Hand model

Abstract

The present invention provides a hand model having a central member including a joint portion and a metacarpal bone portion, the joint portion including a first outer side portion and a first inner side portion, the first outer side portion rotatably housing the first inner side portion, the first outer side portion having at least one guide portion, and the metacarpal bone portion having at least one guide portion. The guide portion of the first outer side portion restricts single-axis rotation of the first inner side portion about one of three rotation axes. The purpose of the present invention is to satisfactorily reproduce a structure of a movable region and a non-movable region of a human finger, and a structure of reproducing various expressions of the human finger.

Description

[0001] This application is a divisional application of the original application filed on April 19, 2023, with application number 2023104227668 and invention title "Hand Model". Technical Field

[0002] This invention relates to a hand model. Background Technology

[0003] As background technology in this field, there is Japanese Patent Application Publication No. 2022-28002 (Patent Document 1). In this publication, it is described as follows: "A joint structure for a human-shaped hand, comprising a wrist 110 provided on an extension of a lower wrist portion 80, a back of hand 115 connected to the wrist 110, and a plurality of fingers 120 including a thumb 120A connected to the back of hand 115, wherein the back of hand 115 has a notch 131 and a protrusion 132 formed by separating the notch 131 on the side connected to the wrist 110, the wrist 110 being connected via a first ball joint 141 embedded in the portion of the protrusion 132 that has been displaced from the position of the wrist 110, with its front end disposed in the notch 131 of the back of hand 115, and being able to rotate relative to the back of hand 115 with the first ball joint 141 as the center" (see abstract).

[0004] Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2022-28002 Summary of the Invention The problem that the invention aims to solve Patent Document 1 describes a joint structure at the limb ends of a humanoid figure capable of performing near-human movements. However, Patent Document 1 does not discuss structures that accurately reproduce the movable and immovable areas of a human finger, or structures that reproduce various expressions of a human finger.

[0005] Therefore, the present invention provides a structure that can well reproduce the movable and non-movable areas of a human finger, and a structure that can reproduce various expressions of a human finger.

[0006] Technical solutions for solving the problem To address the aforementioned issues, for example, the structure described in the claims may be employed.

[0007] This application includes multiple solutions to the above-mentioned problems. As one example, a hand model is provided, characterized in that it has a central component including a joint portion and a middle finger metacarpal portion. The joint portion includes a first outer portion and a first inner portion. The first outer portion accommodates the first inner portion in a manner that allows the first inner portion to rotate. The first outer portion has at least one guide portion that restricts the first inner portion to rotate uniaxially about one of three rotation axes.

[0008] The effects of the invention According to the present invention, a structure that can well reproduce the movable and non-movable areas of a human finger, or a structure that can reproduce various expressions of a human finger, can be provided.

[0009] Other issues, structures, and effects not mentioned above are explained in the following description of implementation methods. Attached Figure Description

[0010] Figure 1A This is an example of the appearance of a hand model 1, which is composed of multiple movable parts; Figure 1B yes Figure 1A Examples of possible appearance diagrams for hand model 1; Figure 2 Here is an example of the appearance drawing of the central component 200; Figure 3 This is an example of an explanatory diagram illustrating the relationship between the outer side 220 and the inner side 300 of the CM joint 20; Figure 4 This is an example of an explanatory diagram illustrating the rotation of the inner part 300 in the first rotation direction RD1; Figure 5 This is an example of an explanatory diagram illustrating the rotation of the inner part 300 in the second rotation direction RD2; Figure 6 It is the CM joint 20 in Figure 5 An example of the appearance of hand model 1 in state A; Figure 7 It is the CM joint 20 in Figure 5 An example of the appearance of hand model 1 in state C; Figure 8 This is an example of an explanatory diagram illustrating the rotation of the inner part 300 in the first rotation direction RD1; Figure 9 It is the CM joint 20 in Figure 8 An example of the appearance of hand model 1 in its current state; Figure 10This is an example of an explanatory diagram illustrating the relationship between the metacarpal portion 115 of the thumb, the metacarpal portion 125 of the index finger, and the metacarpal portion 135 of the middle finger. Figure 11 This is an example of an explanatory diagram illustrating the movable area of ​​the metacarpal bone 115 of the thumb. Figure 12 It is the metacarpal bone of the thumb at position 115. Figure 11 An example of the appearance of hand model 1 in its current state; Figure 13 This is an example of an explanatory diagram illustrating the expansion mechanism that expands the range of rotation of the thumb metacarpal portion 115. Figure 14 It is the metacarpal bone of the thumb at position 115. Figure 13 An example of the appearance of hand model 1 in its current state; Figure 15 This is an example of an explanatory diagram illustrating two different postures of the metacarpal portion 115 of the thumb; Figure 16 It is the metacarpal bone of the thumb at position 115. Figure 15 B. Figure 15 An example of the appearance of hand model 1 in pose D; Figure 17A It is to Figure 15 An example of the appearance of hand model 1, which describes the movable area of ​​the thumb metacarpal 115 corresponding to the pose of A. Figure 17B It is to Figure 15 Example of the appearance of hand model 1, which describes the movable area of ​​the thumb metacarpal 115 corresponding to the pose of B. Figure 18 This is an example of an explanatory diagram illustrating the connection state of the metacarpal portions 10 of each finger portion 30. Figure 19 This is an example of an explanatory diagram illustrating the flatter state of the metacarpal portion 10; Figure 20 This is an example of an explanatory diagram illustrating the more rounded metacarpal portion 10; Figure 21 This is an example of an explanatory diagram illustrating the structure of the finger section 30; Figure 22 Yes Figure 21 An example of an explanatory diagram illustrating the range of 2120 for the middle finger; Figure 23 This is an example of an explanatory diagram illustrating the MP joint 40; Figure 24 This is an example of an explanatory diagram illustrating the rotation of the MP joint 40; Figure 25This is an example of the appearance of a hand model 1 that explains the radial and ulnar deviations of the middle finger portion 130; Figure 26 This is an example of an explanatory diagram illustrating the rotation of the MP joint 40; Figure 27 Examples of appearance diagrams of hand models 1 with different rotation amounts of MP joint 40; Figure 28 This is an example of an explanatory diagram illustrating the structure of the IP joint 50; Figure 29 This is an example of an explanatory diagram illustrating the dorsiflexion and palmar flexion of the DIP joint 52. Figure 30 This is an example of the appearance of a hand model 1, which explains the movable areas of the MP joint 40 and the IP joint 50. Figure 31 This is another example of the appearance of the hand model 1, which illustrates an example of the movable area of ​​the MP joint 40 and the IP joint 50. Figure 32 This is an example of an explanatory diagram illustrating the segmented state of the CM joint 20; and Figure 33 This is another example of an explanatory diagram illustrating the connection state of the metacarpal portions 10 of each finger portion 30.

[0011] Symbol Explanation 1…Hand model; 10…Metacarpal portion; 20…CM joint portion; 30…Finger portion; 31…Coccygeal portion; 32…Middle phalanx; 33…Distal phalanx; 40…MP joint portion; 50…IP joint portion; 51…PIP joint portion; 52…DIP joint portion; 60…Wrist end; 110…Thumb portion; 115…Thumb metacarpal portion; 120…Index finger portion; 125…Index finger metacarpal portion; 130…Middle finger portion; 135…Middle finger metacarpal portion; 140…Ring finger portion; 145…Ring finger metacarpal portion; 150…Little finger portion; 150…Little finger metacarpal portion; 200…Central component; 210…Backside of middle finger metacarpal portion 135; 220…Lateral portion of CM joint portion 20; 221…Lateral portion of thumb CM joint portion 20 ; 222… First straight guide edge; 223… Second straight guide edge; 224… First curved guide edge; 225… Second curved guide edge; 226… First support protrusion; 227… Second support protrusion; 230… Central axis; 300… Inner side of CM joint 20; 310… First guide protrusion; 320… Second guide protrusion; 330… Connecting protrusion; 340… Inner wall of middle metacarpal portion 135; 350… Receiving portion for thumb metacarpal portion 115; 360… Palmar side of middle metacarpal portion 135; 400… First guide portion; 410… Hook portion; 500… Second guide portion; 700… Range; 710… Insertion hole for fixing component; 720… Recess; 810… Thumb-side end point; 82 0…First distance; 830…Little finger side tip; 840…Second distance; 1000…Hinge; 1011…Thumb CM joint; 1020…Inner part of thumb CM joint 1011; 1100…Contact protrusion; 1120…Stop wall; 1121…Outermost contact position of stop wall 1120; 1300…Expansion; 1301…Expansion protrusion; 1310…Expansion receiving area; 1311…Stop recess; 1320…Rotating recess; 1321…Rotating convex; 1330…Rotating part; 1500…Mounting recess for MP joint; 1501…Plane of mounting recess for MP joint 40; 1510…Thumb ball; 1520…Thumb ball receiving part; 1710 …Contact edge of the stop wall portion 1120; 1720…Upper edge of the thumb metacarpal portion; 1810…Insertion hole for the first support protrusion; 1820…Insertion hole for the second support protrusion; 1900…MP joint receiving recess; 1910…First imaginary curve; 2000…Gap between each metacarpal portion; 2010…Second imaginary curve; 2020…Innermost point of the little finger metacarpal portion 155; 2101…Middle finger coxae; 2102…Middle finger phalanx; 2103…Middle finger distal phalanx; 2111…Thumb coxae; 2113…Thumb distal phalanx; 2120…Middle finger range; 2200…Distal profile of the middle finger metacarpal portion 135; 2210…Proximal profile of the middle finger coxae 2101; 2300…MP joint base;2301…Proximal connection; 2302…First rotational support; 2310…First rotational part of MP joint 40 (radial / ulnar deviation of MP joint); 2311…Distal connection; 2320…Second rotational part of MP joint 40 (dorsiflexion / palmar flexion of MP joint); 2322…Second rotational support; 2710…MP joint of the little finger; 2720…MP joint of the ring finger; 2730…PIP joint of the little finger; 2740…PIP joint of the ring finger; 2750…DIP joint of the little finger; 2760…DIP joint of the ring finger; 2810…IP joint fixation; 2811…Proximal connection; 2812…Fixation protrusion; 2813…Position of fixation protrusion 2812; 2820…IP joint rotation; 2 821…Distal connection portion; 2822…Step of rotating portion; 2823…Rotating shaft; 2824…Rotation range; 2920…Distal end profile of middle phalanx; 2930…Proximal end profile of distal phalanx; 3110…MP joint of index finger; 3115…DIP joint of index finger; 3120…MP joint of middle finger; 3125…DIP joint of middle finger; 3210…First half of the lateral portion 220 of CM joint 20; 3211…First cylindrical component; 3220…Second half of the lateral portion 220 of CM joint 20; 3221…Second cylindrical component; 3222…Connection to the metacarpal portion 135 of middle finger; 3230…Insertion hole for cylindrical component; 3310…Spherical connection portion; 3320…Third support protrusion; 3322…Insertion hole for the third support protrusion. Detailed Implementation

[0012] Hereinafter, embodiments will be described using the accompanying drawings. Furthermore, in the following embodiments, the right hand will be used as an example, but it can also be applied to the left hand by flipping it left and right. For example, by providing a structure that allows the components described later to be flipped left and right, the embodiments described later can be applied to a left-hand hand model. Additionally, in this case, the structures of the joints described later can also be used in both right-hand and left-hand hand models.

[0013] Furthermore, in the hand model 1 shown in Figure 1, its appearance is designed to mimic the shape of an adult's hand. In other embodiments, in the hand model 1, its appearance, such as the proportions or shapes of its parts, can also be designed to mimic the shape of an infant's or elderly person's hand. Furthermore, the shape of each part can also be designed to reproduce, for example, the degree of fleshiness or the degree of bone protrusion.

[0014] Figure 1A This is an example of the appearance of a hand model 1, which is composed of multiple movable parts.

[0015] Figure 1AThe hand model 1 imitates a human hand, for example, it has each metacarpal bone part 10, CM joint part (carpal joint part) 20, each finger part 30, MP joint part (metacarpophalangeal joint part) 40, IP joint part (interphalangeal joint part) 50, etc.

[0016] CM joint 20 is an example of a joint.

[0017] MP joint 40 is an example of a second joint.

[0018] Figure 1A The hand model 1 is designed to be similar in size to that of a normal adult hand, but is not limited to this. For example, it can be designed to be similar in size to that of an infant or toddler's hand, or in various other sizes.

[0019] In particular, in structures where hand model 1 is used as a prosthetic hand, the size of hand model 1 is preferably based on the size of the prosthetic hand installer's hand, or the average hand size relative to the individual body type of the prosthetic hand installer.

[0020] in addition, Figures 1A to 33 The ratios of the size or length of each component shown are also designed according to the ratios corresponding to the parts of a typical adult finger. However, in another embodiment, it can also be designed according to ratios corresponding to the size or length ratios of the parts of the fingers of animals different from humans, particularly mammalian primates such as chimpanzees or orangutans. In this type of hand model 1, it is more preferable that the movable or immovable areas of the hand model 1 are designed to correspond to the movable or immovable areas of the fingers of various animals.

[0021] For example, when the hand model 1 is designed to be smaller than the size of a typical adult's hand, making it easier to carry, it is easy to take the hand model 1 to various places. Therefore, users can easily use the hand model 1 for sketching practice in various situations, regardless of the location or time of day.

[0022] In another example, when the hand model 1 is designed to be larger than the size of a typical adult hand, making it easily visually recognizable even from a distance, such as in a classroom, people who are far from the hand model 1 (e.g., students receiving art or sketching lessons or handouts) can easily visually identify it and practice sketching using the hand model 1. For example, in art schools, where multiple students are sketching the same hand model 1, such a large hand model 1 is preferred.

[0023] The hand model 1 can reproduce the movable and immovable areas of a human finger well. For example, the movable and immovable areas of the hand model 1 are preferably designed to reproduce the movable and immovable areas of a human finger in its normal state. However, the movable and immovable areas of the hand model 1 do not necessarily have to reproduce the movable and immovable areas of a human finger in its normal state.

[0024] For example, in another embodiment, the hand model 1 may also be a structure that reproduces the movable and immovable areas of a human hand in a state of at least one dislocated or subdislocated joint.

[0025] Furthermore, regarding the movable and immobile areas of hand model 1, movable and immobile areas can also be set for at least one joint on the fingers of a patient suffering from inflammation or arthritis such as osteoarthritis, before and after the angle at which pain begins to be felt. In such a structure, it is more preferable that the angle at which pain begins to be felt can be selected based on, for example, statistical data about the arthritis being treated, or changed each time.

[0026] For example, in lectures, internships, and further education at universities or colleges related to hospitals, medical care, nursing, and welfare, students or trainees can use a hand model 1 that reproduces the movable or immovable areas of the hand of an injured or disabled patient to learn about the movable or immovable areas of the hand of a human, such as a dislocated or subdislocated hand, while actually touching a three-dimensional object.

[0027] Alternatively, for each hand model 1, different movable or immovable areas can be assigned to each joint according to the injury or disability, and one or more injuries or disabilities can be reproduced in combination. Therefore, it is possible to efficiently provide students or trainees with examples of various injury or disability states.

[0028] Furthermore, the hand model 1 can also reproduce the state of the fingers of injured or disabled animals. This structured hand model 1 also provides opportunities for veterinarians, for example, to learn about the injury or disability states of rare animals.

[0029] In this specification, the five metacarpal portions 110 (thumb), 120 (index finger), 130 (middle finger), 140 (ring finger), and 150 (little finger) described later are sometimes collectively referred to as the individual metacarpal portions 10. Similarly, the thumb, index finger, middle finger, ring finger, and little finger portions 150 of the hand model 1 are sometimes referred to as the thumb, index finger, middle finger, ring finger, and little finger.

[0030] Figure 1B yes Figure 1A Examples of appearance diagrams that can be used for hand model 1.

[0031] Figure 1B (1) is a diagram of hand model 1 with each finger 30 separated, viewed from the back of the hand.

[0032] Figure 1B (2) is a diagram of hand model 1 with the fingers 30 separated, viewed from the palm side.

[0033] Figure 1B (3) is a diagram of hand model 1 with the fingers 30 close together as viewed from the back of the hand.

[0034] Figure 1B (4) is a diagram of hand model 1 with the fingers 30 close together as viewed from the palm side.

[0035] exist Figure 1A , Figure 1B In the hand model 1 of the embodiment, each of the index finger 120, middle finger 130, ring finger 140 and little finger 150 is composed of a base portion 31, a middle portion 32 and a distal portion 33, and the thumb portion 110 is composed of a base portion 31 and a distal portion 33.

[0036] The metacarpal portion 10 and the base portion 31 of each finger portion 30 are connected to each other via the MP joint portion 40.

[0037] The base segment 31 and the middle segment 32 are connected to each other via the PIP joint (proximal interphalangeal joint) 51, and the middle segment 32 and the distal segment 33 are connected to each other via the DIP joint (distal side of the distal interphalangeal joint) 52.

[0038] Furthermore, in this specification, "proximal" refers to a position close to the imaginary wrist or body connected to the wrist end 60 or hand model 1, and "distal" refers to a position further away from the imaginary arm or body connected to the wrist end 60 or hand model 1.

[0039] A wrist end 60 is connected to the CM joint 20.

[0040] More specifically, the wrist end 60 is fixedly connected to the inner side 300 of the CM joint 20, and the wrist end 60 supports the inner side 300 of the CM joint 20 so that it is rotatable relative to the outer side 220 of the CM joint 20.

[0041] In addition, the term "rotation" can also be called "spinning".

[0042] The CM joint portion 20 consists of an inner portion 300 fixedly connected to the wrist end portion 60 and an outer portion 220 that accommodates the inner portion 300 in a rotatable manner.

[0043] The outer side 220 of the CM joint 20 is used as follows Figures 2-4As detailed in the description, it is integrally formed with or fixedly formed on the metacarpal portion 135 of the middle finger.

[0044] On the lateral portion 220 of the CM joint 20, the thumb metacarpal portion 115, index finger metacarpal portion 125, ring finger metacarpal portion 145, and little finger metacarpal portion 155 are directly or indirectly connected in a manner movable relative to the middle finger metacarpal portion 135. In such a structure, the thumb metacarpal portion 115, index finger metacarpal portion 125, ring finger metacarpal portion 145, and little finger metacarpal portion 155 are preferably movable relative to the lateral portion 220 of the CM joint 20.

[0045] The thumb portion 110 corresponding to the human thumb is composed of a base portion 31 and a distal portion 33, an MP joint portion 40 that connects the base portion 31 to be rotatable relative to the thumb metacarpal portion 115, and an IP joint portion 50 that connects the base portion 31 and the distal portion 33 to be rotatable.

[0046] The base 31, middle phalanx 32, distal phalanx 33, MP joint 40, and IP joint 50 of each finger portion 30 have similar structures. In the following description, for example, the descriptions related to the base 31, middle phalanx 32, distal phalanx 33, MP joint 40, and IP joint 50 of the middle finger portion 130 corresponding to the human middle finger can also be applied to the index finger portion 120, ring finger portion 140, and little finger portion 150.

[0047] The finger portions 30 corresponding to the four fingers of a person—index, middle, ring, and little fingers—are respectively composed of a base portion 31, a middle portion 32, a distal portion 33, an MP joint portion 40 connecting the base portion 31 to be rotatable relative to the metacarpal portion 10, a PIP joint portion 51 connecting the base portion 31 to be rotatable relative to the middle portion 32, and a DIP joint portion 52 connecting the distal portion 33 to be rotatable relative 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.

[0048] PIP joint 51 and DIP joint 52 serve as IP joint 50 and have similar or identical structures.

[0049] MP joint 40 and IP joint 50 have different structures regarding the movable area, and especially regarding the degree of freedom of movement.

[0050] use Figures 2 to 29 And so on, to provide more specific explanations of these points.

[0051] Figure 2 This is an example of the appearance drawing of the central component 200.

[0052] exist Figure 2In the middle part, the central component 200 is shown in a state where the outer part 220 of the CM joint 20 and the middle finger metacarpal part 135 are fixedly connected and the inner part 300 of the CM joint 20 is removed.

[0053] The outer side 220 of the CM joint 20 accommodates the inner side 300 of the CM joint 20.

[0054] The outer side portion 220 of the CM joint portion 20 also has an outer side portion 221 of the thumb CM joint portion 1011, which constitutes a use Figure 10 This is a part of the thumb CM joint 1011 used for the thumb, which will be explained in detail.

[0055] In addition, the lateral portion 220 of the CM joint portion 20 has a first support protrusion 226 supporting the metacarpal portion 125 of the index finger and a second support protrusion 227 supporting the metacarpal portion 145 of the ring finger.

[0056] The outer side 220 of the CM joint 20 is an example of the first outer side, and the inner side 300 of the CM joint 20 is an example of the first inner side.

[0057] The thumb joint CM 1011 used for the thumb is an example of a thumb joint.

[0058] The lateral portion 221 of the thumb CM joint 1011 is an example of the second lateral portion.

[0059] If used Figure 18 As specifically described, the index finger metacarpal portion 125 preferably has a first support protrusion insertion hole 1810, and the ring finger metacarpal portion 145 has a second support protrusion insertion hole 1820. In this 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, thereby allowing the index finger metacarpal portion 125 and the ring finger metacarpal portion 145 to remain rotatable relative to the outer side 220 of the CM joint portion 20 while maintaining their position relative to the outer side 220 of the CM joint portion 20.

[0060] The outer side portion 220 of the CM joint portion 20 has a first straight guide edge 222 and a second straight guide edge 223, as well as a first curved guide edge 224 and a second curved guide edge 225.

[0061] The first straight guide edge 222 and the second straight guide edge 223 form the first guide portion 400.

[0062] The first curved guide edge 224 and the second curved guide edge 225 form the second guide portion 500.

[0063] The central axis 230, indicated by a dashed line between L and L', is a straight line extending along the length direction of the central component 200. For example, it is a straight line that passes through the center of the partial spherical shell formed by the outer side 220 of the CM joint 20 or the center of the spherical portion of the inner side 300 of the CM joint 20, and extends parallel to the plane containing the first curved guide edge 224 and the second curved guide edge 225.

[0064] Figure 3 This is an example of an explanatory diagram illustrating the relationship between the outer side 220 and the inner side 300 of the CM joint 20.

[0065] Figure 3 (A) The CM joint 20 is shown in a state where the outer side 220 and the inner side 300 are separated.

[0066] Figure 3 (B) The CM joint 20 is shown in a state in which the inner part 300 is accommodated in the outer part 220.

[0067] Furthermore, in actual use, the CM joint 20 can also be configured as follows: Figure 3 (A) shows a structure that cannot separate the outer part 220 and the inner part 300 without damage or deformation, but it can be a structure that can be easily assembled by fitting the multiple parts together in the form of clamping the inner part 300, based on the outer part 220 which is composed of multiple parts, or it can be a structure that can be separated after assembly.

[0068] Marked Figure 3 (B) The two arrows of the symbols RD1 and RD2 shown in the figure indicate the possible first rotation direction (permissible first rotation direction) RD1 and the second rotation direction (permissible second rotation direction) RD2 of the inner side 300 in the state of the outer side 220.

[0069] The inner portion 300, which is accommodated in the outer portion 220, is preferably restricted in at least a local area. Figure 4 The structure of rotation in the third rotation direction (restricted rotation direction) RD3, indicated by two arrows in (A).

[0070] Furthermore, the so-called limitation includes situations that impede rotation, while allowing a certain degree of clearance (rotation).

[0071] Thus, the rotational movement of the inner part 300 is restricted to 3 degrees of freedom, while the outer part 220 can accommodate the inner part 300.

[0072] The so-called three-degree-of-freedom rotational motion refers, for example, rotational motion consisting of pitch rotation, yaw rotation, and rolling rotation relative to the central axis 230. Figure 3In embodiment (B), by restricting the rolling rotation relative to the central axis 230, the three-degree-of-freedom rotational motion of the inner portion 300 can be restricted. For example, it can be configured so that rolling rotation does not occur, or that rolling rotation is more difficult to perform than pitch rotation or yaw rotation.

[0073] Furthermore, the pitch rotation, yaw rotation, and roll rotation relative to the central axis 230 are examples of the rotation of the inner part 300 in three rotation axes, respectively, and the roll rotation is an example of single-axis rotation about one of the three rotation axes.

[0074] The middle finger metacarpal portion 135 has an inner wall portion 340 between the palmar side 360 ​​of the middle finger metacarpal portion 135 and the dorsal side 210 of the middle finger metacarpal portion 135.

[0075] The inner wall portion 340 has a receiving portion 350 for the thumb metacarpal portion and a receiving portion 1520 for the thumb ball portion, which will be described later, formed on the side of the thumb metacarpal portion 115.

[0076] Figure 32 This is an example of an explanatory diagram illustrating the segmented state of the CM joint 20.

[0077] CM joint 20 can also be replaced, for example, according to Figures 3-5 The structure of etc., and has according to Figure 32 The structure. It has a structure according to... Figure 32 The outer side portion 220 of the CM joint portion 20 is formed by combining the first half 3210 and the second half 3220.

[0078] The first half 3210 has an outer portion 221 of the thumb CM joint portion 1011 and a first cylindrical member 3211. The second half 3220 has a connecting portion 3222 that connects to the second cylindrical member 3221 and the middle finger metacarpal portion 135. A screw can be inserted into the first cylindrical member 3211, and the distance between the screw and the second cylindrical member 3221 can be adjusted by tightening or loosening the screw, thereby adjusting the friction force generated between the second half and the inner half 300. Furthermore, the outer half 221 can also be constructed by combining two halves, as with the first half 3210 and the second half 3220, with threaded holes for inserting screws on each half, and the friction force with the inner half 300 can be adjusted by inserting screws.

[0079] The same connecting portion as the connecting portion 3222 of the middle finger metacarpal portion 135 is also provided on the first half 3210. They are connected in pairs to the corresponding connecting portions on the side of the middle finger metacarpal portion 135 to maintain the fixed connection between the middle finger metacarpal portion 135 and the CM joint portion 20.

[0080] The more specific structure or function of each component of the CM joint 20 will be described later.

[0081] In accordance with, for example Figures 3-5 or Figure 32 In the hand model 1 with the CM joint 20 structure, the ease of movement and ease of posture maintenance of the CM joint 20 or components located further away from the CM joint 20 relative to the wrist end 60 can be adjusted based on the friction generated between the outer side 220 and the inner side 300 of the CM joint 20.

[0082] For example, in the hand model 1 used as a sketching model, by setting a structure that generates greater friction between the outer side 220 and the inner side 300 of the CM joint 20, it is possible to set the CM joint 20 or components located further away from the CM joint 20 to be more difficult to move relative to the wrist end 60. Therefore, during the movement or storage of the hand model 1 after setting, it is possible to more reliably prevent the hand model 1 from deforming into an undesirable posture relative to the wrist end 60 due to vibration, collision, or changes in acceleration.

[0083] For example, in the hand model 1 used as a prosthetic hand, by setting a structure that generates a small frictional force between the outer side 220 and the inner side 300 of the CM joint 20, it is possible to set a structure in which the state of the CM joint 20 relative to the wrist end 60, etc., can be more easily changed according to the user's daily activities. Therefore, the state of the CM joint 20 relative to the wrist end 60, etc., changes according to the daily activities of the user with the prosthetic hand equipped with the hand model 1, especially the activities of the arm with the prosthetic hand, for example, based on changes in the direction, speed, or acceleration of the activity. Thus, it is possible to reproduce natural activities similar to those of an actual human hand within the natural range of motion.

[0084] In hand model 1, based on the aforementioned friction and the setting of movable and immovable areas, even without an electrical control unit or drive unit, the actual human hand activities, such as swinging, can be reproduced well during the user's activities.

[0085] Furthermore, the hand model 1 is preferably a structure capable of adjusting the frictional force of each joint, for example, the frictional force generated between the outer side 220 and the inner side 300 of the CM joint 20. Such a structure will be used later. Figure 32 Describe it.

[0086] Figure 4 This is an example of an explanatory diagram illustrating the rotation of the inner part 300 in the first rotation direction RD1.

[0087] Figure 4 (A) The CM joint 20 is shown in a state in which the outer side 220 and the inner side 300 of the CM joint 20 are separated.

[0088] Figure 4 (B) A diagram of the CM joint 20 showing the state in which the inner side 300 of the CM joint 20 is housed in the outer side 220 of the CM joint 20.

[0089] exist Figure 4 In (A), the first guide portion 400 is indicated by a dashed line. The first guide portion 400 is a space sandwiched between the first straight guide edge 222 and the second straight guide edge 223 of the outer portion 220, and its width has a length through which the first guide protrusion 310 and the second guide protrusion 320 can pass.

[0090] The first guide section 400 is an example of at least one guide section.

[0091] exist Figure 4 (A) also illustrates a central axis 230 passing through the center of the partial spherical shell formed by the outer side 220. The restricted third rotational direction RD3 is the direction of rotation centered on this central axis 230.

[0092] 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 a connecting portion for connecting the inner portion 300 to the wrist end 60. A hook portion 410 is provided on the connecting protrusion 330 to prevent the wrist end 60 connected to the inner portion 300 via the connecting protrusion 330 from spinning freely.

[0093] In addition, Figure 4 In embodiment (A), the first guide portion 400 is formed as a continuous and connected straight-line opening between the palm side and the back side of the hand. Alternatively, the first guide portion 400 may also be formed as an opening divided into a first opening on the palm side and a second opening on the back side of the hand.

[0094] exist Figure 4 In (B), a portion of the first guide section 400 is indicated by a dashed 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.

[0095] exist Figure 4 In state (B), the first guide portion 400, indicated by the dashed line, is a space sandwiched between the first straight guide edge 222 and the second straight guide edge 223 of the outer portion 220, and its width has a length through which the first guide protrusion 310 and the second guide protrusion 320 can pass.

[0096] exist Figure 4 In state (B), the second guide protrusion 320 within the first guide portion 400 restricts the movement of the first guide portion 400 in the width direction via the first straight guide edge 222 and the second straight guide edge 223. This, in turn, hinders the rotation of the inner portion 300 about the third rotational direction RD3 of the central axis 230.

[0097] In particular, in a structure where the width of the first guide portion 400 is suitable for the width of the first guide protrusion 310 and the second guide protrusion 320, such as in a structure where the first guide protrusion 310 and the second guide protrusion 320 are in contact with the first straight guide edge 222 and the second straight guide edge 223 within the first guide portion 400, the rotation of the inner portion 300 about the third rotation direction RD3 of the central axis 230 can be more reliably restricted.

[0098] The hand model 1 following this embodiment can well reproduce the state of limiting the rotation of the fingers that are forward of the wrist relative to the wrist when the human hand or arm performs radial and palmar abduction.

[0099] Furthermore, the third rotation direction RD3 can also be understood as the direction of rotation defined by the rolling angle relative to the central axis 230.

[0100] Similarly, the first rotation direction RD1 and the second rotation direction RD2 can also be understood as the rotation directions defined by the deflection angle and pitch angle relative to the central axis 230, respectively.

[0101] In the following description, terms such as radial deflection and ulnar deflection are used to describe rotations defined by the yaw angle. Similarly, terms such as palmar flexion and dorsiflexion are used to describe rotations defined by the pitch angle.

[0102] Furthermore, regarding the MP joint 40 and IP joint 50 of each finger 30, similarly, for the length axis of the base 31, middle phalanx 32, and distal phalanx 33 of each finger 30, terms such as radial deviation and ulnar deviation, and terms such as palmar flexion and dorsiflexion are used to describe the rotation defined by the deflection angle and the rotation defined by the pitch angle, respectively.

[0103] Figure 5 This is an example of an explanatory diagram illustrating the rotation of the inner part 300 in the second rotation direction RD2.

[0104] Figure 5 (A) For the inner side 300 from Figure 5 (B) The state in which the central position of the inner portion 300 is rotated toward the palm side is shown in the diagram viewed from the back of the hand toward the palm side and in the diagram viewed in the direction parallel to the central axis 230. Figure 5In (A), the first guide protrusion 310 of the inner side 300 is located inside the first guide portion 400 on the palm side, and the second guide protrusion 320 and the connecting protrusion 330 are located inside the second guide portion 500.

[0105] Furthermore, the central position of the inner side 300 refers, for example, to the position where the connecting protrusion 330 of the inner side 300 overlaps with the central axis 230.

[0106] Figure 5 (B) The state of the inner portion 300 in its central position is shown in a diagram viewed from the back of the hand towards the palm and in a diagram viewed in a direction parallel to the central axis 230. In the central position of the inner portion 300, the connecting protrusion 330 of the inner portion 300 preferably overlaps, for example, with the central axis 230 of the central member 200. Figure 5 In (B), the first guide protrusion 310 of the inner part 300 is located on the palm side and the second guide protrusion 320 is located on the back side of the hand, respectively, within the first guide part 400, and the connecting protrusion 330 is located within the second guide part 500.

[0107] Figure 5 (C) For the inner side 300 from Figure 5 (B) The state in which the central position of the inner portion 300 is rotated towards the back of the hand is shown in the diagram viewed from the back of the hand towards the palm and in the diagram viewed in a direction parallel to the central axis 230. Figure 5 In (C), the second guide protrusion 320 of the inner portion 300 is located within the first guide portion 400 on the back of the hand, and the first guide protrusion 310 and the connecting protrusion 330 are located within the second guide portion 500. Furthermore, although detailed descriptions are omitted, as in... Figure 5 (A) or Figure 5 (C) When rotating along the second rotation direction RD2, in order to set the range of motion to be the same as that of the joint of a human wrist, it is configured to limit further movement by the edge portion and the outer side portion 220 of the CM joint portion 20 side of the wrist end 60 contacting at the limit position.

[0108] Figure 6 It is the CM joint 20 in Figure 5 Example of the appearance of hand model 1 in state (A).

[0109] Figure 6 (A) is the view from above of the CM joint 20. Figure 5 Example of the appearance of hand model 1 in state (A).

[0110] Figure 6 (B) is the CM joint 20 viewed from the side. Figure 5 Example of the appearance of hand model 1 in state (A).

[0111] exist Figure 6 (A) Figure 6 In state (B) of hand model 1, if combined with Figure 5 As explained in (A), since the first guide protrusion 310 of the inner portion 300 is located within the first guide portion 400, the wrist end 60, which is fixedly connected to the inner portion 300 via the connecting protrusion 330, can be more reliably restricted from rotating in the third rotation direction RD3 within the outer portion 220.

[0112] The rotation of the inner portion 300, which is restricted within the outer portion 220, in the third rotational direction RD3, and the rotation of the finger portion relative to the wrist portion, are also restricted in the anatomical structure of the human wrist and hand, which differs from that of this embodiment. Thus, the hand model 1 can accurately reproduce both the movable and immovable areas of the actual human wrist and hand.

[0113] Figure 7 It is the CM joint 20 in Figure 5 Example of the appearance of hand model 1 in state (A).

[0114] Figure 7 (A) is the view from above of the CM joint 20. Figure 5 Example of the appearance of hand model 1 in state (A).

[0115] Figure 7 (B) is the CM joint 20 viewed from the side. Figure 5 Example of the appearance of hand model 1 in state (A).

[0116] Figure 7 (C) is Figure 7 Example of an enlarged view of the area 700 enclosed by a dashed line in (A).

[0117] exist Figure 7 (A) ~ Figure 7 In the hand model 1 of state (C), if combined with Figure 5 As explained in (A), since the second guide protrusion 320 of the inner portion 300 is located within the first guide portion 400, the wrist end 60, which is fixedly connected to the inner portion 300 via the connecting protrusion 330, can be more reliably restricted from rotating in the outer portion 220 along the third rotation direction (the restricted rotation direction) RD3.

[0118] and Figure 6 Similarly, rotation in the third rotation direction RD3 of the inner side 300, which is restricted within the outer side 220, is also restricted in the anatomical structure of the human wrist and hand, which differs from that of this embodiment.

[0119] and Figure 6 The same situation applies to... Figure 7 In this case, the hand model 1 can also reproduce both the movable and immovable areas of the actual human wrist and hand well.

[0120] The wrist end 60 preferably has a fixing member insertion hole 710 at its proximal end. More preferably, a fixing member provided on an object different from the hand model 1 can be inserted into the fixing member insertion hole 710. The object different from the hand model 1 may be, for example, a pedestal for placing the hand model 1 on a table or shelf, a forearm part for combining with the hand model 1 to form a larger body model, or a connection part between a forearm prosthesis or an upper arm prosthesis and the hand. Alternatively, it may be provided with a fixing member... Figure 7 The structure shown is fixed by four small holes (the number of holes can also be other) around the insertion hole 710 of the fixing component.

[0121] The user moves the hand model 1 by holding the fixed part inserted into the fixed part insertion hole 710, or by using a base or forearm part with a fixed part, thereby enabling the hand model 1 to move as a whole while maintaining the hand model 1 in a more stable state. As a result, the user can observe the hand model 1 in the same state from various angles such as up, down, left, right, front, and back, and stably perform exercises such as sketching.

[0122] Furthermore, when the hand model 1 is used as a prosthetic hand, for example, when taking photos, even the details of the fingers can be easily adopted in the same posture as family members or friends, which can also help improve the quality of life (QOL) of the prosthetic hand user. When the hand model 1 is used as a prosthetic hand, it is even more preferable that the hand model 1 can be replaced with a hand with other functions or structures, such as a hook-shaped hand, by disengaging the connection in the fixing part insertion hole 710, so that it can be used separately according to daily life scenarios.

[0123] The wrist end 60 preferably has a recess 720 that corresponds to, for example, the contour shape, particularly the three-dimensional contour shape, of the outer side portion 221 of the thumb CM joint 1011, for example, completely overlaps with it. This allows for more flexible design of the movable area of ​​the CM joint 20.

[0124] Figure 8 This is an example of an explanatory diagram illustrating the rotation of the inner part 300 in the first rotation direction RD1.

[0125] Figure 8 (A) indicates the inner side 300 from Figure 8 (B) The state in which the central position of the inner part 300, as shown in the figure, is rotated towards the little finger side. Figure 8In (A), the first guide protrusion 310 and the second guide protrusion 320 of the inner portion 300 are located within the first guide portion 400. The connecting protrusion 330 is located within the second guide portion 500 and contacts the first curved guide edge 224.

[0126] Figure 8 (B) indicates that the inner portion 300 is in the central position of the inner portion 300. In the central position of the inner portion 300, the connecting protrusion 330 of the inner portion 300 preferably overlaps, for example, with the central axis 230 of the central member 200.

[0127] The first curved guide edge 224 and the second curved guide edge 225 are preferably designed to be asymmetrical with respect to the center line L2-L2' of the first guide protrusion 310 and the second guide protrusion 320 passing through the inner side portion 300.

[0128] In particular, when the first distance 820 between the thumb-side end point 810 of the first curved guide edge 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 edge 225 and the center line L2-L2', it is possible to imitate the movable and immovable areas of the actual human wrist with higher fidelity, and is therefore more preferable.

[0129] Furthermore, the first distance 820 and the second distance 840 are the distances when viewed in a direction parallel to the central axis 230.

[0130] Figure 8 (C) indicates the inner side 300 from Figure 8 (B) The state in which the center of the inner part 300, as shown in the diagram, is rotated towards the thumb side. Figure 8 In (C), with Figure 8 (A) Similarly, the first guide protrusion 310 and the second guide protrusion 320 of the inner portion 300 are located within the first guide portion 400. The connecting protrusion 330 is located within the second guide portion 500 and contacts the second curved guide edge 225.

[0131] Figure 9 It is the CM joint 20 in Figure 8 Here is an example of the appearance of the hand model 1 in its current state.

[0132] Figure 9 (A) is the CM joint 20 as observed from the back of the hand. Figure 8 Example of the appearance of hand model 1 in state (A).

[0133] Figure 9 (B) The CM joint is viewed from the back of the hand. Figure 8 Example of the appearance of hand model 1 in state (C).

[0134] In addition, Figure 9 In state (A), when the wrist end 60 is moved while maintaining the contact between the connecting protrusion 330 and 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 60 is moved, causing the connecting protrusion 330 to move away from the first curved guide edge 224 and then contact 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 moves towards... Figure 9 (B) state transition.

[0135] Figure 10 This is an example of an explanatory diagram illustrating the relationship between the metacarpal portion 115 of the thumb, the metacarpal portion 125 of the index finger, and the metacarpal portion 135 of the middle finger.

[0136] Figure 10 (A) is an example of an explanatory diagram illustrating the connection state of the metacarpal portions 10 (115, 125, 135) of the thumb, index finger, and middle finger.

[0137] Figure 10 (B) is an example of an explanatory diagram illustrating the state of the metacarpals 10 (115, 125, 135) of the thumb, index finger, and middle finger.

[0138] The central component 200 is connected to the index finger metacarpal portion 125 via a hinge portion (butterfly-shaped connecting portion) 1000 provided in the middle finger metacarpal portion 135. The middle finger metacarpal portion 135 and the index finger metacarpal portion 125 can rotate slightly relative to each other about the hinge portion 1000.

[0139] The central component 200 is connected to the thumb metacarpal portion 115 via the thumb CM joint portion 1011 of the CM joint portion 20.

[0140] The thumb CM joint portion 1011 is composed of an inner portion 1020 and an outer portion 221. The thumb CM joint portion 1011 is preferably configured such that the thumb metacarpal portion 115 can rotate relative to the middle finger metacarpal portion 135 with 1 to 3 degrees of freedom.

[0141] The medial portion 1020 of the thumb CM joint 1011 is an example of the second medial portion.

[0142] The following uses Figure 11 Figure 17 provides a detailed explanation of the rotation of the metacarpal portion 115 of the thumb.

[0143] Figure 11 This is an example of an explanatory diagram illustrating the movable area of ​​the metacarpal bone 115 of the thumb.

[0144] Figure 11 (A) The figure shows the thumb CM joint 1011 in the first lateral position. In the first lateral position of the thumb CM joint 1011, the contact protrusion 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.

[0145] When the thumb metacarpal portion 115 rotates from the back of the hand toward the palm, the contact protrusion 1100 contacts the stop wall portion 1120 of the index finger metacarpal portion 125. Thus, the stop wall portion 1120 of the index finger metacarpal portion 125 restricts the thumb metacarpal portion 115 from rotating toward the palm (palmar flexion) beyond the palmar surface.

[0146] Figure 11 (B) The diagram shows the thumb CM joint 1011 in the medial position. In the medial position of the thumb CM joint 1011, the contact protrusion 1100 of the thumb metacarpal portion 115 may also contact, for example, the inner wall portion 340 of the middle finger metacarpal portion 135.

[0147] The thumb CM joint 1011 is preferably capable of providing multiple track movement possibilities for the thumb metacarpal portion 115 during movement from the first lateral position to the medial position. For example, when the thumb metacarpal portion 115 moves from the first lateral position to the medial position, it is preferably capable of different rotational movements around the thumb CM joint 1011, or of adopting different states for tilt, direction, or posture.

[0148] Figure 12 It is the metacarpal bone of the thumb at position 115. Figure 11 Here is an example of the appearance of the hand model 1 in its current state.

[0149] Figure 12 (A) is the position of the thumb CM joint 1011 as viewed from the palm side. Figure 11 Example of the appearance of hand model 1 in state (A).

[0150] Figure 12 (B) The thumb CM joint 1011 is viewed from the palm side. Figure 11 Example of the appearance of hand model 1 in state (B).

[0151] The metacarpal bone of the thumb is 115 from Figure 12 (A) state towards Figure 12 (B) During the movement, it can move smoothly within the area of ​​the metacarpal bone 125 of the index finger.

[0152] In addition, the MP joint 40 and IP joint 50 of the thumb 110 can rotate smoothly in any state.

[0153] Similarly, in any state, the MP joint 40 and IP joint 50 of the index finger 120 to the little finger 150 can rotate smoothly.

[0154] Since the state of the thumb CM joint 1011 does not hinder the rotation of the MP joints 40 and IP joints 50 of each finger 30, the hand model 1 according to this embodiment can reproduce the way human fingers behave very well.

[0155] Figure 13 This is an example of an explanatory diagram illustrating the expansion mechanism that expands the range of rotation of the thumb metacarpal portion 115.

[0156] Figure 13 (A) The thumb metacarpal portion 115 is illustrated with the main body 115 and the expansion portion 1300 separated. Furthermore, the expansion portion 1300... Figure 13 (A) The expansion section 1300 in the receiving state and the expansion section 1300 in the expanding state are shown respectively.

[0157] The expansion portion 1300 has a rotating protrusion 1321. Figure 13 In the assembled state (B), the rotating protrusion 1321 is accommodated within the rotating recess 1320 of the main body of the thumb metacarpal portion 115. As a result, the expansion portion 1300 can rotate continuously from the accommodated state to the expanded state.

[0158] Figure 13 (B) The thumb metacarpal portion 115 is shown in the figure in the state of accommodating the expansion portion 1300.

[0159] Figure 13 (C) The thumb metacarpal portion 115 is shown in the expanded state of the expansion portion 1300.

[0160] Figure 14 It is the metacarpal bone of the thumb at position 115. Figure 13 Here is an example of the appearance of the hand model 1 in its current state.

[0161] Figure 14 (A) is the thumb metacarpal bone portion 115 as viewed from the palm side. Figure 13 Example of the appearance of hand model 1 in state (B).

[0162] Figure 14 (B) is the position of the thumb metacarpal bone 115 when viewed from the palm side. Figure 13 Example of the appearance of hand model 1 in state (C).

[0163] From Figure 14 (A) state towards Figure 14During the movement of state (B), when the contact protrusion 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 rotates continuously around the rotation portion 1330, and the thumb metacarpal portion 115 can move further laterally. Furthermore, when becoming Figure 14 In state (B), the movement of the expansion protrusion 1301 is restricted by the stop recess 1311, thereby further movement of the expansion portion 1300 is restricted.

[0164] Additionally, although the illustration is omitted, a pin is provided at the opposite end of the arcuate surface of the expansion protrusion 1301, which engages with the stop recess 1311 and faces towards... Figure 13 (A) rotates in both the depth and forward directions, and the stop recess 1311 becomes a groove on the arc, guiding the pin on the arc. Thus, the expansion portion 1300 can rotate on the arc, and the maximum range of motion during expansion can be limited.

[0165] During the movement of the expansion portion 1300 from the receiving state to the expansion state, the MP joint portion 40 and IP joint portion 50 of the thumb portion 110 can also rotate smoothly. Similarly, in any state, the MP joint portion 40 and IP joint portion 50 of the index finger portion 120 to the little finger portion 150 can rotate smoothly.

[0166] Since the state of the expansion portion 1300 does not impede the rotation of the MP joint portion 40 and IP joint portion 50 of each finger portion 30, the hand model 1 according to this embodiment can further reproduce the way human fingers behave.

[0167] Figure 15 This is an example of an explanatory diagram illustrating two different postures of the metacarpal bone 115 of the thumb.

[0168] Figure 15 (A) is an example of an explanatory diagram illustrating the posture of the thumb metacarpal portion 115 in the direction of the back of the hand, viewed in a direction approximately parallel to the central axis 230.

[0169] Figure 15 (B) is an example of an explanatory diagram illustrating the posture of the surface side of the thumb metacarpal portion 115 facing the palm side, viewed in a direction approximately parallel to the central axis 230.

[0170] exist Figure 15 (A) and Figure 15 In (B), the direction of the surface side of the thumb metacarpal portion 115 is set to be the direction of the thumb metacarpal portion 115 perpendicular to the plane 1501 of the mounting recess 1500 of the MP joint portion.

[0171] Furthermore, the surface side of the thumb metacarpal portion 115 can also be referred to as the back side of the thumb metacarpal portion 115. In the hand model 1, similar to human fingers, the surface side (back side) of the thumb metacarpal portion 115 can face the palm side of the hand model 1.

[0172] Figure 15 (C) Observed from the palm side Figure 15 Example of the appearance of the thumb metacarpal portion 115 in posture (A).

[0173] Figure 15 (D) is observed from the palm side. Figure 15 (B) is an example of the appearance of the thumb metacarpal portion 115 in posture.

[0174] exist Figure 15 In posture (C), the rotating part 1330 of the thumb metacarpal part 115 is located on the side closer to the central component 200 than the thumb ball part 1510 of the thumb metacarpal part 115.

[0175] exist Figure 15 In posture (D), the thumb ball 1510 of the thumb metacarpal portion 115 is located on the side closer to the central member 200 than the rotating portion 1330 of the thumb metacarpal portion 115. The thumb ball 1510 can also be... Figure 15 (D) moves further toward the central member 200 until it contacts the thumb ball receiving portion 1520 of the middle metacarpal portion 135. Furthermore, the maximum range of motion of the thumb ball 1510 when it moves toward the central member 200 is designed to be the position where the thumb metacarpal portion 115 contacts the outer portion 220.

[0176] Furthermore, the thumb ball receiving portion 1520 is preferably spatially connected to the receiving portion 350 for the thumb metacarpal portion 115. In such a structure, the thumb ball receiving portion 1520 can function as the receiving portion 350 for the thumb metacarpal portion 115, and similarly, the receiving portion 350 for the thumb metacarpal portion 115 can also function as the thumb ball receiving portion 1520.

[0177] Because the thumb metacarpal bone 115 can be used Figure 15 The different poses shown in the illustrations allow the hand model 1 of this embodiment to reproduce the various shapes of a human hand very well.

[0178] Additionally, the hand model 1 of this embodiment preferably has the function of preventing the reproduction of shapes that cannot be represented due to anatomical limitations of the human hand. For this purpose, using... Figure 17A , Figure 17B To provide a more specific explanation.

[0179] Figure 16 It is the metacarpal bone of the thumb at position 115. Figure 15 (B) Figure 15 Example of the appearance of hand model 1 in the pose of (D).

[0180] Figure 16 (A) is the thumb metacarpal bone portion 115 as viewed from above. Figure 15 (B) Figure 15 Example of the appearance of the palm of hand model 1 in pose (D).

[0181] Figure 16 (B) When viewing the thumb metacarpal bone from the fingertip side towards the wrist side, 115° is... Figure 15 (B) Figure 15 Example of the appearance of hand model 1 in pose (D).

[0182] exist Figure 16 In (A), most of the thumb metacarpal portion 115 overlaps with the index finger metacarpal portion 125 and the middle finger metacarpal portion 135.

[0183] exist Figure 16 (A) Figure 16 In hand model 1 (B), the thumb portion 110 is bent, and the remaining four fingers are further bent, thereby enabling a fist shape to be formed. The fist shape of hand model 1 obtained thereby is achieved by the thumb metacarpal portion 115 being positioned... Figure 15 (B) Figure 15 The pose (D) can reproduce the shape of a human hand clenched into a fist very well.

[0184] Figure 17A It is to Figure 15 Example of the appearance of hand model 1, which describes the movable area of ​​the thumb metacarpal part 115 corresponding to the posture of (A).

[0185] exist Figure 17A In (1), the contact protrusion 1100 and Figure 15 (A) Similarly, the outermost contact position 1121 of the stop wall portion 1120 contacts the metacarpal portion 125 of the index finger.

[0186] exist Figure 17A (2) The contact protrusion 1100 is housed within the receiving portion of the thumb metacarpal portion 115 of the middle finger metacarpal portion 135. At this time, the contact protrusion 1100 can also contact the receiving portion 350 of the thumb metacarpal portion 115.

[0187] and Figure 15 (A) The thumb metacarpal portion 115 corresponding to the posture can be obtained from the following position: Figure 17A (1) The contact protrusion 1100 is in contact with the outermost contact position 1121 of the stop wall portion 1120 and the metacarpal portion 125 of the index finger, as shown in the figure. Figure 17A(2) The movement between the state in which the contact protrusion 1100 is housed within the receiving portion 350 for the thumb metacarpal portion 115, and especially between the state in which the contact protrusion 1100 is in contact with the receiving portion 350 for the thumb metacarpal portion 115.

[0188] Regarding the rotation of the thumb metacarpal portion 115 around the thumb joint portion 1011, that is, the rotation perpendicular to the plane of the attached drawing, in Figure 17A In (1), the contact protrusion 1100 is restricted to a very narrow range of rotation by contacting the stop wall portion 1120. Similarly, in... Figure 17A In (2), the rotation range is restricted to a very narrow range by contact between the outer surface near the expansion receiving area 1310 and the stop wall portion 1120. The very narrow rotation range is determined, for example, by the cavity width of the index finger metacarpal portion 125. In addition, the rotation range can be restricted by contact only with the middle finger metacarpal portion 135 (the wall surface of the receiving portion 350 for the thumb metacarpal portion 115), or by contact with both the stop wall portion 1120 and the middle finger metacarpal portion 135.

[0189] Furthermore, the outer surface near the expansion receiving area 1310 can also be regarded as the palmar side of the thumb metacarpal portion 115.

[0190] Therefore, in the hand model 1 of this embodiment, the movement of the thumb metacarpal portion 115 beyond the assumed movable area based on the actual movable area of ​​the thumb or thumb ball of the human hand can be more reliably restricted.

[0191] Figure 17B It is to Figure 15 Example of the appearance of hand model 1, which describes the movable area of ​​the thumb metacarpal 115 corresponding to the posture of (B).

[0192] exist Figure 17B (1) In this case, the contact protrusion 1100 contacts the metacarpal portion 125 of the index finger at the outermost contact position 1121 of the stop wall portion 1120.

[0193] exist Figure 17B (2) In this case, the upper edge 1720 of the thumb metacarpal part contacts the contact edge 1710 of the stop wall part 1120.

[0194] and Figure 15 (B) The thumb metacarpal portion 115 corresponding to the posture can be obtained from the following position: Figure 17B (1) The contact protrusion 1100 is in contact with the outermost contact position 1121 of the stop wall portion 1120 and the metacarpal portion 125 of the index finger, as shown in the figure. Figure 17B (2) The movement is between the upper edge 1720 of the thumb metacarpal portion and the contact edge 1710 of the stop wall portion 1120.

[0195] In addition, Figure 17B In (2), when the upper edge 1720 of the thumb metacarpal portion is in contact with the contact edge 1710 of the stop wall portion 1120, the movement of the thumb metacarpal portion 115 stops. However, depending on the inclination of the thumb metacarpal portion 115 relative to the index finger metacarpal portion 125 and the middle finger metacarpal portion 135, the thumb metacarpal portion 115 can also move until the thumb ball portion 1510 of the thumb metacarpal portion 115 is accommodated in the thumb ball portion accommodating portion 1520 of the middle finger metacarpal portion 135, and in particular until it comes into contact with the thumb ball portion accommodating portion 1520.

[0196] In this case, the upper edge 1720 of the thumb metacarpal portion can also be in constant contact with the contact edge 1710 of the stop wall portion 1120. Furthermore, 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 in a structure where the upper edge 1720 of the thumb metacarpal portion 115 is separated from the contact edge 1710 of the stop wall portion 1120 while the thumb ball portion 1510 of the thumb metacarpal portion 115 is accommodated in the thumb ball portion receiving portion 1520 of the middle finger metacarpal portion 135.

[0197] When the metacarpal bone of the thumb is 115 Figure 15 In posture (B), the rotation of the thumb metacarpal portion 115 around the thumb joint portion 1011, that is, the rotation that is perpendicular to the plane of the attached drawing, is... Figure 17B (1) Figure 17B (2) In both cases, the contact protrusion 1100 is restricted by contacting the stop wall 1120 in a state where the expansion portion 1300 is exposed from the expansion portion receiving area 1310.

[0198] Therefore, with Figure 17A (1) Figure 17A (2) Compared to the hand model 1 in the state of (2), that is, with Figure 17A (1) Figure 17A (2) Compared to the thumb metacarpal portion 115 in the posture, Figure 17B (1) Figure 17B (2) The thumb metacarpal portion 115 in the posture can rotate around the thumb CM joint portion 1011 in a movable area that is much larger than the rotation range determined by, for example, the cavity width of the index finger metacarpal portion 125, by the amount of rotation range expanded by the expansion portion 1300, i.e., such rotation as standing vertically relative to the paper of the attached drawing.

[0199] Figure 18 This is an example of an explanatory diagram illustrating the connection state of the metacarpal portions 10 of each finger portion 30.

[0200] Figure 18(A) The diagram shows the connection of the thumb metacarpal portion 115, the index finger metacarpal portion 125, the middle finger metacarpal portion 135 (central component 200), and the little finger metacarpal portion 155.

[0201] Figure 18 (B) The diagram shows the state in which the metacarpal portion 115 of the thumb, the metacarpal portion 125 of the index finger, the metacarpal portion 135 of the middle finger (central component 200), and the metacarpal portion 155 of the little finger are separated.

[0202] Figure 18 (C) An example of the hinge 1000 of the metacarpal portion 10 connecting each finger portion 30 is shown in the figure.

[0203] For each hinge portion 1000, it is preferable to determine its orientation by tilting its length direction relative to the direction of the central axis 230 of the central member 200. Thus, although it is a structure completely different from the anatomical structure of the human hand, it is possible to reproduce more well the movable area of ​​the human hand, which has several metacarpal bones that are radially extended and connected to the CM joint.

[0204] For example, by rotating each metacarpal portion 10 about the hinge portion 1000, the metacarpal portion 10 as a whole can take the following actions. Figure 19 and Figure 20 As described in the text, hand model 1 can better mimic the activities, postures, and shapes of a more realistic hand.

[0205] Figure 33 This is another example of an explanatory diagram illustrating the connection state of the metacarpal portions 10 of each finger portion 30.

[0206] Figure 33 (A) The diagram shows the state in which the metacarpal portion 115 of the thumb, the metacarpal portion 125 of the index finger, the metacarpal portion 135 of the middle finger (central component 200), and the metacarpal portion 155 of the little finger are separated.

[0207] Figure 33 (B) The diagram shows the view from the back of the hand towards the palm. Figure 33 The state of the lateral portion 220 of the CM joint portion 20 of the middle finger metacarpal portion 135 (central component 200) in embodiment (A).

[0208] Figure 33 (C) The diagram shows the view from the distal end of the metacarpal portion 135 of the middle finger toward the proximal end. Figure 33 The state of the lateral portion 220 of the CM joint portion 20 of the middle finger metacarpal portion 135 (central component 200) in embodiment (A).

[0209] and Figure 18 The implementation methods are different, in Figure 33In one 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.

[0210] As the ball joint 3310, a ball joint or a socket joint can be used. Figure 28 The joint components used in the IP joint 50 are described in detail.

[0211] For example, in a structure in which the joint member for the IP joint portion 50 is used as the ball joint portion 3310, by installing the joint member for the IP joint portion 50 in a state in which the rotation direction corresponds to the hinge portion 1000, it is possible to achieve the same rotation direction as the hinge portion 1000.

[0212] In such a structure, for example, with Figure 28 The component corresponding to the proximal connecting portion 2811 shown in the figure is fixedly accommodated in a recess (not shown) provided in the metacarpal portion 135 of the middle finger. Similarly, the component corresponding to the distal connecting portion 2821 is fixedly accommodated in a recess (not shown) provided in the metacarpal portion 145 of the ring finger. Alternatively, the component corresponding to the proximal connecting portion 2811 may be mounted on the metacarpal portion 145 of the ring finger, and the component corresponding to the distal connecting portion 2821 may be mounted on the metacarpal portion 135 of the middle finger.

[0213] The hinge portion 1000 between the index finger metacarpal portion 125 and the middle finger metacarpal portion 135 can also be replaced by a ball-shaped connecting portion 3310 (e.g., a joint component for the IP joint portion 50). However, in the structure using the hinge portion 1000, it is easier to ensure a larger range of rotation or rotation space for the thumb metacarpal portion 115.

[0214] In addition, Figure 33 In embodiment (A), the metacarpal portion 155 of the little finger has a third support protrusion 3320. The third support protrusion 3320 is used in conjunction with... Figure 2 The first supporting protrusion 226 and the second supporting protrusion 227, as described above, similarly serve to support the metacarpal portion 155 of the little finger. Therefore, on the lateral portion 220 of the CM joint portion 20, as... Figure 33 (B) Figure 33 As shown in (C), a third support protrusion insertion hole 3330 is provided at the corresponding position.

[0215] Whether the first to third support protrusions 226, 227, and 3320 and the first to third support protrusions with insertion holes 1810, 1820, and 3330 are located on the metacarpal portion 10 or on the CM joint side can be changed according to the design.

[0216] Furthermore, the length, shape (e.g., cylindrical shape, frustum shape, etc.), size (e.g., diameter or width), and position of each metacarpal portion 10 or CM joint portion 20 in the outer portion 220 of the first to third support protrusions 226, 227, 3320 can be designed based on the design of the movable and immovable areas of each component of the hand model 1, especially the movable and immovable areas of each metacarpal portion 10 and each finger portion 30, or their ease or difficulty of movement based on friction.

[0217] Similarly, the depth, shape (circular, elliptical, straight, curved, etc.) of the insertion holes 1810, 1820, and 3330 for the first to third support protrusions, and the position of each metacarpal bone portion 10 or CM joint portion 20 in the outer part 220 can also be designed based on the various components of the hand model 1, especially the movable and non-movable areas of each metacarpal bone portion 10 or each finger 30, based on the ease or difficulty of movement due to friction.

[0218] For example, in a structure in which the first to third support protrusions 226, 227, 3320 contact the first to third support protrusions through insertion holes 1810, 1820, 3330 and generate sufficient friction between them, the index finger metacarpal portion 125, the ring finger metacarpal portion 145, and the little finger metacarpal portion 155 can stably maintain the positional relationship of the CM joint portion 20 relative to the outer side portion 220 in response to changes in vibration, impact, or acceleration, for example, accompanying the movement or transport of the hand model 1.

[0219] Therefore, for example, when moving the hand model 1 from the preparation room to the art room for use as a sketching model, the shape of the hand model 1 can be stably maintained. As a result, students sketching can start sketching again using the hand model 1 in the same state as the previous sketch.

[0220] In this way, by combining the hinge portion 1000 and the ball joint portion 3310, and by appropriately setting the mounting positions and dimensions of the first to third support protrusions and the insertion holes for the first to third support protrusions, in Figure 33 In the implementation of (A), with Figure 18 Compared to other implementation methods, it can mimic the movable and immovable areas of a human hand with higher reproducibility and stably maintain its state.

[0221] Figure 19 This is an example of an explanatory diagram illustrating the flatter metacarpal portion 10.

[0222] Figure 19(A) is a diagram of the back of the hand observing the metacarpal portions 10 (hereinafter also referred to as "four-finger metacarpal portions 10") of the index, middle, ring, and little fingers in a flatter position. The metacarpal portions 10 of each finger 30 are described later... Figure 20 Compared to embodiment (A), they exist closer together. The metacarpal portions 10 of each finger portion 30 are preferably in contact with each other.

[0223] Figure 19 (B) is a diagram of the four metacarpal portions 10 in a flatter state, viewed from the fingertip side toward the wrist side. The first imaginary curve 1910 is an imaginary curve passing through the center of the MP joint receiving recess 1900 provided in each metacarpal portion of the four metacarpal portions 10.

[0224] The first hypothetical curve, roughly represented in 1910. Figure 19 The degree of curvature of the four metacarpal bones 10 in this state. As a result, the bulging of the human hand can be reproduced more well.

[0225] 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 an upward convex curve, that is, a curve that convexes from the palm toward the back of the hand, but according to the design of hand model 1, it can also be a straight line.

[0226] In addition, regarding the design of the hand model 1, the first imaginary curve 1910 in the figure can also be set as a downward convex curve, that is, a curve that convexes 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.

[0227] Figure 19 (C) is the entire metacarpal region in a state of... Figure 19 (A) Figure 19 Example of the appearance of hand model 1 in the pose of (B).

[0228] exist Figure 19 In embodiment (C), the palm portion of the metacarpal portion 10 of the hand model 1 is in close contact with the setting surface.

[0229] Figure 20 This is an example of an explanatory diagram illustrating the more rounded metacarpal portion 10.

[0230] Figure 20 (A) is a diagram of the back of the hand observing the more rounded state of the metacarpal portions 10 of the four fingers. The metacarpal portions 10 of each finger 30 are described later. Figure 19 Compared to implementation method (A), they exist at greater distances. Figure 20 In (A), there is a small gap 2000 between the metacarpal portions 10 of each finger portion 30 along their respective metacarpal portions 10.

[0231] Figure 20 (B) is a diagram of the four metacarpal portions 10 in a more rounded state, viewed from the fingertip side toward the wrist side. The second imaginary curve 2010, like the first imaginary curve 1910, is an imaginary curve passing through the center of the MP joint receiving recess 1900 provided in each of the four metacarpal portions 10.

[0232] The second hypothetical curve for 2010 is roughly represented. Figure 20 The degree of curvature of the four metacarpal bones 10 in this state. The second hypothetical curve 2010 also has... Figure 20 (B) The diagram shown is compared to Figure 19 The first hypothetical curve in (B) has a larger curvature in 1910.

[0233] The second hypothetical curve 2010, with its greater curvature than the first hypothetical curve 1910, can pass through the metacarpal bones of each finger 10 times. Figure 18 (C) The rotation of the hinge 1000 shown in the figure enables the accurate reproduction of the bulging of a human hand.

[0234] Based on the above structure, regarding hand model 1, in Figure 20 In state (B), the innermost point of the little metacarpal portion 155 (the point closest to the central axis 230), i.e., the innermost point 2020 of the little metacarpal portion 155, moves towards the central axis 230 to the range of the middle metacarpal portion 135. In this case, more preferably, the little metacarpal portion 155 can, for example, […]. Figure 15 (D) shows the structure in contact with the thumb metacarpal portion 115 that rotates toward the central axis 230.

[0235] Based on this structure, hand model 1 can reproduce the state of contact between the ball of the thumb and the ball of the little finger when the tip of the thumb and the tip of the little finger are in contact.

[0236] Figure 20 (C) is the metacarpal portion 10 as a whole. Figure 20 (A) Figure 20 Example of the appearance of hand model 1 in the pose of (B).

[0237] exist Figure 20 In embodiment (C), the palm of the hand model 1 is slightly separated from the setting surface on the metacarpal portion 10 as a whole, and the finger portions 30 mainly contact the setting surface.

[0238] Figure 21 This is an example of an explanatory diagram illustrating the structure of the finger section 30.

[0239] Figure 21(A) is a diagram showing the thumb portion 110, the thumb metacarpal portion 115, the middle finger portion 130, and the central component 200 as viewed from the back of the hand.

[0240] pass Figure 22 right Figure 21 (A) provides a more specific explanation of the middle finger range of 2120.

[0241] Figure 21 (B) is a diagram showing the thumb portion 110, the thumb metacarpal portion 115, the middle finger portion 130, and the central component 200 as viewed from the palm side.

[0242] exist Figure 21 (A) and Figure 21 In (B), although the index finger 120, ring finger 140, little finger 150 and their metacarpal parts are omitted from the illustration, the following description of the middle finger 130 is equally applicable to each of their finger parts 30.

[0243] Figure 22 Yes Figure 21 An example of an explanatory diagram illustrating the range of 2120 for the middle finger.

[0244] exist Figure 22 In the middle, for by Figure 21 The middle finger portion 130, which is surrounded by the middle finger range 2120, and the front end portion of the central component 200 to which the middle finger portion 130 is connected are illustrated in a state where each part is separated.

[0245] An MP joint 40 is provided between the distal end of the metacarpal portion 135 of the middle finger and the base portion 2101 of the middle finger. The MP joint 40 connects the base portion 2101 of the middle finger so that it can rotate relative to the metacarpal portion 135 in the radial / ulnar direction and in the dorsiflexion / palmar flexion direction.

[0246] Furthermore, rotation in the radial / ulnar direction refers to the rotation of the middle finger base 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 2101 relative to the middle finger metacarpal portion 135 in the ulnar direction from the thumb portion 110 toward the little finger portion 150.

[0247] In addition, rotation in the dorsiflexion / palmar flexion direction refers to the rotation of the middle finger base 2101 relative to the middle finger metacarpal portion 135 in the dorsiflexion direction, which is tilted towards the back of the hand, and the rotation of the middle finger base 2101 relative to the middle finger metacarpal portion 135 in the palmar flexion direction, which is bent towards the palm.

[0248] A PIP joint 51 is provided between the middle finger base 2101 and the middle finger middle joint 2102. The PIP joint 51 connects the middle finger middle joint 2102 so that it can rotate in the dorsiflexion / palmar flexion direction relative to the middle finger base 2101, while restricting rotation in the radial / ulnar direction.

[0249] Similarly, a DIP joint 52 is provided between the middle phalanx 2102 and the distal phalanx 2103 of the middle finger. The DIP joint 52 connects the distal phalanx 2103 of the middle finger so that it can rotate in the dorsiflexion / palmar flexion direction relative to the middle phalanx 2102 of the middle finger, while restricting rotation in the radial / ulnar direction.

[0250] Figure 23 This is an example of an explanatory diagram illustrating the MP joint 40.

[0251] Figure 23 (A) indicates the state of the MP joint 40 as viewed from the back of the hand.

[0252] Figure 23 (B) indicates the state of the MP joint 40 as viewed from the direction of the ring finger portion 140 toward the index finger portion 120.

[0253] Figure 23 (C) The constituent elements of the MP joint 40 are decomposed and illustrated.

[0254] Regarding the MP joint base 2300, a portion of it is fixedly mounted and accommodated in the MP joint receiving recess 1900 located at the distal end of each metacarpal bone portion 10.

[0255] The first rotating part (radial / ulnar deviation part) 2310 of the MP joint 40 is mounted to the MP joint base 2300 via the second rotating part (dorsiflexion / palmar flexion part) 2320 of the MP joint 40. Further details are omitted. The MP joint base 2300 and the first rotating part (radial / ulnar deviation part) 2310 are each constructed by combining multiple components, and are assembled by clamping the second rotating part (dorsiflexion / palmar flexion part) 2320 during assembly.

[0256] The distal connecting portion 2311 of the first rotating portion 2310 of the MP joint portion 40 is fixedly installed and accommodated in the recess provided at the proximal end of each finger base portion 31.

[0257] The MP joint 40 has a structure capable of radial and ulnar rotation in a fourth rotational direction RD4 about the second rotational support 2322. Furthermore, omitting detailed description, the second rotational support 2322 is formed in a rivet shape, becoming a structure that is embedded in a recess provided in the second rotational part 2320, thereby connecting it to the first rotational part 2310. Additionally, although in Figure 23The illustration is omitted, but the front surface of the second rotating support 2322 is covered by the base section 31. When the second rotating support 2322 is connected to the first rotating part 2310 through the base section 31, it is not necessary to provide the second rotating support 2322.

[0258] In addition, the MP joint 40 has a structure that allows for dorsiflexion and palmar flexion rotation in the fifth rotation direction RD5 around the first rotation support 2302.

[0259] The following uses Figures 24-28 The specific rotation states of the first rotating part 2310 and the second rotating part 2320 of the MP joint 40 will be described.

[0260] Figure 24 This is an example of an explanatory diagram illustrating the rotation of the MP joint 40.

[0261] Figure 24 (A) shows the central component 200 and the middle finger base 2101, i.e. the middle finger base 2101, rotating toward the thumb side in the radial deviation state of the MP joint 40, together with an enlarged view of the MP joint 40 in this state.

[0262] Figure 24 (B) indicates observation from the palm side. Figure 24 (A) A diagram of the central component 200 and the middle finger base portion 2101 in the radial deviation state.

[0263] The range of rotation of the MP joint 40 is determined by the structure of the MP joint 40 itself, and also by the shape of the distal end profile 2200 of the metacarpal part 135 of the middle finger and the proximal end profile 2210 of the base of the middle finger.

[0264] The rotation of the MP joint 40 is, for example, a rotational movement consisting of a pitching rotation of the middle finger base 2101 relative to the length direction, i.e., palmar flexion / dorsiflexion, and a lateral rotation, i.e., radial / ulnar deviation.

[0265] Regarding the rotation of the MP joint 40, the possible deflection angle varies based on the pitch angle shift from 0°.

[0266] Regarding the rotation of the MP joint 40, the greater the pitch angle shift from 0°, the smaller the possible deflection angle.

[0267] In particular, the possible change in deflection angle caused by the magnitude of the pitch angle shift from 0° can be achieved by designing that the greater the pitch angle shift from 0°, the more the distal end profile 2200 of the middle finger metacarpal portion 135 and the proximal end profile 2210 of the middle finger base portion 2101 will contact each other with a smaller deflection angle.

[0268] The same structure is also present in the other fingers 110, 120, 140, and 150, excluding the middle finger 130.

[0269] In particular, the range of radial / ulnar deviation of the MP joint 40 is preferably maximized when the dorsiflexion / palmar flexion of the MP joint 40 is 0°, and decreases as the dorsiflexion / palmar flexion of the MP joint 40 increases. This allows for a more accurate reproduction of the movable and immobile areas of the human finger.

[0270] The aforementioned range of rotation can be achieved as follows: the greater the dorsiflexion / palmar flexion of the MP joint portion 40, the more the distal end profile 2200 of the middle finger metacarpal portion 135 and the proximal end profile 2210 of the middle finger coccygeal portion 2101 come into contact with each other with a narrower range of radial / ulnar deviation, thus hindering further radial / ulnar deviation.

[0271] Figure 25 This is an example of the appearance of a hand model 1, which explains the radial and ulnar deviations of the middle finger portion 130.

[0272] Figure 25 (A) is an example of the appearance of a hand model 1 with the radial and ulnar angles of the middle finger 130 being approximately 0°.

[0273] exist Figure 25 (A) Figure 25 (B) and Figure 25 In (C), the index finger deviates radially at 120°, the ring finger deviates ulnarly at 140°, and the little finger deviates ulnarly at 150°.

[0274] Figure 25 (B) is an example of the appearance of hand model 1 with the middle finger 130 radial deviation.

[0275] Figure 25 (C) is an example of the appearance of hand model 1 with the middle finger 130 feet off-center.

[0276] Figure 26 This is an example of an explanatory diagram illustrating the rotation of the MP joint 40.

[0277] Figure 26 (A) The central component 200 and the middle finger base 2101, i.e. the middle finger base 2101, are rotated toward the palm side in the palmar flexion state of the MP joint 40. The diagram is shown together with an enlarged view of the MP joint 40 in this state, viewed from the thumb side toward the little finger side.

[0278] Figure 26 (B) A diagram showing the central component 200 and the middle finger base 2101 in the dorsiflexed state of the MP joint 40, viewed from the thumb side toward the little finger side, i.e., the middle finger base 2101 rotated toward the back of the hand.

[0279] Figure 26 (A) The range of palmar flexion rotation of the MP joint 40 in state and Figure 26 (B) The range of rotation of the dorsiflexion of the MP joint 40 in the state is preferably defined by the shape of the distal end profile 2200 of the metacarpal portion 135 of the middle finger and the proximal end profile 2210 of the base portion 2101 of the middle finger through their contact.

[0280] That is, the MP joint 40 is preferably capable of palmar flexion and dorsiflexion until the metacarpal portion 135 of the middle finger and the base portion 2101 of the middle finger come into contact with each other.

[0281] As a supplement or alternative, the range of rotation of the MP joint 40 in palmar flexion or dorsiflexion can also be based on the use of Figure 28 The design is based on the structure of the MP joint 40 itself.

[0282] In particular, the range of palmar flexion rotation of the MP joint 40 is preferably designed to be greater than the range of dorsiflexion rotation of the MP joint 40. This allows for a better reproduction of the movable and immovable areas of a human finger.

[0283] Figure 27 The following are examples of the appearance of hand models 1 with different rotation amounts of MP joint 40.

[0284] Figure 27 (A) is an example of the appearance of hand model 1 with the MP joint 40 of each finger 30 in a state of approximately palmar flexion of 90°.

[0285] Figure 27 (B) is an example of the appearance of hand model 1 with the MP joint 40 of each finger 30 in a state of approximately palmar flexion of 30° to 45°.

[0286] Figure 27 (B) The MP joint 2710 of the little finger and the MP joint 2720 of the ring finger in hand model 1 are... Figure 27 (A) In hand model 1, the MP joint 2710 of the little finger and the MP joint 2720 of the ring finger are only slightly smaller in palmar flexion.

[0287] in addition, Figure 27 (B) In hand model 1, the MP joint 2720 of the ring finger is slightly smaller than the MP joint 2710 of the little finger, except that the palmar flexion is slightly smaller.

[0288] Regardless of Figure 27 (A) Figure 27 In which hand model 1 of (B) is the PIP joint 2730 of the little finger and the PIP joint 2740 of the ring finger both approximately fully palmar flexed?

[0289] Figure 27 (B) The DIP joint of the little finger at 275° is roughly straight, with almost no palmar flexion or dorsiflexion. Figure 27 (A) The little finger's DIP joint was 275° compared to the previous method, with palmar flexion performed. As a result, Figure 27 (B) The middle segment of the little finger 2760 and Figure 27 (A) Compared to the middle joint 2760 of the little finger, it stands upright from the setting surface. The same applies to the middle finger portion 130.

[0290] Figure 27 (A) Figure 27 (B) The pose of the hand model 1 shown in the figure is an example of the poses that the hand model 1 can take. By moving the MP joint 40 and IP joint 50 of each finger 30 individually, the user can easily and variedly change the pose of the hand model 1, and in particular, can continuously reproduce or imitate the poses that an actual human hand can perform with changes ranging from very small to very large.

[0291] Figure 28 This is an example of an explanatory diagram illustrating the structure of the IP joint 50.

[0292] Figure 28 (A) shows the IP joint 50 in its assembled state and its disassembled state as viewed from the back of the hand towards the palm.

[0293] The IP joint portion 50 is composed of an IP joint fixing portion 2810 fixedly connected to the proximal middle segment portion 32 and the base segment portion 31 via a proximal connecting portion 2811, and an IP joint rotating portion 2820 fixedly connected to the distal distal segment portion 33 and the middle segment portion 32 via a distal connecting portion 2821.

[0294] The IP joint rotating part 2820 has a rotating shaft 2823, which allows the distal segment 33 and the middle segment 32, which are fixedly connected via a distal connection 2821, to rotate around the rotating shaft 2823. Alternatively, the IP joint part 50 can be configured to allow radial / ulnar deflection by providing clearance (space) between the rotating shaft 2823 and the distal connection 2821.

[0295] 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 the rotating part step 2822 of the IP joint rotating part 2820.

[0296] Figure 28 (B) is an observation along the axial direction of the rotating shaft 2823. Figure 28 (A) is a diagram of the IP joint portion 50.

[0297] A rotation range 2824 is provided between the two rotating steps 2822 of the IP joint rotating part 2820.

[0298] The two rotating step 2822 correspond to the maximum palmar flexion rotation position and the maximum dorsiflexion rotation position of the IP joint rotating part 2820, respectively.

[0299] When the positions of the two rotating steps 2822 and the size of the rotation range 2824 are the same, manufacturing and assembly can be carried out more cheaply and simply, and therefore it is preferred.

[0300] However, the position of the two rotating step 2822 and the size of the rotation range 2824 can also be designed differently for each finger 30, providing more variations.

[0301] Figure 28 (C) is an observation along the axial direction of the rotating shaft 2823. Figure 28 (A) is a diagram of the IP joint in a 50° palmar flexion state.

[0302] exist Figure 28 (B) Figure 28 In (C), the position 2813 of the fixed part protrusion 2812, indicated by the dashed square, indicates the position of the fixed part protrusion 2812 of the IP joint fixed part 2810 within the rotation range 2824 in their respective rotation states.

[0303] Figure 28 The embodiment can also be modified to fix the IP joint fixing part 2810 to the distal end part 33 and the middle part 32 on the distal side, and fix the IP joint rotating part 2820 to the proximal middle part 32 and the base part 31 on the proximal side.

[0304] Figure 29 This is an example of an explanatory diagram illustrating the dorsiflexion and palmar flexion of the DIP joint 52.

[0305] Figure 29 (A) shows the middle segment 32 and the distal segment 33, i.e. the distal segment 33, in the state of palmar flexion rotation towards the back of the hand when the DIP joint 52 is in the dorsiflexion state, together with an enlarged view of the DIP joint 52 in this state.

[0306] Figure 29 (B) shows the middle segment 32 and the distal segment 33, i.e. the distal segment 33, in the state of radial deviation of the DIP joint 52, in the state of dorsiflexion towards the palm side, together with an enlarged view of the DIP joint 52 in this state.

[0307] exist Figure 29 In (A), the DIP joint 52 rotates to approximately the position of maximum dorsiflexion rotation.

[0308] exist Figure 29 In (B), the DIP joint 52 rotates to approximately the maximum palmar flexion rotation position.

[0309] The distal end profile 2920 of the middle segment 32 and the proximal end profile 2930 of the distal segment 33 are preferably designed to be in close contact with each other at the maximum dorsiflexion rotation position and the maximum palmar flexion rotation position.

[0310] In addition, instead of the structure that limits the rotation range by contact between the fixed part protrusion 2812 and the rotating part step 2822, or as a supplement, a structure that limits the rotation range by contact between the distal end profile 2920 of the middle section and the proximal end profile 2930 of the distal section can also be applied.

[0311] Figure 30 This is an example of the appearance of a hand model 1, which explains the movable areas of the MP joint 40 and the IP joint 50.

[0312] exist Figure 30 In this embodiment, the index finger portion 120 of the hand model 1 is generally extended backward, especially the base portion 31 and the distal portion 33, which are significantly extended backward. In addition, the index finger portion 120 is ulnarly deviated, pointing inward in the drawing.

[0313] The middle finger (130°) extends roughly straight without radial or ulnar deviation, nor with dorsiflexion or palmar flexion.

[0314] The ring finger portion 140 is palmar flexed, and the distal phalanx 33 of the ring finger portion 140 contacts the distal phalanx 33 of the thumb portion 110.

[0315] The little finger portion 150 is more palmarly flexed than the ring finger portion 140.

[0316] Each finger 30 can independently perform radial / ulnar deviation and dorsiflexion / palmar flexion, so the hand model 1 can very well imitate and reproduce the activities, shape and posture of the human hand.

[0317] The following is further use Figure 31 Another variation of the hand shape that can be realized by the hand model 1 according to this embodiment will be described.

[0318] Figure 31 This is another example of the appearance of the hand model 1, which illustrates an example of the movable area of ​​the MP joint 40 and the IP joint 50.

[0319] Figure 31 (A) is an example of the appearance of hand model 1 with the index finger 120 and middle finger 130 crossed.

[0320] Figure 31 (B) Observe from the thumb side towards the little finger side Figure 31(A) An example of the appearance diagram of the hand model 1 in state 1.

[0321] exist Figure 31 In hand model 1, the MP joint 3110 of the index finger 120 is ulnarly deviated, and the MP joint 3120 of the middle finger 130 is radially deviated and palmarly flexed. As a result, the index finger 120 and the middle finger 130 cross each other.

[0322] In addition, the index finger 120 has palmar flexion at the DIP joint 3115 and the middle finger has dorsiflexion at the DIP joint 3125.

[0323] Thus, the crossed index finger portion 120 and middle finger portion 130 form a ring (empty space).

[0324] Therefore, hand model 1 can very well imitate or reproduce the activities, shape, and posture of a human hand. As a result, a high degree of realism can be achieved when depicting the shape of a hand with reference to the hand model.

[0325] Furthermore, in the above embodiment, in order to set the range of motion to be the same as the range of motion in the anatomical structure of a human wrist or hand, the range of motion is limited by contact with adjacent components (e.g., the metacarpal portion 10 and the coxae 31 sandwiching the MP joint portion 40). Accordingly, the range of motion can be appropriately adjusted by fine-tuning the shape of the ends of each component.

[0326] Furthermore, in the above embodiment, for ease of explanation, a method was described in which gaps are provided in the rotating parts of each joint and hinge. However, for the actual hand model 1, it is ideal not to provide gaps but to allow the rotating parts to abut against each other, so that even if, for example, the user releases their hand after setting each joint of the hand model 1, the rotation angle of the joint can be maintained in a fixed state by friction or the like. In this case, especially for the CM joint 20 and the thumb CM joint 1011, since a large load is applied to support the parts at their front, a firm abutment is preferable.

[0327] For example, regarding the CM joint 20, such as Figure 32 As shown, the outer portion 220 is composed of multiple components, such as the first half 3210 and the second half 3220 of the outer portion 220. A cylindrical component is provided protruding from the inner side of each component, perpendicular to the second rotation direction RD2. For example, the first cylindrical component 3211 and the second cylindrical component 3221 pass through the cylindrical component insertion hole 3230 of the inner portion 300. The two cylindrical components 3211 and 3221 are joined together with screws or the like, and the screws are tightened to bring the two cylindrical components 3211 and 3221 closer together, allowing adjustment of the contact force between the outer portion 220 and the inner portion 300. Accordingly, the strength of the contact force between the user and the model can be adjusted.

[0328] Furthermore, in this configuration, a cylindrical member insertion hole 3230 with an elongated hole in the inner portion 300 of the inserted cylindrical members 3211 and 3221 can be provided in a manner that does not obstruct the rotation of the inner portion 300. Additionally, for the thumb CM joint portion 1011, in addition to the contact between the outer portion 221 and the inner portion 1020, a member covering the outer portion 221 and contacting it can be provided on the thumb metacarpal portion 115 to further enhance the contact force between the outer portion 221 and the inner portion 1020.

[0329] Furthermore, in the above embodiment, a structure in which each component of each joint is integrated has been described, but it can also be configured to consist of multiple components, thereby making it easy to adjust the friction force in the contact state.

[0330] In use Figures 1A to 31 In the illustrated hand model 1, the various constituent elements of the hand model 1 are exposed for illustrative purposes, but they may also be covered by a membrane structure made of resin or the like, which serves as a suspected skin structure. In such an embodiment, the appearance of the hand model 1 can be made to more closely resemble the appearance of a human hand.

[0331] As a supplement or alternative, the hand model 1 can also be covered by clothing structures (such as gloves) made of cloth or fabric.

[0332] In addition, through Figure 7 (A) A fixing member insertion hole 710 is provided on the upper end face of the wrist end 60. A rod-shaped fixing member, for example, provided on the base, is inserted into the fixing member insertion hole 710. Thus, the hand model 1 can be fixed at an angle other than the angle in the upward direction of the fingers relative to the wrist, which can improve the convenience of sketching the hand.

[0333] 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 with the fingers or resting the chin on the prosthetic hand side (hand model 1). Therefore, not only will people around not notice that it is a prosthetic hand, but it can also improve the user's quality of life (QOL).

[0334] Furthermore, the hand model 1 may also include a drive unit or actuator that can mechanically and electrically control and drive 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, electric prosthetic hand, etc. In such applications, the hand model 1 can very accurately reproduce the shape and posture of human fingers. Moreover, it can actually pinch or grasp objects based on the output of the drive unit or actuator and the strength of each component.

[0335] For example, a user can use a hand model 1, which has a structure that allows for mechanical and electrical control and actuation of the MP joint 40 and IP joint 50 of the index finger 120, as a prosthetic hand. In this case, the user can naturally change the state of the hand model 1 from a clenched hand state to a pointing hand state, thus significantly improving convenience in daily life.

[0336] In this structure, the drive unit, electrically connected to a battery, communication device, or processing device, is controlled based on specific signals of bioelectrical potentials, such as brainwaves (EEG) or skin potentials, acquired by a detection device such as a wearable sensor. These specific signals are preferably characteristic signals generated when, for example, the prosthetic hand user is aware of "pointing with their finger" or when they actually want to point with their finger and contract the muscles of their arm, etc. The specific signals of bioelectrical potentials detected by the detection device are transmitted to the processing device via the communication device. The processing device then activates the drive unit based on the received specific signals of bioelectrical potentials. Thus, the prosthetic hand user can change the hand model 1 from, for example, a grasping state to a pointing state without performing physical switching operations. Preferably, the above-described structure is particularly suitable for the index finger MP joint 3110 of the hand model 1 used as a prosthetic hand. More preferably, for example, the index finger MP joint 3110 can be rotated by a motor housed in the base portion 31 of the index finger portion 120 or in the distal end region of the metacarpal portion 125 of the index finger.

[0337] Furthermore, the present invention is not limited to the embodiments described above, but includes various modifications. For example, the embodiments described above have been detailed for ease of understanding and illustration of the present invention, 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 a structure of another embodiment can be added to the structure of one embodiment. Furthermore, for a part of the structure of each embodiment, other structures can be added, deleted, or replaced.

[0338] Furthermore, the above embodiments at least disclose the structure described in the claims.

[0339] In addition, the present invention includes at least the following embodiments (1) to (23).

[0340] The present invention also includes a structure that combines the following embodiments (1) to (23).

[0341] Example (1) A hand model, It has a central component including the CM joint and the middle finger metacarpal bone. The CM joint portion includes a first lateral portion and a first medial portion. The first outer portion accommodates the first inner portion in a manner that allows the first inner portion to rotatably. The first outer portion has at least one guide portion. The guide portion of the first outer portion restricts the first inner portion from rotating around a single axis of rotation among the three rotation axes.

[0342] Example (2) A hand model, The first inner portion has at least one guide protrusion. The guide portion restricts the single-axis rotation by limiting the movement of the guide protrusion within the guide portion.

[0343] Example (3) A hand model, The outer portion has a first guide portion held by a first guide edge and a second guide edge as the guide portion. The outer portion restricts the movement of the guide protrusion and the uniaxial rotation of the inner portion through the contact between the guide protrusion within the first guide portion and the first guide edge or the second guide edge.

[0344] Example (4) A hand model, The guide protrusion contacts the first guide edge or the second guide edge on the back or palm side of the outer portion of the hand.

[0345] Example (5) A hand model, The first inner portion has a first guide protrusion and a second guide protrusion as the guide protrusions. The first guide protrusion contacts the first guide edge or the second guide edge on the back or palm side of the outer portion of the hand. The second guide protrusion contacts the first guide edge or the second guide edge on the side opposite to the first guide protrusion.

[0346] Example (6) A hand model, The outer portion has a second guide portion held by a third guide edge and a fourth guide edge as the guide portion. The first inner portion has at least one connecting portion. The outer portion, depending on the position of the connecting portion within the range of the second guide portion, houses either or both of the first guide protrusion and the second guide protrusion within the first guide portion.

[0347] Example (7) A hand model, The first inner portion is connected to the wrist end via the connecting portion.

[0348] Example (8) According to the hand model described in embodiment (1), wherein, The restricted single-axis rotation is a rolling rotation about a rotation axis that passes through the center of the inner portion and extends along the length direction of the central component.

[0349] Example (9) A hand model, The CM joint portion includes a thumb CM joint portion. The thumb CM joint has a second lateral portion fixedly mounted on the first lateral portion and a second medial portion rotatably accommodated within the second lateral portion and connected to the thumb metacarpal portion.

[0350] Example (10) A hand model, The second outer portion accommodates the second inner portion in such a manner that the second inner portion can at least partially rotate in three axes.

[0351] Example (11) A hand model, The metacarpal portion of the middle finger is connected to the metacarpal portion of the index finger. The metacarpal portion of the index finger has a stop wall. The metacarpal portion of the middle finger has an inner wall portion. The range of the three-axis rotation of the thumb metacarpal portion is limited by contact with at least one of the stop wall portion and the inner wall portion.

[0352] Example (12) A hand model, The thumb metacarpal portion can be rotated to assume a first posture and a second posture. In the first posture, the range of the three-axis rotation is limited by contact with the stop wall portion. In the second posture, the range of the three-axis rotation is limited by contact with the stop wall portion and the inner wall portion.

[0353] Example (13) A hand model, The metacarpal portion of the thumb has a contact protrusion. The range of the three-axis rotation of the thumb metacarpal portion is limited by contact with the contact protrusion and the stop wall portion.

[0354] Example (14) A hand model, The thumb metacarpal portion has an expansion portion, and the contact protrusion is disposed on the expansion portion. The expansion portion can be at least partially accommodated within the metacarpal portion of the thumb.

[0355] Example (15) A hand model, The contact protrusion is not contained within the metacarpal portion of the thumb.

[0356] Example (16) A hand model, The expansion portion can switch from a receiving state to an expansion state when the contact protrusion is in contact with the metacarpal bone of the index finger.

[0357] Example (17) A hand model, The metacarpal portion of the middle finger is connected to the metacarpal portion of the index finger via a first rotating connection, and to the metacarpal portion of the ring finger via a second rotating connection. The metacarpal portion of the ring finger is connected to the metacarpal portion of the little finger via a third rotating connecting portion. The thumb metacarpal portion and the little finger metacarpal portion can come into contact based on the rotational state of the first rotating connection portion to the third rotating connection portion and the thumb CM joint portion.

[0358] Example (18) A hand model, The metacarpal portion of the middle finger is directly or indirectly connected to the metacarpal portions of the thumb, index finger, ring finger, and little finger. At least one of these metacarpal bones is connected to the base of each finger via the MP joint. The base segment can rotate at least biaxially via the MP joint.

[0359] Example (19) A hand model, The dual-axis rotation is a combination of pitch rotation and yaw rotation of the base section relative to the length direction. The possible deflection angle of the dual-axis rotation varies based on the pitch angle shift from 0°.

[0360] Example (20) A hand model, The greater the deviation of the pitch angle from 0°, the smaller the possible deflection angle of the dual-axis rotation.

[0361] Example (21) A hand model, The greater the deviation of the pitch angle from 0°, the more the distal ends of the metacarpal portions of each finger and the proximal ends of the coccygeal portions of each finger come into contact with a smaller deflection angle, thereby limiting the dual-axis rotation.

[0362] Example (22) A hand model, It has a central component including the CM joint and the middle finger metacarpal bone. The CM joint portion has a first lateral portion and a thumb CM joint portion. The thumb CM joint has a second lateral portion fixedly mounted on the first lateral portion and a second medial portion rotatably accommodated within the second lateral portion and connected to the thumb metacarpal portion.

[0363] Example (23) A hand model, It has a central component including the CM joint and the middle finger metacarpal bone. The metacarpal portion of the middle finger is directly or indirectly connected to the metacarpal portions of the thumb, index finger, ring finger, and little finger. At least one of these metacarpal bones is connected to the base of each finger via the MP joint. The base segment can rotate at least biaxially via the MP joint.

Claims

1. A hand model characterized by comprising: a first metacarpal portion, a second metacarpal portion, and a first joint portion, the first joint portion having three rotational degrees of freedom and being connected to the first metacarpal portion in a manner that, in a state in which at least a part of the first metacarpal portion overlaps with the second metacarpal portion as viewed in a first direction from a palm side toward a back side, at least one of a position and an attitude of the first metacarpal portion is changeable based on movement of the first metacarpal portion having the three rotational degrees of freedom, the second metacarpal portion being capable of restricting the movement of the first metacarpal portion based on contact with the first metacarpal portion.

2. The hand model according to claim 1, characterized by comprising: the first metacarpal portion having an expansion portion and a first metacarpal portion main portion capable of accommodating at least a part of the expansion portion, the expansion portion being connected to the first metacarpal portion main portion in a manner that the expansion portion is rotatable relative to the first metacarpal portion main portion, the expansion portion having an expansion portion main portion that is changeable between a state of being accommodated in the first metacarpal portion main portion and a state of being exposed to the outside of the first metacarpal portion main portion according to rotation of the expansion portion relative to the first metacarpal portion main portion.

3. The hand model according to claim 2, characterized by comprising: a movable range of the first metacarpal portion main portion away from the second metacarpal portion in a second direction in the state of the expansion portion main portion being exposed to the outside of the first metacarpal portion main portion is larger than a movable range of the first metacarpal portion main portion away from the second metacarpal portion in the state of the expansion portion main portion being accommodated in the first metacarpal portion main portion.

4. The hand model according to claim 3, characterized by comprising: the second metacarpal portion further having a second metacarpal portion main portion having a first wall portion forming the palm side, a second wall portion forming the back side, a first transition portion connecting the first wall portion and the second wall portion, and a first hollow portion at least a part of which is surrounded by the first wall portion, the second wall portion, and the first transition portion, the second metacarpal portion main portion restricting movement of the first metacarpal portion based on contact with the first metacarpal portion at a surface surrounding the first hollow portion.

5. The hand model according to claim 4, characterized by comprising: the first joint portion being connected to the first metacarpal portion in a manner that, in a state in which the expansion portion is in contact with at least one of the first wall portion and the second wall portion, at least one of the position and the attitude is changeable.

6. The hand model according to claim 5, characterized by comprising: the first joint portion being connected to the first metacarpal portion in a manner that, in a state in which a part of the first metacarpal portion is present in a range between the first wall portion and the second wall portion, at least one of a position and an attitude of the first metacarpal portion is changeable based on movement of the first metacarpal portion having the three rotational degrees of freedom.

7. The hand model according to claim 6, characterized by comprising: The expansion portion has a protrusion portion that restricts movement of the first metacarpal portion relative to the second metacarpal portion based on a contact position at which the second metacarpal portion main portion is contacted, The expansion portion is rotatably connected to the first metacarpal portion main portion in such a manner that, in a state in which the protrusion portion is contacted with a portion of the second metacarpal portion main portion at the contact position, the expansion portion main portion assumes a state of being accommodated in the first metacarpal portion main portion and a state of being exposed to the outside of the first metacarpal portion main portion in accordance with rotation of the expansion portion relative to the first metacarpal portion main portion.

8. The hand model according to claim 4, wherein The hand model further has a wrist portion that is directly or indirectly connected to the first metacarpal portion and the second metacarpal portion, The expansion portion restricts movement of the first metacarpal portion relative to the wrist portion based on the first joint portion in accordance with contact with the second metacarpal portion main portion.

9. The hand model according to any one of claims 4 to 7, wherein The hand model further has a third metacarpal portion, The first joint portion is connected to the first metacarpal portion in such a manner that at least one of a position and an attitude of the first metacarpal portion is changeable in a state in which at least a portion of the first metacarpal portion overlaps with the third metacarpal portion, as viewed in the first direction.

10. The hand model according to claim 9, wherein The first joint portion is connected to the first metacarpal portion in such a manner that at least one of a position and an attitude of the first metacarpal portion is changeable in a state in which a portion of the first metacarpal portion overlaps with the second metacarpal portion and another portion of the first metacarpal portion overlaps with the third metacarpal portion, as viewed in the first direction.

11. The hand model according to claim 10, wherein The third metacarpal portion further has a third metacarpal portion main portion that has a third wall portion that forms the palm surface, a fourth wall portion that forms the back surface, a second transition portion that connects the third wall portion and the fourth wall portion, and a second hollow portion that is at least partially surrounded by the third wall portion, the fourth wall portion, and the second transition portion, The first metacarpal portion assumes a state in which at least a portion is present in the first hollow portion and a state in which at least a portion is present in the first hollow portion and the second hollow portion.

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