Prosthetic hand with waterproof cover and filament attachment means for fingers

Abstract

A prosthetic hand having a waterproof cover and / or a filament-based finger fixation mechanism. A first annular recess on the finger is aligned with a corresponding second annular recess on the base frame to form a groove for insertion of a filament. The prosthetic hand may include a waterproof cover that protects internal components of the prosthetic hand. A thumb cover and a back cover are attached to the palm cover. The thumbstall interface adheres to the outer seal ring via a clip. The back cover interface has a sealing ring. The thumb cover may be flexible and have three layers. The back cover may be rigid and have a latch that snaps onto the base frame. The cover may be placed on the palm portion along with the thumb and thumb cover, and a prosthetic finger may then be attached to the base frame.

Description

[0001] Reference to any priority claim This application claims the benefit of U.S. Provisional Patent Application No. 63 / 488,874, filed on March 7, 2023, entitled “PROSTHETIC HAND WITH WATERPROOF COVER AND FILAMENT ATTACHMENT FOR DIGITS”. background Technical Field

[0002] This disclosure relates to a prosthetic hand, and more particularly to a waterproof cover for a prosthetic hand and a filament attachment for attaching a prosthetic digit to the palm portion.

[0003] Description of the Prior Art Prostheses are used to replace amputated natural body parts. Prosthetic hands, including prosthetic fingers and thumbs, can be used to replace amputated natural hands. The attachment of prosthetic fingers to the prosthetic hand is important for assembly and for when fingers need to be replaced. Conventional attachments of prosthetic fingers to the hand require screws, which demand high tolerances and are prone to loosening. Existing solutions also use multiple screws and are complex for finger replacement, requiring long assembly times, making it difficult to assemble small-threaded fasteners, and offering only a small fixed surface area. Furthermore, such methods require additional tools to remove and tighten the screws. Therefore, existing solutions for prosthetic hands require complex removal and replacement procedures for individual prosthetic fingers.

[0004] Furthermore, prosthetic hand shields are important because they provide an outer surface that mimics the natural hand to aid in various movements while protecting internal components from water and other fluid elements. Conventional prosthetic hand shield solutions require screws and assembly methods to attach the shield, which either require attaching the prosthetic finger before attaching the shield, or conversely, require removing the shield before removing or replacing the prosthetic finger. Such solutions are also not waterproof.

[0005] Improvements to these and other shortcomings of existing solutions for prosthetic hands are desired. Summary of the Invention

[0006] The embodiments disclosed herein each have several aspects, no single one of which is solely responsible for its desirable attributes. Without limiting the scope of this disclosure, its more prominent features will now be discussed briefly. Consideration of the discussion will facilitate better understanding of the features of the embodiments described herein and how they can benefit the art, after careful consideration of the discussion, and particularly after reading the section entitled "DETAILED DESCRIPTION" one will understand how the features of the embodiments described herein provide advantages over existing systems, devices, and methods for prosthetic finger attachment and prosthetic hand cover.

[0007] The following disclosure describes non-limiting examples of some embodiments. Other embodiments of the disclosed systems and methods can or can not include the features described herein. In addition, the disclosed advantages and benefits can apply only to certain embodiments of the invention and should not be used to limit the present disclosure.

[0008] In one aspect, a prosthetic hand includes a palm portion, a prosthetic finger and a prosthetic thumb extending from the palm portion, a chassis, a flexible filament, and a cover assembly. The chassis is located within the palm portion and attached to the prosthetic finger to define an annular groove extending between the prosthetic finger and the chassis. The flexible filament extends through the groove. The cover assembly includes a palm cover, a thumb cover, and a dorsal cover. The palm cover extends partially over the palm portion and defines a lateral opening and a dorsal opening. The thumb cover extends around at least a portion of the prosthetic thumb and is secured to the lateral opening of the palm cover. The dorsal cover extends over the dorsal opening.

[0009] There are multiple embodiments of multiple aspects. The above and other aspects can include the following: the prosthetic finger further includes a first recess extending annularly around a proximal end of the prosthetic finger and partially defining the annular groove; the base further includes an opening at a distal end of the base, the opening having a second recess extending annularly around an inner surface of the opening, wherein the opening is configured to receive the proximal end of the prosthetic finger therein such that the first recess and the second recess align to define the annular groove between the prosthetic finger and the base; a thumb clip adhered to the thumb cover and the lateral opening along a thumb interface, wherein an outer thumb seal extends over an outer portion of the thumb interface such that the thumb interface is liquid impermeable; the back cover is rigid and includes an outer perimeter extending at least partially along a corresponding inner perimeter of the back opening along a back interface, and the back cover is secured to the base via a latch such that the back interface is liquid impermeable; the thumb cover is flexible and includes an inner layer of spandex, a middle layer of rubberized treatment, and an outer layer of textile fabric; and / or four of the prosthetic fingers and four of the filaments, wherein each filament extends through a corresponding groove defined by a corresponding prosthetic finger and the base.

[0010] In another aspect, the prosthetic hand includes a prosthetic finger, a base, and a flexible filament. The prosthetic finger includes a first recess extending annularly around an outer surface of a proximal end of the prosthetic finger. The base is carried by a palm portion of the prosthetic hand, the base having a distal end including an opening having a second recess extending annularly around an inner surface of the opening, wherein the opening is configured to receive the proximal end of the prosthetic finger therein such that the first recess and the second recess align to define a groove between the prosthetic finger and the base. The flexible filament extends through the groove and thereby secures the prosthetic finger to the base.

[0011] There are multiple embodiments of multiple aspects. The above and other aspects can include the following: the base further includes an access opening to the annular groove, the access opening configured to receive a distal end of the filament therewithin for inserting the filament into the groove; a shroud extending around the palm portion, and the shroud extending over the access opening; the access opening is on a back side of the base; the first recess and the second recess each have a cross-section with one long side and two short sides perpendicular to the long side, such that with the first recess and the second recess aligned, the groove defines a four-sided cross-section; the groove includes a proximal end extending to a distal end, and wherein the distal end opens to the proximal end to define a continuous annular passageway; and / or the filament includes a longitudinal core, wherein an outer strand is wrapped around the core.

[0012] In another aspect, a prosthetic hand includes a palm portion, a prosthetic finger, a prosthetic thumb, and a cover assembly. The palm portion has a distal end, a palmar side opposite a dorsal side, and a lateral inner side opposite a lateral outer side. The prosthetic finger is attached to and extends from the distal end of the palm portion. The prosthetic thumb is attached to and extends from the lateral inner side of the palm portion. The cover assembly includes a polymer palm cover, a ridge of the palm cover, a palm seal ring, a flexible thumb cover, a thumb clamp, an outer thumb seal, and a rigid dorsal cover. The polymer palm cover extends partially around the palm portion and defines a lateral opening on the lateral inner side of the palm portion, a distal opening on the distal end of the palm portion, and a dorsal opening on the dorsal side of the palm portion. The ridge of the palm cover is proximal to the distal opening and projects inwardly from and extends at least partially along one or more inner surfaces of the palm cover. The palm seal ring extends along the ridge of the palm cover, wherein a chassis compresses the palm seal ring against the ridge along a palm interface, wherein the palm interface is liquid impermeable. The flexible thumb cover includes a sidewall having a closed cross-section and extends from a proximal thumb opening to a distal thumb opening, the proximal thumb opening being attached to the lateral opening of the palm cover, and a distal end of the prosthetic thumb extending distally from the distal thumb opening. The thumb clamp extends along a thumb cover interface and secures a first perimeter of the lateral opening of the palm cover with a second perimeter of the proximal thumb opening of the thumb cover along the thumb cover interface. The outer thumb seal extends over an exterior of the thumb cover interface, wherein the thumb cover interface is liquid impermeable. The rigid dorsal cover has an outer perimeter that extends at least partially along a corresponding inner perimeter of the dorsal opening along a dorsal interface, wherein the dorsal interface is liquid impermeable.

[0013] There are multiple embodiments of multiple aspects. The above aspects and other aspects can include the following: the outer thumb seal includes a deformable grip pad facing outward from the palm portion; the thumb cover includes an inner layer of spandex, an intermediate rubberized layer, and an outer layer of textile fabric; a chassis within the palm portion, wherein the prosthetic finger and the chassis define an annular groove; and a filament within the groove securing the prosthetic finger to the chassis; a dorsal opening defined by the chassis, and a catch attached to and extending away from an interior of the dorsal cover, the catch being secured within the dorsal opening of the chassis; and / or a dorsal seal ring extending along the inner perimeter of the dorsal opening.

[0014] In another aspect, a method of attaching a prosthetic finger to a prosthetic hand includes placing a proximal end of a prosthetic finger within an opening of a base frame, forming a groove along an interface of the prosthetic finger and the base frame, and inserting a filament into the groove via an entry opening of the base frame, thereby securing the prosthetic finger with the base frame.

[0015] In another aspect, a method of attaching a prosthetic hand to a prosthetic finger includes inserting a base frame into a palm cover through a distal opening of the palm cover, and attaching a prosthetic finger to a distal end of the base frame after the base frame has been inserted into the palm cover.

[0016] There are multiple embodiments of multiple aspects. The above and other aspects can include the following: attaching a thumb cover around a prosthetic thumb attached to the base frame before inserting the base frame into the palm cover; and / or attaching a back cover to a back side of the palm cover. BRIEF DESCRIPTION OF DRAWINGS

[0017] The foregoing and other features of the present disclosure will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings. Understanding that these drawings depict only several embodiments in accordance with the disclosure and are not to be considered limiting of its scope, the disclosure will be described with additional specificity and detail through the use of the accompanying drawings. In the following detailed description, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration specific embodiments in which the disclosure can be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments can be utilized and that logical, mechanical, electrical and other changes can be made without departing from the spirit or scope of the subject matter presented herein. It will be readily understood that the various aspects of the present disclosure, as generally described herein, and illustrated in the Figures, can be arranged, substituted, combined, and designed in a wide variety of different configurations, all of which are explicitly contemplated and form a part of this disclosure.

[0018] Figure 1 is a back view of an example of a prosthetic hand with four prosthetic fingers, a prosthetic thumb, and a waterproof cover attached via filaments.

[0019] Figure 2 is a perspective view of a base frame of a prosthetic hand from Figure 1 showing a portion of a prosthetic finger attached to the base frame.

[0020] Figure 3A and Figure 3B are perspective views of a base frame and a prosthetic hand of Figure 1 showing a filament inserted into an entry opening of a groove on a palm side of the base frame to secure a prosthetic finger with the base frame.

[0021] Figures 4A-4C is a cross-sectional view taken along line A-A in Figure 3A and Figure 3B various cross-sectional views showing filaments within the base frame recess.

[0022] Figure 5A and Figure 5B are partial palmar and partial cross-sectional views of the prosthetic hand of Figure 1 showing an example access opening to the recess.

[0023] Figure 6 is a perspective view showing another example embodiment of a base frame that can be used with the prosthetic hand of Figure 1 having an access opening for filaments on the dorsal side of the base frame.

[0024] Figure 7 is a close-up view of the finger opening of the base frame of Figure 6 showing a first recess and a second recess.

[0025] Figure 8A and Figure 8B are close-up partial cross-sectional views taken along line A-A in Figure 1 showing an example of a filament and a finger seal.

[0026] Figure 9 is a perspective partial cross-sectional view of an example filament that can be used with the prosthetic hand of Figure 1 and having a longitudinal core and an outer winding.

[0027] Figure 10 is a flowchart illustrating an example method of attaching a prosthetic hand finger to a base frame.

[0028] Figure 11A and Figure 11B are perspective dorsal and palmar side views of the prosthetic hand of Figure 1 where an example waterproof cover has a palmar cover attached to a thumb cover and a dorsal cover.

[0029] Figure 12A is an exploded view of the palmar portion of the prosthetic hand of Figure 1 showing a palmar cover, a thumb clamp, and a thumb cover.

[0030] Figure 12B is a perspective view of the thumb cover of Figure 12A showing a three-layer thumb cover.

[0031] Figure 13 is a detailed palmar perspective view of an embodiment of a grip pad and a thumb tip that can be included in the cover of Figure 11A and Figure 11B ​

[0032] Figure 14 is Figure 10 a cross-sectional view of the grip pad and thumb tip of

[0033] Figure 15A and Figure 15B is a detailed perspective view of a removable thumb grip attachment that can be included in Figure 8A and Figure 8B

[0034] Figure 16 is Figure 1 a partial exploded view of a portion of a prosthetic hand of

[0035] Figure 17 is Figure 13 a partial cross-sectional view of an assembly of

[0036] Figures 18A-18C is Figure 1 various perspective views of a palm portion and a back cover of a prosthetic hand of

[0037] Figure 19 is a flowchart illustrating an example method of assembling a waterproof cover and a palm portion of a prosthetic hand. DETAILED DESCRIPTION

[0038] The following detailed description is directed to certain specific embodiments of the invention. In this description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present application can be practiced without some or all of these specific details. In other instances, well known structures and functions have not been described in detail in order to avoid obscuring the present application. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced without some or all of these specific details. In other instances, well known structures and functions are not described in detail in order to avoid obscuring the present application. In this description, the terms "couple," "coupled," and "coupling" mean to link or connect two or more elements together, either directly or indirectly. The term "circuit" can refer to all or part of a device that is comprised of an electrical circuit, either alone or in conjunction with other circuits, materials, and / or components. In this description, the terms "one embodiment," "an embodiment," or "some embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrases "in one embodiment," "in an embodiment," or "in some embodiments" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments necessarily mutually exclusive of other embodiments. Furthermore, various features are described which can be exhibited by some embodiments and not by others. Similarly, various requirements are described which can be requirements for some embodiments but not for others. The terms "proximal" and "distal" are used in their normal context-specific sense, with "proximal" referring to a location closer to a user and "distal" referring to a location further from the user.

[0039] ​The present disclosure is directed to a prosthetic hand that includes a filament-based finger securing mechanism and a waterproof cover. The prosthetic hand can include one or both of a filament-based finger securing mechanism and a waterproof cover. The securing mechanism is used to attach four "non-thumb" fingers to a palm portion, although it can also be used to attach a prosthetic thumb. The cover provides a waterproof protection assembly for the palm portion of the prosthetic hand. A first annular recess on the fingers aligns with a corresponding second annular recess on the chassis to form a groove for filament insertion. The waterproof cover protects the internal components of the prosthetic hand. A thumb cover and a back cover are attached to the palm cover. The thumb cover interface adheres with an external sealing ring via a clip. The back cover interface has a sealing ring. The thumb cover can be flexible and have three layers. The back cover can be rigid and have a lock that snaps onto the chassis. The cover can be placed on the palm portion with the thumb and thumb cover, and then the prosthetic fingers can be attached to the chassis. These and other features will now be described in detail.

[0040] A. Example prosthetic hand Figure 1 is a back view of an example of a prosthetic hand 100. The prosthetic hand includes a palm portion 102, four prosthetic fingers 104, and one prosthetic thumb 106. The palm portion 102 includes a back side 108, a palm side 128 (see Figure 8B), a lateral inner side 112 to which a prosthetic thumb 106 is connected, and a lateral outer side 114 opposite the lateral inner side 112. The cover assembly 800 extends over and around the palm portion 102. The cover assembly 800 is formed from a plurality of cover portions, as described further herein. The prosthetic hand 100 can be attached to a wrist device 110, as shown. The prosthetic hand 100 can be attached to an upper extremity, such as a natural or prosthetic arm, e.g., via the wrist device 110. There can be one, two, three, or four of the prosthetic fingers 104. The prosthetic fingers 104 are laterally spaced apart and extend distally from a distal end of the palm portion 102. The prosthetic thumb 106 extends distally from the lateral inner side 112 of the palm portion 102. Each of the prosthetic fingers 104 and the thumb 106 can include one or more rotatable segments that are actuated by one or more motors and / or linkages to move. Each prosthetic finger 104 and thumb 106 can be actuated by its own respective dedicated motor. A variety of prosthetic fingers or thumbs or features thereof can be used with the prosthetic hand 100, such as those described in the following U.S. patents, U.S. applications, and U.S. provisional applications: U.S. Patent No. 8,986,395, “HAND PROSTHESIS,” issued March 21, 2015; U.S. Patent No. 9,387,095, “PROSTHETICS AND ORTHOTICS,” issued July 12, 2016; U.S. Patent No. 8,197,554, “ROTARY ACTUATOR ARRANGEMENT,” issued June 12, 2012; U.S. Patent No. 9,999,522, “PROSTHETIC DIGIT FOR USE WITH TOUCHSCREEN DEVICES,” issued June 19, 2018; U.S. Patent No. 11,083,600, “PROSTHETIC DIGIT FOR USE WITH TOUCHSCREEN DEVICES,” issued August 10, 2021; U.S. Patent No. 10,973,U.S. Patent No. 6,600,663, “POWERED PROSTHETIC THUMB,” U.S. Application No. 17 / 199,176, filed March 11, 2021, “POWERED PROSTHETIC THUMB,” U.S. Application No. 62 / 599,559, filed December 15, 2017, “POWERED PROSTHETIC THUMB,” U.S. Application No. 17 / 602,247, filed October 7, 2021, “PROSTHETIC DIGIT WITH ARTICULATING LINKS,” U.S. Application No. 62 / 832,166, filed April 10, 2019, “PROSTHETIC DIGIT WITH ARTICULATING LINKS,” U.S. Application No. 17 / 612,539, filed November 18, 2021, “ACTUATION SYSTEMS FOR PROSTHETIC DIGITS,” U.S. Application No. 62 / 850,675, filed May 21, 2019, “ACTUATION SYSTEMS FOR PROSTHETIC DIGITS,” U.S. Application No. 17 / 760,742, filed March 15, 2022, “PROSTHETIC DIGITS AND ACTUATORS,” U.S. Application No. 62 / 902,227, filed September 18, 2019, “PROSTHETIC DIGIT ACTUATORS WITH GEAR SHIFTING,” U.S. Application No. 17 / 098,045, filed November 13, 2020, “PROSTHETIC DIGIT ACTUATOR,” U.S. Application No. 62 / 935,852, filed November 15, 2019, “PROSTHETIC DIGIT ACTUATOR,” U.S. Application No. 63 / 064,614, filed August 12, 2020, “PROSTHETIC DIGIT ACTUATOR,” and / or U.S. Provisional Application No. 63 / 488,946, filed March 7, 2023, and entitled “PROSTHETIC THUMB WITH ROTATION AND COMPOUND FLEXION” (Attorney Docket No. TOUCH.035PR), the entire contents of each of the U.S. Patents, U.S. Applications, and U.S. Provisional Applications are incorporated herein by reference and form a part of the specification for all purposes. Thus, various features described herein— features for attaching a finger via a filament and / or features for a cover of a prosthetic hand— can be used with a wide variety of different prosthetic fingers or thumbs.

[0041] For reference, various reference directions and sides of the prosthetic hand are indicated as described herein. For example, Figure 1 is a dorsal side view, Figure 3B is a palmar side perspective view, etc. Further, the prosthetic hand 100 shown and described herein is a right side prosthetic hand 100. Accordingly, the same features can be incorporated into a mirror image left side prosthetic hand 100, with appropriate mirroring of the reference directions and sides described herein for the corresponding right side prosthetic hand 100.

[0042] B. Filament attachment for prosthetic fingers Figure 2 is a perspective view showing an example of a base frame 202 to which components of another embodiment of a prosthetic finger 204 are attached. The base frame 202 is included within Figure 1 the palmar portion 102 of the prosthetic hand 100, e.g., carried or supported by the palmar portion 102. The prosthetic finger 204 can have the same or similar features as the prosthetic finger 104, and vice versa. A proximal end of a proximal base 205 of the prosthetic finger 204 is attached to a distal end 203 of the base frame 202. A proximal rotation segment 206 of the prosthetic finger 204 is rotationally attached to a distal end of the proximal base 205. The prosthetic finger 204 can include additional rotation or non-rotation segments. A wide variety of different types of prosthetic fingers can be attached, such as those mentioned above, such that the filament-based securing mechanism described further herein can be independent of the type of finger.

[0043] The base frame 202 is an internal structural component of the palmar portion 102 of the prosthetic hand 100. In an assembled prosthetic hand 100, the base frame 202 can be located within the interior of the cover assembly 800, e.g., within the palmar portion thereof. The base frame 202 includes a rigid structure that extends through the interior of the palmar portion 102 of the prosthetic hand 100. The base frame 202 can be formed of any suitable material, such as metal (i.e., aluminum, titanium, magnesium, copper, steel, etc.), hard plastic, polymer, other suitable material, or combinations thereof, to provide structural support to the palmar portion 102. A proximal end 207 of the base frame 202 can be fixed to, for example, a prosthetic wrist or wrist attachment portion. The distal end 203 of the base frame can include one or more (i.e., one, two, three, or four, etc.) openings 209 that can receive corresponding proximal bases 205 of respective prosthetic fingers 204. The openings 209 of the base frame 202 can each provide a structural stop (see Figure 4B ) to limit proximal advancement of the proximal base 205 into the base frame 202 beyond a particular location. The proximal advancement can be limited such that a recess in the prosthetic finger 204 and the base frame 202 are aligned, as described further.

[0044] Figures 3A-4CVarious views are depicted of an example of a filament-based securing mechanism for securing a prosthetic finger 204 to a base 202. Figure 3A and Figure 3B An example of inserting a filament 300 into a first groove 208 to secure a prosthetic finger 204 to a base 202 is shown. The first groove 208 can be one of a plurality of grooves. The first groove 208 can be a relatively lower or proximal groove of the plurality of grooves. In some embodiments, the first groove 208 can be the only groove. Figure 3A A base 202 is depicted with a portion of one prosthetic finger 204 attached to a first of the openings 209, while the remaining openings 209 do not have a finger attached thereto. Figure 3B A perspective view of a prosthetic hand 100 with a cover assembly 800 and four of the prosthetic fingers 104 is shown. Figure 4A and Figure 4B is a rotated cross-sectional view taken along lines B-B and C-C, respectively, as shown in Figure 3A is a rotated cross-sectional view taken along lines B-B and C-C, respectively, as shown in Figure 4C is a close-up detail view of the first groove 208 as taken from Figure 4B as indicated.

[0045] As shown in Figures 3A-4C The first groove 208 can be formed between a proximal end of the prosthetic finger 204 and a corresponding opening of the base 202, as shown in

[0046] The first groove 208 extends annularly through and is formed by complementary recesses 216 and 214, respectively, in the base 202 and the finger 204 (see Figure 4B). The first recess 214 extends annularly around the proximal end of the prosthetic finger 204 and is formed within an outer surface 224 of the proximal end of the prosthetic finger 204, for example at the proximal end of the proximal base 250. The second recess 216 extends annularly inward of the distal end of the base 202 and is formed within an inner surface 222 of the distal end of the base 202. The first recess 214 and the second recess 216 align to form the complete first groove 208.

[0047] The first groove 208 extends along an annular path. As used herein, “annular” has its ordinary and customary meaning and includes, without limitation, rounded, circular, circuitous, circumferentially, around a perimeter, etc. In some embodiments, the first groove 208 can have a rectangular shape as shown in Figure 4A Figure 4A The first groove 208 includes two opposing straight sides 208A and two opposing curved sides 208B as shown in Figure 4A The palmar side of the first groove 208 can have relatively wider curved sides 208b than the opposing curved sides 208b at the dorsal side of the first groove 208 as shown, or vice versa. In some embodiments, the first groove 208 can be circular, oval, elliptical, track-shaped, trapezoidal, or other annular shape.

[0048] The first recess 208 extends back onto itself to form a continuous through-hole or passageway, such as a continuous "channel." Thus, a distal end 228 of the first recess 208 extends to and opens into a proximal region 226 of the first recess 208. The distal end of the first recess 208 can open into other portions of the first recess 208, such as a more central location or other region along the length of the first recess 208 that is more distal than the proximal region 226. The distal end 228 of the first recess 208 is curved and the proximal region 226 is straight. The distal end 228 and / or the proximal region 226 of the first recess 208 can be straight, curved, or other shape. The filament 300 extends through the first recess 208 to fill the entire length of the first recess. The filament 300 can have a length that is less than or greater than the length of the first recess 208. The filament 300 can have an end portion 306 that fills or partially fills into the entry opening 210 when the filament 300 is fully inserted into the first recess 208, such that the user can remove the filament 300 from the first recess 208 via the end portion 306 when the finger needs to be removed and / or replaced. The end portion 306 can be a collar that is attached to the filament 300 and inserted into the first recess 208 such that the end portion 306 is flush with the entry opening of the base 202, leaving no protrusion. The filament 300 can instead not have an end portion 306. The filament 300 can have a uniform cross-section along its entire length. The first recess 208 can be shorter such that the distal end 228 does not open into the proximal region 226 or does not open into another portion of the recess 208, and thus forms a "blind" hole. The first recess 208 extends along a path that is in a plane, as shown. The channel of the first recess 208 defines a central axis that is in the plane. The plane is perpendicular to the distal and proximal directions of the base 202. The plane can be at an angle to the distal and proximal directions. The path of the first recess 208 can not be planar. The first recess 208 can extend in the proximal and / or distal directions relative to the location of the entry opening 210, for example, in a helical shape, or with downward steps and / or upward steps along its path, etc.

[0049] Figure 4CA close-up of the recesses 214, 216 is shown. The recess 214 has a first edge 214A that is perpendicular to a second edge 214B that is perpendicular to a third edge 214C. The second edge 214B, which can be a long edge, is relatively longer than each of the first edge 214A and the second edge 214B, which can be short edges. Thus, the recess 214 has a three-sided cross-section that defines an opening that faces in an outward direction away from the recess 214. The recess 216 has a first edge 216A, a second edge 216B, and a third edge 216C that have a similar arrangement as described for the three edges of the recess 214. Thus, the resulting first groove 208 has a cross-section that includes four edges, e.g., a square as shown. The first groove 208 has a closed cross-section because the base 202 abuts the prosthetic finger 204 along a first interface 218 and along an opposite second interface 220. The interfaces 218, 220 are areas of contact of opposite outer surfaces of the base 202 and the prosthetic finger 204 on opposite sides of the first groove 208. Thus, the filament 300 is completely enclosed within the first groove 208. The first groove 208 can have a uniform cross-section, e.g., as shown, along a majority or all of the length of the first groove 208. The first groove 208 opens to an entry opening 210 that has a circular cross-section.

[0050] In some embodiments, the recesses 214, 216 and thus the resulting first groove 208 can have different shapes and sizes. The first groove 208 can be rectangular or circular, or have three, five, six, seven, eight, or more edges, and / or have cross-sections of varying sizes and / or shapes along the length of the first groove 208. The first groove 208 can have rounded corners at the intersections of the edges of the recesses. The entry opening 210 can have the same or different cross-sectional shape and / or size as the first groove 208.

[0051] As with the first embodiment, the second embodiment can be implemented in a variety of ways. For example, the filament 300 can be a single continuous filament, or can be a plurality of filaments that are connected to each other, e.g., by a connector. The filament 300 can be a single continuous filament that is connected to the base 202 and the prosthetic finger 204, e.g., by a connector. The filament 300 can be a plurality of filaments that are connected to each other, e.g., by a connector, and that are connected to the base 202 and the prosthetic finger 204, e.g., by a connector. Figure 7As further described in FIG. 8, in some embodiments, the first recess 208 can be used to house a finger seal ring 750, and the filament 300 can be inserted into a second recess 238. The second recess 238 can be an upper or more distal recess relative to the first recess 208. In some embodiments, there can only be the second recess 238 and not the first recess 208. The second recess 238 can have the same or similar features as the first recess 208 discussed above to allow the filament 300 to be inserted into the second recess 238 in the same manner as described with respect to embodiments of the filament 300 inserted into the first recess 208. The finger seal ring 750 can provide a watertight seal between the base 202 and the finger 204 to prevent liquid from entering the prosthetic hand 100. The finger seal ring 750 can be an O-ring. The finger seal ring 750 can be inserted into the second recess 208 inside the finger opening of the base prior to the finger attachment (e.g., see Figure 7 ). The finger seal ring 750 can extend entirely along the length of the first recess 208. The first recess 208 can have a relatively longer height in the proximal / distal direction compared to the second recess 238.

[0052] Figure 5A is a palmar view of a portion of the prosthetic hand 100 showing an example embodiment of an access opening 210. The access opening 210 leads to the recess 208. The access opening 210 can have any shape configured to receive the filament 300, such as a circular shape as shown, or an oval shape, and a square shape, a rectangular shape, etc. The access opening 210 is formed in the distal end of the base 202. The access opening 210 is positioned proximate to the proximal end of the corresponding prosthetic finger 204 to which the filament 300 within the corresponding first recess 208 or second recess 238 is secured. The access openings 210 for the first, second, and fourth prosthetic fingers 204 (i.e., the pinky, ring, and index fingers, respectively) can be located on the lateral inboard 204A of the corresponding fingers. The access opening 210 for the third prosthetic finger 204 (i.e., the middle finger) is located on the lateral outboard 204B of the third prosthetic finger. The access opening 210 can have an inverted position, or variations thereof, and / or have a central position relative to the corresponding finger. The access opening 210 can face the palmar side such that the access opening 210 extends axially perpendicular to an axis extending along the corresponding prosthetic finger 204. The access opening 210 can extend and face in other directions, such as distally, dorsally, or in the lateral inboard or lateral outboard directions, or at an angle to any of these directions.

[0053] Figure 5B is a palmar view of a portion of the prosthetic hand 100 showing an example embodiment of an access opening 210. The access opening 210 leads to the recess 208. The access opening 210 can have any shape configured to receive the filament 300, such as a circular shape as shown, or an oval shape, and a square shape, a rectangular shape, etc. The access opening 210 is formed in the distal end of the base 202. The access opening 210 is positioned proximate to the proximal end of the corresponding prosthetic finger 204 to which the filament 300 within the corresponding first recess 208 or second recess 238 is secured. The access openings 210 for the first, second, and fourth prosthetic fingers 204 (i.e., the pinky, ring, and index fingers, respectively) can be located on the lateral inboard 204A of the corresponding fingers. The access opening 210 for the third prosthetic finger 204 (i.e., the middle finger) is located on the lateral outboard 204B of the third prosthetic finger. The access opening 210 can have an inverted position, or variations thereof, and / or have a central position relative to the corresponding finger. The access opening 210 can face the palmar side such that the access opening 210 extends axially perpendicular to an axis extending along the corresponding prosthetic finger 204. The access opening 210 can extend and face in other directions, such as distally, dorsally, or in the lateral inboard or lateral outboard directions, or at an angle to any of these directions. Figure 5Aa rotated partial cross-sectional view of the first recess 208 for the index finger 204 (proximal to the thumb) taken along the line C-C in FIG. 8. The filament 300 completely surrounds the circumference of the proximal base 205.

[0054] Figure 6 Another embodiment of the base 202 is shown. While Figures 3A-5B is shown and described with respect to an embodiment of the base 202 in which the access openings 210 are located on the palmar side of the base 202, in other embodiments, as mentioned, the access openings 210 can be located on the dorsal side of the base 202. An example of such an embodiment is shown in Figure 6 The same features and functions described herein with respect to embodiments of the base with access openings 210 on the palmar side can apply to embodiments of the base with access openings 210 on the dorsal side. Thus, for example, the structure and description of the various features for the base 202, the filament 300, the first recess 208, the second recess 238, and the recesses 214, 216, and the manner in which they are operated to secure the prosthetic finger 204 to the prosthetic hand 100 can apply to embodiments in which the access openings 210 are located on the dorsal side of the base 202 in the same manner as they apply to embodiments in which the access openings 210 are located on the palmar side of the base 202, and vice versa.

[0055] As shown in Figure 6 there can be four access openings 210 distributed laterally along the dorsal side of the base 202. The access openings 210 can be distributed unevenly, as shown, for example, the distance between two middle access openings 210 is less than their distance from two respective adjacent outer openings. In some embodiments, the access openings 210 can be distributed evenly. The access openings 210 can be located laterally inboard of each opening 209 of the base 202, as shown. In some embodiments, the access openings 210 can be located laterally outboard of each opening 209 of the base 202. The access openings 210 can be located at different distal and proximal positions relative to each other, or all or some of them can be located at the same relative distal / proximal position. The access openings 210 can have an L-shaped opening as shown or other shape, such as circular, triangular, rectangular, etc.

[0056] Figure 7 is a close-up view of one of the openings 209 of the base 202 showing an embodiment of the second recess 238 and the first recess 208. For clarity, the base 202 is shown without the prosthetic finger 204, and the second recess 238 is shown without the filament. As shown, the first recess 208 can be configured to receive a finger seal ring 750 therein, and the second recess 238 can be configured to receive a filament 300 therein, as described above with respect to Figure 4Cdiscussed.

[0057] Figure 8A A partial cross-sectional view of the index finger 204 (proximal to the thumb) is shown as taken along line A-A in Figure 1 Figure 8B is a close-up detailed view of the first recess 208 and the second recess 238 taken as indicated by the arrow. Figure 8A The filament 300 is shown within the second recess 238, and the finger seal ring 750 is shown inserted into the first recess 208.

[0058] As discussed above, in some embodiments, the second recess 238 can be formed by complementary recesses 216, 214 in the base 202 and the prosthetic finger 204, respectively. When the filament 300 is inserted into the second recess 238, a portion of the filament 300 is located in the recess 216 of the base 202 and the remaining portion of the filament is located within the recess 214 of the finger 204, such that the filament 300 secures the base 202 and the finger 204 together, preventing axial movement of the finger 204, as described herein.

[0059] The finger seal ring 750 can provide a seal, such as a waterproof and / or air-tight seal, between the base 202 and the finger 204. The sealing interface can prevent fluid from traversing the interface from the finger into the lower portion of the base in the proximal direction. The finger seal ring 750 can be compressed, e.g., radially compressed, to provide such a seal, and to allow removal of the finger or insertion of the finger into the opening 209 of the base 202. In some embodiments, a portion of the finger seal ring 750 in an unconstrained state (e.g., prior to insertion of the finger) can be located within the first recess 208, and the remaining portion of the finger seal ring 750 can protrude radially inwardly and outside of the first recess 208. Upon insertion of the prosthetic finger 204, the inwardly protruding portion of the seal ring 750 can be compressed radially outwardly into the first recess 208 by the proximal base 205 of the prosthetic finger 204. In some embodiments, the first recess 208 can be formed by corresponding and aligned recesses of the prosthetic finger and the proximal base, e.g., as described with respect to the recesses forming the second recess 238.

[0060] ​As described above, in some embodiments, the filament 300 can be located in a first recess 208, which can be a lower or more proximally located recess. In such embodiments, the first recess 208 is formed by the base 202 and a corresponding complementary recess 216, 214 of the prosthetic finger 204. After the filament 300 is inserted into the opening 210, a portion of the filament 300 is located within the recess 216 of the first recess 208 of the base 202 and the remainder of the filament is located within the recess 214 of the finger 204, such that the filament 300 secures the base 202 and the finger 204 together, thereby preventing axial movement of the finger 204. In such embodiments, the finger seal ring 750 can be located in a second recess 238 of the base 202, which can be an upper or more distally located recess, and compressed into the prosthetic finger 204 to provide a waterproof seal between the base 202 and the finger 204. The finger seal ring 750 can be further compressed to allow removal of the finger or insertion of the finger into the opening 209 of the base 202.

[0061] The features and descriptions of embodiments in which the filament 300 is located within the second recess 238 and the finger seal ring 750 is located within the first recess 208 can apply to embodiments in which the entry opening 210 is located on the palmar side of the prosthetic hand 100 as well as embodiments in which the entry opening 210 is located on the dorsal side of the prosthetic hand 100. Similarly, the features and descriptions of embodiments in which the filament 300 is located within the first recess 208 and the finger seal ring 750 is located within the second recess 238 can apply to embodiments in which the entry opening 210 is located on the palmar side of the prosthetic hand 100 as well as embodiments in which the entry opening 210 is located on the dorsal side of the prosthetic hand 100.

[0062] The filament 300 forms an elongated string that extends along a longitudinal length. The filament 300 can be uniform in cross-section along its entire longitudinal length. The filament 300 can have sufficient stiffness to be inserted and pushed through the recess 208. For example, there can only be an elongated portion without any end features.

[0063] The filament 300 can include an end portion 306. The end portion 306 can facilitate insertion of the filament 300 into the entry opening 210 and through the first groove 208. The end portion 306 can have a greater width than the filament 300. The end portion 306 can be a cylindrical end cap or collar configured to be received into the entry opening 210. The entry opening 210 can have a depth corresponding to a longitudinal length of the end portion 306. In some embodiments, the first groove 208 can have a smaller width than the entry opening 210 such that a distal edge (e.g., a palm-facing edge) within the entry opening 210 at an interface with the groove 208 contacts a distal end of the end portion 306 and thereby limits the filament 300 from progressing further distally into the groove 208. In some embodiments, the second groove 238 can have a smaller width than the entry opening 210 such that a distal edge (e.g., a back-facing edge) within the entry opening 210 at an interface with the groove 208 contacts a proximal end of the end portion 306 and thereby limits the filament 300 from progressing further distally into the first groove 208. The end portion 306 can be secured within the entry opening 210, e.g., via a friction fit, a threaded engagement, or other means with the entry opening 210.

[0064] Figure 9 is a perspective partial cross-sectional view of an example embodiment of a filament 300 having a wrapped configuration. A portion of the filament 300 (at the right end, as oriented) is shown in cross-section. The wrapped configuration includes a winding 302 wrapped in a helix around a longitudinally extending core 304. The winding 302 and the core 304 can be metallic (e.g., bronze, steel, copper, titanium, etc.) and made of the same or different materials. The filament 300 can be metallic, polymeric, plastic, of other materials, or combinations thereof. The winding 302 can be formed of a strand having a smaller diameter than the core 304. In some embodiments, the winding 302 can be formed of a strand having a diameter of 0.25 mm to 0.40 mm, 0.30 mm to 0.35 mm, e.g., 0.31 mm, 0.32 mm, 0.33 mm, 0.34 mm, or a range between such values, etc. In some embodiments, the core 304 can have a diameter of 0.3 mm to 0.55 mm, 0.40 mm to 0.45 mm, e.g., 0.41 mm, 0.42 mm, 0.43 mm, 0.44 mm, etc., or a range between such values, etc.

[0065] The total diameter of the filament 300 can be, for example, 0.75 mm to 1.25 mm, 1 mm to 1.05 mm, such as 1.01 mm, 1.02 mm, 1.03 mm, 1.04 mm, or a range between these values. In embodiments where the filament 300 has a wound configuration, a portion of the core 304 can protrude longitudinally further outward from one end of the winding 302. This allows the user to easily insert or remove the filament 300 from the groove 208. The filament 300 (wound or otherwise constructed) can have a length of 30 mm to 90 mm, 40 mm to 80 mm, 50 mm to 70 mm, 55 mm to 65 mm, approximately 65 mm, or 65 mm. This length can be increased / decreased to hold larger / smaller objects in holes of different sizes. The length of the filament can be customized in terms of thickness and / or length for a specific width and length of the groove 208.

[0066] In some embodiments, the filament 300 may have an end portion 306, such as Figure 5A As shown, the end portion 306 allows a user to easily insert or remove the filament 300 from the recess 208. The end portion 306 can be a collar, cap, rigid member, mating member, bracket, etc. The end portion 306 can be attached to the filament 300 via crimping, bonding, welding, screwing, other methods, or combinations thereof. In other embodiments, the filament 300 may not have the end portion 306. The filament 300 can have a winding configuration with a uniform cross-sectional area along its entire length. This winding configuration allows for a uniform distribution of load on the material, thereby preventing damage or jamming of the filament when it is fitted into the first recess 208 or the second recess 238 (e.g., for frictional engagement). This winding configuration can also be more flexible than a single-core metal material or a more rigid material, thus making it less likely to damage the base 202 during engagement. The filament 300 can be adapted to either the first groove 208 or the second groove 238 to allow for easy insertion and travel around the first groove 208 or the second groove 238 with minimal force. This winding configuration provides a more durable filament 300, enabling it to meet high force requirements and resist deformation, which allows the filament 300 to be removed without damaging the base. For applications with lower loads, other unwinding configurations of the filament 300 can be used.

[0067] Figure 10is a flowchart illustrating an example method 500 of attaching a prosthetic finger to a prosthetic hand. The method 500 begins at step 501, where the prosthetic finger 204 is assembled with the base 202 (e.g., by a friction fit). The proximal end of the prosthetic finger 204 can be received within the base opening 209. The proximal end of the prosthetic finger 204 can be laterally constrained by the opening 209 of the base 202, for example in the palm direction and the dorsal direction, and in the lateral-in direction and the lateral-out direction.

[0068] The method 500 then moves to step 502, where the first recess 214 of the prosthetic finger 204 and the second recess 216 of the base 202 are aligned to form the annular second groove 238. In some embodiments of the method 500, the first groove 208 can be used instead of the second groove 238, and any description herein of the method 500 with respect to the second groove 238 can apply to the first groove 208. Step 502 can include the user positioning the second groove 238 via the access opening 210 of the base 202. The recesses 214, 216 can be aligned as shown and described herein, for example with respect to Figures 3A-5B .

[0069] The method 500 then moves to step 503, where the user inserts the filament 300 into the second groove 238. The filament 300 is pushed through the access opening 210 and travels along the enclosed groove 208 formed when the prosthetic finger 204 base and the base 202 distal end are assembled. As the filament 300 is pushed further into the groove 208, the filament 300 extends around the base 205 of the prosthetic finger 204, forming a full fixation around the circumference of the base 205. The prosthetic finger 204 is axially constrained by the filament 300, such that interaction with the groove 208 via the filament 300 counteracts movement of the prosthetic finger 204 in the distal direction. The filament 300 can prevent relative movement at the first interface 218 and the second interface 220 (see Figure 4C ). In some embodiments, the groove 208 can be filled with adhesive to more securely hold and / or seal the prosthetic finger 204 to the base 202. The filament 300 can fill the entire length of the groove 208 or a portion thereof. The cross-section of the filament 300 can occupy the entire cross-section of the groove 208 or a substantial portion thereof. The filament 300 can be inserted into the groove 208 as shown and described herein, for example with respect to Figures 3A-9 .

[0070] The filament fixation mechanism disclosed herein provides full support fixation along the entire recess 208 between the first interface 218 and the opposing second interface 220. The filament fixation mechanism also allows for adjustable disengagement, as different filament 300 materials and recess 208 sizes can be used, and thus the strength of the joint can be tightly controlled. This advantageously allows prosthetic joints to be designed to intentionally fail under extreme load situations, to protect the device and / or the user. Due to its simplicity, the filament 300 fixation allows for easy on-site replacement. The filament fixation mechanism allows for the prosthetic finger 204 to be removed and reattached with a single component (i.e., the filament 300). For example, the use of the filament 300 enables the prosthetic finger 204 to be replaced without the need for hand tools. This can allow the user of the prosthetic hand 100 to remove and / or attach the prosthetic finger 204 themselves, as compared to other devices having more complex finger attachment mechanisms that often require the user to seek assistance from a care provider to attach and / or remove the prosthetic finger from their prosthetic hand. The filament fixation according to the present disclosure is also vibration-proof, meaning that the prosthetic finger 204 remains fixed to the base frame 202 even if the filament 300 moves. The filament fixation also provides for slight adaptive flexibility under load, for example, when the filament is made of a flexible, durable material such as rubber.

[0071] C. Waterproof Cover for Prosthetic Hand Figure 11A and Figure 11B are perspective back and perspective palm side views, respectively, of a prosthetic hand 100 having a hand cover assembly 800. The cover assembly 800 includes a palm cover 700, a thumb cover 702, and a back cover 710. Figure 9 An exploded view showing an example of the thumb cover 702, the thumb clamp 1004, and the palm cover 700. The hand cover assembly 800 can be waterproof, as further described. The various waterproof features can be impervious or substantially impervious to water and other liquids. The prosthetic hand 100 can include any of the filament and other features as described herein with respect to Figures 1-10 and the cover features as described herein with respect to Figures 11A-19 As shown in Figure 11A The prosthetic hand 100 can include a wrist device 110, as mentioned, for attachment to a recipient socket or arm. Figure 11B The prosthetic hand 100 in

[0072] Referring to Figures 11A-12B , Figure 16 and Figures 18A-18C The palm cover 700 extends around and covers a portion of the palm portion 102. The palm cover 700 defines a lateral opening 716 (seeFigure 12A ). The palm cover 700 defines a distal opening 732 (see FIG. 7) on a distal end 730 of the palm portion 102. The distal opening 732 is defined by the distal end 730 of the palm cover 700. Figure 16 ). The palm cover 700 defines a dorsal opening 1412 (see FIG. 7) on the dorsal side 108 of the palm portion 102. The dorsal cover 710 is attached over the dorsal opening 1412, the thumb cover 702 is attached over the lateral opening 716, and the base is inserted through the distal opening 732, as further described. In embodiments where the access opening 210 is located on the dorsal side of the base 202, the palm cover 700, such as the dorsal cover 710, can cover the access opening 210. Figure 18A ). The palm cover 700 defines a distal opening 732 (see FIG. 7) on a distal end 730 of the palm portion 102. The distal opening 732 is defined by the distal end 730 of the palm cover 700.

[0073] Figure 12B is a perspective view of the separate thumb cover 702. The thumb cover 702 includes a sidewall 720. The sidewall 720 defines a closed cross-section. The sidewall extends from a proximal thumb opening 720A to an opposite distal thumb opening 720B. The proximal thumb opening 720A is attached to the lateral opening 716 of the palm cover 700. The prosthetic thumb or portion thereof extends through the distal thumb opening 720B. The proximal thumb opening 720A has a larger area than the distal thumb opening 720B. The width of the sidewall 720 can decrease in the distal direction from the proximal thumb opening 720A or vice versa.

[0074] The sidewall 720 of the thumb cover 702 can have multiple layers. As shown, the sidewall 720 can include a three-layer textile construction. The thumb cover 702 is elastic and allows for flexing and rotational movement of the thumb while still being waterproof. The layers can be impermeable to water and other liquids or fluids. An inner layer 722 of the sidewall 720 (e.g., on the inside of the sidewall 720) is made of spandex or similar material (e.g., Lycra) that provides good movement interaction with the internal mechanical structure of the prosthetic thumb. A middle layer 724 of the sidewall 720 (e.g., between the inner and outer layers of the sidewall 720) is a rubberized impermeable or waterproof material (e.g., polyurethane). The middle layer 724 can have a heat-activated glue that allows the middle layer 724 to bond with the inner and outer layers once heated under pressure. An outer layer 726 of the sidewall 720 (e.g., the outer layer of the sidewall 720) is made of a high-performance nonwoven composite fabric material suitable for use in high-strength, low-weight applications (i.e., Cuben Fiber, DYNEEMA®, etc.). The outer layer 726 is constructed of a thin sheet of ultra-high molecular weight polyethylene (UHMWPE) laminated between two sheets of polyester. In some embodiments, the outer layer 726 can also include a nylon or knit hybrid. The middle layer 724 is between the inner layer 722 and the outer layer 726. The inner layer 722 faces radially outward, e.g., toward the thumb. The outer layer 726 faces radially outward, e.g., away from the middle layer 724. In some embodiments, the thumb cover 702 can include only a single layer, two layers, four layers, five layers, or more layers. In a multi-layer design, the layers can be attached together along only their outer perimeter and / or along their inner surface, or a combination of both. In some embodiments, there can be additional layers on the inner side of the inner layer 722 and / or the outer side of the outer layer 726. In some embodiments, there can be additional layers between the inner layer 722 and the outer layer 726 in addition to the middle layer 724.

[0075] The prosthetic thumb 106 can include a thumb tip 706, which can be made of rubberized silicone or any suitable alternative material. The thumb tip 706 can be detachable and / or replaceable. The cover assembly 800 can also include finger covers 712 covering some or all of the prosthetic fingers 204. The finger covers 712 can be made of the same and / or similar materials as the other components of the cover assembly 800. In some embodiments, the finger covers 712 can have silicone sleeves over one or more phalanges of one or more of the prosthetic fingers 204 to improve grip. The finger covers 712 can be on the dorsal side and / or the palmar side of the prosthetic fingers 204.

[0076] As Figures 11A-11B and Figure 12AAs shown in FIGS. 7A and 7B, the thumb cover 702 is attached to the palm cover 700 along the thumb interface 718 via a thumb clamp 1004. The thumb clamp 1004 is elongated and has a ring shape. The thumb clamp 1004 can be made of a hard plastic such as a polycarbonate blend or any other suitable alternative. Adhesive can be applied to the inner and outer sides of the thumb clamp 1004 to bond with the thumb cover 702 and the palm cover 700. The thumb clamp 1004 can be attached to the thumb cover 702 and the palm cover 700 using adhesive, mechanical attachment, or a combination thereof. The thumb clamp 1004 secures the thumb cover 702 to the palm cover 700 along the thumb interface 718 over the circumference of the proximal thumb opening 720A of the thumb cover 702. The thumb seal 704 can then be placed on the exterior along the thumb interface 718 over the thumb clamp 1004 and / or over the proximal end of the sidewall 720 of the thumb cover 702. The thumb seal 704 is fluid impermeable. Thus, the cover prevents water and other fluids from permeating the prosthetic hand 100 along the interface or through the thumb cover 702. The thumb seal 704 is made of a hard plastic such as a polycarbonate blend or any other suitable alternative.

[0077] As shown in FIGS. 7A and 7B, the thumb cover 702 is attached to the palm cover 700 along the thumb interface 718 via a thumb clamp 1004. The thumb clamp 1004 is elongated and has a ring shape. The thumb clamp 1004 can be made of a hard plastic such as a polycarbonate blend or any other suitable alternative. Adhesive can be applied to the inner and outer sides of the thumb clamp 1004 to bond with the thumb cover 702 and the palm cover 700. The thumb clamp 1004 can be attached to the thumb cover 702 and the palm cover 700 using adhesive, mechanical attachment, or a combination thereof. The thumb clamp 1004 secures the thumb cover 702 to the palm cover 700 along the thumb interface 718 over the circumference of the proximal thumb opening 720A of the thumb cover 702. The thumb seal 704 can then be placed on the exterior along the thumb interface 718 over the thumb clamp 1004 and / or over the proximal end of the sidewall 720 of the thumb cover 702. The thumb seal 704 is fluid impermeable. Thus, the cover prevents water and other fluids from permeating the prosthetic hand 100 along the interface or through the thumb cover 702. The thumb seal 704 is made of a hard plastic such as a polycarbonate blend or any other suitable alternative. Figure 1 Figure 11A As shown in FIGS. 7A and 7B, the thumb cover 702 is attached to the palm cover 700 along the thumb interface 718 via a thumb clamp 1004. The thumb clamp 1004 is elongated and has a ring shape. The thumb clamp 1004 can be made of a hard plastic such as a polycarbonate blend or any other suitable alternative. Adhesive can be applied to the inner and outer sides of the thumb clamp 1004 to bond with the thumb cover 702 and the palm cover 700. The thumb clamp 1004 can be attached to the thumb cover 702 and the palm cover 700 using adhesive, mechanical attachment, or a combination thereof. The thumb clamp 1004 secures the thumb cover 702 to the palm cover 700 along the thumb interface 718 over the circumference of the proximal thumb opening 720A of the thumb cover 702. The thumb seal 704 can then be placed on the exterior along the thumb interface 718 over the thumb clamp 1004 and / or over the proximal end of the sidewall 720 of the thumb cover 702. The thumb seal 704 is fluid impermeable. Thus, the cover prevents water and other fluids from permeating the prosthetic hand 100 along the interface or through the thumb cover 702. The thumb seal 704 is made of a hard plastic such as a polycarbonate blend or any other suitable alternative.

[0078] Figure 13 is a perspective view of an embodiment of the grip pad 708 with the thumb tip 706 pressed against the grip pad 708. The thumb seal 704 can include the grip pad 708 at its distal end. The grip pad 708 is compliant and / or collapsible. The grip pad 708 can be deformable. In some embodiments, the grip pad 708 can be filled with air. In some embodiments, the thumb seal 704 can not include the grip pad 708.

[0079] Figure 14 is a perspective view of the prosthetic hand 100 as along Figure 13 ​A cross-sectional view of the thumb tip 706 and the grip pad 708 taken along the line F-F in FIG. 7C shows the air bladder 1002 within the grip pad 708. When the thumb tip 706 is pressed against the grip pad 708, a central portion of the lateral outer surface of the grip pad air bladder 1002 collapses, thereby providing enhanced gripping because there are higher pressure points on the corners of the grip pad 708, which reduces the likelihood of slipping and / or rotating. This advantageously enhances the user's ability to grip thin objects between the prosthetic thumb and the grip pad 708. The grip pad 708 can be made of silicone, a mixture between silicone and thermoplastic polyurethane (TPU), or other similar materials. The surface of the grip pad 708 can be textured or smooth. In some embodiments, including a grip pad 708 with a smooth surface is more desirable for use in wet environments.

[0080] Figure 15A and Figure 15B A perspective view showing a detachable thumb attachment 1102 included in some embodiments of the present disclosure is shown. The detachable thumb attachment 1102 can be adhered to the thumb seal 704 over the grip pad 708. The detachable thumb attachment 1102 can be an angular protrusion. The thumb tip 706 can include a complementary recess designed to receive the detachable thumb attachment 1102. The detachable thumb attachment 1102 can advantageously allow for a firmer grip.

[0081] Figure 16 An exploded view of a portion of the prosthetic hand 100 showing the palm cover 700, the base frame 202, and the palm seal ring 802 is shown. Conventionally, for prosthetic hand assemblies, the prosthetic fingers are first secured to the structural portion of the palm of the prosthetic hand before the cover is attached. In embodiments according to the present disclosure, the palm cover 700 and the base frame 202 are assembled together before the prosthetic fingers are attached to the base frame 202. This advantageously allows for simpler attachment and removal of the prosthetic fingers, and allows the prosthetic hand 100 to have a more streamlined appearance and not have visible fasteners, and requires fewer parts for assembly.

[0082] Figure 17 is a perspective view of the prosthetic hand 100 as along Figure 11BFIG. 16 shows a cross-sectional view of the prosthetic hand 100 taken along the line E-E in FIG. 15 and showing the arrangement of the palm cover 700, the base 202, and the palm seal ring 802 when assembled. The cover has a ridge 1401 extending along at least a portion of the inner surface of the palm cover. The ridge 1401 can extend completely around the inner surface 700A of the palm cover 700. The palm seal ring 802 is compressed between the palm cover 700 and the ridge 1401 to prevent fluid from permeating the palm cover 700. Thus, the palm seal ring 802 can extend along the ridge 1401 along the inner palm side of the base 202 and the inner back side of the base 202. Thus, the palm seal ring 802 can extend not only along the inner palm side of the base 202. The palm seal ring 802 can be made of rubber or other similar water resistant material. The interface with the seal ring 802 can be impermeable to water and other liquids or fluids. The palm seal ring 802 can be a separate component placed into the palm cover 700 or around the base 202 (e.g., into the ridge 1401). In some embodiments, the palm seal ring 802 can be integrated with one of the components, such as integrated with the palm cover 700, e.g., integrated with the ridge 1401, or integrated with the base 202. In some embodiments, the palm seal ring 802 can be integrated with one of the components via computer numerical control (CNC) gasket deposition. For example, the gasket can be laid down and snapped with the component. The palm seal ring 802 can be made of rigid plastic that can be overmolded with a soft material, such as silicone or rubber. This construction can facilitate maintaining the shape and structure of the palm seal ring 802 and better securing it in place.

[0083] Figures 18A-18C FIGS. 18A-18C show various views of the back side 108 of the prosthetic hand 100 and the back cover 710. Figure 18A FIG. 18A shows a perspective view of the back side 108 of the prosthetic hand 100 with the back cover 710 removed. Figure 18B FIG. 18B shows a perspective view of the outer surface 710A of the back cover 710. Figure 18CA perspective view of the inner surface 710B of the back cover 710 is shown. The back cover 710 can be made of a hard plastic such as a polycarbonate blend or any other suitable alternative. There can be an overmolded back seal ring 1402 along the perimeter of the back opening between the inner surface 710B of the back cover 710B and the palm cover 700 to prevent water from penetrating the waterproof cover. The back seal ring 1402 can be made of a soft rubber such as a thermoplastic elastomer (TPE) or any other suitable alternative. The interface with the back seal ring 1402 can be impermeable to water and other liquids or fluids. The back cover 710 can be secured to the prosthetic hand 100 via a back clasp opening 1404 and a corresponding back clasp 1406 on the inner surface of the back cover 710. The opening 1404 can be defined by the base 202 having a shape that is complementary to the shape of the back clasp 1406. A catch 1408 can be located within or on the inside of the opening 1404. The back clasp 1406 can protrude outward away from the inner surface 710B and define a slot 1410 that engages the catch 1408. The catch 1408 can be flexible. If desired, the back cover 710 can be removable. In some embodiments, removing one prosthetic finger 104 via a filament securing system can allow the user to loosen the back cover 710 via the back clasp securing system.

[0084] Figure 19 is a flowchart illustrating an example method 1500 of assembling a cover assembly for a prosthetic hand, such as the cover assembly 800. At step 1501, the thumb cover 702 is attached to the palm cover 700 using the thumb clamp 1004. Then, the method 1500 moves to step 1502, where the outer thumb seal 704 is attached along the interface of the thumb cover 702 and the palm cover 700. Then, the method 1500 moves to step 1503, where the palm seal ring 802 is placed into the palm cover 700. Then, the method 1500 moves to step 1504, where the base 202 is placed into the palm cover 700, partially over the palm seal ring 802. Then, the method 1500 moves to step 1505, where the back seal ring 1402 is secured along the perimeter of the back opening 1412. Then, the method 1500 moves to step 1506, where the back cover 710 is attached to the back side 108 of the prosthetic hand 100, for example, using the back clasp 1406 and back clasp opening 1404 securing system. Then, the method 1500 moves to step 157, where a prosthetic finger 204 is attached to the prosthetic hand 100, for example, using the filament securing system disclosed herein. Step 157 can include Figure 10 the method 500 shown in FIG. 5.

[0085] In some embodiments, the steps related to assembling the sealing assembly 800 are performed prior to attaching the prosthetic finger 204. For example, the steps 1503 and 1504 can be performed prior to the step 1507. This allows for simplicity in attaching and removing the prosthetic finger 204. The enclosure assembly 800 can be assembled prior to or after the prosthetic finger 204 is attached, allowing for flexibility in the assembly process. Conversely, the prosthetic finger 204 can still be removed and replaced from the base 202 while the palm enclosure 700 is already in place on the prosthetic hand 100, and thus does not have to be disassembled from the entire enclosure assembly 800.

[0086] Various modifications to the implementations described in this disclosure can be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other implementations without departing from the spirit or scope of this disclosure. Thus, the disclosure is not intended to be limited to the implementations shown herein but is to be accorded the widest scope consistent with the claims, the principles and the novel features disclosed herein. The word "example" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "example" is not necessarily to be construed as preferred or advantageous over other implementations.

[0087] Certain features described in the context of separate embodiments in this specification can also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable sub-combination. Moreover, although features can be described above as acting in particular combinations and initially claimed that way, one or more features from a claimed combination can in some cases be excised from the combination and the claimed combination can be directed to a sub-combination or variations of a sub-combination.

[0088] Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring such an order, unless otherwise claimed, and one or more operations can be performed in a different order or concurrently with other operations apart from that which is shown or claimed. In some cases, indicated operations can be omitted in others, and still achieve desirable results.

[0089] Those skilled in the art will appreciate that, in general, the terms used herein are generally intended as "open" terms (e.g., the term "including" is to be interpreted as "including but not limited to," the term "having" is to be interpreted as "having at least," the term "includes" is to be interpreted as "includes, but is not limited to," etc.). Those skilled in the art will further understand that, unless specifically stated otherwise, in the claims, the use of the terms "comprising," "including," "containing," "having," and the like are not intended to be construed as medically or otherwise limiting the claims to only include what is specifically recited. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims. For example, the use of the term "including" in the claims is not intended to be construed as limiting the claims to only include what is specifically recited in the claims.

Claims

1. A prosthetic hand, comprising: Palm part; Prosthetic fingers and prosthetic thumb extending from the palm portion; A base frame, located within the palm portion and attached to the prosthetic finger, defines an annular groove extending between the prosthetic finger and the base frame; A flexible filament extending through the groove; as well as The cover assembly includes: A palm cover that extends partially over the palm portion and defines a lateral opening and a back opening; A thumb shield, extending around at least a portion of the prosthetic thumb and secured to the lateral opening of the palm shield; and A back cover that extends over the back opening.

2. The prosthetic hand of claim 1, wherein, The prosthetic finger also includes a first recess that extends circumferentially around the proximal end of the prosthetic finger and partially defines the annular groove.

3. The prosthetic hand of claim 2, wherein, The base also includes an opening at a distal end of the base, the opening having a second recess extending circumferentially around an inner surface of the opening, wherein the opening is configured to receive the proximal end of the prosthetic finger therein, such that the first recess and the second recess are aligned to define the annular groove between the prosthetic finger and the base.

4. The prosthetic hand of any one of claims 1-3, further comprising a thumb clamp adhered to the thumb cover and the lateral opening along a thumb interface, wherein, An external thumb seal extends over the outside of the thumb interface, making the thumb interface impermeable to liquids.

5. The prosthetic hand of any one of claims 1-4, wherein, The back cover is rigid and includes an outer perimeter that extends at least partially along the corresponding inner perimeter of the back opening along the back interface, and the back cover is secured to the base via a latch such that the back interface is liquid impermeable.

6. The prosthetic hand of any one of claims 1-5, wherein, The thumb cover is flexible and includes an inner elastic fiber layer, an intermediate rubber-treated layer, and a textile outer layer.

7. The prosthetic hand of any one of claims 1-6, further comprising four of the prosthetic fingers and four of the filaments, wherein, Each filament extends through a corresponding groove defined by the corresponding prosthetic finger and the base.

8. A prosthetic hand, comprising: A prosthetic finger, the prosthetic finger including a first recess extending circumferentially around the outer surface of the proximal end of the prosthetic finger; A base frame supported by the palm portion of the prosthetic hand, the base frame having a distal end including an opening having a second recess extending circumferentially around an inner surface of the opening, wherein the opening is configured to receive the proximal end of the prosthetic finger therein, such that the first recess and the second recess are aligned to define a groove between the prosthetic finger and the base frame; as well as A flexible filament extends through the groove and thereby secures the prosthetic finger to the base.

9. The prosthetic hand of claim 8, wherein, The base also includes an access opening leading to the annular groove, the access opening being configured to receive the distal end of the filament therein for inserting the filament into the groove.

10. The prosthetic hand of claim 9, further comprising a cuff extending around the palm portion, and wherein, The cover extends over the entrance opening.

11. The prosthetic hand of any of claims 9-10, wherein, The access opening is located on the back side of the base frame.

12. The prosthetic hand of any of claims 8-11, wherein, The first recess and the second recess each have a cross-section having a long side and two short sides perpendicular to the long side, such that when the first recess and the second recess are aligned, the groove defines a four-sided cross-section.

13. The prosthetic hand of any of claims 8-12, wherein, The recess includes a proximal end that extends to a distal end, and wherein the distal end opens to the proximal end to define a continuous annular passageway.

14. The prosthetic hand of any of claims 8-13, wherein, The filament includes a longitudinal core, wherein an outer strand is wrapped around the core.

15. A prosthetic hand comprising: a palm portion having a distal end, a palmar side opposite a dorsal side, and a lateral inner side opposite a lateral outer side; a prosthetic finger attached to and extending from the distal end of the palm portion; a prosthetic thumb attached to and extending from the lateral inner side of the palm portion; and a cover assembly comprising: a polymeric palm cover extending partially around the palm portion and defining a lateral opening on the lateral inner side of the palm portion, a distal opening on the distal end of the palm portion, and a dorsal opening on the dorsal side of the palm portion; a ridge of the palm cover proximal to the distal opening and projecting inwardly from and extending at least partially along one or more inner surfaces of the palm cover, a palm seal ring extending along the ridge of the palm cover, wherein a chassis compresses the palm seal ring against the ridge along a palm interface, the palm interface being liquid impermeable; a flexible thumb cover including a sidewall having a closed cross-section and extending from a proximal thumb opening to a distal thumb opening, the proximal thumb opening being attached to the lateral opening of the palm cover, and a distal end of the prosthetic thumb extending distally from the distal thumb opening; a thumb clamp extending along a thumb cover interface and securing a first perimeter of the lateral opening of the palm cover with a second perimeter of the proximal thumb opening of the thumb cover along the thumb cover interface; an outer thumb seal extending over an exterior of the thumb cover interface, wherein the thumb cover interface is liquid impermeable; and a rigid dorsal cover having an outer perimeter extending at least partially along a corresponding inner perimeter of the dorsal opening along a dorsal interface, wherein the dorsal interface is liquid impermeable. The outer thumb seal includes a deformable grip pad facing outwardly from the palm portion.

16. The prosthetic hand of claim 15, wherein, The thumb cover includes an inner layer of spandex, an intermediate rubberized layer, and an outer layer of textile fabric.

17. The prosthetic hand of any of claims 15-16, wherein, 18. The prosthetic hand of any of claims 15-17, further comprising: a chassis within the palm portion, wherein the prosthetic finger and the chassis define an annular recess; and a filament within the recess securing the prosthetic finger to the chassis.

19. The prosthetic hand of any of claims 15-18, further comprising: a dorsal opening defined by the chassis; and ​ ​ a lock catch attached to and extending away from an interior of the back cover, the lock catch secured within the back opening of the base frame.

20. The prosthetic hand of any one of claims 15-19, further comprising a back sealing ring extending along the inner perimeter of the back opening.

21. A method of attaching a prosthetic finger to a prosthetic hand, the method comprising: placing a proximal end of a prosthetic finger within an opening of a base frame; forming a groove along an interface of the prosthetic finger and the base frame; and inserting a filament into the groove via an access opening of the base frame, thereby securing the prosthetic finger with the base frame.

22. A method of attaching a cover to a prosthetic hand, the method comprising: inserting a base frame through a distal opening of a palm cover; and after the base frame has been inserted into the palm cover, attaching a prosthetic finger to a distal end of the base frame.

23. The method of claim 22, further comprising: before the base frame is inserted into the palm cover, attaching a thumb cover around a prosthetic thumb attached to the base frame.

24. The method of claim 22 or 23, the method further comprising attaching a back cover to a back side of the palm cover. ​

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