Intelligent bionic hand forearm and intelligent bionic hand

Abstract

The utility model discloses an intelligent bionic hand forearm which is used for connecting a bionic hand big arm and a bionic palm and comprises a forearm body, a first connecting assembly and a second connecting assembly, and a containing cavity for an arm stump wearing the bionic hand big arm to stretch into is formed in the forearm body. The first connecting assembly is arranged on the surface of the forearm body and detachably connected with the big arm of the bionic hand, and the second connecting assembly is arranged at the wrist position of the forearm body and detachably connected with the bionic palm. The intelligent bionic forearm is comfortable to wear, can be compatible with various bionic palm external devices, and is simple and practical.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic hands, in particular to an intelligent bionic hand forearm and an intelligent bionic hand using the intelligent bionic hand forearm. Background Art

[0002] A bionic hand is usually divided into an upper arm, a lower arm and a bionic palm. The upper arm is worn on the residual arm and connected to the lower arm, which is then connected to the bionic palm.

[0003] The existing bionic hand forearm structure is made of hard plastic material. The part of the inner side of the forearm that contacts the residual limb is squeezed by the hard inner wall and the residual limb, which makes it uncomfortable to wear. Utility Model Content

[0004] The main purpose of the utility model is to provide an intelligent bionic hand forearm, aiming to solve the technical problems in the prior art that the hard forearm of the intelligent bionic hand contacts and squeezes the residual limb, resulting in discomfort when worn.

[0005] To achieve the above-mentioned purpose, the utility model proposes an intelligent bionic hand forearm, which is used to connect a bionic hand upper arm and a bionic palm, and comprises a forearm body, a first connecting component and a second connecting component, wherein:

[0006] The forearm body is provided with a receiving cavity for the residual limb of the arm wearing the bionic hand to extend into;

[0007] The first connection component is arranged on the surface of the forearm body and is detachably connected to the upper arm of the bionic hand. The second connection component is arranged at the wrist position of the forearm body and is detachably connected to the bionic palm.

[0008] In some embodiments, the inner wall of the accommodating cavity is provided with a flexible material, and the flexible material is filled between the inner wall of the accommodating cavity and the residual arm extending into the accommodating cavity.

[0009] In some embodiments, the forearm body further includes a covering member, the covering member is configured to conform to the accommodating cavity, the covering member covers the accommodating cavity, and the flexible material is filled between the covering member and the accommodating cavity.

[0010] In some embodiments, the first connecting component can be electrically connected to the bionic hand upper arm and used to transmit the electromyographic signal collected by the electrode component of the bionic hand upper arm.

[0011] In some embodiments, the second connection component can be electrically connected to the bionic palm and used to transmit the electromyographic signal collected by the electrode component of the bionic hand upper arm.

[0012] In some embodiments, the bionic palm includes a plurality of fingers, each of which is provided with a force sensor.

[0013] In some embodiments, the finger is further provided with a temperature sensor, and the temperature sensor is used to detect the temperature of the grasped object.

[0014] In some embodiments, the second connecting component includes a telescopic member, and the telescopic member includes two connecting ends arranged opposite to each other, one end of which is connected to the forearm body, and the other end of which is connected to the bionic palm.

[0015] In some embodiments, the second connecting assembly further includes a telescopic adjustment rod, which is detachably connected to the telescopic member and is used to adjust the distance between the two connecting ends of the telescopic member.

[0016] Furthermore, the utility model proposes an intelligent bionic hand, comprising an intelligent bionic hand upper arm, an intelligent bionic hand palm and the intelligent bionic hand forearm recorded above, the intelligent bionic hand upper arm, the intelligent bionic hand forearm and the bionic palm are connected in sequence, and the bionic palm is used to control finger movements according to the electromyographic signals collected by the intelligent bionic hand upper arm component.

[0017] The utility model realizes the assembly and splicing of the three by inserting the residual limb of the arm wearing the bionic hand into the accommodation cavity of the forearm body, and then the forearm body, the bionic hand upper arm and the bionic palm complete the mechanical and electrical interface docking respectively. The forearm body not only ensures the stable placement of the residual limb, but also realizes the overall rapid connection and disassembly. This design improves the safety and convenience of use and enhances the applicability of the bionic hand system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of an intelligent bionic hand in one embodiment of the utility model;

[0019] Figure 2 It is a schematic structural diagram of the second connecting member in one embodiment of the utility model.

[0020] The purpose, features and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0023] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0024] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0025] Reference Figure 1 , an intelligent bionic hand forearm, used to connect a bionic hand upper arm 4 and a bionic palm 5, comprising a forearm body 1, a first connecting component 2 and a second connecting component 3, wherein,

[0026] The forearm body 1 is provided with a receiving cavity 10 for the residual arm of the arm 4 wearing the bionic hand to extend into;

[0027] The first connection component 2 is arranged on the surface of the forearm body 1 and is detachably connected to the bionic hand upper arm 4 . The second connection component 3 is arranged at the wrist position of the forearm body 1 and is detachably connected to the bionic palm 5 .

[0028] In this embodiment, a receiving cavity 10 is provided inside the forearm body 1 for the residual limb end to be inserted into, so that the residual limb is stable, and the residual limb end can contact the soft inner membrane of the receiving cavity 10, effectively preventing compression injury. The first connecting component 2 is arranged on the outer surface of the forearm, and is detachably connected to the bionic hand upper arm 4, and is electrically conductive, so as to achieve a stable and reliable connection between the two, and has a high degree of matching with the upper arm, can be quickly disassembled and replaced, and is flexible and convenient to use. The second connecting component 3 is arranged at the wrist position of the forearm, and is detachably connected to the bionic palm 5, which can meet various complex movement requirements of the palm, supports rapid disassembly and replacement, and is flexible to use.

[0029] The utility model intelligent bionic hand forearm, after the residual limb of the arm wearing the bionic hand upper arm 4 is inserted into the accommodating cavity 10 of the forearm body 1, the forearm body 1 and the bionic hand upper arm 4 and the bionic palm 5 respectively complete the mechanical and electrical interface docking, so as to realize the assembly and splicing of the three. The forearm body 1 not only ensures the stable placement of the residual limb, but also realizes the overall rapid connection and disassembly. This design improves the safety and convenience of use, and enhances the applicability of the bionic hand system.

[0030] Reference Figure 1 In some embodiments, the inner wall of the accommodating cavity 10 proposed in the embodiment of the utility model is provided with a flexible material, and the flexible material is filled between the inner wall of the accommodating cavity 10 and the arm stump extending into the accommodating cavity 10.

[0031] In this embodiment, after a part of the arm stump is extended into the accommodating chamber 10, the end of the arm stump that is extended into the accommodating chamber 10 is contacted by the flexible material provided on the inner wall of the accommodating chamber 10. When the end of the arm stump drives the forearm to move, the arm first contacts the flexible material during the movement, and then drives the forearm to move. The flexible material plays a buffering role between the moving arm or arm stump and the forearm, avoiding the squeezing and discomfort caused by the arm or arm stump directly contacting the hard forearm. The function of the second connecting component 3 is that when it is necessary to replace the bionic palm 5 of different models, the adaptation of the bionic palm 5 can be replaced by replacing the second connecting component 3 of different specifications. Specifically, one of the two ends of the second connecting component 3 can be adapted to the main body design of the forearm, and the other end is designed to adapt to the specifications of the bionic palm 5. The purpose of the second connecting component 3 is the conversion between standard and non-standard, which plays the role of carrying out the conversion. The second connecting component 3 can be connected to the external device by setting a rotating shaft so that the external device can rotate relative to the main body.

[0032] In some embodiments, the forearm body 1 proposed in the embodiment of the utility model also includes a covering piece, which is configured to conform to the accommodating cavity 10 , and the covering piece covers the accommodating cavity 10 , and the flexible material is filled between the covering piece and the accommodating cavity 10 .

[0033] In this embodiment, the covering member may be a cloth woven on the accommodating cavity 10, which has a certain air permeability, and the covering member is designed to conform to the accommodating cavity 10, that is, the covering member is consistent with the accommodating cavity 10 in shape, and a flexible material is filled between the covering member and the accommodating cavity 10. This design is intended to restrict the position and wrap the flexible material when some flexible materials cannot be directly fixed in the accommodating cavity 10 of the forearm body 1, and is beneficial to protecting the flexible material.

[0034] The covering is usually made of mesh or breathable materials, because it needs to be in contact with the arm or arm stump, and also needs a certain heat dissipation capacity. Choosing mesh or breathable materials can avoid sweating caused by the heat generated by the arm or arm stump, making the wearer's wearing experience more comfortable. For reference, you can choose airflow knitting, which is airflow spinning, ventilation and sweat removal, and high usability.

[0035] In some embodiments, the flexible material provided by the present invention includes aerogel.

[0036] Aerogel can be selected as a filling material for flexible materials. Aerogel is a lightweight gel material with high porosity. It has a solid-like shape and can flow like liquid and gas. The main raw material of aerogel is silicon dioxide, which is prepared through a sol-gel process. Its porosity is usually above 90%, and its density is only one hundredth to one thousandth of that of traditional plastics. Aerogel has low density, high elasticity and heat absorption, and is a good elastic material.

[0037] In some embodiments, memory foam can also be used as a flexible filling material. Memory foam has excellent resilience, can provide good elastic support, and also has certain thermal conductivity, but it is relatively thick and has poor heat dissipation.

[0038] Reference Figure 1 In some embodiments, the first connection component 2 proposed in the embodiment of the utility model can be electrically connected with the bionic hand upper arm 4, and is used to transmit the electromyographic signal collected by the electrode component 41 of the bionic hand upper arm 4.

[0039] In this embodiment, the first connection component 2 is mechanically connected to the bionic hand upper arm 4 while realizing electrical connection. Electrical conduction between the first connection component 2 and the upper arm circuit is realized by means of cables, interfaces, etc. The electromyographic signal detected by the electrode component 41 on the upper arm can be transmitted to the control system inside the forearm body 1 through the first connection component 2. The effect of the first connection component 2 is to ensure the transmission of the electromyographic signal, which is conducive to the real-time and natural control of the bionic hand movement, and greatly improves the overall control performance and ease of use of the system. The first connection component 2 not only realizes mechanical connection for easy disassembly and assembly, but also provides an information connection channel. It is a key component for realizing residual limb control and is of great significance to improving user experience.

[0040] Reference Figure 1 In some embodiments, the second connection component 3 proposed in the embodiment of the utility model can be electrically connected with the bionic palm 5 and used to transmit the electromyographic signal collected by the electrode component 41 of the bionic upper arm 4.

[0041] In this embodiment, the second connection component 3 is mechanically connected to the bionic palm 5, and also serves as a docking part that is electrically connected to the bionic palm 5. Electrical signal conduction between the two parties is achieved through cables, adapters, etc. The electromyographic signal collected by the electrode component 41 of the upper arm can pass through the internal circuit of the lower arm body 1 and then be transmitted to the bionic palm 5 through the second connection component 3. The effect of the second connection component 3 is to ensure that the electromyographic signal is transmitted to the bionic palm, providing a basis for the bionic palm 5 to parse instructions and perform precise and complex movements, thereby achieving natural and smooth bionic palm 5 movement under the guidance of the movement of the residual limb end, significantly improving the control accuracy and user experience of the bionic hand. The second connection component 3 plays a key role in connection and signal relay, greatly enhancing the control performance and practicality of the entire bionic hand system.

[0042] Reference Figure 1 In some embodiments, the bionic palm 5 proposed in the embodiment of the utility model includes a plurality of fingers 51, and each of the fingers 51 is provided with a force sensor.

[0043] In some embodiments, the finger 51 provided in the embodiments of the present invention is also provided with a temperature sensor, and the temperature sensor is used to detect the temperature of the object being grasped.

[0044] In the above embodiment, the bionic palm 5 is provided with a microprocessor for receiving electromyographic signals, force sensors for detecting force signals, and temperature sensors for detecting temperature signals. Generally, the microprocessor is a PCB. Each bionic finger 51 is provided with a thin piezoresistive force sensor at the fingertips. When the bionic hand grasps an object, the sensor detects the pressure from the object. The resistance value of the sensor changes with the increase of pressure. The sensor converts the resistance value into a corresponding voltage signal through a circuit. The signal is sent to the microprocessor in the palm for analysis to calculate the magnitude of the grasping force. If the grasping is too large or too small, the microprocessor will control the grasping force of the bionic hand accordingly.

[0045] Each finger 51 is also embedded with a precise thermocouple temperature probe as a temperature sensor. When the bionic hand grasps an object, the sensor contacts the surface of the object and detects its temperature. At different temperatures, the thermocouple generates different thermoelectric potentials. This voltage signal is converted into a digital signal and input into the microprocessor. The microprocessor analyzes the specific temperature of the object, such as overheating, low temperature, etc., and gives corresponding feedback to adjust the gripping force or issue a warning to the user.

[0046] Reference Figure 2 In some embodiments, the second connecting component 3 proposed in the embodiment of the utility model includes a telescopic member 31, and the telescopic member 31 includes two connecting ends arranged opposite to each other, one end of which is connected to the forearm body 1, and the other end is connected to the bionic palm 5.

[0047] In this embodiment, the two ends of the telescopic member 31 are respectively connected to the forearm body 1 and the bionic palm 5, and can be extended and contracted within a certain range. When the overall length of the bionic hand needs to be adjusted, the overall length of the bionic hand is extended or contracted by adjusting the extension or contraction of the telescopic member 31. The effect of the telescopic member 31 is to adapt to the complex and flexible movements of the palm and provide sufficient degrees of freedom for each finger joint. In addition, the working space and range of motion of the bionic hand can be expanded, allowing the palm to have a larger range of motion.

[0048] Reference Figure 2 Furthermore, in some embodiments, the second connecting component 3 proposed in the embodiment of the utility model also includes a telescopic adjustment rod 32, and the telescopic adjustment rod 32 is detachably connected to the telescopic member 31, and is used to adjust the distance between the two connecting ends of the telescopic member 31.

[0049] In the above embodiment, the telescopic adjustment rod 32 can be a slender metal or plastic adjustment rod, which can be detachably connected to the inside of the telescopic member 31. It is connected to the inner wall of the telescopic member 31 by means of threads or hooks, and can slide or rotate. The user can manipulate the telescopic adjustment rod 32 from the outside of the telescopic member 31 to drive it to slide or rotate along the axis of the telescopic member 31. The sliding or rotation of the telescopic adjustment rod 32 will drive the transmission mechanism inside the telescopic member 31 to move through mechanical transmission. Thereby, the elastic component of the telescopic member 31 is driven to undergo corresponding contraction or extension deformation, thereby achieving precise adjustment of the telescopic amount. Through the adjustment of the telescopic adjustment rod 32, the user can control the length of the second connecting component 3 as needed to adapt to different usage environments.

[0050] In some embodiments, if the forearm body is connected to the bionic palm via a signal line, the signal line may pass through the telescopic adjustment rod.

[0051] Reference Figure 1 In some embodiments, the utility model further proposes an intelligent bionic hand, comprising the intelligent bionic hand upper arm 4, the intelligent bionic hand palm 5 and the intelligent bionic hand lower arm recorded in the above embodiments, wherein the intelligent bionic hand upper arm 4, the intelligent bionic hand lower arm and the bionic hand palm 5 are connected in sequence, and the bionic hand palm 5 is used to control the movement of the finger 51 according to the electromyographic signal collected by the intelligent bionic hand upper arm 4 component. The specific structure of the intelligent bionic hand lower arm refers to the above embodiments. Since the intelligent bionic hand adopts all the technical solutions of all the above embodiments, it has at least all the technical effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0052] In this embodiment, the intelligent bionic hand upper arm 4 is used to collect the electromyographic signals generated by the movements of the arm or the arm stump. After receiving the movement signals, the electromyographic electrodes generate electromyographic signals and transmit them to the lower structure to control the movement of the lower structure, or the electromyographic signals are transmitted to the bionic palm 5 via the lower structure to control the movement of the bionic palm 5.

[0053] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. An intelligent bionic hand forearm, used to connect a bionic hand upper arm and a bionic palm, characterized in that: It includes a forearm body, a first connecting component and a second connecting component, wherein: The forearm body is provided with a receiving cavity for the residual limb of the arm wearing the bionic hand to extend into; The first connection component is arranged on the surface of the forearm body and is detachably connected to the upper arm of the bionic hand. The second connection component is arranged at the wrist position of the forearm body and is detachably connected to the bionic palm.

2. The intelligent bionic hand forearm according to claim 1, characterized in that: The inner wall of the accommodating cavity is provided with a flexible material, and the flexible material is filled between the inner wall of the accommodating cavity and the residual arm extending into the accommodating cavity.

3. The intelligent bionic hand forearm according to claim 2, characterized in that: The forearm body also includes a covering piece, which is arranged in the same shape as the accommodating cavity. The covering piece covers the accommodating cavity, and the flexible material is filled between the covering piece and the accommodating cavity.

4. The intelligent bionic hand forearm according to claim 1, characterized in that: The first connecting component can be electrically connected to the bionic hand upper arm and is used to transmit the electromyographic signal collected by the electrode component of the bionic hand upper arm.

5. The intelligent bionic hand forearm according to claim 1, characterized in that: The second connecting component can be electrically connected to the bionic palm and is used to transmit the electromyographic signal collected by the electrode component of the bionic hand upper arm.

6. The intelligent bionic hand forearm according to claim 1, characterized in that: The bionic palm comprises a plurality of fingers, and the fingers are provided with force sensors.

7. The intelligent bionic hand forearm according to claim 6, characterized in that: The finger is also provided with a temperature sensor, and the temperature sensor is used to detect the temperature of the grasped object.

8. The intelligent bionic hand forearm according to claim 1, characterized in that: The second connecting component includes a telescopic member, and the telescopic member includes two connecting ends arranged opposite to each other, one end of which is connected to the forearm body, and the other end of which is connected to the bionic palm.

9. The intelligent bionic hand forearm according to claim 8, characterized in that: The second connecting assembly further comprises a telescopic adjusting rod, which is detachably connected to the telescopic member and is used to adjust the distance between the two connecting ends of the telescopic member.

10. An intelligent bionic hand, characterized in that: It comprises an intelligent bionic hand upper arm, an intelligent bionic hand palm and the intelligent bionic hand forearm according to any one of claims 1 to 9, wherein the intelligent bionic hand upper arm, the intelligent bionic hand forearm and the bionic palm are connected in sequence, and the bionic palm is used to control finger movements according to the electromyographic signals collected by the intelligent bionic hand upper arm component.

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