Artificial hand

Abstract

The utility model discloses an artificial hand. The artificial hand comprises a palm part and at least one finger part, the palm part is used for being connected with a broken hand of a user, and the palm part is rotationally connected with the finger part; the artificial hand further comprises a myoelectricity sensor which is arranged on the palm portion, connected with the broken hand and used for detecting myoelectricity signals of the broken hand. The at least one angle limiting device is electrically connected with the myoelectricity sensor and is used for limiting the rotation angle range of the finger part; and the angle limiting device moves relative to the palm part so as to adjust the range of the rotation angle. Due to the fact that the electromyographic sensor can obtain the electromyographic signals, the movement intention is judged, under the same movement intention, the rotating angle changes slightly, the rotating angle range of the finger part can be adjusted through the angle limiting device, the rotation of the finger part is matched with the movement intention, and the rotating flexibility of the finger part in the rotating angle range is high; the finger is closer to a real finger and is convenient for a user to use an artificial hand.

Description

Technical Field

[0001] The utility model relates to the technical field of artificial limbs, in particular to a false hand. Background Art

[0002] Patients with broken arms or wrists can use artificial hands to restore their normal mobility. In the prior art, in the patent document with publication number CN109381285A, a motor drives a worm gear to rotate, which drives the phalanges to rotate, so as to achieve the bending and straightening of fingers. However, in different application scenarios, the rotation angles of fingers are different, and the use of motors alone cannot effectively limit the rotation angle range of fingers.

[0003] Therefore, the prior art still needs to be improved and developed. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a prosthetic hand in view of the above-mentioned defects of the prior art, aiming to solve the problem that only using a motor in the prior art cannot effectively limit the rotation angle range of the fingers.

[0005] The technical solution adopted by the utility model to solve the technical problem is as follows:

[0006] A prosthetic hand, comprising: a palm and at least one finger; the palm is used to connect with a user's severed hand, and the palm is rotatably connected to the finger; wherein the prosthetic hand further comprises:

[0007] An electromyographic sensor is disposed on the palm and connected to the severed hand, and is used to detect the electromyographic signal of the severed hand;

[0008] at least one angle limiting device, electrically connected to the electromyographic sensor and used to limit the rotation angle range of the finger;

[0009] Wherein, the angle limiting device moves relative to the palm to adjust the rotation angle range.

[0010] The artificial hand, wherein the artificial hand further comprises:

[0011] at least one first driver, disposed on the palm portion and used to drive the finger portion to rotate;

[0012] The controller is arranged on the palm and is electrically connected to the electromyographic sensor, the angle limiting device and the first driver.

[0013] The artificial hand, wherein the finger portion is provided with at least one wedge-shaped groove, the wedge-shaped groove extends along the rotation direction of the finger portion, the small end of the wedge-shaped groove is away from the palm portion and the large end of the wedge-shaped groove is close to the palm portion;

[0014] The angle limiting device comprises:

[0015] A rotating shaft, rotatably connected to the palm portion;

[0016] at least one wedge-shaped protrusion, disposed on the rotating shaft;

[0017] A second driver, disposed on the palm, electrically connected to the controller, and used to drive the rotating shaft to rotate;

[0018] Wherein, the wedge-shaped protrusion is inserted into the wedge-shaped groove and fits with the wedge-shaped groove;

[0019] When the wedge-shaped protrusion rotates to different angles, the wedge-shaped groove is restricted by the wedge-shaped protrusion, and the rotation angle range of the finger portion is different.

[0020] The artificial hand, wherein the finger portion comprises:

[0021] A first finger segment, rotatably connected to the palm portion;

[0022] a second finger segment, rotatably connected to the first finger segment;

[0023] A connecting rod, both ends of which are rotatably connected to the palm portion and the second finger segment respectively;

[0024] Wherein, the wedge-shaped groove is arranged at an end of the first finger segment away from the second finger segment.

[0025] The artificial hand, wherein the artificial hand further comprises:

[0026] an angle detector, disposed on the palm and electrically connected to the controller, and used to detect the rotation angle of the finger; and / or

[0027] The motion sensor is arranged on the finger and is electrically connected to the controller.

[0028] In the prosthetic hand, the motion sensor is an IMU sensor.

[0029] The prosthetic hand, wherein the angle detector comprises:

[0030] a sensor, disposed on the first finger segment;

[0031] The detector is arranged on the palm, is electrically connected to the controller, and is used for detecting the rotation angle of the sensor.

[0032] The artificial hand, wherein the rotation angle of the finger is -5° to 90°; and / or

[0033] The electromyographic sensor comprises at least one of a needle electrode electromyographic sensor and a surface electrode electromyographic sensor.

[0034] The prosthetic hand, wherein the first driver comprises:

[0035] A motor, arranged on the palm portion;

[0036] A damper connected to the output shaft of the motor;

[0037] A worm, rotatably disposed on the palm portion and connected to the damper;

[0038] Wherein, the damping coefficient of the damper is adjustable;

[0039] The worm is provided with a first thread, and the finger portion is provided with a second thread, and the second thread is meshed with the first thread.

[0040] The prosthetic hand, wherein the damping coefficient of the damper is determined according to the rotation angle range.

[0041] Beneficial effects: Since the electromyographic sensor can obtain electromyographic signals to determine the movement intention, under the same movement intention, the size of the rotation angle varies little, and the rotation angle range of the finger can be adjusted through the angle limiting device so that the rotation of the finger matches the movement intention. The rotation flexibility of the finger within the rotation angle range is higher, which is closer to the real finger, making it convenient for users to use the prosthetic hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural schematic diagram of a prosthetic hand in an embodiment of the utility model.

[0043] Figure 2 It is a first cross-sectional view of a prosthetic hand in an embodiment of the utility model.

[0044] Figure 3 It is a second cross-sectional view of the artificial hand in the embodiment of the utility model.

[0045] Figure 4 It is a structural schematic diagram of the worm gear in the embodiment of the utility model.

[0046] Description of reference numerals:

[0047] 10. Palm; 11. Base plate; 12. Bracket; 20. Finger; 21. First finger segment; 211. Shell; 212. Worm gear; 2121. Wedge-shaped groove; 2122. Second thread; 2123. Mounting hole; 213. First rotating shaft; 22. Second finger segment; 221. Body; 222. Second rotating shaft; 23. Connecting rod; 231. Third rotating shaft; 232. Fourth rotating shaft; 30. Angle limiting device; 31. Rotating shaft; 32. Wedge-shaped protrusion; 40. First drive; 41. Motor; 42. Damper; 43. Worm. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the utility model clearer and more specific, the utility model is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0049] Please also see Figure 1-Figure 4 The utility model provides some preferred embodiments of a prosthetic hand.

[0050] like Figure 1 and Figure 2 As shown, the prosthetic hand includes:

[0051] A palm portion 10, the palm portion 10 being used to connect with a user's severed hand;

[0052] at least one finger portion 20, the finger portion 20 being rotatably connected to the palm portion 10;

[0053] An electromyographic sensor, disposed on the palm 10 and connected to the severed hand, and used to detect the electromyographic signal of the severed hand;

[0054] at least one angle limiting device 30, electrically connected to the electromyographic sensor and used to limit the rotation angle range of the finger 20;

[0055] The angle limiting device 30 is movable relative to the palm 10 to adjust the rotation angle range.

[0056] Specifically, the palm 10 is in the shape of a palm, and the finger 20 is in the shape of a finger. There can be multiple finger 20, for example, 5, corresponding to the thumb, index finger, middle finger, ring finger and little finger respectively. A receiving cavity is formed on the side of the palm 10 away from the finger 20, and the user's severed hand is connected in the receiving cavity. The finger 20 can rotate relative to the palm 10 to achieve the bending and straightening of the finger. The electromyographic sensor is used to collect the electromyographic signal of the severed hand, and the user's movement intention can be judged by the electromyographic signal. The movement intention includes at least one of straightening, empty grip and fisting. Specifically, the method of the prior art is used to collect the electromyographic signal and judge the movement intention. Under different movement intentions, the rotation angle of the finger 20 is different. When the palm 10 and the finger 20 are both in the horizontal direction, the angle of the finger 20 is 0°, the rotation toward the palm is a positive angle, and the rotation toward the back of the hand is a negative angle. When straightened, the rotation angle of the finger 20 is small, and the rotation angle range is also small, close to 0°, for example, the rotation angle range is -5° to 5°. When the finger 20 is loosely gripped, the rotation angle is larger, and the rotation angle range is also larger, ranging from -5° to 80°. When the finger 20 is clenched into a fist, the rotation angle is larger, and the rotation angle range is also larger, ranging from -5° to 90°.

[0057] The angle limiting device 30 is movably disposed on the palm 10. The angle limiting device 30 is used to limit the rotation range of the finger 20 (i.e., the rotation angle range of the finger 20), and the rotation range can be adjusted, specifically by adjusting the angle limiting device 30. The angle limiting device 30 is electrically connected to the electromyographic sensor. Since the electromyographic sensor can obtain electromyographic signals, the movement intention can be judged. Under the same movement intention, the size of the rotation angle varies little. The rotation angle range of the finger 20 can be adjusted by the angle limiting device 30, so that the rotation of the finger 20 matches the movement intention. The finger 20 has a higher rotation flexibility within the rotation angle range, which is closer to a real finger, making it convenient for users to use the artificial hand.

[0058] In a preferred embodiment of the present invention, please also refer to Figure 1-Figure 3 , the artificial hand also includes:

[0059] at least one first driver 40, disposed on the palm portion 10 and used to drive the finger portion 20 to rotate;

[0060] The controller is disposed on the palm 10 and is electrically connected to the electromyographic sensor, the angle limiting device 30 and the first driver 40 .

[0061] Specifically, the first driver 40 is located in the palm 10, and the first driver 40 drives the finger 20 to rotate relative to the palm 10. The controller is used to control the first driver 40 and the angle limiting device 30. The controller can obtain the electromyographic signal collected by the electromyographic sensor and judge the movement intention, so as to adjust the angle limiting device 30 to limit the rotation angle range of the finger 20 to cooperate with the rotation of the finger 20 under the movement intention.

[0062] In a preferred embodiment of the present invention, please also refer to Figure 3-Figure 4 At least one wedge-shaped groove 2121 is provided on the finger portion 20 , and the wedge-shaped groove 2121 extends along the rotation direction of the finger portion 20 , the small end of the wedge-shaped groove 2121 is away from the palm portion 10 and the large end of the wedge-shaped groove 2121 is close to the palm portion 10 .

[0063] Specifically, the wedge-shaped groove 2121 refers to a groove with a gradually changing width, and the wedge-shaped groove 2121 has a large end with a larger width and a small end with a smaller width. The end of the finger 20 facing the palm 10 is provided with a wedge-shaped groove 2121, which is provided around the rotation axis of the finger 20, and the wedge-shaped groove 2121 extends along the rotation direction of the finger 20 to form an arc, and the large end of the wedge-shaped groove 2121 is close to the palm 10, and the small end of the wedge-shaped groove 2121 is away from the palm 10. As the finger 20 rotates, the small end of the wedge-shaped groove 2121 gradually moves toward the palm 10.

[0064] In a preferred embodiment of the present invention, please also refer to Figure 3-Figure 4 , the angle limiting device 30 comprises:

[0065] A rotation shaft 31, rotatably connected to the palm portion 10;

[0066] At least one wedge-shaped protrusion 32, disposed on the rotating shaft 31;

[0067] A second driver, disposed on the palm portion 10 and electrically connected to the controller, and used to drive the rotating shaft 31 to rotate;

[0068] The wedge-shaped protrusion 32 is inserted into the wedge-shaped groove 2121 and matched with the wedge-shaped groove 2121;

[0069] When the wedge-shaped protrusion 32 rotates to different angles, the wedge-shaped groove 2121 is restricted by the wedge-shaped protrusion 32 , and the rotation angle range of the finger portion 20 is different.

[0070] Specifically, the wedge-shaped protrusion 32 refers to a protrusion with a gradually changing width, and the wedge-shaped protrusion 32 has a large end with a larger width and a small end with a smaller width. The wedge-shaped protrusion 32 extends along the rotation direction of the rotating shaft 31, the large end of the wedge-shaped protrusion 32 is close to the palm 10, and the small end of the wedge-shaped protrusion 32 is away from the palm 10. The wedge-shaped protrusion 32 is arranged on the rotating shaft 31, and the second driver drives the rotating shaft 31 to rotate, and drives the wedge-shaped protrusion 32 to rotate. The wedge-shaped protrusion 32 is inserted into the wedge-shaped groove 2121. In the initial position, the small end of the wedge-shaped protrusion 32 corresponds to the large end of the wedge-shaped groove 2121, and the finger 20 can rotate freely, and the wedge-shaped protrusion 32 will not hinder the wedge-shaped groove 2121; when the small end of the wedge-shaped groove 2121 rotates to the position corresponding to the small end of the wedge-shaped protrusion 32, the small end of the wedge-shaped protrusion 32 hinders the small end of the wedge-shaped groove 2121, limiting the continued rotation of the finger 20. At this time, the rotation angle range of the finger 20 is relatively large. If the rotation shaft 31 is controlled to rotate so that the large end of the wedge-shaped protrusion 32 corresponds to the position of the large end of the wedge-shaped groove 2121, when the finger 20 rotates, the large end of the wedge-shaped protrusion 32 has or will form an obstacle to the wedge-shaped groove 2121, and the finger 20 cannot rotate or can only rotate a small angle. At this time, the rotation angle range of the finger 20 is small. In short, by controlling the rotation shaft 31 to rotate and adjusting the width of the wedge-shaped protrusion 32 at the position corresponding to the large end of the wedge-shaped groove 2121, the rotation angle range of the finger 20 can be adjusted. The second driver can use a small motor 41 and a transmission mechanism to realize the rotation of the rotation shaft 31. The transmission mechanism can use a gear or a gear set.

[0071] In a preferred embodiment of the present invention, please also refer to Figure 1-Figure 3 , the finger portion 20 comprises:

[0072] A first finger segment 21, rotatably connected to the palm portion 10;

[0073] A second finger segment 22, rotatably connected to the first finger segment 21;

[0074] A connecting rod 23, both ends of which are rotatably connected to the palm portion 10 and the second finger segment 22 respectively;

[0075] The wedge-shaped groove 2121 is disposed at an end of the first finger segment 21 away from the second finger segment 22 .

[0076] Specifically, the finger portion 20 is divided into two finger segments, namely a first finger segment 21 and a second finger segment 22. The first finger segment 21 is directly connected to the palm portion 10 for rotation, and the second finger segment 22 is indirectly connected to the palm portion 10 for rotation via a connecting rod 23. When the first finger segment 21 rotates relative to the palm portion 10, the second finger segment 22 is driven to rotate relative to the first finger segment 21, so that the entire finger portion 20 is bent.

[0077] The palm portion 10 includes: a base plate 11 and at least one bracket 12; the bracket 12 is arranged on the base plate 11, and a worm 43 is rotatably arranged on the bracket 12. The first finger segment 21 includes: a housing 211, a worm wheel 212, and a first rotating shaft 213, the first rotating shaft 213 is arranged at one end of the housing 211 facing the palm portion 10, and the worm wheel 212 is arranged on the first rotating shaft 213 and meshes with the worm 43; the second finger segment 22 includes: a body 221 and a second rotating shaft 222, the second rotating shaft 222 is arranged at one end of the body 221 facing the palm portion 10, and the second rotating shaft 222 is rotatably connected to the housing 211, and a third rotating shaft 231 and a fourth rotating shaft 232 are arranged at both ends of the connecting rod 23, the third rotating shaft 231 is located above the first rotating shaft 213 and is rotatably connected to the bracket 12, and the fourth rotating shaft 232 is located below the second rotating shaft 222 and is rotatably connected to the body 221. The wedge-shaped groove 2121 is disposed on the worm wheel 212 . The wedge-shaped groove 2121 extends along the rotation direction of the worm wheel 212 . The wedge-shaped groove 2121 is located on a side of the worm wheel 212 away from the worm 43 .

[0078] In a preferred embodiment of the present invention, please also refer to Figure 1-Figure 3 , the artificial hand also includes:

[0079] The angle detector is disposed on the palm 10 and electrically connected to the controller, and is used to detect the rotation angle of the finger 20 .

[0080] Specifically, in order to accurately detect the rotation angle of the finger 20, an angle detector is configured on the palm 10 to detect the rotation angle of the finger 20 and obtain it by the controller. The rotation angle detected by the angle detector can assist in determining the movement intention.

[0081] In a preferred embodiment of the present invention, please also refer to Figure 2-Figure 4 , the angle detector comprises:

[0082] A sensor, disposed on the first finger segment 21;

[0083] The detector is disposed on the palm portion 10 and is electrically connected to the controller and is used to detect the rotation angle of the sensor.

[0084] Specifically, the sensing part is arranged on the first finger segment 21, specifically on the mounting hole 2123 of the worm gear 212; the detecting part is arranged on the palm 10, specifically on the bracket 12; the position of the sensor is arranged corresponding to the position of the detector; when the finger 20 rotates, the sensor rotates accordingly and is detected by the detector, thereby obtaining the rotation angle of the sensor, that is, the rotation angle of the finger 20.

[0085] In a preferred embodiment of the present invention, the artificial hand further comprises:

[0086] The motion sensor is disposed on the finger portion 20 and is electrically connected to the controller.

[0087] Specifically, in order to further accurately determine the intention of movement, a motion sensor is configured on the palm 10, and the motion sensor collects motion parameters, which are acquired by the controller. The motion parameters collected by the motion sensor can assist in determining the intention of movement.

[0088] In a preferred embodiment of the present invention, the motion sensor is an IMU sensor.

[0089] Specifically, the motion sensor includes an IMU (inertial measurement unit) sensor. Other sensors such as an accelerometer, a gyroscope, etc. may be used as needed.

[0090] In a preferred embodiment of the present invention, please also refer to Figure 1-Figure 3 The rotation angle of the finger 20 is -5° to 90°.

[0091] Specifically, the rotation angle of the finger 20 is configured and adjusted according to needs, and the rotation angle range of the finger 20 can usually be configured according to the rotation angle range of a real finger.

[0092] In a preferred embodiment of the present invention, the electromyographic sensor comprises at least one of a needle electrode electromyographic sensor and a surface electrode electromyographic sensor.

[0093] Specifically, the electromyographic sensor may be a needle electrode electromyographic sensor or a surface electrode electromyographic sensor.

[0094] In a preferred embodiment of the present invention, please also refer to Figure 1-Figure 3 , the first driver 40 comprises:

[0095] A motor 41 is disposed on the palm portion 10;

[0096] A damper 42 connected to the output shaft of the motor 41;

[0097] A worm 43 rotatably disposed on the palm portion 10 and connected to the damper 42 ;

[0098] Wherein, the damping coefficient of the damper 42 is adjustable;

[0099] The worm 43 is provided with a first thread, and the finger portion 20 is provided with a second thread 2122 , and the second thread 2122 is meshed with the first thread.

[0100] Specifically, the second thread 2122 is provided on the worm wheel 212, the motor 41 is provided on the base plate 11 of the palm 10, and the damper 42 is used to adjust the resistance of the output torque of the motor 41 so that the bending of the finger 20 is not too rigid. The worm 43 rotates the bracket 12 provided on the palm 10, and the output torque of the motor 41 drives the worm 43 to rotate through the damper 42, thereby driving the worm wheel 212 to rotate, so as to realize the bending and straightening of the finger 20.

[0101] In a preferred embodiment of the present invention, the damping coefficient of the damper 42 is determined according to the rotation angle range.

[0102] Specifically, the damping coefficient of the damper 42 is adjustable, and different damping coefficients are used under different movement intentions. Due to different movement intentions, the rotation angle range of the finger 20 is also different. After the movement intention is determined by the electromyographic signal collected by the electromyographic sensor, the damping coefficient of the damper 42 can be adjusted according to the movement intention.

[0103] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made according to the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A prosthetic hand, comprising: A palm and at least one finger; The palm portion is used to connect with the user's severed hand, and the palm portion is rotatably connected with the finger portion; characterized in that the artificial hand further comprises: An electromyographic sensor is disposed on the palm and connected to the severed hand, and is used to detect the electromyographic signal of the severed hand; at least one angle limiting device, electrically connected to the electromyographic sensor and used to limit the rotation angle range of the finger; Wherein, the angle limiting device moves relative to the palm to adjust the rotation angle range; At least one wedge-shaped groove is provided on the finger portion, the wedge-shaped groove extends along the rotation direction of the finger portion, the small end of the wedge-shaped groove is away from the palm portion and the large end of the wedge-shaped groove is close to the palm portion; The angle limiting device comprises: A rotation shaft, rotatably connected to the palm portion; at least one wedge-shaped protrusion, disposed on the rotating shaft; A second driver, disposed on the palm portion and used to drive the rotating shaft to rotate; Wherein, the wedge-shaped protrusion is inserted into the wedge-shaped groove and fits with the wedge-shaped groove; When the wedge-shaped protrusion rotates to different angles, the wedge-shaped groove is restricted by the wedge-shaped protrusion, and the rotation angle range of the finger portion is different.

2. The artificial hand according to claim 1, characterized in that: The artificial hand also includes: at least one first driver, disposed on the palm portion and used to drive the finger portion to rotate; The controller is arranged on the palm and is electrically connected to the electromyographic sensor, the angle limiting device and the first driver.

3. The artificial hand according to claim 2, characterized in that: The second driver is electrically connected to the controller.

4. The artificial hand according to claim 3, characterized in that: The finger portion comprises: A first finger segment, rotatably connected to the palm portion; a second finger segment, rotatably connected to the first finger segment; A connecting rod, both ends of which are rotatably connected to the palm portion and the second finger segment respectively; Wherein, the wedge-shaped groove is arranged at an end of the first finger segment away from the second finger segment.

5. The artificial hand according to claim 4, characterized in that: The artificial hand also includes: an angle detector, disposed on the palm and electrically connected to the controller, and used to detect the rotation angle of the finger; and / or The motion sensor is arranged on the finger and is electrically connected to the controller.

6. The artificial hand according to claim 5, characterized in that: The motion sensor is an IMU sensor.

7. The artificial hand according to claim 5, characterized in that: The angle detector comprises: a sensor, disposed on the first finger segment; The detector is arranged on the palm, is electrically connected to the controller, and is used for detecting the rotation angle of the sensor.

8. The artificial hand according to claim 2, characterized in that: The rotation angle of the finger is -5° to 90°; and / or The electromyographic sensor comprises at least one of a needle electrode electromyographic sensor and a surface electrode electromyographic sensor.

9. The artificial hand according to any one of claims 2 to 8, characterized in that: The first driver comprises: A motor, arranged on the palm portion; A damper connected to the output shaft of the motor; A worm, rotatably disposed on the palm portion and connected to the damper; Wherein, the damping coefficient of the damper is adjustable; The worm is provided with a first thread, and the finger portion is provided with a second thread, and the second thread is meshed with the first thread.

10. The artificial hand according to claim 9, characterized in that: The damping coefficient of the damper is determined according to the rotation angle range.

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