Tactile limb end structure and artificial limb

Abstract

The utility model discloses a tactile extremity structure and an artificial limb. The tactile extremity structure comprises a limb back structure; the limb abdomen structure is arranged on the limb back structure; the sensor is located between the limb back structure and the limb abdomen structure; the sensing target is arranged on the limb and abdomen structure; when the limb and abdomen structure deforms in a contact mode, the sensing target is driven to move and is sensed by the sensor. The sensor is located between the limb back structure and the limb belly structure, the sensing target is located on the limb belly structure and corresponds to the sensor in position, when the limb belly structure makes contact with other objects and deforms, the sensing target moves, the back sensor senses the movement, and therefore the limb end structure has touch sense and can sense contact. And the tactile extremity structure has a better simulation effect.

Description

Technical Field

[0001] The utility model relates to the technical field of prosthetics, and particularly to a tactile limb end structure and a prosthetic limb. Background Art

[0002] The limb end structure is an important component of a prosthetic limb and is used to assist disabled people in their daily lives. A real limb end structure usually has a sensing ability. In the prior art, it is difficult for the limb end structure of a prosthetic limb to achieve touch sensing.

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

[0004] The technical problem to be solved by the utility model is to provide a tactile limb end structure and a prosthetic limb aiming at the above defects of the prior art, so as to solve the problem that it is difficult for the limb end structure of a prosthetic limb to achieve touch sensing in the prior art.

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

[0006] A tactile limb end structure, which includes:

[0007] A dorsal limb structure;

[0008] A ventral limb structure, arranged on the dorsal limb structure;

[0009] A sensor, located between the dorsal limb structure and the ventral limb structure;

[0010] A sensing target, arranged on the ventral limb structure;

[0011] Wherein, when the ventral limb structure contacts and deforms, it drives the sensing target to move and is sensed by the sensor.

[0012] The above-mentioned tactile limb end structure, wherein the ventral limb structure includes:

[0013] A bracket, arranged on the dorsal limb structure;

[0014] A flexible peritoneal membrane, arranged on the bracket;

[0015] Wherein, a through hole is formed on the bracket, and the through hole corresponds to the position of the sensor;

[0016] The sensing target is arranged inside the flexible peritoneal membrane and within the through hole.

[0017] The above-mentioned tactile limb end structure, wherein the sensing target includes:

[0018] A base, arranged on the flexible peritoneal membrane;

[0019] The convex part is arranged on the base part;

[0020] Wherein, the convex part is located in the via hole and protrudes towards the sensor.

[0021] The described tactile limb tip structure, wherein the pore wall of the via hole is connected to the flexible peritoneum, and / or the pore wall of the via hole and the flexible peritoneum clamp the base part.

[0022] The described tactile limb tip structure, wherein the flexible peritoneum includes:

[0023] Abdominal convex part, the abdominal convex part protrudes towards the outside;

[0024] The induction target includes:

[0025] The first target is arranged inside the abdominal convex part.

[0026] The described tactile limb tip structure, wherein the flexible peritoneum includes:

[0027] Abdominal concave part, which is connected to the abdominal convex part;

[0028] The induction target includes:

[0029] The second target is arranged in the abdominal concave part.

[0030] The described tactile limb tip structure, wherein the flexible peritoneum includes:

[0031] Abdominal tip part, the abdominal tip part is located at the tip of the limb and is connected to the abdominal convex part;

[0032] The induction target includes:

[0033] The third target is arranged inside the abdominal tip part.

[0034] The described tactile limb tip structure, wherein the sensor includes:

[0035] Rigid circuit board;

[0036] Flexible circuit board, which is connected to the rigid circuit board;

[0037] Sensing element, which is arranged on the flexible circuit board;

[0038] Wherein, the position of the rigid circuit board corresponds to that of the abdominal convex part;

[0039] The position of the flexible circuit board corresponds to that of the abdominal tip part.

[0040] The described tactile limb tip structure, wherein the induction target is a conductive target, and the sensor includes at least one of a capacitive sensor, a resistive sensor, and an inductive sensor.

[0041] A prosthetic limb, which includes the tactile limb end structure described in any one of the above.

[0042] Beneficial effects: The sensor is located between the dorsal limb structure and the ventral limb structure. The sensing target is located on the ventral limb structure and corresponds to the position of the sensor. When the ventral limb structure deforms due to contact with other objects, the sensing target moves and is sensed by the sensor. Thus, the limb end structure has a sense of touch and can perceive contact. Moreover, the tactile limb end structure has a better simulation effect. Description of the Drawings

[0043] Figure 1 It is a schematic structural view of the tactile limb end structure in the present utility model.

[0044] Figure 2 It is a cross-sectional view of the tactile limb end structure in the present utility model.

[0045] Figure 3 It is an exploded view of the tactile limb end structure in the present utility model.

[0046] Figure 4 It is a schematic structural view of the bracket in the present utility model.

[0047] Description of the Reference Numerals:

[0048] 10, dorsal limb structure; 20, ventral limb structure; 21, bracket; 22, flexible peritoneal membrane; 221, ventral convex part; 222, ventral concave part; 223, ventral tip part; 30, sensor; 31, rigid circuit board; 32, flexible circuit board; 40, sensing target; 41, first target; 42, second target; 43, third target; 44, base; 45, convex part. Detailed Embodiments

[0049] To make the objectives, technical solutions and advantages of the present utility model clearer and more definite, the following further describes the present utility model in detail with reference to the accompanying drawings and by way of examples. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0050] Please also refer to Figures 1-4 , the present utility model provides some preferred embodiments of a tactile limb end structure.

[0051] As Figure 1 and Figure 2 shown, the tactile limb end structure includes:

[0052] Dorsal limb structure 10;

[0053] Ventral limb structure 20, disposed on the dorsal limb structure 10;

[0054] The sensor 30 is located between the dorsal limb structure 10 and the ventral limb structure 20;

[0055] The sensing target 40 is arranged on the ventral limb structure 20;

[0056] Wherein, when the ventral limb structure 20 contacts and deforms, it drives the sensing target 40 to move, and is sensed by the sensor 30.

[0057] Specifically, the limb ends of organisms such as humans or animals have tactile functions. In order to enable the limb ends of prosthetics to form tactile functions, the sensor 30 and the sensing target 40 are arranged on the limb end structure to form a tactile limb end structure. The limb end structure refers to the end structure of the prosthetic limb. The limb end structure includes a prosthetic finger or a prosthetic toe. The dorsal limb structure 10 refers to the structure located on the outer side when the limb end is bent. The ventral limb structure 20 refers to the structure located on the inner side when the limb end is bent. The sensor 30 is located between the dorsal limb structure 10 and the ventral limb structure 20. The sensing target 40 is located on the ventral limb structure 20 and corresponds to the position of the sensor 30. When the ventral limb structure 20 contacts other objects and deforms, the sensing target 40 moves and is sensed by the sensor 30. Thus, the limb end structure has a tactile sense and can perceive contact. Moreover, the tactile limb end structure has a better simulation effect.

[0058] The sensor 30 is used to sense the moving sensing target 40. Once the sensing target 40 moves and is sensed by the sensor 30, it can be considered that the ventral limb structure 20 has contacted an object.

[0059] In a preferred embodiment of the present invention, the sensing target 40 is a conductive target, and the sensor 30 includes at least one of a capacitance sensor, a resistance sensor, and an inductance sensor.

[0060] Specifically, the sensing target 40 is a conductive target and has conductivity. In order to avoid the sensing target 40 damaging the sensor 30, the sensing target 40 can be made of a soft material. Then the sensing target 40 can deform and will not damage the sensor 30 even if it contacts the sensor 30. Sensors 30 with different principles can all sense the conductive target. The sensor 30 can be a capacitance sensor, a resistance sensor, or an inductance sensor.

[0061] In a preferred embodiment of the present invention, please also refer to Figures 2-4 , the ventral limb structure 20 includes:

[0062] A bracket 21 is arranged on the dorsal limb structure 10;

[0063] A flexible peritoneal membrane 22 is arranged on the bracket 21;

[0064] Wherein, a through hole is formed on the bracket 21, and the through hole corresponds to the position of the sensor 30;

[0065] The induction target 40 is arranged inside the flexible peritoneum 22 and located within the via hole.

[0066] Specifically, the bracket 21 is used to support the flexible peritoneum 22. The flexible peritoneum 22 is flexible and can deform. The induction target 40 is located inside the flexible peritoneum 22, within the via hole, and corresponds to the position of the sensor 30. When the flexible peritoneum 22 of the limb-abdomen structure 20 contacts an object, the flexible peritoneum 22 deforms and drives the induction target 40 to move, thus being sensed by the sensor 30. The flexible peritoneum 22 can be made of an insulating material to avoid damaging the sensor 30 when the flexible peritoneum 22 contacts a charged object.

[0067] In a preferred embodiment of the present utility model, please also refer to Figures 1-2 , the induction target 40 includes:

[0068] A base 44, arranged on the flexible peritoneum 22;

[0069] A convex portion 45, arranged on the base 44;

[0070] Wherein, the convex portion 45 is located within the via hole and protrudes towards the sensor 30.

[0071] Specifically, the base 44 refers to the basic part of the induction target 40, and the convex portion 45 refers to the protruding part of the induction target 40. The convex portion 45 is located within the via hole and protrudes towards the sensor 30. The convex portion 45 can adopt various shapes, for example, cylindrical, curved surface shape, etc.

[0072] In a preferred embodiment of the present utility model, please also refer to Figures 2-3 , the hole wall of the via hole is connected to the flexible peritoneum 22, and / or the hole wall of the via hole and the flexible peritoneum 22 clamp the base 44.

[0073] Specifically, the hole wall of the via hole can be connected to the flexible peritoneum 22, or together with the flexible peritoneum 22 clamp the base 44, thereby fixing the flexible peritoneum 22 and the induction target 40.

[0074] In a preferred embodiment of the present utility model, please also refer to Figures 1-2 , the flexible peritoneum 22 includes:

[0075] An abdominal convex portion 221, which protrudes towards the outside;

[0076] The induction target 40 includes:

[0077] A first target 41, arranged inside the abdominal convex portion 221.

[0078] Specifically, the flexible peritoneum 22 is curved and forms the shape of a finger pulp or a toe pulp. The abdominal convex part 221 protrudes outward from the flexible peritoneum 22, and the first target 41 is arranged inside the abdominal convex part 221. When the abdominal convex part 221 contacts an object, the abdominal convex part 221 deforms, drives the first target 41 to move, and is sensed by the corresponding first sensor.

[0079] In a preferred embodiment of the present utility model, please refer to Figures 1-2 simultaneously, the flexible peritoneum 22 includes:

[0080] An abdominal concave part 222, which is connected to the abdominal convex part 221;

[0081] The sensing target 40 includes:

[0082] A second target 42, which is arranged inside the abdominal concave part 222.

[0083] Specifically, the abdominal concave part 222 is connected to the abdominal convex part 221. The abdominal concave part 222 protrudes inward from the flexible peritoneum 22, and the second target 42 is arranged inside the abdominal concave part 222. When the abdominal concave part 222 contacts an object, the abdominal concave part 222 deforms, drives the second target 42 to move, and is sensed by the corresponding second sensor.

[0084] In a preferred embodiment of the present utility model, please refer to Figures 1-2 simultaneously, the flexible peritoneum 22 includes:

[0085] An abdominal tip part 223, which is located at the tip of the limb end and is connected to the abdominal convex part 221;

[0086] The sensing target 40 includes:

[0087] A third target 43, which is arranged inside the abdominal tip part 223.

[0088] Specifically, the abdominal tip part 223 is connected to the abdominal convex part 221. The abdominal tip part 223 is located at the tip of the limb end structure, for example, the fingertip or the toe tip. The third target 43 is arranged inside the abdominal tip part 223. When the abdominal tip part 223 contacts an object, the abdominal tip part 223 deforms, drives the third target 43 to move, and is sensed by the corresponding third sensor.

[0089] The belly convex part 221 is located in the middle area of the flexible peritoneal membrane 22, the belly concave part 222 is located in the proximal area of the flexible peritoneal membrane 22, and the belly tip part 223 is located in the distal area of the flexible peritoneal membrane 22. Here, the far and near are relative to the main body to which the limb end structure is connected. The end farther from the main body is the distal area, and the end closer to the main body is the proximal area. The flexible peritoneal membrane 22 can only have the belly convex part 221 without forming the belly concave part 222 and the belly tip part 223; it can form the belly convex part 221 and the belly concave part 222 without forming the belly tip part 223; it can also form the belly convex part 221 and the belly tip part 223 without forming the belly concave part 222; or it can form the belly convex part 221, the belly concave part 222 and the belly tip part 223.

[0090] There can be one or more sensing targets 40. For example, the three targets are the first target 41, the second target 42 and the third target 43 respectively. There can be one or more sensors 30. For example, the three sensors 30 are the first sensor, the second sensor and the third sensor respectively.

[0091] In a preferred embodiment of the present utility model, please refer to Figures 2-3 simultaneously, the sensor 30 includes:

[0092] A rigid circuit board 31;

[0093] A flexible circuit board 32, connected to the rigid circuit board 31;

[0094] A sensing element, arranged on the flexible circuit board 32;

[0095] Wherein, the position of the rigid circuit board 31 corresponds to that of the belly convex part 221;

[0096] The position of the flexible circuit board 32 corresponds to that of the belly tip part 223.

[0097] Specifically, the sensor 30 can adopt the rigid circuit board 31 and / or the flexible circuit board 32. Since the orientations of the belly convex part 221 and the belly tip part 223 are different, the first target 41 and the third target 43 also face different directions, and an included angle is formed between the first sensor and the third sensor. The combination of the rigid circuit board 31 and the flexible circuit board 32 is convenient for matching the first target 41 and the third target 43 with different orientations. When different types of sensors 30 are adopted, the sensing elements are different from each other.

[0098] Based on the tactile limb end structure of any of the above embodiments, the present utility model also provides a prosthetic limb, including the tactile limb end structure described in any of the above embodiments, as specifically described above.

[0099] The prosthetic limb provided by the present utility model has all the above beneficial effects because it is provided with the tactile limb end structure described in any of the above technical solutions, and will not be elaborated herein.

[0100] It should be understood that the application of the present utility model is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present utility model.

Claims

1. A tactile limb structure, characterized in that: It includes: Dorsal structures of limbs; A limb belly structure, arranged on the limb dorsal structure; A sensor, located between the dorsal structure of the limb and the ventral structure of the limb; A sensing target is disposed on the limb-abdomen structure; When the limb-abdomen structure is deformed by contact, it drives the sensing target to move and is sensed by the sensor.

2. The tactile limb structure according to claim 1, characterized in that: The limb-abdomen structure comprises: A support, arranged on the limb back structure; A flexible peritoneum, disposed on the stent; Wherein, a via hole is formed on the bracket, and the via hole corresponds to the position of the sensor; The sensing target is disposed on the inner side of the flexible peritoneum and is located within the via.

3. The tactile limb structure according to claim 2, characterized in that: The sensing targets include: a base, disposed on the flexible peritoneum; A raised portion, disposed on the base; Wherein, the protrusion is located in the via hole and protrudes toward the sensor.

4. The tactile limb structure according to claim 3, characterized in that: The hole wall of the through hole is connected to the flexible peritoneum, and / or the hole wall of the through hole and the flexible peritoneum clamp the base.

5. The tactile limb structure according to claim 2, characterized in that: The flexible peritoneum comprises: an abdominal convex portion, the abdominal convex portion convexing outward; The sensing targets include: The first target is arranged on the inner side of the abdominal convex part.

6. The tactile limb structure according to claim 5, characterized in that: The flexible peritoneum comprises: a concave part of the abdomen connected to the convex part of the abdomen; The sensing targets include: The second target is arranged in the abdominal recess.

7. The tactile limb structure according to claim 5, characterized in that: The flexible peritoneum comprises: An abdominal tip portion, the abdominal tip portion is located at the position of the limb tip and is connected to the abdominal convex portion; The sensing targets include: The third target is arranged on the inner side of the abdominal tip.

8. The tactile limb structure according to claim 7, characterized in that: The sensor comprises: Rigid circuit boards; A flexible circuit board connected to the rigid circuit board; A sensor element is arranged on the flexible circuit board; Wherein, the rigid circuit board corresponds to the position of the convex part; The flexible circuit board corresponds to the position of the abdominal tip.

9. The tactile limb structure according to any one of claims 1 to 8, characterized in that: The sensing target is a conductive target, and the sensor includes at least one of a capacitive sensor, a resistive sensor, and an inductive sensor.

10. A prosthesis, characterized in that: It comprises the tactile limb structure as claimed in any one of claims 1 to 9.

Images