prosthetic hand

Abstract

A prosthetic hand includes a hand body, a plurality of fingers, and a mechanism for actuating movement of the plurality of fingers relative to the hand body. The mechanism includes: a movable main drive element comprising one or more main drive pulleys; and a plurality of movable secondary drive elements, each secondary drive element including a corresponding secondary drive pulley. Each of the plurality of secondary drive elements is connected to the main drive element via a connecting cable supported by the main drive pulleys and the secondary drive pulleys, such that when the main drive element moves in a drive direction away from the secondary drive elements, it applies a force to the secondary drive elements to cause the secondary drive elements to move in the drive direction. Each of the plurality of fingers is connected to a corresponding secondary drive element among the plurality of secondary drive elements, such that movement of the secondary drive element in the drive direction drives the corresponding finger to move relative to the hand body in a first direction. The main drive element and the secondary drive elements are mounted on one or more guides that limit the direction of movement of the main drive element and the secondary drive elements.

Description

Technical Field

[0001] This application relates to a prosthetic hand, a method of operating a prosthetic hand, a kit of parts for assembling a prosthetic hand, and a method of assembling and / or disassembling a prosthetic hand. Background Technology

[0002] A prosthesis is an artificial device used to replace a body part that is missing due to injury, disease, amputation, or congenital defects.

[0003] People who have lost a hand can use a prosthetic hand or other end-effector (such as a hook), which is usually attached to a socket worn on the body (e.g., to provide support via a harness).

[0004] Prosthetic hands or other end-effectors can be body-driven (i.e., the movement of the device components is driven by the user's body movements) or electrically powered (also known as "myoelectric," where the movement of the device components is driven by an electric motor). These devices can also be cable-operated, where the movement of the device components is driven by applying tension to an operating cable. Both body-driven and electrically powered devices can be cable-operated.

[0005] Human fingers can typically move in two different modes through the action of hand muscles: flexion and extension, and abduction and adduction. Human fingers can also typically move independently, that is, independently or at least partially independently of each other.

[0006] Body-driven and electrically driven prosthetic hands have been developed, with fingers capable of movement in at least flexion / extension modes. Depending on the design, some or all fingers can move independently or simultaneously. However, the motion mechanisms of these prosthetic hands can be complex, leading to difficulties and / or high costs in replacing or repairing the prosthetic hand or its components. Furthermore, achieving a balance between independent finger control and the need to apply sufficient force through the fingers to perform common manual operations is often challenging. Therefore, improvements to prosthetic hands are desired. Summary of the Invention

[0007] In a first aspect, this application provides a prosthetic hand, comprising a hand body, a plurality of fingers, and a mechanism for driving the plurality of fingers to move relative to the hand body. The mechanism includes: a movable main drive element, comprising one or more main drive pulleys; and a plurality of movable secondary drive elements, each secondary drive element comprising a corresponding secondary drive pulley. Each of the plurality of secondary drive elements is connected to the main drive element via a connecting cable supported by the main drive pulleys and the secondary drive pulleys, such that when the main drive element moves in a drive direction away from the secondary drive element, it applies a force to the secondary drive element to move it in the drive direction. Each of the plurality of secondary drive elements is connected to a corresponding finger among the plurality of fingers, such that movement of the secondary drive element in the drive direction drives the corresponding finger to move relative to the hand body in a first direction. The main drive element and the secondary drive elements are mounted on one or more guides, the one or more guides constraining the movement directions of the main drive element and the secondary drive elements.

[0008] In use, applying a force to the primary drive element to move it in the drive direction applies a corresponding force to the secondary drive element, causing the secondary drive element to move in the drive direction. When one or more fingers connected to the secondary drive element are able to move relative to the hand body in the first direction (e.g., because the movement of the one or more fingers is not obstructed by an object), applying a force to the secondary drive element causes one or more secondary drive elements corresponding to the one or more fingers to move in the drive direction, thereby driving the one or more fingers to move relative to the hand body in the first direction. However, when one or more fingers connected to the secondary drive element cannot move relative to the hand body in the first direction (e.g., because the movement of the one or more fingers is obstructed by an object), these secondary drive elements will not move in the drive direction even though a force is applied to the one or more secondary drive elements corresponding to the one or more fingers. Therefore, this mechanism for moving fingers can be considered a differential mechanism.

[0009] Using pulleys to drive finger movements can also amplify (through the principle of mechanical advantage) the force applied to the main drive element to cause its movement. Therefore, the mechanism used to actuate the movement of the plurality of fingers relative to the hand body can also be regarded as a force amplification system, and the main drive element can be regarded as a force amplification element.

[0010] Because the primary and secondary drive elements are mounted on one or more guides that restrict their direction of movement, their movement can be smoother, more stable, and / or more consistent, reducing the likelihood of mechanism jamming and / or tangling of connecting cables or other cable components. This, in turn, results in better (e.g., smoother, more reliable) finger movement control and reduces the likelihood of malfunctions.

[0011] It should be understood that terms such as "cause to move" and "make move" indicate that a force applied to an object will cause the object to move in the indicated direction (provided the object is free to move). However, when a force is applied to an object to cause it to move in a particular direction, if the movement is hindered (e.g., by the presence of another object), the object may not actually move in that direction. The object will only move under the influence of the force after any obstacle to the movement is removed or overcome.

[0012] The fingers can move relative to the hand body.

[0013] Each finger can move between at least two different positions, which correspond to at least two different finger flexion shapes. It should be understood that the term "finger flexion shape" refers to the shape a finger presents in a flexion-extension movement pattern (similar to the typical flexion-extension movement pattern of a human hand finger). Therefore, it should be understood that a finger flexion shape is not necessarily a flexion shape, but can be an extension shape. Therefore, the term "finger flexion shape" can be replaced by the equivalent terms "flexion-extension shape" or "extension shape".

[0014] Therefore, movement of a finger relative to the hand body along a first direction can change the bending shape of the finger. For example, movement of a finger relative to the hand body along the first direction can include or correspond to bending or extending the finger. Bending a finger can include bringing the distal fingertip closer to the hand body (e.g., corresponding to the movement of a human finger bending towards the palm). Extending a finger can include moving the distal fingertip away from the hand body (e.g., corresponding to the movement of a human finger spreading outward from the palm to an extended (i.e., pointing) position).

[0015] Movement of each finger may include articulation or pivoting of the finger or a portion thereof around a hinge joint, which may be located at the junction of the finger and the hand body (e.g., corresponding to the knuckles of a human hand). Movement of each finger may include flexion or extension of the finger or a portion thereof. Each finger may be articulated, and movement of each finger may include articulated movements of the finger or a portion thereof.

[0016] Multiple fingers can include at least three fingers or at least four fingers. For example, multiple fingers can be three fingers or four fingers.

[0017] One or more of a plurality of fingers (e.g., some fingers, or all fingers) can correspond to the fingers of a human hand.

[0018] Multiple fingers may include the outermost finger, which corresponds to the little finger (commonly known as the pinky finger) of the human hand. It should be understood that the little finger of the human hand is the finger that is closest to the back of the body when a person is standing upright with their arm hanging down in a neutral position at their side and the hand rotated so that the palm faces the body (e.g., the nearest leg).

[0019] A prosthetic hand may include a thumb, that is, the finger corresponding to the human thumb. It should be understood that the human thumb is the finger located closest to the front of the body when a person is standing upright, with the arm hanging down in a neutral position at the side of the body, and the hand rotated so that the palm faces the body (e.g., the nearest leg). The thumb may be separate from the plurality of fingers that can be actuated by actuation mechanisms. The thumb may be detachably attached or mounted to the hand body. The thumb may be fixed in one position, or the thumb may be movable. The thumb may be positioned opposite or in opposition to the plurality of fingers.

[0020] The prosthetic hand may also include a thumb mechanism for actuating thumb movement. For example, the thumb may be connected to a main drive element via a thumb cable supported by a thumb pulley. Movement of the main drive element in the drive direction can apply a force to the thumb, which will drive the thumb to move in a first direction. Movement of the main drive element in the drive direction can cause coordinated movement of the thumb and index finger to produce a pinching action.

[0021] A prosthetic hand (e.g., multiple fingers) may include a finger corresponding to the index finger of a human hand. The index finger may be the finger closest to the thumb.

[0022] In some implementations, the prosthetic hand includes four fingers driven by mechanisms for actuating the movement of multiple fingers, and a thumb (optionally driven by a thumb mechanism). The four fingers may consist of the little finger, ring finger, middle finger, and index finger corresponding to those of the human hand.

[0023] In some implementations, each of the multiple fingers is connected to a corresponding secondary drive element among the multiple secondary drive elements, such that movement of the secondary drive element along the drive direction drives the corresponding finger to move relative to the hand body along a first direction.

[0024] Optionally, not all fingers are connected to corresponding secondary actuation elements. For example, in some embodiments, the multiple fingers (i.e., multiple fingers connected to secondary actuation elements) are multiple secondary fingers, and the prosthetic hand further includes a primary finger directly connected to a primary actuation element (i.e., without secondary actuation elements), such that movement of the primary actuation element in the driving direction (i.e., directly) drives the primary finger to move relative to the hand body in a first direction. Since the primary finger is directly connected to the primary actuation element, when the primary finger cannot move in the first direction (i.e., movement of the primary finger in the first direction is obstructed), the primary actuation element also cannot move in the driving direction (i.e., movement of the primary actuation element in the driving direction is obstructed). The primary finger may correspond to the index finger of a human hand. The prosthetic hand may include three secondary fingers and one primary finger, wherein the three secondary fingers consist of fingers corresponding to the little finger, ring finger, and middle finger of a human hand, and the primary finger corresponds to the index finger of a human hand.

[0025] Each of the multiple fingers connected to a corresponding secondary drive element can be connected to that secondary drive element via a corresponding coupling mechanism. In an implementation where the primary finger is directly connected to the primary drive element, the primary finger can be connected to the primary drive element via a corresponding coupling mechanism.

[0026] Each connection mechanism may include one or more corresponding finger connection cables.

[0027] In some embodiments, the coupling mechanism is configured such that when two or more (e.g., all) corresponding secondary drive elements (and optionally, the main drive element in embodiments where the main finger is directly connected to the main drive element) move at the same rate along the drive direction, the two or more (e.g., all) fingers move at the same rate relative to the hand body in a first direction.

[0028] However, optionally, the coupling mechanism can be configured such that when two or more (e.g., all) corresponding secondary drive elements (and optionally, the main drive element in an embodiment where the main finger is directly connected to the main drive element) move at the same rate along the drive direction, two or more (e.g., all) of the plurality of fingers move at different rates relative to the hand body along the first direction. For example, it could be that when the two or more corresponding secondary drive elements (and optionally, the main drive element in an embodiment where the main finger is directly connected to the main drive element) move by the same amount along the drive direction (e.g., when the two or more corresponding secondary drive elements (and optionally the main drive element) are displaced by the same distance along the drive direction), two or more (e.g., all) of the plurality of fingers move by different amounts along the first direction (e.g., different distances or different angular amounts depending on the type of movement).

[0029] The connection mechanism for each finger may include a corresponding drive wheel for driving the finger to move in a first direction. Each drive wheel may be connected to a corresponding secondary drive element via a corresponding drive cable (or, in an embodiment where the primary finger is directly connected to the primary drive element, the primary drive element may be selected).

[0030] In some embodiments, two or more (e.g., all) drive wheels are configured such that when corresponding two or more (e.g., all) secondary drive elements (and in embodiments where the primary finger is directly connected to the primary drive element, the primary drive element may be selected as the primary drive element) move at the same rate along the drive direction, corresponding two or more (e.g., all) fingers move at the same rate relative to the hand body in a first direction.

[0031] In some embodiments, two or more (e.g., all) drive wheels have the same drive radius, such that when the corresponding two or more (e.g., all) secondary drive elements (and in embodiments where the primary finger is directly connected to the primary drive element, the primary drive element may be selected) move in the drive direction at the same rate as each other, the corresponding two or more (e.g., all) fingers move relative to the hand body in the first direction at the same rate as each other.

[0032] However, alternatively, two or more (e.g., all) drive wheels may be configured such that when corresponding two or more (e.g., all) secondary drive elements (and, in embodiments where the primary finger is directly connected to the primary drive element, optionally the primary drive element) move at the same rate along the drive direction, corresponding two or more (e.g., all) fingers move at different rates relative to the hand body along the first direction. For example, due to the configurational difference, when corresponding two or more (e.g., all) secondary drive elements (and, in embodiments where the primary finger is directly connected to the primary drive element, optionally the primary drive element) move by the same amount along the drive direction (e.g., when corresponding two or more secondary drive elements (and optionally the primary drive element) are displaced by the same distance along the drive direction), two or more (e.g., all) of the plurality of fingers move by different amounts (e.g., different distances or different angular amounts) along the first direction.

[0033] For example, two or more (e.g., all) drive wheels may have different drive radii, such that when corresponding two or more (e.g., all) secondary drive elements (and optionally, the primary drive element in an embodiment where the primary finger is directly connected to the primary drive element) move at the same rate along the drive direction, corresponding two or more (e.g., all) fingers move at different rates relative to the hand body along the first direction. For example, due to the difference in drive radii, when corresponding two or more (e.g., all) secondary drive elements (and optionally, the primary drive element in an embodiment where the primary finger is directly connected to the primary drive element) move by the same amount along the drive direction (e.g., when corresponding two or more secondary drive elements (and optionally, the primary drive element) are displaced by the same distance along the drive direction), two or more (e.g., all) of the plurality of fingers move by different amounts (e.g., different distances or different angular amounts) along the first direction.

[0034] The coupling mechanism can be configured such that when the secondary drive elements (and, in embodiments where the primary finger is directly connected to the primary drive element, optionally the primary drive element) move at the same rate along the drive direction, the outermost finger among the plurality of fingers (e.g., corresponding to the little finger of a human hand) moves relative to the hand body at a faster rate along the first direction than the other fingers. For example, the drive wheel of the outermost finger among the plurality of fingers may have the smallest drive radius (i.e., the smallest drive radius among all existing drive wheels).

[0035] The coupling mechanism can be configured such that when the secondary drive elements (and, in an embodiment where the primary finger is directly connected to the primary drive element, optionally the primary drive element) move at the same rate along the drive direction, each of the plurality of fingers moves relative to the hand body at a different rate along the first direction than the other fingers. For example, each drive wheel may have a different drive radius.

[0036] The connecting mechanism can be configured such that, for example, when the secondary drive elements (and, in an embodiment where the primary finger is directly connected to the primary drive element, may be the primary drive element) move at the same rate along the drive direction, the rate of movement of each finger relative to the hand body in the first direction monotonically changes from one outermost finger to the other. For example, when the secondary drive elements (and, in an embodiment where the primary finger is directly connected to the primary drive element, may be the primary drive element) move at the same rate along the drive direction, the rate of movement of each finger relative to the hand body in the first direction monotonically decreases from the outermost finger corresponding to the little finger to the other outermost finger corresponding to the index finger. For example, the drive radius of the drive wheel can monotonically change from one outermost finger to the other outermost finger. For example, the drive radius of the drive wheel can monotonically increase from the outermost finger corresponding to the little finger to the other outermost finger corresponding to the index finger.

[0037] In some embodiments, the prosthetic hand includes a primary finger directly connected to a primary actuation element (i.e., not through a secondary actuation element), three secondary fingers connected to corresponding secondary actuation elements, and a thumb. The primary finger corresponds to the index finger of a human hand, and the three secondary fingers consist of the little finger, ring finger, and middle finger of a human hand. The primary finger is connected to the primary actuation element via a primary finger coupling mechanism. The three secondary fingers are connected to their respective secondary actuation elements via corresponding secondary finger coupling mechanisms. The primary and secondary coupling mechanisms are configured such that when the secondary and primary actuation elements move along the driving direction at the same rate as each other, the secondary finger corresponding to the little finger moves relative to the hand body along a first direction at a faster rate than the other fingers. The rate at which each primary and secondary finger moves relative to the hand body along the first direction (i.e., when the secondary and primary actuation elements move along the driving direction at the same rate as each other) can monotonically vary (e.g., increase) from the finger corresponding to the little finger to the finger corresponding to the index finger.

[0038] A prosthetic hand can be a cable-operated prosthetic hand.

[0039] The prosthetic hand may include an operating cable connected to a main drive element and operable to move the main drive element in a driving direction.

[0040] The operating cable can be connected to the main drive element in such a way that the operating force (i.e., tension) applied to the operating cable causes a driving force to be applied to the main drive element, which in turn causes the main drive element to move in the driving direction. The operating cable can also be further connected to the main drive element in such a way that the operating force is amplified, for example, through the principle of mechanical advantage.

[0041] The operating cable can be connected to the main drive element via any suitable mechanical linkage or kinematic chain. The linkage or kinematic chain can be configured to transmit the operating force (i.e., tension) applied to the operating cable to the main drive element, and optionally amplify the operating force to cause the main drive element to move in the drive direction. For example, the operating cable can be connected to the main drive element via one or more pulleys, levers, cams, screws, gear chains, or joints, or any combination thereof.

[0042] The operating cable can be connected to the main drive element via one or more pulleys. The one or more pulleys may include one or more pulleys mounted on or forming part of the main drive element, and / or one or more pulleys mounted on the hand body. Using one or more pulleys to drive the movement of the main drive element can amplify the force applied to the main drive element to cause its movement (through the principle of mechanical advantage).

[0043] The main drive element and multiple movable secondary drive elements can be biased in a return direction opposite to the drive direction. For example, the drive direction could be pointing away from the multiple fingers, while the return direction could be pointing back towards the multiple fingers.

[0044] Additionally or optionally, each of the fingers may be biased relative to the hand body in a second direction opposite to the first direction. For example, the first direction may be the direction in which the fingers bend, while the second direction is the direction in which the fingers extend. That is, in some embodiments, movement of the fingers along the first direction corresponds to bending the fingers, and movement of the fingers along the second direction corresponds to extending the fingers.

[0045] The main drive element and multiple movable secondary drive elements can be biased in the return direction by a biasing device (e.g., one or more springs or one or more elastic ropes), and / or multiple fingers can be biased in a second direction by a biasing device (e.g., one or more springs or one or more elastic ropes).

[0046] For example, the drive wheel of the coupling mechanism for each finger can be connected to the hand body via a corresponding return cable, which is connected to or includes a biasing device, such as a spring or elastic cord. In some embodiments, the drive wheel of the coupling mechanism for each finger is connected to the hand body via a biasing device (e.g., an elastic cord).

[0047] The connection mechanism for each finger may include a corresponding return wheel for driving the finger to move relative to the hand body in a second direction. Each return wheel may be connected to the hand body via a corresponding return cable, which is connected to or includes a biasing device, such as a spring or elastic cord. In some embodiments, the return wheel of the connection mechanism for each finger is connected to the hand body via a biasing device (e.g., an elastic cord).

[0048] The connection mechanism for each finger may include both a drive wheel and a return wheel, wherein the drive wheel and the return wheel are independent (i.e., different) components. Alternatively, the connection mechanism for each finger may include a single wheel that serves as both a drive wheel and a return wheel.

[0049] The main drive element can be connected to the hand body via a biasing device (such as a spring or elastic cord). For example, the biasing device (such as a spring or elastic cord) can be arranged such that movement of the main drive element in the drive direction causes compression or extension of the biasing device (such as a spring or elastic cord), thereby resisting movement of the main drive element in the drive direction, and causing movement of the main drive element in the return direction when the force causing movement in the drive direction is released.

[0050] The hand body may include a frame. This frame may support mechanisms for actuating the movements of multiple fingers.

[0051] One or more guides may include (for example) one or more guide rods and / or one or more guide rails.

[0052] One or more guide elements (e.g., one or more guide rods and / or one or more guide rails) may extend parallel to the drive direction. Therefore, the movement of the primary and secondary drive elements can be restricted to moving only along the drive direction.

[0053] One or more (e.g., each) primary drive element and / or secondary drive element may be mounted on one or more guide elements (e.g., one or more guide rods and / or one or more guide rails). One or more (e.g., each) primary drive element and / or secondary drive element may slide along one or more guide elements (e.g., one or more guide rods and / or one or more guide rails).

[0054] One or more guide elements can be fixedly connected to the frame.

[0055] The primary drive element and the secondary drive element can be mounted on different guides. For example, the primary drive element can be mounted on one or more primary drive element guides, while the secondary drive element can be mounted on a corresponding secondary drive element guide.

[0056] The main drive element may be mounted on one (i.e., a single) main drive element guide (e.g., a main drive element rail). The main drive element guide (e.g., a main drive element rail) may be located at an end of the main drive element. The main drive element may be mounted on two or more main drive element guides (e.g., main drive element rails). Each of the two or more main drive element guides (e.g., main drive element rails) may be located at an end of the main drive element. For example, the two or more main drive element guides (e.g., main drive element rails) may be located at the same end of the main drive element, or at different ends of the main drive element (e.g., at opposite ends of the main drive element). In some embodiments, the main drive element may be mounted on a first main drive element guide (e.g., a main drive element rail) and a second main drive element guide (e.g., a main drive element rail), wherein the first and second main drive element guides are located at opposite ends of the main drive element. The first and second main drive element guides may be fixedly connected to a frame (e.g., connected to opposite sides of the hand body).

[0057] Mechanisms in which the main drive element is mounted on two or more main drive element guides may be more robust, and the movement of the main drive element may be smoother, more stable, and / or more consistent.

[0058] Each secondary drive element may be mounted on a corresponding secondary drive element guide (e.g., a secondary drive element guide rod). Each secondary drive element guide (e.g., a secondary drive element guide rod) may be fixedly connected to the frame. Each end of each secondary drive element guide (e.g., a secondary drive element guide rod) may be fixedly connected to the frame (i.e., each secondary drive element guide (e.g., a secondary drive element guide rod) may be fixedly connected to the frame at both ends). For example, each secondary drive element guide (e.g., a secondary drive element guide rod) may extend entirely across an internal cavity within the frame, where a mechanism for actuating multiple finger movements is housed.

[0059] Optionally, each secondary drive element guide (e.g., a secondary drive element rod) may be fixedly connected to the frame at only one end (i.e., fixedly connected to only one end of the secondary drive element guide). The other end of the secondary drive element guide (e.g., a secondary drive element rod) may not be connected to the frame. Each secondary drive element guide (e.g., a secondary drive element rod) may extend or protrude into an internal cavity within the frame (i.e., a cavity housing a mechanism for actuating the movement of multiple fingers). Each secondary drive element guide (e.g., a secondary drive element rod) may extend only partially across the internal cavity. This reduces the space occupied by the secondary drive element components within the cavity.

[0060] The hand body may include a housing. The housing may enclose (e.g., cover) mechanisms for actuating the movement of multiple fingers. The housing may include (e.g., constitute) a frame.

[0061] The main drive element can take any suitable shape depending on the design of the prosthetic hand. For example, the main drive element can be a strip-shaped element (e.g., a rod), or the main drive element can include a predominantly strip-shaped portion. In some embodiments, the main drive element is an L-shaped element or a U-shaped element. For example, the main drive element can include a predominantly strip-shaped body portion and a protrusion at a first end of the predominantly strip-shaped body portion (in an L-shaped element), or two protrusions located at opposite ends of the predominantly strip-shaped body portion (in a U-shaped element).

[0062] The primary drive element can be of any suitable shape depending on the design of the prosthetic hand. For example, each secondary drive element can be a strip or block element (e.g., a rod or block).

[0063] Each pulley (e.g., each primary drive pulley and / or secondary drive pulley) may include a pulley body mounted on a shaft.

[0064] The connecting cable can be kept taut against the main drive pulley and the secondary drive pulley. For example, the connecting cable can be fixed at both ends to keep it taut. For example, the connecting cable can be fixed at both ends to the main drive element.

[0065] Each cable described in this application (e.g., a connecting cable, any finger connecting cable, any drive cable, any return cable, any operating cable, and / or thumb cable) may be any suitable type of cable made of any suitable type of material. For example, each cable may suitably be a belt, chain, rope, cord, or band as required.

[0066] Each of the multiple fingers can be detachably mounted to the hand body. For example, each of the multiple fingers can be detachably mounted to the hand body as described below in conjunction with the fourth aspect of the invention. Each of the multiple fingers can be detachably mounted to the hand body via a corresponding coupling mechanism. For example, each of the multiple fingers can be detachably mounted (e.g., connected to) a drive wheel of a corresponding coupling mechanism.

[0067] Each of the multiple fingers can move within a certain angular range. The angular range of motion for each finger may not exceed approximately 150°, for example, not exceeding approximately 125°, or not exceeding approximately 100°, or not exceeding approximately 90°, or not exceeding approximately 80°, or not exceeding approximately 70°. The angular range of motion for each finger may not be less than approximately 45°, for example, not less than approximately 50°, or not less than approximately 60°, or not less than approximately 70°. The angular range of motion for each finger may be approximately 45° to approximately 150°, for example, approximately 50° to approximately 125°, or approximately 50° to approximately 100°, or 50° to approximately 90°, or approximately 60° to approximately 80°, for example, approximately 70°. Each finger can be connected to the hand body in a manner that enables the desired angular range of motion. For example, each finger is connected to a corresponding drive element via a corresponding coupling mechanism configured to control the angular range of motion within the desired range. For example, the drive wheel (e.g., the shape of the drive wheel) in the coupling mechanism may at least partially determine the angular range of motion. The range of angular movement can be defined by the range of angles in which the finger can pivot around the axis of the drive wheel, which in turn can be defined by the range of angles in which the drive wheel can rotate freely around its axis.

[0068] In embodiments that include a thumb and a thumb mechanism, the thumb mechanism may be operated by an operating cable. The thumb mechanism may form part of a mechanism for moving multiple fingers.

[0069] A prosthetic hand can be a body-driven prosthetic hand. A prosthetic hand may not include any motors used to drive the movement of any part of the prosthetic hand.

[0070] Optionally, the prosthetic hand may be an electrically powered prosthetic hand. For example, the prosthetic hand may include one or more motors for driving the movement of one or more components of the prosthetic hand. For example, the prosthetic hand may include motors for driving the main drive element and / or operating cable movement.

[0071] The prosthetic hand can be configured to connect to a user's socket. For example, the prosthetic hand may include a base configured to connect to the user's socket. The connection can be achieved in any manner known in the art. For example, the prosthetic hand can be configured to connect to any commercially available socket, which may employ a threaded connection, a spring-loaded plug-and-receptacle connection, etc.

[0072] A second aspect of this application provides a method for operating a prosthetic hand according to the first aspect. The prosthetic hand may have any of the features described above with respect to the first aspect.

[0073] The method may include applying a force to a main drive element to move the main drive element in a drive direction, wherein the movement of the main drive element in the drive direction drives one or more secondary drive elements to move in the drive direction via a connecting cable, and wherein the movement of the one or more secondary drive elements in the drive direction drives one or more corresponding fingers to move relative to the hand body in a first direction. Applying a force to the main drive element to move the main drive element in the drive direction and driving one or more secondary drive elements to move in the drive direction via a connecting cable can drive one or more corresponding fingers to move in a bending direction (i.e., toward the shape of a bent finger).

[0074] In embodiments where the main drive element and multiple movable secondary drive elements are biased in a return direction opposite to the drive direction, and / or multiple fingers are each biased relative to the hand body in a second direction opposite to the first direction, the method may include reducing or releasing the force applied to the main drive element to allow the main drive element and one or more secondary drive elements to move in the return direction, and allowing one or more corresponding fingers to move relative to the hand body in the second direction. Reducing or releasing the force applied to the main drive element to allow the main drive element and one or more secondary drive elements to move in the return direction may cause one or more corresponding fingers to move in the extension direction (i.e., toward the extended finger shape).

[0075] The method may include moving two or more fingers (e.g., all of them) relative to the hand body in a first direction at different rates from each other.

[0076] A third aspect of this application provides a component kit for assembling a prosthetic hand according to the first aspect. The component kit includes a hand body, a plurality of fingers, and a mechanism for actuating movement of the plurality of fingers relative to the hand body.

[0077] Multiple fingers can be attached to the hand body, or they can be provided separately from the hand body but can be attached to (i.e., installed on) the hand body.

[0078] Mechanisms for actuating multiple finger movements may be provided as mounted in the hand body, or may be provided separately from the hand body but may be mounted in the hand body.

[0079] The components of the mechanism for actuating the movement of multiple fingers (i.e., movable main drive element, one or more main drive pulleys, multiple movable secondary drive elements, corresponding secondary drive pulleys, and connecting cables) can be provided in an assembled or disassembled state.

[0080] The parts kit may further include any other components of the prosthetic hand described above with respect to the first aspect, whether those components are in an assembled or disassembled state.

[0081] A fourth aspect of this application provides a prosthetic hand comprising a hand body, a plurality of fingers detachably mounted or mountable to the hand body, and a mechanism for actuating the plurality of fingers relative to the hand body when mounted on the hand body.

[0082] A prosthetic hand may have any of the features or components described above with respect to the first aspect.

[0083] Because multiple fingers can be detachably installed or attached to the hand body, they can be removed for repair or maintenance, or replaced when damaged, or to change the function or design of the fingers.

[0084] Each finger can be detachably installed or mounted on the hand body via a corresponding mounting mechanism. Therefore, each finger can be individually detached or installed on the hand body.

[0085] Each mounting mechanism may include a connecting element located on the hand body (e.g., connected to or integrally formed into the hand body) and a corresponding connecting element located on the corresponding finger (e.g., connected to or integrally formed into the finger). The connecting elements on the hand body and the connecting elements on the fingers may be configured to releasably retain the fingers on the hand body when the fingers are mounted on the hand body via the mounting mechanism.

[0086] In some embodiments, the connecting elements on the hand body and the connecting elements on the fingers can be connected to each other by one or more fasteners (such as one or more screws, bolts, clips, latches, or straps).

[0087] In some embodiments, each mounting mechanism may include a screw for connecting connecting elements on the hand body and connecting elements on the fingers to each other.

[0088] In some embodiments, each mounting mechanism may include a latching element and a corresponding mating element, the latching element and the mating element being configured to engage with each other when a finger is mounted to a hand body via the mounting mechanism to releasably retain the corresponding finger on the hand body. The latching element may be connected to the hand body, and the mating element may be located on the finger. The latching element may include a protrusion (e.g., a tooth, hook, or other projection), and the mating element may include a corresponding recess (e.g., a notch or depression). The protrusion and recess may be configured to engage with each other when a finger is mounted to a hand body via the mounting mechanism to releasably retain the finger on the hand body. Mounting a finger to the hand body may include inserting a protrusion into a corresponding recess in the mounting mechanism.

[0089] Each mounting mechanism may include a corresponding release mechanism operable to release the corresponding finger from the hand body when the finger is mounted on the hand body via the mounting mechanism.

[0090] In some embodiments, releasing a finger from the hand body may include releasing a fastener. For example, releasing a finger from the hand body may include loosening a screw that connects a connecting element on the hand body and a connecting element on the finger to each other.

[0091] In some embodiments, releasing a finger from the hand body may include releasing a protrusion from a corresponding recess in the mounting mechanism.

[0092] Each of the multiple fingers can be pivotally mounted on the hand body, such that each finger can pivot relative to the hand body when mounted. Mechanisms for actuating the movement of the multiple fingers relative to the hand body can be used to actuate the pivotal movement of the multiple fingers relative to the hand body. The movement of each finger can be achieved in any manner and mode described above with respect to the first aspect. For example, each of the multiple fingers can be mounted on the hand body such that each finger can be bent or extended as described above with respect to the first aspect.

[0093] The function of the mounting mechanism corresponds to the knuckles in the human hand. Therefore, the mounting mechanism can be referred to as a knuckle assembly, or constitute a part of what is called a knuckle assembly.

[0094] A mechanism for actuating multiple fingers relative to the hand body may include multiple movable drive elements. Each finger, when mounted on the hand body, can be connected to a corresponding drive element via a coupling mechanism, such that movement of the drive element along a driving direction drives the corresponding finger to move relative to the hand body in a first direction. Each finger can be detachably mounted to the hand body via the coupling mechanism.

[0095] For example, as described above with respect to the first aspect of this application, a mechanism for actuating multiple fingers relative to the hand body may include a main drive element and multiple secondary drive elements. Each of the multiple fingers, when mounted on the hand body, may be connected to a corresponding secondary drive element via a corresponding coupling mechanism, or may be directly connected to the main drive element.

[0096] Each finger's connection mechanism may include a corresponding drive wheel for driving the finger to move in a first direction. Each drive wheel may be connected to a corresponding drive element (e.g., a primary drive element or a secondary drive element) via a corresponding drive cable. When mounted on the hand body, each finger may be rigidly connected to the corresponding drive wheel via a corresponding mounting mechanism (e.g., a connecting element and one or more fasteners, or a latching element and a corresponding mating element). It should be understood that a finger "rigidly connected" to a drive wheel means that the finger is connected to the drive wheel in a manner that it moves rigidly with the rotation of the drive wheel. However, a finger "rigidly connected" to a drive wheel is not permanently connected to the drive wheel and can still be detached from it.

[0097] In some embodiments, the drive wheel and the connecting element of the hand body are part of the same component. For example, the finger connecting mechanism may include a drive body having a drive wheel portion and a connecting portion. The drive wheel portion may be configured to be mounted on a support such that the drive wheel portion can rotate on the support. The connecting portion may be configured to connect to the connecting portion of the finger.

[0098] As described above regarding the first aspect of this application, a plurality of movable drive elements (e.g., a primary drive element and a secondary drive element) may be biased in a return direction opposite to the drive direction, and / or a plurality of fingers, when mounted on the hand body, may each be biased in a second direction relative to the hand body, the second direction being opposite to the first direction.

[0099] The connection mechanism for each finger may include a corresponding return wheel for driving the finger to move relative to the hand body in a second direction. Each return wheel can be connected to the hand body via a corresponding return cable connected to a biasing device. Each finger can be rigidly connected to its corresponding return wheel when mounted on the hand body. Similarly, it should be understood that a finger "rigidly connected" to a return wheel means that the finger is connected to the return wheel in a manner that rigidly moves with the rotation of the return wheel. However, a finger "rigidly connected" to a return wheel is not permanently connected to the return wheel and can still be detached from it.

[0100] A prosthetic hand may include at least three or at least four detachably mounted or mountable fingers. For example, a prosthetic hand may include four detachably mounted or mountable fingers. The detachably mounted or mountable fingers may correspond to the little finger, ring finger, middle finger, and index finger of a human hand.

[0101] The prosthetic hand may include a thumb. The thumb may be detachably mounted or mounted on the hand body. The prosthetic hand may include a thumb mechanism for actuating thumb movement.

[0102] A prosthetic hand can be a body-driven prosthetic hand. A prosthetic hand may not include any motors used to drive the movement of any part of the prosthetic hand.

[0103] Optionally, the prosthetic hand may be an electrically powered prosthetic hand. For example, the prosthetic hand may include one or more motors for driving the movement of one or more components of the prosthetic hand. For example, the prosthetic hand may include motors for driving the main drive element and / or the movement of the operating cable.

[0104] The prosthetic hand can be configured to connect to a user's socket. For example, the prosthetic hand may include a base configured to connect to the user's socket. The connection can be achieved in any manner known in the art. For example, the prosthetic hand can be configured to connect to any commercially available socket, which may employ a threaded connection, a spring-loaded plug-and-receptacle connection, etc.

[0105] The fifth aspect of this application provides a method for using a prosthetic hand according to the fourth aspect.

[0106] The method may include removing (i.e., detaching) one or more fingers from the hand body, and / or attaching one or more fingers to the hand body.

[0107] The method may include: removing one or more fingers from the hand body; performing maintenance operations (e.g., cleaning and / or repair operations) on the one or more fingers; and reinstalling the one or more fingers onto the hand body.

[0108] The method may include: removing one or more fingers from a plurality of fingers from the hand body; and attaching one or more different (i.e., replacement) fingers to the hand body.

[0109] A sixth aspect of this application provides a component kit for assembling a prosthetic hand according to the fourth aspect. The component kit includes a hand body, a plurality of fingers detachably mounted on the hand body, and a mechanism for actuating movement of the plurality of fingers relative to the hand body.

[0110] The mechanism for actuating the movement of multiple fingers can be provided either as an assembly within the hand body or separately from the hand body but as an assembly within the hand body. The components of the mechanism for actuating the movement of multiple fingers can be provided in an assembled or disassembled state.

[0111] The parts kit may further include any other components of the prosthetic hand described above with respect to the first or fourth aspect, whether the components are in an assembled or disassembled state.

[0112] Those skilled in the art will understand that, unless mutually exclusive, the features described with respect to any of the foregoing aspects may be applied to any other aspect with necessary modifications. Furthermore, unless mutually exclusive, any feature described herein may be applied to any aspect and / or combined with any other feature described herein.

[0113] To avoid any doubt, this application extends to the subject matter described in the following numbered paragraphs: Paragraph 1, a prosthetic hand, includes a hand body, a plurality of fingers, and a mechanism for actuating movement of the plurality of fingers relative to the hand body, wherein the mechanism includes: The movable main drive element includes one or more main drive pulleys; and Multiple movable secondary drive elements, each of which includes a corresponding secondary drive pulley; in: Each of the plurality of secondary drive elements is connected to the main drive element via a connecting cable supported by the main drive pulley and the secondary drive pulley, such that when the main drive element moves in a drive direction away from the secondary drive element, it applies a force to the secondary drive element to cause the secondary drive element to move in the drive direction. Each of the plurality of secondary drive elements is connected to a corresponding finger among the plurality of fingers, such that movement of the secondary drive element along the drive direction drives the corresponding finger to move relative to the hand body along a first direction; and The primary drive element and the secondary drive element are mounted on one or more guide elements that restrict the direction of movement of the primary drive element and the secondary drive element.

[0114] Paragraph 2, the prosthetic hand according to paragraph 1, wherein each of the plurality of fingers connected to a secondary drive element is connected to the corresponding secondary drive element through a corresponding coupling mechanism, the coupling mechanism being configured such that when two or more corresponding secondary drive elements move along the drive direction at the same rate as each other, two or more of the plurality of fingers move relative to the hand body along a first direction at different rates as each other.

[0115] Paragraph 3, the prosthetic hand according to paragraph 2, wherein the connecting mechanism of each finger includes a corresponding drive wheel for driving the finger to move in a first direction, wherein each drive wheel is connected to a corresponding secondary drive element via a corresponding drive cable, and wherein two or more drive wheels have different drive radii, such that when the corresponding two or more secondary drive elements move in the drive direction at the same rate as each other, the corresponding two or more fingers move relative to the hand body in the first direction at different rates as each other.

[0116] Paragraph 4, the prosthetic hand according to paragraph 3, wherein the drive wheel of the outermost finger among the plurality of fingers has the smallest drive radius.

[0117] Paragraph 5, the prosthetic hand according to paragraph 4, wherein the outermost finger corresponds to the little finger.

[0118] Paragraph 6, the prosthetic hand according to any of the preceding paragraphs, wherein the plurality of fingers are a plurality of secondary fingers, and the prosthetic hand further includes a primary finger directly connected to a primary drive element, such that movement of the primary drive element in the drive direction drives the primary finger to move relative to the hand body in a first direction.

[0119] Paragraph 7, the prosthetic hand according to paragraph 6, wherein the master finger corresponds to the index finger.

[0120] Paragraph 8, a prosthetic hand according to any of the preceding paragraphs, wherein the prosthetic hand includes an operating cable connected to and operable to move the main drive element in a driving direction.

[0121] Paragraph 9, the prosthetic hand according to paragraph 8, wherein the operating cable is connected to the main drive element via one or more pulleys, levers, cams, screws, gear chains or joints, or any combination thereof.

[0122] Paragraph 10, the prosthetic hand according to any of the preceding paragraphs, wherein the main drive element and a plurality of movable secondary drive elements are biased in a return direction opposite to the drive direction, and / or wherein a plurality of fingers are each biased in a second direction relative to the hand body, the second direction being opposite to the first direction.

[0123] Paragraph 11, a prosthetic hand according to any of the preceding paragraphs, wherein a plurality of fingers are detachably mounted on the hand body.

[0124] Paragraph 12, the prosthetic hand according to any of the preceding paragraphs, wherein the prosthetic hand further includes a thumb and, optionally, a thumb mechanism for actuating thumb movement.

[0125] Paragraph 13, a prosthetic hand according to any of the preceding paragraphs, wherein the prosthetic hand is a body-driven prosthetic hand.

[0126] Paragraph 14, a method of operating a prosthetic hand according to any of the preceding paragraphs, wherein the method includes applying a force to a primary drive element to move the primary drive element in a drive direction, wherein the movement of the primary drive element in the drive direction drives one or more secondary drive elements in the drive direction via a connecting cable, and wherein the movement of the one or more secondary drive elements in the drive direction drives one or more corresponding fingers to move relative to the hand body in a first direction.

[0127] Paragraph 15, according to the method of paragraph 14, wherein a primary drive element and a plurality of movable secondary drive elements are biased in a return direction opposite to the drive direction, and / or wherein a plurality of fingers are each biased in a second direction relative to the hand body, the second direction being opposite to the first direction, and wherein the method includes reducing or releasing the force applied to the primary drive element to allow the primary drive element and one or more secondary drive elements to move in the return direction, and allowing one or more corresponding fingers to move relative to the hand body in the second direction.

[0128] Paragraph 16, a prosthetic hand, includes a hand body, a plurality of fingers detachably mounted or mountable to the hand body, and a mechanism for actuating the plurality of fingers relative to the hand body when the plurality of fingers are mounted to the hand body.

[0129] Paragraph 17, the prosthetic hand according to paragraph 16, wherein each finger is detachably mounted or mountable to the hand body via a corresponding mounting mechanism, the mounting mechanism including a latching element connected to the hand body and a corresponding mating element located on the finger, the latching element and the mating element being configured to engage with each other when the finger is mounted to the hand body via the mounting mechanism to releasably retain the finger on the hand body.

[0130] Paragraph 18, the prosthetic hand according to paragraph 16, wherein each finger is detachably mounted or mountable to the hand body via a corresponding mounting mechanism, the mounting mechanism including a connecting element located on the hand body, a corresponding connecting element located on the finger, and one or more fasteners for connecting the connecting element on the hand body and the connecting element on the finger to each other.

[0131] Paragraph 19, the prosthetic hand according to paragraph 16 or 17, wherein each mounting mechanism includes a corresponding release mechanism operable to release the corresponding finger from the hand body when the finger is mounted on the hand body via the mounting mechanism.

[0132] Paragraph 20, the prosthetic hand according to any of paragraphs 16 to 19, wherein each of a plurality of fingers is pivotally mounted on the hand body such that each finger is pivotable relative to the hand body when mounted on the hand body, and a mechanism for actuating the movement of the plurality of fingers relative to the hand body is used to actuate the pivoting of the plurality of fingers relative to the hand body.

[0133] Paragraph 21, the prosthetic hand according to any one of paragraphs 16 to 20, wherein the mechanism for actuating the movement of a plurality of fingers relative to the hand body includes a plurality of movable drive elements, each of the plurality of fingers, when mounted on the hand body, is connected to a corresponding drive element of the plurality of drive elements via a coupling mechanism, such that the movement of the drive element along the drive direction drives the corresponding finger to move relative to the hand body in a first direction, and each finger is detachably mounted on the hand body via the coupling mechanism.

[0134] Paragraph 22, the prosthetic hand according to paragraph 21, wherein the connection mechanism of each finger includes a corresponding drive wheel for driving the finger to move in a first direction, wherein each drive wheel is connected to a corresponding drive element via a corresponding drive cable, and each finger is rigidly connected to the corresponding drive wheel when mounted on the hand body.

[0135] Paragraph 23, the prosthetic hand according to paragraph 22, wherein a plurality of movable drive elements are biased in a return direction opposite to the drive direction, and / or a plurality of fingers, when mounted on the hand body, are each biased in a second direction relative to the hand body, the second direction being opposite to the first direction.

[0136] Paragraph 24, the prosthetic hand according to paragraph 23, wherein the prosthetic hand is a body-driven prosthetic hand. Attached Figure Description

[0137] The embodiments will now be described by way of example only and with reference to the accompanying drawings, wherein: Figure 1 This is a perspective view of the prosthetic hand in Example 1; Figure 2 yes Figure 1 Partially exploded view of the prosthetic hand; Figure 3 yes Figure 1 An exploded view of another part of the prosthetic hand; Figure 4 It is used for Figure 1 Exploded view of the finger slider assembly of a prosthetic hand; Figure 5 yes Figure 1 A perspective view of the drive lever assembly of the prosthetic hand; Figure 6 yes Figure 1 Exploded view of the drive lever assembly of the prosthetic hand; Figure 7 yes Figure 1 Exploded view of the finger joint components of a prosthetic hand; Figure 8 yes Figure 1 (a) perspective view and (b) exploded view of a portion of the finger joint assembly of a prosthetic hand; Figure 9 Displayed for movement Figure 1 Three different shapes of the finger structure in a prosthetic hand (a), (b), and (c); Figure 10 Showing Figure 1 Two different shapes of the control mechanism of the prosthetic hand (a) and (b); Figure 11 It is used for movement Figure 1 The finger return mechanism of a prosthetic hand; Figure 12 It is used for movement Figure 1 The drive mechanism for the fingers of a prosthetic hand; Figure 13 Shown in perspective and side view Figure 1 Two different positions of the fingers in a prosthetic hand (a-extension) and (b-flexion); Figure 14 Showing Figure 1 Finger latching mechanism of prosthetic hand; Figure 15The finger latching mechanism is shown in more detail, wherein (a) shows the finger in the unlatched shape in a top view and BB section view, (b) shows the finger in the latched shape in a top view and CC section view, (c) provides a closer view of the latching mechanism in (a), and (d) provides a closer view of the latching mechanism in (b). Figure 16 This is a perspective view of the prosthetic hand in Example 2; Figure 17 yes Figure 16 An exploded view of the prosthetic hand; Figure 18 yes Figure 16 A perspective view of the chassis assembly of the prosthetic hand; Figure 19 yes Figure 18 Exploded view of the chassis components; Figure 20 yes Figure 16 A perspective view of the finger joint components of a prosthetic hand; Figure 21 yes Figure 20 An exploded view of the knuckle components; Figure 22 Displayed for movement Figure 16 Three different shapes of the mechanism of the fingers of a prosthetic hand (a), (b) and (c); Figure 23 Showing Figure 16 A shape of the control mechanism of a prosthetic hand; Figure 24 Showing Figure 16 The four different finger drive wheels of the prosthetic hand (a), (b), (c) and (d); Figure 25 Showing Figure 16 The finger connection mechanism of the prosthetic hand, wherein (a) the finger is in a disengaged shape and (b) the finger is in a connected shape; Figure 26 Showing more details Figure 25 Finger connection mechanism; Figure 27 The following diagram shows the finger joint actuator: (a) is a side view, and (b) is a cross-sectional view along line DD when it is installed between the finger joint core plates. Detailed Implementation

[0138] Reference Figure 1 The prosthetic hand 1 of Embodiment 1 includes a hand body 2, four fingers 3A, 3B, 3C, and 3D, and a thumb mount 4. The prosthetic hand 1 is configured to be mounted onto the user's receiving cavity. Finger 3A corresponds to the little finger of a human hand. Finger 3B corresponds to the ring finger of a human hand. Finger 3C corresponds to the middle finger of a human hand. Finger 3D corresponds to the index finger of a human hand.

[0139] Figures 2 to 15 The prosthetic hand 1 is shown in more detail.

[0140] like Figure 2 As shown, the prosthetic hand 1 includes a hand body 2 and finger joint bodies 3. The finger joint bodies 3 are fixedly mounted to the hand body 2 by screws 50. The finger joint bodies 3 include finger joint components for supporting the fingers 3A-3D, which will be discussed in more detail below.

[0141] like Figure 3 As shown, the hand body 2 includes a support frame (or housing) 5, which supports a mechanism for controlling the movement of fingers 3A-3D. The mechanism includes a drive rod assembly (main drive element) 6 and finger slider assemblies (secondary drive elements) 7A, 7B, and 7C. The finger slider assemblies are slidably mounted within the frame 5 via a positioning rod 8 and a drive rod guide rail 9 (used as a guide). The drive rod guide rail 9 is fixed to the support frame 5 by a pan head screw 54A. An amplifying pulley 10 is mounted in the base 11 of the frame 5 via a shoulder screw 12, a needle roller bearing 51, and a hexagonal nut 52. A return spring 53 is mounted within the frame 5, one end of which is connected to the pan head screw 54B.

[0142] like Figure 4 As shown, each finger slider assembly 7 includes a slider body 14, with a pulley 15 mounted within the slider body 14 via a pulley shaft 16, the pulley shaft 16 being surrounded by a needle roller bearing 48. The finger slider assembly 7 also includes a sliding bearing 17 for providing a sliding interface with the positioning rod 8. The finger slider assembly 7 further includes a fastening screw 18 for adjusting the tension of the cable supported by the pulley 15 (discussed in more detail below).

[0143] like Figure 5 and Figure 6 As shown, the drive rod assembly 6 includes a drive rod sleeve 19A and a drive rod base 19B, which are connected together by a drive rod cap 19C to form the drive rod 19. This assembly itself is connected to the guide rail carriage 20 by screws 21 to slidably mount the drive rod 19 onto the drive rod guide rail 9. Four pulleys 22 are mounted on pulley shaft screws 23 via corresponding needle roller bearings 55 and are located within the drive rod sleeve 19A. The drive rod sleeve 19A, drive rod base 19B, and drive rod cap 19C are fixed together by shaft screws 23 and pan head screws 25. A tension cylinder 57, a wave spring 58, and a tension cap 59 are installed in corresponding holes at one end of the drive rod sleeve 19A.

[0144] Figure 2 The positions of the drive lever assembly 6 and the finger slider assemblies 7A, 7B and 7C within the frame 5 are shown when they are slidably mounted on the positioning lever 8 and the drive lever guide rail 9.

[0145] Figure 7 The knuckle body 3 is shown in more detail. The knuckle body 3 includes four knuckle components 26A, 26B, 26C and 26D, which are rigidly mounted to the frame 5 via cover members 60 and 61, knuckle mount 62 and locking pins 27, 28 and 29.

[0146] like Figure 8 As shown, each knuckle assembly 26 includes a finger latch 31 located within the knuckle core 32 and held between a drive wheel 33 and a return wheel 34, which are located on opposite sides of the knuckle core 32; and two external knuckle plates 35 configured to provide support surfaces for the drive wheel 33 and the return wheel 34. The finger latch 31 is configured to connect to one of the fingers 3A-3D, as described in more detail below. A locking pin 37 connects the drive wheel 33 and the return wheel 34 together and maintains their alignment. The knuckle plates 35 and the knuckle core 32 include holes 38 through which they can be mounted to the knuckle mount 62 via corresponding locking pins 27, 28, and / or 29.

[0147] Prosthetic hand 1 is a cable-operated prosthetic hand. Therefore, as... Figures 9 to 12 As shown, the various components of the mechanism used to control finger movement are operably connected to each other via cables.

[0148] like Figure 9 , Figure 11 and Figure 12 As shown, each knuckle assembly 26A, 26B, and 26C is connected to the corresponding finger slider assemblies 7A, 7B, and 7C via corresponding drive cables 39A, 39B, and 39C, and to the corresponding return springs 53A, 53B, and 53C via corresponding return cables 40A, 40B, and 40C (for simplicity, ...). Figure 9 Only drive cables 39A-39C are shown. The knuckle assembly 26D is directly connected to the drive rod assembly 6 via the corresponding drive cable 39D connected to the drive rod cap 19C, and is connected to the return spring 53D via the return cable 40D (for simplicity...). Figure 9 Only drive cable 39D is shown. In addition, finger slider assemblies 7A, 7B and 7C are connected to drive rod assembly 6 via connecting cable 41, which is supported by pulleys 15A, 15B, 15C, 22A and 22B, and its two ends are fixed to drive rod 19 (one end of which is tensioned by tension cylinder 57 to apply tension to connecting cable 41).

[0149] like Figure 10As shown, the drive rod 19 is also connected to the frame 5 via an operating cable 42, which is supported by pulleys 10, 22C, and 22D, and one end 43 is fixed to the frame 5. For simplicity and to more clearly illustrate the two mechanisms, the operating cable 42 is not shown in the diagram. Figure 9 As shown, the drive cable 39, return cable 40, and connecting cable 41 are not in Figure 10 As shown in the image.

[0150] When the prosthetic hand 1 is assembled, the movement of fingers 3A to 3D can be controlled via the corresponding finger joint components 26A, 26B, 26C and 26D by applying or releasing tension to the operating cable 42.

[0151] In particular, when tension is applied to the operating cable 42, a force is applied to the drive lever assembly 6, causing the drive lever assembly 6 to move along... Figure 10 The drive rod assembly 6 moves in the driving direction D as shown. When the drive rod assembly 6 can move freely in the driving direction D, it will slide along the positioning rod 8 and the guide rail 9, moving away from the knuckle assembly toward the base of the frame 5. When the tension applied to the operating cable 42 is released, the return force of the spring units 53A to 53D acting on the drive rod assembly 6 will cause the drive rod assembly 6 to move along the driving direction D. Figure 10 The return direction R is shown in the diagram. When the drive lever assembly 6 moves freely along the return direction R, it will slide along the positioning rod 8 and the guide rail 9, moving away from the base of the frame 5 and back toward the knuckle assembly. Therefore, applying and releasing tension to the operating cable 42 can be used to control the movement of the drive lever assembly 6 (guided by the positioning rod 8 and the guide rail 9).

[0152] Figure 10 (a) shows a shape of the prosthetic hand 1, in which the drive rod assembly 6 has been moved as far as possible along the return direction R. Figure 10 (b) shows a shape of the prosthetic hand 1, in which the drive rod assembly 6 has been moved as far as possible along the drive direction D.

[0153] like Figure 9 As shown, the drive lever assembly 6 moves rigidly as a whole. Therefore, by controlling the movement of the drive lever assembly 6, tension can be directly applied to or released from the finger drive cable 39D and the finger return cable 40D.

[0154] Furthermore, the movement of the drive lever assembly 6 drives the movement of the finger slider assemblies 7A, 7B, and 7C. Specifically, when the drive lever assembly 6 moves along the drive direction D, a force is applied to each slider assembly 7A, 7B, and 7C via the connecting cable 41, thus pushing each slider assembly 7A, 7B, and 7C to move along the drive direction D. When one or more slider assemblies move freely in the drive direction D, they will slide along the lever 8 in the drive direction under the applied force. When the drive lever assembly 6 moves in the return direction R, the force acting on the slider assemblies 7A, 7B, and 7C is released, and the rebound force applied to the slider assemblies 7A, 7B, and 7C by the spring unit will push the slider assemblies 7A, 7B, and 7C to move in the return direction R.

[0155] Therefore, applying and releasing tension to the operating cable 42 can be used to control the movement of slider assemblies 7A, 7B, and 7C (guided by the positioning rod 8). Furthermore, although tension application and release are controlled by a single operating cable 42, slider assemblies 7A, 7B, and 7C can move independently of each other at least to some extent. Specifically, if one of the slider assemblies cannot move freely in direction D (e.g., because the finger controlled by said slider assembly is in contact with an object, as discussed in more detail below), then when the drive rod assembly is pulled in direction D, the remaining slider assemblies that can move freely in direction D will still move in direction D, while the slider assembly that cannot move freely will remain stationary. Thus, the prosthetic hand 1 provides differential control over the movement of slider assemblies 7A, 7B, and 7C.

[0156] Figure 9 (a) shows a shape of the prosthetic hand 1 in which the drive rod assembly 6 has been moved as far as possible along the return direction R, so that all three finger slider assemblies 7A, 7B and 7C have also been moved as far as possible along the return direction R. Figure 9 (b) and Figure 9 (c) Different shapes of the prosthetic hand 1 are shown, in which finger slider assemblies 7A, 7B and 7C are pulled by the drive rod assembly 6 along the drive direction D by different distances.

[0157] When the slider assemblies 7A, 7B or 7C and / or the drive rod assembly 6 move, they apply or release tension to the corresponding drive cables 39A, 39B, 39C and 39D and the return cables 40A, 40B, 40C and 40D, thereby enabling the movement of the corresponding fingers 3A, 3B, 3C and 3D.

[0158] Specifically, such as Figure 12As shown, each drive cable 39 is connected at connection point 63 to the drive wheel 33 of the corresponding knuckle assembly 26. When the drive cable 39 is under tension, a torque is generated on the drive wheel 33, which causes the drive wheel 33 to rotate about its axis in a first rotational direction. When a finger is connected to the knuckle assembly 26 via the finger latch 31 (described below), the rotation of the drive wheel 33 in the first rotational direction drives the finger to move in the first direction (if the finger can move freely in the first direction).

[0159] Similarly, when the tension applied to the drive cable 39 is released, the return cable 40 (connected to the return wheel at connection point 64, as shown) Figure 11 The tension applied to the return wheel 34 (as shown) generates a torque acting on the return wheel 34, which causes the return wheel 34 to rotate about its axis in a second rotational direction opposite to the first rotational direction. When a finger is connected to the knuckle assembly 26 via the finger latch 31, the rotation of the return wheel 34 in the second rotational direction drives the finger to move in the second direction opposite to the first direction (if the finger can move freely in the second direction).

[0160] The mechanism for connecting fingers 3A-3D to finger joint assemblies 26A-26D and for moving said fingers 3A-3D is in Figures 13 to 15 A more detailed demonstration is provided below. Each finger (for simplicity, ...) Figures 13 to 15 The image shows only a 3D representation of the finger, comprising a finger body 65 pivotally connected at the knuckle (proximal) end of the finger to a mating element 66 via links 67 and 68. The mating element 66 includes a cutout portion 45 configured to engage a toothed protrusion 46 on a finger latch 31. The finger is attached to the hand by sliding the finger's knuckle end into the corresponding knuckle assembly 26, causing the central axis 44 to slide into the corresponding slot 47 on each drive wheel 33 and return wheel 34 (thus aligning the central axis 44 with the rotation axes of the drive wheel 33 and return wheel 34), and engaging the toothed protrusion 46 with the cutout portion 45, thereby locking the finger in place.

[0161] The finger latch 31 and mating element 66 are typically configured to provide a secure "click-fit" connection between the components. However, the latch mechanism can be easily released by pivoting the finger latch 31 out of position, disengaging the toothed protrusion 46 from the cutout portion 45. Therefore, as... Figure 14 As shown, the fingers can be easily detached from the hand for cleaning, maintenance, or replacement. Even with only one hand (e.g., the user's other free hand), the fingers can be easily installed or removed.

[0162] It should be understood that once a finger is locked in place in its corresponding knuckle assembly, the finger can move relative to the hand body 5 by applying or releasing tension to the corresponding drive cable (as discussed above). When the drive wheel 33 and return wheel 34 rotate, they press against the corresponding finger component (e.g., linkage 67), driving the finger body 65 to pivot relative to the mating element 66 and therefore also relative to the hand body 5. The direction of movement will depend on the shape of the finger and the design and arrangement of the knuckle assembly. However, in the illustrated embodiment, the finger is configured to move in a flexion-extension movement mode, allowing the finger to move in an extended shape (e.g., Figure 13 (a) shows the fingertips being furthest from the palm) and the curvature (as shown in the image). Figure 13 (b) shows the movement between the distal ends of the fingers and the palm.

[0163] In the embodiment shown in the accompanying drawings, the drive wheels 33A, 33B, 33C, and 33D of each knuckle assembly 26A, 26B, 26C, and 26D are not entirely identical, but have different drive radii d. Figure 12 As shown, the drive radius d of a given drive wheel is defined as the shortest straight-line distance between the central axis of the drive wheel (the axis around which the drive wheel rotates in the knuckle assembly) and the circumferential drive surface of the drive wheel against which the drive cable abuts. It should be understood that for a given drive wheel, as the drive radius decreases, the angular rotation of the drive wheel about its axis increases when the drive cable undergoes a given displacement. Therefore, when the drive radii of the drive wheels are different, all fingers are freely movable, and tension is applied to the operating cable 42 to cause the drive lever assembly 6 and the finger slider assemblies 7A, 7B, and 7C to move towards the base of the hand frame 5 at the same rate (causing the drive lever assembly 6 and the finger slider assemblies 7A, 7B, and 7C to simultaneously displace the same distance), the fingers will rotate at different angular rates around their respective drive wheel axes.

[0164] Therefore, if the finger and knuckle components are configured such that applying tension to the drive cable causes the drive wheel to rotate, resulting in a flexing motion of the corresponding finger toward the palm of the hand, then when all four fingers are freely movable, the fingers will flex toward the palm at different rates. It should be understood that the drive radii of the different drive wheels can be selected for different or the same target relative motion rate. For example, it may be necessary for all or some fingers to move at different rates, or for all or some fingers to move at the same rate. It should be understood that different types of coordinated finger movements can be used for different types of tasks. For example, when using a prosthetic hand to grasp objects such as a glass or cup, coordinated movements with increasing finger flexion rates from the index finger to the little finger (i.e., the little finger flexes the fastest) may be particularly useful.

[0165] Furthermore, thanks to the use of finger slider components 7A, 7B, and 7C, even if the movement of one or two of the fingers 3A, 3B, and 3C is impeded, for example because these fingers are already in contact with an object, the remaining fingers can still move (e.g., along the bending direction). This allows the gripping force obtained by the prosthetic hand to adapt to (e.g., wrap around) objects of different shapes.

[0166] Furthermore, since the drive cable 39D is directly connected to the drive lever assembly 6, rather than to a corresponding finger slider assembly connected to other finger slider assemblies via the connecting cable 41, the movement of the finger 3D is directly controlled by the movement of the drive lever assembly 6. This allows the finger 3D to apply significantly greater force, thereby simulating the stronger pinching force typically present when the human index finger grips.

[0167] By using drive wheels 33 with different drive radii to achieve misaligned bending of the fingers, the potential adverse effects of directly connecting the index finger 3D to the drive lever assembly 6 are mitigated. Specifically, since the index finger 3D is directly connected to the drive lever assembly 6, once the movement of the index finger 3D is obstructed (e.g., because the index finger 3D is in contact with an object), the movement of the drive lever assembly 6 (and any finger slider assembly) along the drive direction D cannot occur. Without misaligned bending due to the difference in drive radii, this could mean that other fingers (e.g., 3A, 3B, or 3C) cannot bend sufficiently to contact the object being held (e.g., when the object is cup-shaped or glass-shaped). However, in the embodiment shown in the figures, the above situation is avoided because the misaligned bending of the fingers causes the fingers to bend at different rates.

[0168] Although not shown in the accompanying drawings, it should be understood that the prosthetic hand 1 may be provided with a thumb connected to the thumb mount 4. This thumb may be movable. The movement of the thumb may also be controlled using an operating cable 42. For example, a drive wheel for driving the thumb's movement may be connected to the drive rod assembly 6 via a corresponding drive cable through the thumb mount 4, for example, via a fastening screw 56.

[0169] Components of the prosthetic hand can be manufactured using any suitable materials and techniques known in the art. For example, the load-bearing core component can be made of metals such as aluminum, titanium, brass, bronze, aluminum bronze, or steel (including anodized and / or nitrided steel). Non-load-bearing components can be made of metals or other materials such as plastics. Components can be manufactured by any suitable method, including casting, machining, or additive manufacturing.

[0170] Reference Figure 16The prosthetic hand 101 of Embodiment 2 includes a hand body 102, four fingers 103A, 103B, 103C, and 103D, and a thumb 104. The prosthetic hand 101 is configured to be fitted into the user's receiving cavity. Finger 103A corresponds to the little finger of a human hand. Finger 103B corresponds to the ring finger of a human hand. Finger 103C corresponds to the middle finger of a human hand. Finger 103D corresponds to the index finger of a human hand.

[0171] Prosthetic hand 101 Figures 17 to 26 It is shown in more detail in the middle.

[0172] like Figure 17 As shown, the prosthetic hand 101 includes a hand shell or housing 105, a wrist assembly 106 for mounting to the user's receiving cavity, a chassis or frame assembly 107, a knuckle assembly 108, a finger assembly 109, and a thumb assembly 110. The above components are fixedly mounted together by pan head screws 111 and 112 and round head screws 113.

[0173] like Figure 18 and Figure 19 As shown, the chassis or frame assembly 107 includes a support frame or chassis 114 that supports a mechanism for controlling the movement of fingers 103A-103D.

[0174] The mechanism includes a U-shaped drive rod (main drive element) 115, which is slidably mounted within a U-shaped frame 114 via guide rails 116A and 116B. Guide rails 116A and 116B are fixed to the frame 114 by pan head screws 118. The drive rod 115 is slidably mounted on guide rails 116A and 116B via corresponding drive guide rail carriages 117A and 117B, which are fixed to the drive rod 115 by pan head screws 118 along with spring washers 119.

[0175] The drive rod cap 120 is connected to the drive rod 115 via pan head screws 121. The drive rod cap 120 secures the reversing pulley 122 to the drive rod 115 at a suitable position via pins 123. The reversing pulley 124 is secured within the drive rod 115 via pins 126. The tension cylinder 127 is also held within the drive rod 115, abutting against the return spring 128. The thumb connector 129 is connected to the drive rod cap 120 via round head screws 130. The reversing pulley 131 and the amplifying pulley 132 are mounted within the frame 114 via pins 133 and 134 located between the closing plate 135 and the support plate 136, which are connected to the frame 114 via round head screws 137. The drive rod spring 138 is mounted on a spring support 139, through which a pin 140 is inserted.

[0176] like Figure 20 and Figure 21 As shown, the knuckle assembly 108 includes a knuckle mounting base 141, and each knuckle body 142 can be mounted on the knuckle mounting base 141 by fastening screws 143. Each knuckle body 142 includes a drive body 144 and a cable reel 145, which are held between knuckle core plates 146 and 147, which are connected by round-head screws 147.

[0177] Driven body 144 in Figure 21 , Figure 26 and Figure 27 A more detailed illustration is provided below. Each drive body 144 includes a drive cable groove 167 and a return cable groove 168 for receiving a cable reel 145. A hollow channel 180 within the drive body 144 connects the drive cable groove 167 to a drive cable opening 169 on the surface of the drive body 144. A hollow channel 183 connects the return cable groove 168 to a return cable opening 184 on the opposite surface of the drive body 144. Each drive body 144 also includes a drive wheel portion 170, which is mountable and rotatable within corresponding openings 171 and 172 in the knuckle core plates 146 and 147. The knuckle core plates 146 and 147 also include return cable grooves 173 and 174, which form a return cable slot when the knuckle core plates 146 and 147 are engaged.

[0178] A finger slider assembly (secondary drive element) 148 is slidably mounted on a guide pin 149, which is fixedly connected at one end to a knuckle mount 141. Each finger slider assembly 148 includes a slider body 150, within which a reversing pulley 151 is mounted via a pin serving as a pulley shaft 152. The finger slider assembly 148 also includes a fastening screw 18 for adjusting the tension of the cable supported by the pulley 151. A finger bend 153 is connected to the slider body 150 via a round-head screw 154. A thumb reversing pulley 155 is also connected to the knuckle mount 141 via a shoulder screw 156. A corresponding pin 157 for each finger slider assembly 148 is also inserted into the knuckle mount 141.

[0179] Unlike the prosthetic hand 1 of Embodiment 1 (where each finger joint assembly 26 includes a drive wheel 33 and a return wheel 34, with a finger latch 31 installed between them), each finger joint body 142 of the prosthetic hand 101 of Embodiment 2 includes a single drive body 144 to which the finger can be connected. This single drive body 144 is capable of driving the finger in any direction, thus functioning as both a drive wheel and a return wheel.

[0180] Prosthetic hand 101 is a cable-operated prosthetic hand. Therefore, as... Figure 22 and Figure 23 As shown, the various components of the mechanism for controlling finger movement can be operably connected to each other via cables. The operation of prosthetic hand 101 is basically the same as that of prosthetic hand 1.

[0181] For example, such as Figure 22 As shown, each finger slider assembly 148A, 148B, and 148C (corresponding to fingers 103A, 103B, and 103C, respectively) is connected to the drive rod 115 via a connecting cable 158. The connecting cable 158 is supported by pulleys 151A, 151B, 151C, 122A, and 122B, and both ends are fixed to the drive rod 115 (one end of which applies tension to the connecting cable 158 via a tension cylinder 127). Each finger slider assembly 148 is also connected to the corresponding finger joint body 142 via a corresponding drive cable 181. The drive cable 181 is connected to the slider assembly via a finger bend 153 and is wound around the cable reel 145 within the drive cable groove 167. The finger bend 153 ensures that even if there is an offset between the finger slider assembly and the drive body, the drive cable 181 can be correctly aligned with the drive body 144 of the corresponding finger. The drive lever 115 is also directly connected to the knuckle body 142 corresponding to the index finger 103D via a drive cable (not shown) directly connected to the drive lever 115. Each drive body 144 also includes a return cable 182, one end of which is knotted in a return cable groove 168, and the opposite end is held in a return cable slot formed by return cable grooves 173 and 174. The return cable is made of a taut elastic cord or a loose cord.

[0182] After the prosthetic hand 101 is assembled, by applying or releasing tension to the operating cable 159, the movement of fingers 103A to 103D can be controlled via the corresponding knuckle assemblies 142, thereby driving the drive rod assembly 115 to slide along guide rails 116A and 116B. When the finger slider assembly is freely movable, the movement of the drive rod assembly 115 can drive the finger slider assemblies 148A, 148B, and 148C to slide along guide pins 149. The movement of the finger slider assembly 148 in the driving direction D applies tension to the corresponding drive cable 181, which causes the corresponding drive body 144 to rotate in a first rotational direction between the knuckle core plates 146 and 147 (when the corresponding finger is freely movable). The rotation of the drive body 144 in the first rotational direction applies tension to the elastic return cable 182. When the tension applied to the drive cable 181 is released, the tension in the elastic return cable 182 causes the drive body 144 to rotate in the opposite rotational direction between the knuckle core plates 146 and 147. Therefore, the knuckle assembly 142 can be considered as "self-returning", and the drive body 144 can be considered as having the functions of both a drive wheel and a return wheel.

[0183] Figure 22 (a) shows a shape of the prosthetic hand 101, in which the drive rod assembly 115 has been moved as far as possible along the return direction R. Figure 22 (b) shows a shape of the prosthetic hand 101 in which the drive rod assembly 6 has been moved as far as possible along the drive direction D, and all the finger slider assemblies 148 have also been moved as far as possible along the drive direction D. Figure 22 (c) shows a shape of the prosthetic hand 101 in which the drive rod assembly 6 travels a partial distance along the drive direction D, and the finger slider assembly 148C travels a shorter distance than the finger slider assemblies 148A and 148B (e.g., because the movement of the corresponding finger 103C is hindered). The drive rod spring 138 is compressed as the drive rod assembly 115 moves along the drive direction D, thereby biasing the drive rod assembly 115 toward the return direction R.

[0184] The mechanism used to connect and drive finger movements Figures 24 to 27 A more detailed demonstration was provided in the text.

[0185] like Figure 24 As shown, each drive body 144 has a drive wheel portion 170 and a connecting portion 161. The drive wheel portion 170 is a portion of the drive body 144 configured to be mounted within orifices 171 and 172 in corresponding knuckle core plates 146 and 147, and defines a central axis 175 about which the drive body 144 rotates during use. The connecting portion 161 is configured to connect a corresponding finger.

[0186] As described above, the drive cable 181 is connected to the drive body 144 via a cable reel 145 installed in the drive cable groove 167. The drive cable 181 extends from the cable reel 145 through the hollow channel in the drive body 144 and exits from the drive body 144 at the drive cable opening 169.

[0187] like Figure 24 As shown, the actuators 144A, 144B, 144C, and 144D of the finger joint bodies 142A, 142B, 142C, and 142D (corresponding to fingers 103A, 103B, 103C, and 103D, respectively) are not necessarily the same, and their driving radii d may differ (for example, actuator 144B has a driving radius d). b The driving body 144C has a driving radius d c (And so on). The driving radius d of the given drive body is not simply the radius of the drive wheel portion 170, but is defined as the shortest straight-line distance between the central axis 175 of the drive wheel portion 170 (the axis around which the drive wheel portion rotates in the knuckle assembly) and the position where the drive cable 181 exits from the drive cable opening 169.

[0188] It should be understood that the position where the drive cable 181 exits from the drive cable opening 169 can also define the position of the circumferential drive surface of the drive body, and the drive cable 181 can directly abut against this circumferential drive surface immediately after exiting the drive cable opening 169. However, in reality, this circumferential drive surface may not exist in solid form, or only a portion of it may be solid. For example, as... Figure 24 (b) Figure 24 (c) and Figure 24 (d) and Figure 27 As shown in (b), only a small portion of the circumferential drive surfaces 176B, 176C, 176D, and 176 exist in solid form, respectively. The solid presence of a portion of the circumferential drive surfaces helps ensure that the drive cable (and the load applied therefrom) remains tangent to the drive wheel portion 170 as the drive body 144 rotates. The remaining portions of the circumferential drive surfaces can be omitted (i.e., the cross-section of the drive body 144 can be substantially non-circular) to reduce material usage and thus lighten the weight of the drive body 144.

[0189] It should be understood that when the drive radius of a given drive wheel decreases, the angular rotation of the drive wheel about its axis increases when a given displacement occurs in the drive cable. Therefore, when the drive radii of the drive wheels are different, all fingers are freely movable, and tension is applied to the operating cable 159 to cause the drive lever assembly 115 and the finger slider assemblies 148A, 148B, and 148C to move toward the base of the hand frame 114 at the same rate, the fingers will rotate about their respective drive wheel axes at different rates (e.g., angular velocities).

[0190] The shape of the actuator 144 and / or the knuckle plates 146 and 147 can be configured to allow the actuator 144 to rotate within a specific angular range. For example, the actuator 144 can rotate up to about 70° to allow for full flexion and extension of the finger.

[0191] Movement of the thumb assembly 110 can also be achieved by connecting the thumb 110 to the drive lever assembly 115 via a thumb cable (not shown) supported by a thumb reversing pulley 155.

[0192] like Figure 25 and Figure 26 As shown, each finger includes a finger body 162 extending between a distal end 163 located at the fingertip and a proximal end 164 located at a connecting portion 165. The connecting portion 165 of the finger is configured to connect to a corresponding connecting portion 161 of the actuator 144. Figure 25 and Figure 26In the illustrated embodiment, the finger's connecting portion 165 has a hollow core. The finger is connected by inserting the protruding connecting portion 161 of the drive body 144 into the hollow core, and by using a fastening screw 166 at position 185 to securely connect the finger body 162 to the connecting portion 161. The finger can be detached by removing the fastening screw 166 and sliding the finger off the hand. It should be understood that various other connection and fastening methods can also be used.

[0193] It should be understood that once the finger is locked in place in the knuckle assembly, the finger can move relative to the hand body 105 by applying or releasing tension to the corresponding drive cable, thereby driving the corresponding drive wheel portion of the drive body to rotate (as described above). The direction of movement may depend on the shape of the finger and the design and arrangement of the knuckle assembly.

[0194] Components of the prosthetic hand can be manufactured using any suitable materials and techniques known in the art. For example, the load-bearing core component can be made of metals such as aluminum, titanium, brass, bronze, aluminum bronze, or steel (including anodized and / or nitrided steel). Non-load-bearing components can be made of metals or other materials such as plastics. Components can be manufactured by any suitable method, including casting, machining, or additive manufacturing.

[0195] It should be understood that the present invention is not limited to the embodiments described above, and various modifications and improvements can be made without departing from the concept described herein. Unless mutually exclusive, any feature may be used alone or in combination with any other feature, and this disclosure is extensible to and includes all combinations and sub-combinations of one or more features described herein.

[0196] For example, in some embodiments, no fingers may be directly connected to the actuator assembly; instead, all fingers are connected to the actuator assembly via a finger slider assembly. Alternatively, in other embodiments, more than one finger may be directly connected to the actuator assembly.

[0197] The drive wheels of the knuckle assembly can all have the same drive radius, allowing the fingers to rotate at the same rate around their respective axes. Alternatively, any knuckle assembly can have drive wheels with different drive radii. Furthermore, it should be understood that the drive radius of the drive wheels can be changed in different ways by altering their shape and / or size.

[0198] One or more fingers (e.g., all of them) may be permanently fixed to the hand body. Alternatively, one or more fingers (e.g., all of them) may be detachably attached to the hand body via an alternative mechanism. It should be understood that any suitable connection mechanism capable of enabling finger movement may be used.

[0199] The prosthetic hand 1 or 101 can be a body-driven prosthetic hand (e.g., when the prosthetic hand is connected to the receiver worn by the user, tension can be applied to or released from the operating cable 42 or 159 by the user's body movements), or it can be an electric prosthetic hand (e.g., using a motor to apply or release tension to the operating cable 42 or 159).

Claims

1. A prosthetic hand, comprising a hand body, a plurality of fingers, and a mechanism for actuating movement of the plurality of fingers relative to the hand body, wherein the mechanism comprises: A movable main drive element, which includes one or more main drive pulleys; as well as Multiple movable secondary drive elements, each of which includes a corresponding secondary drive pulley; in: Each of the multiple secondary drive elements is connected to the main drive element via a connecting cable supported by the main drive pulley and the secondary drive pulley, such that when the main drive element moves in a drive direction away from the secondary drive element, it applies a force to the secondary drive element to cause the secondary drive element to move in the drive direction. Each of the plurality of secondary drive elements is connected to a corresponding finger among the plurality of fingers, such that movement of the secondary drive element along the drive direction drives the corresponding finger to move relative to the hand body along the first direction; and The primary drive element and the secondary drive element are mounted on one or more guide elements, which restrict the movement direction of the primary drive element and the secondary drive element.

2. The prosthetic hand according to claim 1, wherein, Each of the plurality of fingers connected to a secondary drive element is connected to the corresponding secondary drive element through a corresponding coupling mechanism. The coupling mechanism is configured such that when two or more corresponding secondary drive elements move along the drive direction at the same rate, two or more of the plurality of fingers move relative to the hand body along a first direction at different rates.

3. The prosthetic hand according to claim 2, wherein, The connecting mechanism for each finger includes a corresponding drive wheel for driving the finger to move in a first direction, wherein each drive wheel is connected to a corresponding secondary drive element via a corresponding drive cable, and two or more drive wheels have different drive radii, such that when the corresponding two or more secondary drive elements move in the drive direction at the same rate as each other, the corresponding two or more fingers move relative to the hand body in the first direction at different rates as each other.

4. The prosthetic hand according to claim 3, wherein, The drive wheel of the outermost finger among the plurality of fingers has the smallest drive radius.

5. The prosthetic hand according to claim 4, wherein, The outermost finger corresponds to the little finger.

6. The prosthetic hand according to any one of the preceding claims, wherein, The plurality of fingers are a plurality of secondary fingers, and the prosthetic hand also includes a primary finger directly connected to the primary drive element, such that the movement of the primary drive element along the drive direction drives the primary finger to move relative to the hand body along a first direction.

7. The prosthetic hand according to claim 6, wherein, The primary finger corresponds to the index finger.

8. The prosthetic hand according to any one of the preceding claims, wherein, The prosthetic hand includes an operating cable that is connected to and operable to move the main drive element in a driving direction.

9. The prosthetic hand according to claim 8, wherein, The operating cable is connected to the main drive element via one or more pulleys, levers, cams, screws, gear chains or joints, or any combination thereof.

10. The prosthetic hand according to any one of the preceding claims, wherein, The main drive element and the plurality of movable secondary drive elements are biased in a return direction opposite to the drive direction, and / or the plurality of fingers are each biased in a second direction relative to the hand body, the second direction being opposite to the first direction.

11. The prosthetic hand according to any one of the preceding claims, wherein, The multiple fingers are detachably mounted on the hand body.

12. The prosthetic hand according to any one of the preceding claims, wherein, The prosthetic hand also includes a thumb and, optionally, a thumb mechanism for actuating the movement of the thumb.

13. The prosthetic hand according to any one of the preceding claims, wherein, The prosthetic hand is a body-driven prosthetic hand.

14. A method of operating a prosthetic hand according to any one of the preceding claims, wherein, The method includes applying a force to a main drive element to move the main drive element in a drive direction, the movement of the main drive element in the drive direction driving one or more secondary drive elements in the drive direction via a connecting cable, and the movement of the one or more secondary drive elements in the drive direction driving one or more corresponding fingers to move relative to the hand body in a first direction.

15. The method according to claim 14, wherein, The primary drive element and the plurality of movable secondary drive elements are biased in a return direction opposite to the drive direction, and / or the plurality of fingers are each biased in a second direction relative to the hand body, the second direction being opposite to the first direction, and the method includes reducing or releasing the force applied to the primary drive element to allow the primary drive element and one or more secondary drive elements to move in the return direction, and allowing one or more corresponding fingers to move relative to the hand body in the second direction.

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