Muscle pressure control prosthetic hand
By using airbags and pressure sensors in the prosthetic hand to transmit the pressure signal of muscle movement to the motor, the existing prosthetic hand is solved, and the safe, reliable and convenient muscle control effect is achieved.
Patent Information
- Application Number
- CN202420768503.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-15
- Publication Date
- 2025-03-14
- Estimated Expiration
- 2034-04-15
AI Technical Summary
Existing prosthetic hands have problems such as inconvenience in use, adverse effects on human skin, or high cost of use.
The prosthetic hand is controlled by muscle pressure, and the pressure signal of muscle movement is transmitted to the motor through the airbag and pressure sensor, controlling the bend and unfolding of the fingers, avoiding direct contact between the electrode and the skin.
It realizes safe and reliable control without electrodes directly contacting the skin, reduces the cost and complexity of use, and facilitates patients to install and use it themselves.
Smart Images
Figure CN222604757U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of rehabilitation equipment, in particular to a muscle pressure controlled prosthetic hand. Background Art
[0002] The prosthetic hand can be installed on the arm when the patient loses the hand due to an accident (such as pre-wrist amputation or three-inch forearm amputation, etc.), replacing the original hand for completely simple grasping movements.
[0003] Most of the prosthetic hands on the market are myoelectric hands controlled by nerve signals. Myoelectric hands require electrodes to be implanted in the skin or controlled by electrical signals on the skin surface. They all require electrodes and conductive glue to be in close contact with the specified position of the skin. In normal use, the electrode position needs to be adjusted once a day. Sometimes, normal body activities will cause the position to move when touching the electrodes, causing the myoelectric hand to malfunction. These two types of electrodes are in contact with the body and skin for a long time, causing certain stimulation and adverse effects on the body and skin, and are not easy to use for a long time.
[0004] The existing technology also has prosthetic hands that use mechanical methods (including pneumatic drive) to achieve grasping movements, but no solution has been proposed that uses muscle movement to provide driving force, and the existing overall mechanical structures are relatively complex, resulting in high production and maintenance costs for prosthetic hands.
[0005] In addition, the fingers of existing prosthetic hands are often bent or extended by pulling with metal wires, but the metal wires are small in diameter and easily misplaced in the prosthetic shell. Therefore, special holes need to be set to install the metal wires, which makes the shell structure complicated and inconvenient to manufacture and install. Utility Model Content
[0006] In order to solve the technical problems in the prior art that prosthetic hands are inconvenient to use, have adverse effects on human skin or have high cost of use, the utility model provides a muscle pressure controlled prosthetic hand to solve the above problems.
[0007] The technical solution adopted by the utility model to solve its technical problems is: a muscle pressure controlled prosthetic hand, comprising an electric hand, a muscle pressure control unit and a signal input component, wherein the electric hand has a motor inside; the muscle pressure control unit is located in the electric hand, and comprises a circuit board and a pressure sensor electrically connected to the motor; the signal input component comprises a deformable fixing part and an airbag located in the deformable fixing part, and the airbag is connected to the pressure sensor through a hose; the deformable fixing part can be fixed on the arm.
[0008] When muscle movement applies or releases pressure on the airbag, the pressure sensor sends a corresponding signal to the circuit board, thereby controlling the motor to rotate forward or reverse.
[0009] Furthermore, the electric hand includes a hand-shaped shell having a palm and five fingers, a mounting frame located inside the palm, and pulling pieces corresponding to the fingers one by one. The interior of the hand-shaped shell is a hollow structure, one end of the pulling piece is connected to the mounting frame, and the other end is connected to the tip of the finger. The mounting frame is connected to the output shaft of the motor, and the motor drives the five fingers to bend or unfold simultaneously through the pulling piece.
[0010] Furthermore, the pulling member is made of a hard material that can be bent.
[0011] Furthermore, the pulling member is a cable tie, and the pulling member fits the surface of the inner part of the finger close to the palm.
[0012] Furthermore, the mounting frame includes a main board and side panels located on both sides of the main board, the side panels are fixed to the output shaft of the motor, the pulling piece connected to the thumb is connected to one of the side panels, and the main board is fixed to the pulling pieces connected to the remaining four fingers.
[0013] Furthermore, the side panel is arranged perpendicularly to the main board, the output shaft of the motor is located on the side of the main board close to the back of the palm, and the fixing point of the side panel and the pulling member is located on the side of the main board close to the back of the palm.
[0014] Furthermore, the deformable fixing member includes a cloth bag and connecting buckles located at both ends of the cloth bag, and the airbag is located in the cloth bag.
[0015] Furthermore, the connecting buckle is a self-adhesive Velcro or a concealed buckle or a zipper, etc.
[0016] Furthermore, the fingers of the hand-shaped housing include a plurality of knuckles and deformation strips connecting adjacent knuckles, the deformation strips are located at one end of the knuckles away from the palm, and the connecting ends of adjacent knuckles form an opening opening toward the side where the palm is located.
[0017] Furthermore, the hand-shaped housing is formed by injection molding.
[0018] The beneficial effects of the utility model are:
[0019] (1) The utility model uses an air bag to transmit muscle pressure to a pressure sensor, thereby controlling the rotation of a motor. It does not require direct contact between electrodes and the body. It is safe and reliable, meeting the needs of patients for long-term use. It is also easy to install and does not require professionals. Patients can install and use it by themselves.
[0020] (2) The utility model connects five pulling members to the same mounting frame. Through the reasonable arrangement of the connection points, when the motor rotates, the five fingers can bend or unfold synchronously, thereby realizing a simple grasping and releasing action. The structure is simple and the manufacturing cost is low. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] The utility model is further described below in conjunction with the accompanying drawings and embodiments.
[0022] Figure 1 This is a front view of a specific embodiment of the muscle pressure controlled prosthetic hand of the utility model;
[0023] Figure 2 This is a side view of a specific embodiment of the muscle pressure controlled prosthetic hand of the utility model (the internal structure is visible)
[0024] Figure 3 yes Figure 2 AA section view;
[0025] Figure 4 yes Figure 2 BB section view.
[0026] In the figure, 1. electric hand, 101. motor, 102. hand-shaped shell, 1021. thumb, 1022. vertical finger, 103. mounting frame, 1031. main board, 1032. side panel, 104. pulling member, 1041. lateral pulling member, 1042. vertical pulling member, 2. muscle pressure control unit, 201. circuit board, 3. signal input component, 301. airbag, 302. hose, 4. knuckles, 5. deformation strip, 6. opening, 7. cloth bag, 8. screw, 9. power switch. DETAILED DESCRIPTION
[0027] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.
[0028] The utility model is mainly to facilitate long-term use by more users. On the premise of meeting basic usage functions and physical health requirements, it takes convenience and low cost as the main goals. Therefore, the utility model does not need to complete complex hand movements, but only needs to complete simple grasping movements to meet the basic life needs of patients while minimizing costs.
[0029] Embodiment 1
[0030] like Figure 1-Figure 3As shown, a muscle pressure controlled prosthetic hand comprises an electric hand 1, a muscle pressure control unit 2 and a signal input component 3. The electric hand 1 is a conventional hand-shaped structure, and has a motor 101 inside, and the motor 101 drives the fingers to complete simple bending and opening movements; the muscle pressure control unit 2 is located in the electric hand 1, and comprises a circuit board 201 and a pressure sensor electrically connected to the motor 101, and a power switch 9 is connected to the circuit board 201, and the power switch 9 is exposed outside the electric hand 1, so that the user can turn on or off the power; the signal input component 3 comprises a deformable fixing part and an airbag 301 located in the deformable fixing part, and the airbag 301 is connected to the pressure sensor through a hose 302; the deformable fixing part has a fixing function and is deformable, and the fixing function means that the deformable fixing part can be fixed on the arm, specifically refers to being fixed on the upper arm of the arm, and the deformability means that the tension change of the arm muscle can be transmitted to the airbag 301 through the deformable fixing part.
[0031] When muscle movement applies or releases pressure on the airbag 301 , the pressure sensor sends a corresponding signal to the circuit board 201 , thereby controlling the motor 101 to rotate forward or reverse.
[0032] Research has shown that human hand movements are generated by the coordination of multiple muscles in the arm, among which the pectoralis major and deltoid muscles are responsible for the upper arm force. However, when the upper limbs are defective, in order to protect the remaining residual arm from pulling injuries, the hand pulling force-adding movement with a large load cannot be performed, which results in the pectoralis major and deltoid muscles being unable to function. But in fact, the pectoralis major and deltoid muscles are easily controlled by nerves, and the muscle movement amplitude is large, which can easily cause the airbag 301 placed on the arm to produce pressure changes, thereby generating a stable signal output, and is not interfered by other signals, and can be used as a control signal for controlling the electric hand 1. Therefore, the utility model uses the muscle pressure signal generated by the clamping action between the upper arm and the chest to control the opening and closing of the electric hand 1 to perform a grasping action, which can not only simplify the power structure, but also exercise the pectoralis major and deltoid muscles.
[0033] The airbag 301 is equivalent to an external air source. The airbag 301 inputs or outputs gas to the pressure sensor, thereby causing a change in air pressure. The circuit design of controlling the operation of the motor 101 through the signal change of the pressure sensor is common knowledge to those skilled in the art, so the specific circuit structure is not described in this utility model.
[0034] Electric hand 1:
[0035] like Figure 1 and Figure 2As shown, the electric hand 1 includes a hand-shaped housing 102 having a palm and five fingers, a mounting frame 103 located in the palm, and pulling members 104 corresponding to the fingers one by one. The interior of the hand-shaped housing 102 is a hollow structure. One end of the pulling member 104 is connected to the mounting frame 103, and the other end is connected to the tip of the finger. The mounting frame 103 is connected to the output shaft of the motor 101, and the motor 101 drives the five fingers to bend or unfold at the same time through the pulling member 104. Since the interior of the hand-shaped housing 102 is hollow, space can be reserved for installing components such as the motor 101, the mounting frame 103, and the pulling member 104, and the mounting frame 103 also has enough space for movement. The fingers only need to complete simple grasping movements, and the mounting frame 103 does not need much space to move. Moreover, only one mounting frame 103 is needed to connect five pulling members 104 to drive the five fingers to move at the same time.
[0036] Since the thumb 1021 and the other four fingers are located in different positions and have different bending directions, the pulling direction of the pulling member 104 is also different. For the convenience of distinguishing and describing, the pulling member 104 connected to the thumb 1021 will be named as the lateral pulling member 1041, and the other four fingers (i.e., the index finger, middle finger, ring finger and little finger) will be named as the vertical fingers 1022. The pulling member 104 connected to the vertical fingers 1022 will be named as the vertical pulling member 1042. There is one lateral pulling member 1041 and four vertical pulling members 1042.
[0037] like Figure 2 As shown, the fingers of the hand-shaped housing 102 include a plurality of knuckles 4 and a deformable strip 5 connecting adjacent knuckles 4. The deformable strip 5 is located at one end of the knuckle 4 away from the palm, and the connecting ends of adjacent knuckles 4 form an opening 6 that opens toward the palm side. The deformable strip 5 enables adjacent knuckles 4 to rotate relative to each other, and the opening 6 provides space for the knuckle 4 to bend. The hand-shaped housing 102 is preferably injection molded, and the hand-shaped housing 102 made of plastic is light in weight and can reduce the burden on the arm.
[0038] Since the bending and spreading of the finger is driven by the pulling member 104, the pulling member 104 needs to be made of a hard material that can be bent, that is, the pulling member 104 can bend and support the finger at the same time. The pulling member 104 can be a traditional alloy wire.
[0039] Deformable fixings:
[0040] like Figure 2 As shown, the deformable fixing member includes a cloth bag 7 and connecting buckles at both ends of the cloth bag 7, and the airbag 301 is located in the cloth bag 7. The cloth bag 7 can be nylon cloth with high tensile strength. The cloth bag 7 is wrapped around the arm, and the connecting buckles are fastened to make the cloth bag 7 tight and the airbag 301 close to the arm. The connecting buckles can be self-adhesive Velcro or hidden buckles or zippers, etc.
[0041] Mounting frame 103:
[0042] The mounting frame 103 includes a main board 1031 and side panels 1032 located on both sides of the main board 1031, the side panels 1032 are fixed to the output shaft of the motor 101, the pulling member 104 connected to the thumb 1021 is connected to one of the side panels 1032, the main board 1031 is fixed to the pulling members 104 connected to the remaining four fingers, that is, the lateral pulling member 1041 is connected to the side panel 1032, and the four vertical pulling members 1042 are connected to the main board 1031. The vertical pulling member 1042 mainly extends along the direction of the arm, and the lateral pulling member 1041 mainly extends in the direction perpendicular to the palm, which conforms to the bending rule of the five fingers.
[0043] The side plate 1032 is arranged vertically with the main plate 1031, the output shaft of the motor 101 is located on the side of the main plate 1031 close to the back of the palm, and the output shaft of the motor 101 is located on the side of the fixing point of the side plate 1032 and the pulling member 104 close to the back of the palm. Figure 2-Figure 4 As shown, the palm is on the left side, the back of the hand is on the right side, the motor 101 is arranged on the right side of the main board 1031, and the side plate 1032 is provided with four screws 8 arranged in an array, the center of the array is the output shaft center of the motor 101, the lateral pulling member 1041 is connected to the screw 8 below, and the other screws 8 fix the side plate 1032 and the motor 101, and the vertical pulling member 1042 extends downward (as shown in FIG. Figure 3 As shown in FIG. 1 , the lateral pulling member 1041 extends horizontally. When the motor 101 rotates counterclockwise, the main board 1031 moves downward and pulls the vertical pulling member 1042, and the fixing point of the lateral pulling member 1041 and the side plate 1032 rotates rightward, thereby pulling the lateral pulling member 1041 rightward, thereby achieving synchronous bending of the five fingers.
[0044] Embodiment 2
[0045] The pull piece 104 made of alloy wire has a small diameter and is easy to be displaced in the hollow finger. Therefore, a positioning hole needs to be set to pass the alloy wire through the positioning hole for positioning, which makes the internal structure of the finger complicated. In this embodiment, the pull piece 104 is improved into a cable tie. The cable tie is a flat strip with a width designed to be similar to the width of the inner cavity of the finger, which can fit the inner wall of the finger. Preferably, the pull piece 104 fits the surface of the inner part of the finger close to the palm side. At this time, the pull piece 104 only needs to be fixed at the end. When the finger is bent, it bends toward the palm, so the pull piece 104 can always fit the inner wall of the finger.
[0046] The cloth bag 7 in the utility model can be wrapped around the upper arm outside the clothes, and the internal air bag 301 is placed between the upper arm and the chest, and connected to the electric hand 1 through the hose 302, so as to realize the function of controlling the electric hand 1 to grasp objects by clamping the upper arm and the chest, thereby achieving the purpose of controlling the electric hand 1 to grasp objects without any stimulation to the body and can be used for a long time.
[0047] In the description of the present invention, it should be understood that the terms "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.
[0048] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium.
[0049] In this specification, the schematic representation of the terms does not necessarily refer to the same embodiment. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in one or more embodiments.
[0050] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.
Claims
1. A muscle pressure controlled prosthetic hand, characterized in that: include: An electric hand (1) having a motor (101) therein; A muscle pressure control unit (2), located in the electric hand (1), comprising a circuit board (201) electrically connected to the motor (101) and a pressure sensor; A signal input component (3) comprises a deformable fixing member and an airbag (301) located in the deformable fixing member, wherein the airbag (301) is connected to a pressure sensor via a hose (302); the deformable fixing member can be fixed on an arm; When muscle movement applies or releases pressure on the airbag (301), the pressure sensor sends a corresponding signal to the circuit board (201), thereby controlling the motor (101) to rotate forward or reverse.
2. The muscle pressure controlled prosthetic hand according to claim 1, characterized in that: The electric hand (1) comprises a hand-shaped housing (102) having a palm and five fingers, a mounting frame (103) located in the palm, and pulling members (104) corresponding to the fingers one by one. The interior of the hand-shaped housing (102) is a hollow structure. One end of the pulling member (104) is connected to the mounting frame (103), and the other end is connected to the tip of the finger. The mounting frame (103) is connected to the output shaft of the motor (101). The motor (101) drives the five fingers to bend or unfold simultaneously through the pulling member (104).
3. The muscle pressure controlled prosthetic hand according to claim 2, characterized in that: The pulling member (104) is made of a hard material that can be bent.
4. The muscle pressure controlled prosthetic hand according to claim 2, characterized in that: The pulling piece (104) is a cable tie, and the pulling piece (104) fits the surface of the inside of the finger close to the palm.
5. The muscle pressure controlled prosthetic hand according to claim 2, characterized in that: The mounting frame (103) comprises a main board (1031) and side boards (1032) located on both sides of the main board (1031); the side boards (1032) are fixed to the output shaft of the motor (101); a pulling piece (104) connected to the thumb (1021) is connected to one of the side boards (1032); and the main board (1031) is fixed to the pulling pieces (104) connected to the remaining four fingers.
6. The muscle pressure controlled prosthetic hand according to claim 5, characterized in that: The side plate (1032) and the main plate (1031) are arranged vertically, the output shaft of the motor (101) is located on the side of the main plate (1031) close to the back of the palm, and the fixing point of the side plate (1032) and the pulling member (104) is located on the side of the main plate (1031) close to the back of the palm.
7. The muscle pressure controlled prosthetic hand according to claim 1, characterized in that: The deformable fixing member comprises a cloth bag (7) and connecting buckles located at two ends of the cloth bag (7), and the airbag (301) is located inside the cloth bag (7).
8. The muscle pressure controlled prosthetic hand according to claim 7, characterized in that: The connecting buckle is a self-adhesive Velcro or a concealed buckle or a zipper.
9. The muscle pressure controlled prosthetic hand according to claim 2, characterized in that: The fingers of the hand-shaped housing (102) include a plurality of knuckles (4) and a deformation strip (5) connecting adjacent knuckles (4); the deformation strip (5) is located at one end of the knuckle (4) away from the palm, and the connecting ends of adjacent knuckles (4) form an opening (6) that opens toward the side where the palm is located.
10. The muscle pressure controlled prosthetic hand according to claim 2, characterized in that: The hand-shaped housing (102) is formed by injection molding.