical structure. With regard to this point, a more specific explanation is given using

[0218] Figure 17A Figure 17B

[0219] Figure 16 is the thumb metacarpal portion 115 in a state of being pressed against the center member 200.​​​​​ Figure 15 (B), Figure 15 (D) of the hand model 1.

[0220] Figure 16 (A) is an example of an appearance view of the hand model 1 in a posture in which the thumb metacarpal portion 115 is in contact with the index finger metacarpal portion 125 and the middle finger metacarpal portion 135. Figure 15 (B), Figure 15 (D) of the hand model 1.

[0221] Figure 16 (B) is an example of an appearance view of the hand model 1 in a posture in which the thumb metacarpal portion 115 is in contact with the index finger metacarpal portion 125 and the middle finger metacarpal portion 135. Figure 15 (B), Figure 15 (D) of the hand model 1.

[0222] In Figure 16 (A), most of the thumb metacarpal portion 115 overlaps the index finger metacarpal portion 125 and the middle finger metacarpal portion 135.

[0223] In Figure 16 (A), Figure 16 (B) of the hand model 1, the thumb portion 110 is bent, and further, the remaining four fingers are bent, whereby a fist shape can be set. The fist shape of the hand model 1 thus obtained can very well reproduce a fist shape based on a human hand in a posture in which the thumb metacarpal portion 115 is in contact with the index finger metacarpal portion 125 and the middle finger metacarpal portion 135. Figure 15 (B), Figure 15 (D) of the hand model 1.

[0224] Figure 17A is an example of an appearance view of the hand model 1 that illustrates a movable region of the thumb metacarpal portion 115 corresponding to the posture of Figure 15 (A).

[0225] In Figure 17A (1), the contact protrusion portion 1100 is in contact with the index finger metacarpal portion 125 at the outermost contact position 1121 of the stop wall portion 1120 as in Figure 15 (A).

[0226] In Figure 17A (2), the contact protrusion portion 1100 is accommodated in the accommodation portion for the thumb metacarpal portion 115 of the middle finger metacarpal portion 135. At this time, the contact protrusion portion 1100 can also be in contact with the accommodation portion 350 for the thumb metacarpal portion 115.

[0227] The thumb metacarpal portion 115 corresponding to the posture of Figure 15 (A) can move in a state in which the contact protrusion portion 1100 is in contact with the index finger metacarpal portion 125 at the outermost contact position 1121 of the stop wall portion 1120 as in Figure 17A (1) to a state in which the contact protrusion portion 1100 is accommodated in the accommodation portion for the thumb metacarpal portion 115 of the middle finger metacarpal portion 135 as in Figure 17A(2) the state in which the contact protrusion portion 1100 housed in the housing portion 350 for the thumb metacarpal portion 115 moves between the state in which the contact protrusion portion 1100 contacts the housing portion 350 for the thumb metacarpal portion 115, in particular.

[0228] As for the rotation of the thumb metacarpal portion 115 around the thumb CM joint portion 1011, that is, the rotation vertically standing with respect to the plane of the drawing sheet, Figure 17A (1) the contact protrusion portion 1100 is restricted in a very narrow range of rotation by contacting the stop wall portion 1120, and also in Figure 17A (2) the contact protrusion portion 1100 is restricted in a very narrow range of rotation by the outer surface near the expansion portion housing region 1310 contacting the stop wall portion 1120. The very narrow range of rotation is determined by the cavity width of the index finger metacarpal portion 125, for example. Further, the range of rotation can be restricted by contacting only the middle finger metacarpal portion 135 (the wall surface of the housing portion 350 for the thumb metacarpal portion 115) or by contacting both the stop wall portion 1120 and the middle finger metacarpal portion 135.

[0229] Further, the outer surface near the expansion portion housing region 1310 can also be regarded as the outer surface of the palm side of the thumb metacarpal portion 115.

[0230] Thus, in the hand model 1 of the present embodiment, the movement of the thumb metacarpal portion 115 beyond the movable region assumed in accordance with the actual movable region of the thumb or the ball of the thumb of a human hand can be more reliably restricted.

[0231] Figure 17B is an example of an appearance view of the hand model 1 that illustrates the movable region of the thumb metacarpal portion 115 corresponding to the posture of Figure 15 (B).

[0232] In Figure 17B (1), the contact protrusion portion 1100 contacts the index finger metacarpal portion 125 at the outermost contact position 1121 of the stop wall portion 1120.

[0233] In Figure 17B (2), the upper edge 1720 of the thumb metacarpal portion contacts the contact edge 1710 of the stop wall portion 1120.

[0234] With Figure 15 (B), the thumb metacarpal portion 115 can move between the state in which the contact protrusion portion 1100 contacts the index finger metacarpal portion 125 at the outermost contact position 1121 of the stop wall portion 1120 as in Figure 17B (1) and the state in which the upper edge 1720 of the thumb metacarpal portion contacts the contact edge 1710 of the stop wall portion 1120 as in Figure 17B (2).

[0235] Further, in Figure 17B (2), the movement of the thumb metacarpal portion 115 is stopped in a state where the upper edge 1720 of the thumb metacarpal portion is in contact with the contact edge 1710 of the stop wall portion 1120, but depending on the inclination of the thumb metacarpal portion 115 with respect to the index finger metacarpal portion 125 and the middle finger metacarpal portion 135, or the like, the thumb metacarpal portion 115 can also move to a state where the thumb ball portion 1510 of the thumb metacarpal portion 115 is accommodated in the thumb ball portion accommodation portion 1520 of the middle finger metacarpal portion 135, in particular, in contact with the thumb ball portion accommodation portion 1520.

[0236] In this case, the upper edge 1720 of the thumb metacarpal portion can also be in a state of being in contact with the contact edge 1710 of the stop wall portion 1120 all the time. Further, depending on the design of the upper edge 1720 of the thumb metacarpal portion or the contact edge 1710 of the stop wall portion 1120, the thumb metacarpal portion 115 can also be a structure in which the upper edge 1720 of the thumb metacarpal portion is separated from the contact edge 1710 of the stop wall portion 1120 in a state where the thumb ball portion 1510 of the thumb metacarpal portion 115 is accommodated in the thumb ball portion accommodation portion 1520 of the middle finger metacarpal portion 135.

[0237] When the thumb metacarpal portion 115 is in the posture of Figure 15 (B), the rotation of the thumb metacarpal portion 115 around the thumb CM joint portion 1011, that is, the rotation that is vertically erected with respect to the plane of the drawing, is restricted in both of Figure 17B (1), Figure 17B (2) by contacting the stop wall portion 1120 in a state where the expansion portion 1300 is exposed from the expansion portion accommodation region 1310 by the contact protrusion portion 1100.

[0238] Therefore, compared to the hand model 1 in the state of Figure 17A (1), Figure 17A (2), that is, compared to the thumb metacarpal portion 115 in the posture of Figure 17A (1), Figure 17A (2), the thumb metacarpal portion 115 in the posture of Figure 17B (1), Figure 17B (2) can perform the rotation of the thumb metacarpal portion 115 around the thumb CM joint portion 1011, that is, the rotation that is vertically erected with respect to the plane of the drawing, in a movable region in which the range of the rotation expanded by the expansion portion 1300 is enlarged by a larger amount than the very narrow range of the rotation determined by the cavity width of the index finger metacarpal portion 125.

[0239] Figure 18 is an example of an explanatory view that explains the connection state of the metacarpal portion 10 of each finger portion 30.

[0240] Figure 18(A) shows a state in which the thumb metacarpal portion 115, the index finger metacarpal portion 125, the middle finger metacarpal portion 135 (central member 200), and the little finger metacarpal portion 155 are connected.

[0241] Figure 18 (B) shows a state in which the thumb metacarpal portion 115, the index finger metacarpal portion 125, the middle finger metacarpal portion 135 (central member 200), and the little finger metacarpal portion 155 are separated.

[0242] Figure 18 (C) shows an example of a hinge portion 1000 connecting the metacarpal portion 10 of each finger 30 .

[0243] Each hinge portion 1000 is preferably oriented so that its longitudinal direction is inclined relative to the direction of the central axis 230 of the core member 200. This allows for a more accurate reproduction of the range of motion of a human hand, which has several radially extending metacarpal bones of each finger connected to the CM joint, despite having a completely different anatomical structure from that of the human hand.

[0244] For example, by the rotation of each metacarpal bone 10 around the hinge 1000, the metacarpal bone 10 as a whole can take the following Figure 19 and Figure 20 As described in the above, the hand model 1 can better simulate the movements, postures and shapes of a more realistic hand.

[0245] Figure 33 This is another example of an explanatory diagram for explaining the connection state of the metacarpal portion 10 of each finger 30 .

[0246] Figure 33 (A) shows a state in which the thumb metacarpal portion 115, the index finger metacarpal portion 125, the middle finger metacarpal portion 135 (central member 200), and the little finger metacarpal portion 155 are separated.

[0247] Figure 33 (B) The figure is viewed from the back of the hand toward the palm. Figure 33 (A) shows the state of the outer portion 220 of the CM joint 20 of the middle finger metacarpal portion 135 (center member 200) in the embodiment.

[0248] Figure 33 (C) is a diagram showing the middle finger metacarpal portion 135 viewed from the distal end toward the proximal end. Figure 33 (A) shows the state of the outer portion 220 of the CM joint 20 of the middle finger metacarpal portion 135 (center member 200) in the embodiment.

[0249] and Figure 18 The implementation methods are different. Figure 33In the embodiment, a spherical connecting portion 3310 roughly represented by a dotted circle is provided between the middle finger metacarpal portion 135 and the ring finger metacarpal portion 145, and between the ring finger metacarpal portion 145 and the little finger metacarpal portion 155, respectively.

[0250] As the spherical connection part 3310, a ball joint or a Figure 28 The joint components etc. used in the IP joint portion 50 will be described in detail.

[0251] For example, in a structure in which the joint component for the IP joint part 50 is used as the spherical connection part 3310, by installing the joint component for the IP joint part 50 in a state rotated approximately 90° compared with the IP joint part 50 of each finger 30 so that the rotation direction corresponds to that of the hinge part 1000, the same rotation direction as that of the hinge part 1000 can be achieved.

[0252] In such a structure, for example, with Figure 28 The components corresponding to the illustrated proximal connecting portion 2811 are fixedly accommodated in a recessed portion (not shown) provided in the middle finger metacarpal portion 135. Similarly, the components corresponding to the distal connecting portion 2821 are fixedly accommodated in a recessed portion (not shown) provided in the ring finger metacarpal portion 145. Alternatively, the components corresponding to the proximal connecting portion 2811 may be attached to the ring finger metacarpal portion 145, while the components corresponding to the distal connecting portion 2821 may be attached to the middle finger metacarpal portion 135.

[0253] The hinge part 1000 between the index finger metacarpal part 125 and the middle finger metacarpal part 135 can also be replaced with a spherical connection part 3310 (for example, a joint component for the IP joint part 50), but in the structure using the hinge part 1000, it is easy to ensure a larger rotation range or rotation space for the above-mentioned thumb metacarpal part 115.

[0254] In addition, Figure 33 In the embodiment (A), the little finger metacarpal portion 155 has a third supporting protrusion 3320. The third supporting protrusion 3320 is used Figure 2 The first supporting protrusion 226 and the second supporting protrusion 227 described above also play the role of supporting the little finger metacarpal bone 155. Therefore, at the outer side 220 of the CM joint 20, as shown in FIG. Figure 33 (B) Figure 33 As shown in (C), a third support protrusion insertion hole 3330 is provided at a corresponding position.

[0255] Whether the first to third support protrusions 226 , 227 , 3320 and the first to third support protrusion insertion holes 1810 , 1820 , 3330 are provided on the respective metacarpal bones 10 or on the CM joint side can be changed according to the design.

[0256] In addition, the length, shape (e.g., cylindrical shape, conical shape, etc.), size (e.g., diameter or width), and position of each of the metacarpal portions 10 or the CM joint portions 20 in the lateral portion 220 of the first to third support protrusions 226, 227, 3320 can be designed in accordance with each of the components of the hand model 1, particularly, the design of the movable region and the non-movable region of each of the metacarpal portions 10 and each of the finger portions 30, or the ease or difficulty of movement based on friction, etc.

[0257] Likewise, the depth, shape (circular shape, elliptical shape, straight line shape, curved line shape, etc.), and position of each of the metacarpal portions 10 or the CM joint portions 20 in the lateral portion 220 of the first to third support protrusions 226, 227, 3320 can be designed in accordance with each of the components of the hand model 1, particularly, the design of the movable region and the non-movable region of each of the metacarpal portions 10 or each of the finger portions 30, or the ease or difficulty of movement based on friction, etc.

[0258] For example, in a structure in which the first to third support protrusions 226, 227, 3320 are in contact with the first to third support protrusion insertion holes 1810, 1820, 3330 and generate sufficient friction therebetween, the index metacarpal portion 125, the ring metacarpal portion 145, and the little metacarpal portion 155 can stably maintain the positional relationship of the CM joint portions 20 with respect to the lateral portion 220 against changes in, for example, vibration, impact, or acceleration accompanying movement or transport of the hand model 1, etc.

[0259] Thus, for example, when the hand model 1 is moved from a preparation room to an art room for use as a sketch model, etc., the shape of the hand model 1 can be stably maintained. As a result, a student who is sketching can start sketching again using the hand model 1 in the same state as the last time.

[0260] Thus, by using the hinge portion 1000 and the spherical connecting portion 3310 in combination, and by appropriately setting the mounting position and size of the first to third support protrusions and the first to third support protrusion insertion holes, the movable region and the non-movable region of the hand model 1 can be imitated with higher reproducibility, and the state thereof can be stably maintained. Figure 33 In the embodiment of (A), the movable region and the non-movable region of the hand model 1 can be imitated with higher reproducibility than in the embodiment of (B), and the state thereof can be stably maintained. Figure 18

[0261] Figure 19 is an example of a view illustrating a more flat state of the metacarpal portion 10.

[0262] Figure 19 ​(A) is a diagram showing the dorsal side of the hand of the four fingers, namely the index finger, middle finger, ring finger and little finger, in a flatter state (hereinafter also referred to as "four-finger metacarpal bone 10"). Figure 20 Compared with the embodiment (A), the metacarpal parts 10 of the respective fingers 30 are preferably in contact with each other.

[0263] Figure 19 (B) is a diagram showing the four-digit metacarpals 10 in a flatter state viewed from the fingertip side toward the wrist side. The first imaginary curve 1910 passes through the vicinity of the center of the MP joint accommodating recess 1900 provided in each of the four-digit metacarpals 10 .

[0264] The first imaginary curve 1910 schematically represents Figure 19 The degree of bending of the metacarpal bones 10 of the four fingers in the state of .Thereby, the bulge of the human hand can be reproduced more well.

[0265] In addition, in accordance with Figure 19 In the hand model 1 of embodiment (B), the first imaginary curve 1910 is represented in the figure as a curve that bulges upward, that is, bulges from the palm toward the back of the hand, but it can also be a straight line depending on the design of the hand model 1.

[0266] In addition, in the design of the hand model 1, the first imaginary curve 1910 in the figure can also be set as a curve that bulges downward, that is, a curve that bulges from the back of the hand toward the palm. However, for example, in the case of reproducing the structure of a human hand, if such a structure is avoided, the realism can be further improved, so it is preferred.

[0267] Figure 19 (C) is the metacarpal part Figure 19 (A) Figure 19 (B) is an example of an external view of the hand model 1 in the posture.

[0268] exist Figure 19 In the embodiment (C), the palm portion of the metacarpal portion 10 of the hand model 1 is in relatively close contact with the installation surface.

[0269] Figure 20 This is an example of an explanatory diagram for explaining the metacarpal part 10 in a more rounded state.

[0270] Figure 20 (A) is a diagram showing the dorsal side of the hand in which the metacarpal bones 10 of the four fingers are more rounded. Figure 19 Compared with the embodiment of (A), each exists further away. Figure 20 In (A), a small gap 2000 exists between the metacarpal portions 10 of the respective fingers 30 along the respective metacarpal portions 10 .

[0271] Figure 20 (B) is a view of the four finger metacarpal portions 10 in a state that is more rounded when viewed from the fingertip side toward the wrist side. The second imaginary curve 2010, like the first imaginary curve 1910, is an imaginary curve that passes near the center of the MP joint housing recess 1900 provided in each of the four finger metacarpal portions 10.

[0272] The second imaginary curve 2010 roughly indicates the degree of curvature of the four finger metacarpal portions 10 in a state that is more rounded than Figure 20 (B) illustrated in (B) than the first imaginary curve 1910 in (B). Figure 20 (B) illustrated in (B) than the first imaginary curve 1910 in (B). Figure 19 (B) illustrated in (B) than the first imaginary curve 1910 in (B).

[0273] The greater curvature of the second imaginary curve 2010 than the first imaginary curve 1910 can be achieved by the rotation of the hinge portion 1000 around Figure 18 (C) illustrated in (C), whereby the bulging of the human hand can be well reproduced.

[0274] According to the above-described structure, in the case of the hand model 1, in a state that is more rounded than Figure 20 (B), the innermost point (the point closest to the center axis 230) of the little finger metacarpal portion 155, that is, the innermost point 2020 of the little finger metacarpal portion 155, moves to the range of the middle finger metacarpal portion 135 toward the center axis 230. In this case, it is more preferable that the little finger metacarpal portion 155 can contact with the big thumb metacarpal portion 115 that is rotated toward the center axis 230, for example, as illustrated in (D). Figure 15 (D) illustrated in (D).

[0275] According to such a structure, the hand model 1 can reproduce a state that the ball of the thumb and the ball of the little finger are in contact, for example, in the case where the tip of the big thumb and the tip of the little finger in a human hand are in contact.

[0276] Figure 20 (C) is an example of an appearance view of the hand model 1 in a state that the entire metacarpal portions 10 are in Figure 20 (A), (B), and (C). Figure 20 (B) illustrated in (B).

[0277] In the embodiment of (C), the palm of the hand model 1 is slightly separated from the setting surface on the entire metacarpal portions 10, and mainly the finger portions 30 are in contact with the setting surface. Figure 20

[0278] is an example of an explanatory view that explains the structure of the finger portion 30. Figure 21

[0279] Figure 21 ​(A) is a view of the thumb portion 110, the thumb metacarpal portion 115, and the middle finger portion 130, and the center member 200, as viewed from the back side of the hand.

[0280] By Figure 22 the Figure 21 (A) middle finger range 2120 is more specifically described.

[0281] Figure 21 (B) is a view of the thumb portion 110, the thumb metacarpal portion 115, and the middle finger portion 130, and the center member 200, as viewed from the palm side of the hand.

[0282] In Figure 21 (A) and Figure 21 (B), although the index finger portion 120, the ring finger portion 140, the little finger portion 150, and their metacarpal portions are omitted from the illustration, the following description regarding the middle finger portion 130 also applies to each of the finger portions 30.

[0283] Figure 22 is an example of an explanatory view that describes the middle finger range 2120 of Figure 21

[0284] In Figure 22 , the middle finger portion 130 surrounded by the middle finger range 2120 of Figure 21 and the front end portion of the center member 200 to which the middle finger portion 130 is connected are illustrated in a state in which each portion is separated.

[0285] The MP joint portion 40 is provided between the distal end of the middle finger metacarpal portion 135 and the middle finger base portion 2101, and connects the middle finger base portion 2101 so as to be rotatable relative to the middle finger metacarpal portion 135 in the radial / ulnar direction and the dorsiflexion / palmarflexion direction.

[0286] In addition, the rotation in the radial / ulnar direction refers to the rotation of the middle finger base portion 2101 relative to the middle finger metacarpal portion 135 in the radial direction from the little finger portion 150 toward the thumb portion 110, and the rotation of the middle finger base portion 2101 relative to the middle finger metacarpal portion 135 in the ulnar direction from the thumb portion 110 toward the little finger portion 150.

[0287] Further, the rotation in the dorsiflexion / palmarflexion direction refers to the rotation of the middle finger base portion 2101 relative to the middle finger metacarpal portion 135 in the dorsiflexion direction in which the middle finger base portion 2101 is raised toward the back side of the hand, and the rotation of the middle finger base portion 2101 relative to the middle finger metacarpal portion 135 in the palmarflexion direction in which the middle finger base portion 2101 is bent toward the palm side of the hand.

[0288] ​PIP joint portion 51 is provided between the middle finger base portion 2101 and the middle finger middle portion 2102, and connects the middle finger middle portion 2102 so as to be able to turn in the dorsiflexion / palmar flexion direction with respect to the middle finger base portion 2101, and on the other hand, restricts turning in the radial deviation / ulnar deviation direction.

[0289] Similarly, DIP joint portion 52 is provided between the middle finger middle portion 2102 and the middle finger distal portion 2103, and connects the middle finger distal portion 2103 so as to be able to turn in the dorsiflexion / palmar flexion direction with respect to the middle finger middle portion 2102, and on the other hand, restricts turning in the radial deviation / ulnar deviation direction.

[0290] Figure 23 This is an example of an explanatory view that explains the MP joint portion 40.

[0291] Figure 23 (A) shows a state in which the MP joint portion 40 is observed from the back of the hand side.

[0292] Figure 23 (B) shows a state in which the MP joint portion 40 is observed in a direction from the ring finger portion 140 toward the index finger portion 120.

[0293] Figure 23 (C) shows a state in which the constituent elements of the MP joint portion 40 are exploded.

[0294] The MP joint base 2300 is fixedly installed and housed in the MP joint housing recess 1900 provided at the distal end portion of each finger metacarpal portion 10.

[0295] The first turning portion (MP joint radial deviation / ulnar deviation portion) 2310 of the MP joint portion 40 is installed to the MP joint base 2300 via the second turning portion (MP joint dorsiflexion / palmar flexion portion) 2320 of the MP joint portion 40. Further, the MP joint base 2300 and the first turning portion (MP joint radial deviation / ulnar deviation portion) 2310 are each configured by combining a plurality of members, and are assembled in a manner of sandwiching the second turning portion (MP joint dorsiflexion / palmar flexion portion) 2320 at the time of assembly.

[0296] The distal connecting portion 2311 of the first turning portion 2310 of the MP joint portion 40 is fixedly installed and housed in the recess provided at the proximal end portion of each finger base portion 31.

[0297] The MP joint portion 40 has a structure in which radial deviation turning and ulnar deviation turning in the fourth turning direction RD4 around the second turning support portion 2322 are possible. Further, the second turning support portion 2322 is formed in a rivet shape, and is structured so as to be inserted into the recess provided in the second turning portion 2320, thereby being coupled with the first turning portion 2310. In addition, although the second turning support portion 2322 is formed in a rivet shape in the present embodiment, the present application is not limited thereto, and the second turning support portion 2322 can be formed in a structure in which a plurality of members are combined. Figure 23The second rotation support portion 2322 is omitted from illustration, but the front surface thereof is covered by the trochanter portion 31, and when the first rotation portion 2310 is connected thereto via the trochanter portion 31, it is also possible to omit the second rotation support portion 2322.

[0298] In addition, the MP joint portion 40 has a structure that enables dorsiflexion rotation and palmar flexion rotation in the fifth rotation direction RD5 around the first rotation support portion 2302.

[0299] The following uses Figures 24 to 28 The specific rotation states of the first rotation portion 2310 of the MP joint portion 40 and the second rotation portion 2320 of the MP joint portion 40 will be described.

[0300] Figure 24 is an example of an explanatory view of the rotation of the MP joint portion 40.

[0301] Figure 24 (A) shows the central member 200 and the middle finger trochanter portion 2101 in a radially deviated state of the MP joint portion 40, i.e., a state in which the middle finger trochanter portion 2101 is rotated toward the thumb side, together with an enlarged view of the MP joint portion 40 in this state.

[0302] Figure 24 (B) shows a view of the central member 200 and the middle finger trochanter portion 2101 in the radially deviated state of (A) as viewed from the palmar side. Figure 24

[0303] The rotation range of the MP joint portion 40 is defined by the structure of the MP joint portion 40 itself, and also by the shape of the distal end contour 2200 of the middle finger metacarpal portion 135 and the proximal end contour 2210 of the middle finger trochanter portion 2101.

[0304] The rotation of the MP joint portion 40 is, for example, a rotational movement that combines the lengthwise pitch rotation, i.e., palmar flexion / dorsiflexion, and the yaw rotation, i.e., radial deviation / ulnar deviation, of the middle finger trochanter portion 2101.

[0305] The size of the possible yaw angle varies based on the offset of the pitch angle from 0° with respect to the rotation of the MP joint portion 40.

[0306] The greater the offset of the pitch angle from 0° is, the smaller the possible yaw angle is with respect to the rotation of the MP joint portion 40.

[0307] In particular, the variation of the possible yaw angle due to the size of the offset of the pitch angle from 0° can be achieved by designing the distal end contour 2200 of the middle finger metacarpal portion 135 and the proximal end contour 2210 of the middle finger trochanter portion 2101 to contact at a smaller yaw angle as the offset of the pitch angle from 0° is greater.

[0308] ​The above-described structure is the same in each of the finger portions 110, 120, 140, 150 other than the middle finger portion 130.

[0309] In particular, the range of radial / ulnar rotation of the MP joint portion 40 is preferably largest when the range of dorsiflexion / palmar flexion of the MP joint portion 40 is 0°, and decreases as the range of dorsiflexion / palmar flexion of the MP joint portion 40 increases. Thereby, the movable region and the immovable region on a human finger can be more favorably reproduced.

[0310] The above-described range of rotation can be achieved in such a manner that the greater the range of dorsiflexion / palmar flexion of the MP joint portion 40, the more the distal end contour 2200 of the middle finger metacarpal portion 135 and the proximal end contour 2210 of the middle finger basal joint portion 2101 come into contact with each other with a narrower range of radial / ulnar rotation, and the further radial / ulnar rotation is hindered.

[0311] Figure 25 (A) is an example of an appearance view of the hand model 1 in which the radial deviation and the ulnar deviation of the middle finger portion 130 are explained.

[0312] Figure 25 (A) is an example of an appearance view of the hand model 1 in which the angle of the radial deviation and the ulnar deviation of the middle finger portion 130 is substantially 0°.

[0313] In Figure 25 (A), Figure 25 (B), and Figure 25 (C), the index finger portion 120 is radially deviated, the ring finger portion 140 and the little finger portion 150 are ulnarly deviated.

[0314] Figure 25 (B) is an example of an appearance view of the hand model 1 in which the middle finger portion 130 is radially deviated.

[0315] Figure 25 (C) is an example of an appearance view of the hand model 1 in which the middle finger portion 130 is ulnarly deviated.

[0316] Figure 26 (A) is an example of an appearance view of the hand model 1 in which the radial deviation and the ulnar deviation of the middle finger portion 130 are explained.

[0317] Figure 26 (A) indicates the central member 200 and the middle finger basal joint portion 2101 in a state of palmar flexion of the MP joint portion 40, i.e., a state in which the middle finger basal joint portion 2101 is turned toward the palm side, together with an enlarged view of the MP joint portion 40 in the state, using a view observed from the thumb side toward the little finger side.

[0318] Figure 26 (B) indicates the central member 200 and the middle finger basal joint portion 2101 in a state of dorsiflexion of the MP joint portion 40, i.e., a state in which the middle finger basal joint portion 2101 is turned toward the dorsal side, using a view observed from the thumb side toward the little finger side.

[0319] Figure 26 The range of motion of the MP joint portion 40 in the state of (A) in the palmar flexion and Figure 26 The range of motion of the MP joint portion 40 in the state of (B) in the dorsal extension is preferably defined based on the shape of the distal end contour 2200 of the middle phalanx portion 135 and the proximal end contour 2210 of the middle metacarpus portion 2101, by their contact.

[0320] That is, the MP joint portion 40 preferably can perform the palmar flexion and the dorsal extension until the middle phalanx portion 135 and the middle metacarpus portion 2101 contact each other.

[0321] Alternatively or additionally, the range of motion of the palmar flexion or the dorsal extension of the MP joint portion 40 can be designed based on the structure of the MP joint portion 40 itself using Figure 28 the MP joint portion 40 described above.

[0322] In particular, the range of motion of the palmar flexion of the MP joint portion 40 is preferably designed to be greater than the range of motion of the dorsal extension of the MP joint portion 40. Thereby, the movable region and the non-movable region on the human finger can be more favorably reproduced.

[0323] Figure 27 is an example of the appearance of the hand model 1 in which the amount of rotation of the MP joint portion 40 is different.

[0324] Figure 27 (A) is an example of the appearance of the hand model 1 in which the MP joint portion 40 of each finger portion 30 is approximately 90° in the palmar flexion.

[0325] Figure 27 (B) is an example of the appearance of the hand model 1 in which the MP joint portion 40 of each finger portion 30 is approximately 30° to 45° in the palmar flexion.

[0326] Figure 27 The MP joint portion 2710 of the little finger and the MP joint portion 2720 of the ring finger in the hand model 1 of (B) are Figure 27 The MP joint portion 2710 of the little finger and the MP joint portion 2720 of the ring finger in the hand model 1 of (A) are compared with

[0327] In addition, Figure 27 The MP joint portion 2720 of the ring finger in the hand model 1 of (B) is compared with the MP joint portion 2710 of the little finger, and only the palmar flexion is slightly small.

[0328] In either of the hand models 1 of Figure 27 (A), Figure 27 (B), the PIP joint portion 2730 of the little finger and the PIP joint portion 2740 of the ring finger are approximately completely in the palmar flexion.

[0329] Figure 27 The DIP joint part 2750 of the little finger of (B) is roughly straight, and hardly flexes or extends dorsally Figure 27 The DIP joint part 2750 of the little finger of (A) is flexed palmarly. As a result, Figure 27 The middle joint part 2760 of the little finger of (B) is erected from the setting surface, compared with Figure 27 The middle joint part 2760 of the little finger of (A) is erected from the setting surface, compared with

[0330] Figure 27 (A), Figure 27 The posture of the hand model 1 illustrated in (B) is an example of the posture that the hand model 1 can take. By individually moving the MP joint part 40 and the IP joint part 50 of each finger part 30, the user can easily and variously change the posture of the hand model 1, and in particular, can continuously reproduce or imitate the posture that the actual human hand can exhibit from a very slight change to a very large change.

[0331] Figure 28 is an example of an explanatory view that explains the structure of the IP joint part 50.

[0332] Figure 28 (A) is a view that shows the IP joint part 50 in an assembled state and the IP joint part 50 in a disassembled state, as viewed from the back of the hand toward the palm.

[0333] The IP joint part 50 is composed of an IP joint fixing part 2810 that is fixedly connected to the proximal side middle joint part 32 and the base joint part 31 through a proximal connecting part 2811, and an IP joint rotating part 2820 that is fixedly connected to the distal side end joint part 33 and the middle joint part 32 through a distal connecting part 2821.

[0334] The IP joint rotating part 2820 has a rotating shaft body 2823, and can rotate around the rotating shaft body 2823 together with the end joint part 33 and the middle joint part 32 that are fixedly connected via the distal connecting part 2821. Further, it is also possible to provide a structure in which the IP joint part 50 can be radially / ulnarly deviated, by providing a play (space) between the rotating shaft body 2823 and the distal connecting part 2821.

[0335] The IP joint fixing part 2810 has a fixing part protrusion 2812. The fixing part protrusion 2812 restricts further rotation of the IP joint rotating part 2820 by contacting a rotating part step 2822 of the IP joint rotating part 2820.

[0336] Figure 28 (B) is a view that shows the IP joint part 50 of (A), as viewed in the axial direction of the rotating shaft body 2823, respectively. Figure 28 (A) is a view that shows the IP joint part 50 of (A), as viewed in the axial direction of the rotating shaft body 2823, respectively.

[0337] A rotation range 2824 is provided between the two rotation portion steps 2822 of the IP joint rotation portion 2820 .

[0338] The two rotation part steps 2822 correspond to the maximum palmar flexion rotation position and the maximum dorsiflexion rotation position of the IP joint rotation part 2820, respectively.

[0339] It is preferable that the positions of the two rotation portion steps 2822 and the sizes of the rotation ranges 2824 are the same because manufacturing and assembly can be performed more cheaply and simply.

[0340] However, the positions of the two rotating portion steps 2822 and the size of the rotating range 2824 may also be designed differently for each finger 30 to provide more variations.

[0341] Figure 28 (C) is observed in the axial direction of the rotating shaft 2823 Figure 28 (A) is a diagram showing the IP joint 50 in a palmar flexed state.

[0342] exist Figure 28 (B) Figure 28 In (C), the position 2813 of the fixing portion protrusion 2812 indicated by a dotted square indicates the position of the fixing portion protrusion 2812 of the IP joint fixing portion 2810 within the rotation range 2824 in each rotation state.

[0343] Figure 28 The embodiment can also be changed to a structure in which the IP joint fixing portion 2810 is fixedly connected to the distal end portion 33 and the middle portion 32, and the IP joint rotating portion 2820 is fixedly connected to the proximal middle portion 32 and the base portion 31.

[0344] Figure 29 This is an example of an explanatory diagram for explaining dorsiflexion and flexion of the DIP joint 52 .

[0345] Figure 29 (A) shows the middle segment 32 and the distal segment 33 in the state where the DIP joint 52 is extended, that is, the state where the distal segment 33 is palmar-flexed and rotated toward the back of the hand, together with an enlarged view of the DIP joint 52 in this state.

[0346] Figure 29 (B) shows the middle segment 32 and the distal segment 33 in a state where the DIP joint 52 is radially deviated, that is, the distal segment 33 is extended and rotated toward the palm side, together with an enlarged view of the DIP joint 52 in this state.

[0347] exist Figure 29 In (A), the DIP joint 52 is rotated to a substantially maximum dorsal extension rotation position.

[0348] exist Figure 29 In (B), the DIP joint portion 52 is turned to a substantially maximum palmar flexion turning position.

[0349] The middle section distal end contour 2920 of the middle section 32 and the terminal section proximal end contour 2930 of the terminal section 33 are preferably designed to closely contact each other at the maximum dorsiflexion turning position and the maximum palmar flexion turning position.

[0350] In addition, instead of or in addition to the structure for restricting the turning range by the contact of the fixed portion protrusion 2812 and the turning portion step 2822, a structure for restricting the turning range using the contact of the middle section distal end contour 2920 and the terminal section proximal end contour 2930 can also be applied.

[0351] Figure 30 is an example of an appearance view of the hand model 1 illustrating movable regions of the MP joint portion 40 and the IP joint portion 50.

[0352] In Figure 30 In the embodiment of

[0353] The middle finger portion 130 is substantially straight without being radially deviated / axially deviated, and without being dorsiflexed / palmar flexed.

[0354] The ring finger portion 140 is palmar flexed as a whole, and the terminal section 33 of the ring finger portion 140 is in contact with the terminal section 33 of the thumb portion 110.

[0355] The little finger portion 150 is palmar flexed further than the ring finger portion 140.

[0356] Each finger portion 30 can be radially deviated / axially deviated and dorsiflexed / palmar flexed independently, and thus the hand model 1 can imitate and reproduce the movement, shape, and posture of a human hand very well.

[0357] Hereinafter, further using Figure 31 Another modification of the shape of a hand that can be achieved by the hand model 1 according to the present embodiment will be described.

[0358] Figure 31 is an example of another appearance view of the hand model 1 illustrating an example of movable regions of the MP joint portion 40 and the IP joint portion 50.

[0359] Figure 31 (A) is an example of an appearance view of the hand model 1 in a state in which the index finger portion 120 and the middle finger portion 130 are crossed.

[0360] Figure 31 (B) is an example of an appearance view of the hand model 1 in a state in which the index finger portion 120 and the middle finger portion 130 are crossed. Figure 31An example of an appearance view of the hand model 1 in a state of (A).

[0361] In the hand model 1, the MP joint part 3110 of the index finger part 120 is ulnar deviation, the MP joint part 3120 of the middle finger part 130 is radial deviation and palmar flexion. As a result, the index finger part 120 and the middle finger part 130 cross each other. Figure 31 In addition, the DIP joint part 3115 of the index finger part 120 is palmar flexion, and the middle finger DIP joint part 3125 is dorsal extension.

[0362] Thus, the crossed index finger part 120 and the middle finger part 130 form a ring (empty space).

[0363] Accordingly, the hand model 1 can very well imitate or reproduce the movement, shape and posture of a human hand. As a result, a high realistic performance can be performed when the shape of the hand is drawn with reference to the hand model.

[0364] Further, in the above embodiment, in order to set the movable range to be the same as the movable range on the anatomical structure of the wrist or hand of a human, the movable range is limited by the contact of the parts adjacent across the joint part (for example, the metacarpal part 10 and the coxa part 31 sandwiching the MP joint part 40). Accordingly, the movable range can be appropriately adjusted by fine-tuning the shape of the end of each part.

[0365] In addition, in the above embodiment, in order to facilitate the explanation, the description is made in a manner that a gap is provided at the part of rotation of each joint part and the hinge part, but for the actual hand model 1, it is ideal that the parts of the part of rotation do not have a gap but abut against each other, so that even if the user releases the hand after setting each joint of the hand model 1, the rotation angle of the joint can be maintained in a fixed state by the friction force or the like. In this case, in particular, as to the CM joint part 20 and the thumb CM joint part 1011, since a large load is applied to the parts supporting the front part thereof, it is preferable that the abutment is firm.

[0366] For example, as to the CM joint part 20, as shown in FIG. 32, the lateral part 220 is composed of a plurality of parts such as a first half 3210 and a second half 3220 of the lateral part 220, and is provided so that a cylindrical part such as a first cylindrical part 3211 and a second cylindrical part 3221 provided on the inner side of each part protruding perpendicularly to the second rotation direction RD2 is inserted into a cylindrical part insertion hole 3230 of the inner side part 300, and the two cylindrical parts 3211, 3221 are combined by a screw or the like, and the screw or the like is tightened, so that the two cylindrical parts 3211, 3221 are brought close to each other, so that the force at which the lateral part 220 and the inner side part 300 abut against each other can be adjusted. Accordingly, the strength of the abutment by the individual using the hand model can be adjusted.

[0367] Figure 32 For example, as to the CM joint part 20, as shown in FIG. 32, the lateral part 220 is composed of a plurality of parts such as a first half 3210 and a second half 3220 of the lateral part 220, and is provided so that a cylindrical part such as a first cylindrical part 3211 and a second cylindrical part 3221 provided on the inner side of each part protruding perpendicularly to the second rotation direction RD2 is inserted into a cylindrical part insertion hole 3230 of the inner side part 300, and the two cylindrical parts 3211, 3221 are combined by a screw or the like, and the screw or the like is tightened, so that the two cylindrical parts 3211, 3221 are brought close to each other, so that the force at which the lateral part 220 and the inner side part 300 abut against each other can be adjusted. Accordingly, the strength of the abutment by the individual using the hand model can be adjusted.​

[0368] Furthermore, in such a configuration, the portion of the inner portion 300 through which the cylindrical members 3211 and 3221 are inserted may be provided with a long cylindrical member insertion hole 3230 so as not to hinder the rotation of the inner portion 300. Furthermore, with respect to the thumb CM joint 1011, in addition to the abutment between the outer portion 221 and the inner portion 1020, a member covering and abutting the outer portion 221 may be provided on the thumb metacarpal portion 115 to further enhance the abutment force between the outer portion 221 and the inner portion 1020.

[0369] Furthermore, in the above-described embodiment, a structure in which the components of each joint are integrated has been described. However, the joint may be configured with a plurality of components. This allows for easy adjustment of the frictional force in the contact state.

[0370] In use Figures 1A-31 In the hand model 1 described above, the components of the hand model 1 are exposed for illustration purposes, but the hand model 1 may be covered with a membrane structure made of, for example, a resin or the like that simulates a skin structure. In such an embodiment, the appearance of the hand model 1 can be made to resemble that of a human hand even more closely.

[0371] As a supplement or alternative, the hand model 1 may also be covered by a clothing structure (such as a glove) made of cloth or fabric.

[0372] In addition, by Figure 7 A fixing component insertion hole 710 is provided on the end surface above the wrist end 60 of (A), and a rod-shaped fixing component, for example, provided on a pedestal, is inserted into the fixing component insertion hole 710. This allows the hand model 1 to be fixed at an angle other than the angle at which the fingers are positioned relative to the wrist in the upward direction, thereby improving the convenience of using it as a sketch sample when depicting the hand.

[0373] In addition, when the hand model 1 is used as a prosthetic hand, it can naturally and stably imitate or reproduce various hand shapes and postures that may occur in daily life, such as combining the fingers of the left and right hands or pointing or supporting the chin with the hand on the prosthetic side (hand model 1). Therefore, not only will people around you not notice that it is a prosthetic hand, but it can also improve the user's quality of life (QOL).

[0374] Furthermore, the hand model 1 may also include a drive unit or actuator that mechanically or electrically controls and drives at least one of the aforementioned components, particularly at least one joint. Such a hand model 1 can also be used as a robotic hand, robotic arm, manipulator, or electric prosthetic hand. Even in such applications, the hand model 1 can remarkably reproduce the shape and posture of human fingers. Furthermore, it can realistically pinch or grasp objects based on the output of the drive unit or actuator and the strength of the various components.

[0375] For example, the user can use the hand model 1 provided with the structure of the driving portion of the MP joint portion 40, the IP joint portion 50, which is mechanically, electrically controlled and drives the index finger portion 120, as a prosthetic hand. In such a case, the user can naturally change the state of the hand model 1 from the state of holding the hand to the state of performing finger pointing, and thus, the convenience in daily life is significantly improved.

[0376] In such a structure, the driving portion electrically connected to the battery, the communication device, or the processing device, etc. is controlled based on a specific signal of the biological potential such as the brain wave (EEG: Electro Encephalo Graphy) or the skin potential of the prosthetic hand wearer acquired by the detection device such as a wearable sensor, etc. The specific signal is preferably a characteristic signal generated when the prosthetic hand wearer, for example, realizes "performing finger pointing" or actually wants to perform finger pointing and the muscle of the arm, etc. contracts, etc. The specific signal of the biological potential detected by the detection device is transmitted to the processing device via the communication device, and thereafter, the processing device causes the driving portion to operate based on the received specific signal of the biological potential. Thereby, the prosthetic hand wearer can change the hand model 1 from the state of holding the hand, for example, to the state of performing finger pointing without having to perform a physical switch or the like operation. It is preferable that the above-described structure is particularly suitable for the index finger MP joint portion 3110 of the hand model 1 used as a prosthetic hand, and more preferably, the index finger MP joint portion 3110 is rotatable, for example, by a motor housed in the coxa portion 31 of the index finger portion 120 or the distal end region of the index finger metacarpal portion 125.

[0377] Further, the present application is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiments are described in detail in order to easily understand the present application, and are not necessarily limited to having all the structures described. In addition, a part of the structure of one embodiment can be replaced with the structure of another embodiment, and in addition, the structure of another embodiment can be added to the structure of one embodiment. In addition, to a part of the structure of each embodiment, supplement, deletion, or replacement of another structure can be performed.

[0378] Further, the above-described embodiments at least disclose the structure recited in the claims.

[0379] In addition, the present application at least includes the following embodiments (1) to (23).

[0380] The present application also includes a structure in which the following embodiments (1) to (23) are combined.

[0381] Embodiment (1)

[0382] A hand model,

[0383] a center member having a center portion including a CM joint portion and a middle finger metacarpal portion,

[0384] the CM joint portion includes a first lateral portion and a first medial portion,

[0385] the first lateral portion houses the first medial portion in a rotatable manner,

[0386] the first lateral portion has at least one guide portion,

[0387] the guide portion of the first lateral portion restricts uniaxial rotation of the first medial portion about one of three rotational axes.

[0388] Embodiment (2)

[0389] a hand model,

[0390] the first medial portion has at least one guide protrusion,

[0391] the guide portion restricts the uniaxial rotation by restricting movement of the guide protrusion within the guide portion.

[0392] Embodiment (3)

[0393] a hand model,

[0394] the lateral portion has a first guide portion sandwiched by a first guide rim and a second guide rim as the guide portion,

[0395] the lateral portion restricts movement of the guide protrusion and restricts the uniaxial rotation of the medial portion by contact between the guide protrusion within the first guide portion and the first guide rim or the second guide rim.

[0396] Embodiment (4)

[0397] a hand model,

[0398] the guide protrusion contacts the first guide rim or the second guide rim on a dorsal side or a palmar side of the lateral portion.

[0399] Embodiment (5)

[0400] a hand model,

[0401] the first medial portion has a first guide protrusion and a second guide protrusion as the guide protrusions,

[0402] the first guide protrusion contacts the first guide rim or the second guide rim on a dorsal side or a palmar side of the lateral portion,

[0403] The second guide protrusion contacts the first guide rim or the second guide rim on the side opposite to the first guide protrusion.

[0404] Embodiment (6)

[0405] A hand model,

[0406] The outer side portion has a second guide portion sandwiched by a third guide rim and a fourth guide rim as the guide portion,

[0407] The first inner side portion has at least one connecting portion,

[0408] The outer side portion accommodates both or one of a first guide protrusion and a second guide protrusion in the first guide portion according to the position of the connecting portion within the range of the second guide portion.

[0409] Embodiment (7)

[0410] A hand model,

[0411] The first inner side portion is connected to a wrist end portion via the connecting portion.

[0412] Embodiment (8)

[0413] The hand model according to Embodiment (1), wherein

[0414] The single-axis rotation that is restricted is a rolling rotation about a rotation axis that passes through the center of the inner side portion and extends in the length direction of the central member.

[0415] Embodiment (9)

[0416] A hand model,

[0417] The CM joint portion has a thumb CM joint portion,

[0418] The thumb CM joint portion has a second outer side portion fixedly installed in the first outer side portion and a second inner side portion rotatably accommodated in the second outer side portion and connected to a thumb metacarpal portion.

[0419] Embodiment (10)

[0420] A hand model,

[0421] The second outer side portion accommodates the second inner side portion in such a manner that the second inner side portion can at least partially perform triaxial rotation.

[0422] Embodiment (11)

[0423] A hand model,

[0424] The middle metacarpal portion is connected to an index metacarpal portion,

[0425] The index finger phalanx portion has a stop wall portion,

[0426] The middle finger phalanx portion has an inner wall portion,

[0427] The range of the triaxial rotation of the thumb phalanx portion is limited by contact with at least one of the stop wall portion and the inner wall portion.

[0428] Embodiment (12)

[0429] A hand model,

[0430] The thumb phalanx portion, based on rotation, can assume a first attitude and a second attitude,

[0431] In the first attitude, the range of the triaxial rotation is limited by contact with the stop wall portion,

[0432] In the second attitude, the range of the triaxial rotation is limited by contact with the stop wall portion and the inner wall portion.

[0433] Embodiment (13)

[0434] A hand model,

[0435] The thumb phalanx portion has a contact protrusion portion,

[0436] The range of the triaxial rotation of the thumb phalanx portion is limited by contact with the contact protrusion portion and the stop wall portion.

[0437] Embodiment (14)

[0438] A hand model,

[0439] The thumb phalanx portion has an expansion portion, the contact protrusion portion being provided to the expansion portion,

[0440] The expansion portion is at least partially accommodated inside the thumb phalanx portion.

[0441] Embodiment (15)

[0442] A hand model,

[0443] The contact protrusion portion is not accommodated inside the thumb phalanx portion.

[0444] Embodiment (16)

[0445] A hand model,

[0446] The expansion portion, in a state in which the contact protrusion portion is in contact with the index finger phalanx portion, can be switched from an accommodation state of the expansion portion to an expansion state.

[0447] Embodiment (17)

[0448] A hand model,

[0449] The middle phalanx portion is connected to the index phalanx portion via a first rotational connection, and to the ring phalanx portion via a second rotational connection,

[0450] The ring phalanx portion is connected to the little phalanx portion via a third rotational connection,

[0451] The thumb phalanx portion and the little phalanx portion can contact based on rotational states of the first to third rotational connections and the thumb CM joint portion.

[0452] Embodiment (18)

[0453] A hand model,

[0454] The middle phalanx portion is directly or indirectly connected to the thumb phalanx portion, the index phalanx portion, the ring phalanx portion, and the little phalanx portion,

[0455] At least one of these phalanx portions is connected to a basal joint portion of each finger portion via an MP joint portion,

[0456] The basal joint portion can be at least bi-axially rotatable via the MP joint portion.

[0457] Embodiment (19)

[0458] A hand model,

[0459] The bi-axial rotation is a rotation that combines a pitch rotation and a yaw rotation of the basal joint portion with respect to the length direction,

[0460] A size of a possible yaw angle of the bi-axial rotation varies based on a pitch angle offset from 0°.

[0461] Embodiment (20)

[0462] A hand model,

[0463] The greater the pitch angle offset from 0°, the smaller the possible yaw angle of the bi-axial rotation.

[0464] Embodiment (21)

[0465] A hand model,

[0466] The greater the pitch angle offset from 0°, the smaller the contact of the distal end of the phalanx portion of each finger portion and the proximal end of the basal joint portion of each finger portion, thereby limiting the bi-axial rotation.

[0467] Embodiment (22)

[0468] A hand model,

[0469] having a central member including a CM joint portion and a middle finger metacarpal portion,

[0470] the CM joint portion having a first lateral portion and a thumb CM joint portion,

[0471] the thumb CM joint portion having a second lateral portion fixedly mounted to the first lateral portion and a second medial portion rotatably received within the second lateral portion and connected to a thumb metacarpal portion.

[0472] Embodiment (23)

[0473] A hand model,

[0474] having a central member including a CM joint portion and a middle finger metacarpal portion,

[0475] the middle finger metacarpal portion being directly or indirectly connected to a thumb metacarpal portion, an index finger metacarpal portion, a ring finger metacarpal portion, and a little finger metacarpal portion,

[0476] at least one of the metacarpal portions being connected to a respective finger portion via an MP joint portion, the base joint portion being at least bi-axially rotatable via the MP joint portion.

Claims

1. A hand model characterized by, having a central member including a joint portion and a metacarpal portion, the joint portion including a first outer side portion and a first inner side portion, the first outer side portion housing the first inner side portion in a manner that the first inner side portion is rotatable, in the first inner side portion, a first position on a surface of the first inner side portion has a connecting protrusion, a second position on the surface of the first inner side portion different from the first position has a first inner side guide portion formed as a protrusion, and a third position on the surface of the first inner side portion different from the first and second positions has a second inner side guide portion formed as a protrusion, the first outer side portion has an outer side guide portion, according to rotation of the first inner side portion toward a first direction by the connecting protrusion, the first inner side guide portion moves from a range where the width between the side walls on both sides of the outer side guide portion is large to a range where the width between the side walls on both sides of the outer side guide portion is small, whereby the side walls on both sides of the range where the width is small come into contact with the first inner side guide portion, thereby restricting the first inner side portion from the roll rotation around a single axis of one of the pitch rotation, the yaw rotation, and the roll rotation with respect to a central axis extending in a length direction of the central member, according to rotation of the first inner side portion toward a second direction opposite to the first direction by the connecting protrusion, the second inner side guide portion moves from a range where the width between the side walls on both sides of the outer side guide portion is large to a range where the width between the side walls on both sides of the outer side guide portion is small, whereby the side walls on both sides of the range where the width is small come into contact with the second inner side guide portion, thereby restricting the first inner side portion from the roll rotation around a single axis of the one of the pitch rotation, the yaw rotation, and the roll rotation with respect to the central axis extending in the length direction of the central member, in a state where the first inner side portion is at a central position of the first inner side portion, the first inner side guide portion of the first inner side portion is on the palm side and the second inner side guide portion is on the back side of the hand, respectively, in a range where the width between the side walls on both sides of the outer side guide portion is small, and the connecting protrusion is in a range where the width between the side walls on both sides of the outer side guide portion is large, in a state after the first inner side portion is rotated from the central position of the first inner side portion toward the first direction, the first inner side guide portion of the first inner side portion is on the palm side in a range where the width between the side walls on both sides of the outer side guide portion is small, and the second inner side guide portion and the connecting protrusion are in a range where the width between the side walls on both sides of the outer side guide portion is large, in a state after the first inner side portion is rotated from the central position of the first inner side portion toward the second direction, the second inner side guide portion of the first inner side portion is on the back side of the hand in a range where the width between the side walls on both sides of the outer side guide portion is small, and the first inner side guide portion and the connecting protrusion are in a range where the width between the side walls on both sides of the outer side guide portion is large.

2. The hand model according to claim 1, characterized by, The outer side guide portion is capable of contacting both or one of the first inner side guide portion and the second inner side guide portion according to the position of the connecting protrusion portion, Since the first inner side guide portion of the first inner side portion is positioned in a range with a small width between the side walls on both sides of the outer side guide portion, the wrist end portion fixedly connected to the first inner side portion via the connecting protrusion portion is more reliably restricted from rotating in the direction of the rolling rotation within the first outer side portion.

3. The hand model according to claim 1 or 2, wherein the hand model further has a thumb joint portion, the thumb joint portion has a second outer side portion fixedly mounted to the first outer side portion of the joint portion and a second inner side portion rotatably housed in the second outer side portion and connected to a thumb metacarpal portion, the thumb metacarpal portion has an expansion portion rotatably connected to the thumb metacarpal portion, a contact protrusion portion capable of contacting a finger metacarpal portion other than the thumb metacarpal portion is provided in the expansion portion, with respect to rotation of the thumb metacarpal portion, in a state where the thumb metacarpal portion is moved to a first outer side position, the contact protrusion portion of the thumb metacarpal portion contacts an outermost contact position of a stop wall portion of the finger metacarpal portion at a first outer side position of the thumb joint portion, and when the thumb metacarpal portion is rotated in a direction from a back of a hand toward a palm side, the contact protrusion portion contacts the stop wall portion of the finger metacarpal portion, whereby the stop wall portion of the finger metacarpal portion restricts the thumb metacarpal portion from being rotated beyond a palm surface toward the palm side, and in a state where the thumb joint portion is moved to an inner side position, the contact protrusion portion of the thumb metacarpal portion contacts an inner wall portion of a middle finger metacarpal portion at an inner side position of the thumb joint portion.

4. A hand model, comprising: a central member including a joint portion and a metacarpal portion, the joint portion includes a first outer side portion and a first inner side portion, the first outer side portion rotatably houses the first inner side portion, in the first inner side portion, a connecting protrusion portion is provided at a first position on a surface of the first inner side portion, and an inner side guide portion formed as a protrusion is provided at a second position on the surface of the first inner side portion different from the first position, the first outer side portion has an outer side guide portion, the outer side guide portion of the first outer side portion restricts the first inner side portion from rotating in a rolling rotation around one of pitch rotation, yaw rotation, and roll rotation with respect to a central axis extending in a length direction of the central member, based on contact with the inner side guide portion, the first outer side portion of the joint portion has a second outer side portion of a thumb joint portion that houses a second inner side portion of the thumb joint portion connected to a thumb metacarpal portion, the thumb metacarpal portion has an expansion portion rotatably connected to the thumb metacarpal portion, a contact protrusion portion capable of contacting a metacarpal portion other than the thumb metacarpal portion is provided in the expansion portion, The expansion portion is capable of being at least partially accommodated inside the thumb metacarpal portion according to rotation relative to the thumb metacarpal portion, During movement from a state in which the expansion portion in which the thumb metacarpal portion is accommodated to a state in which the expansion portion of the thumb metacarpal portion is expanded, in a state in which the outermost contact position of the contact protrusion portion of the thumb metacarpal portion and the stop wall portion of the index metacarpal portion are contacted, the expansion portion is continuously rotated around the rotation portion, the thumb metacarpal portion is capable of being further moved to the outside, and when the expansion portion is expanded, further movement of the expansion portion is restricted due to movement of the expansion protrusion portion being restricted by the stop recess portion.

5. The hand model according to any one of claims 1, 2, and 4, wherein At least one of the metacarpal portion and at least one other metacarpal portion directly or indirectly connected to the metacarpal portion is connected to a base joint portion of each finger portion via a second joint portion, The base joint portion is capable of at least bi-axial rotation via the second joint portion, A first rotation portion of the second joint portion is mounted to an MP joint base portion of the second joint portion via a second rotation portion of the second joint portion, whereby the second joint portion has a structure capable of radial deviation rotation and ulnar deviation rotation in a fourth rotation direction around a second rotation support portion and a structure capable of dorsiflexion rotation and palmar flexion rotation in a fifth rotation direction around a first rotation support portion, Regarding rotation movement of the base joint portion of the second joint portion relative to the length direction as a combination of pitch rotation, i.e., palmar flexion / dorsiflexion, and deviation rotation, i.e., radial deviation / ulnar deviation, the greater the offset of the pitch angle in the rotation of the second joint portion from 0°, the smaller the possible deviation angle, according to the shape of the distal end profile of the metacarpal portion or the other metacarpal portion and the proximal end profile of the base joint portion.

Images