PROTHESENHANDGELENK

Description

[0001] The invention relates to a prosthetic wrist with a base for attachment to a proximal prosthetic component and a pivoting part mounted on the base about a pivot axis, with at least one fastening device for fixing a distal prosthetic component or prosthetic hand to the pivoting part, wherein at least one locking segment with positive locking elements arranged thereon is arranged on the pivoting part and at least one locking element is mounted longitudinally displaceable along the pivot axis on the base, wherein the connecting element can be moved from a locking position, in which the locking element is in engagement with a positive locking element of the locking segment, into a release position against a spring force.

[0002] Prostheses replace missing or lost limbs. Prosthetic joints connect two components of a prosthetic device and allow these components to pivot relative to each other. Prosthetic joints are known in the prior art in which the pivoting of two prosthetic parts relative to each other can be locked. Depending on the design of the prosthetic joints, locking and unlocking are achieved in different ways. For example, if a resistance device, such as a hydraulic damper, is arranged between an upper and lower joint part, the relative movement between the upper and lower parts can be achieved by locking the hydraulic line. Another method of locking and unlocking, in simple, uniaxial joints, uses mechanical locking mechanisms that fix the joints in their respective angular positions relative to each other.If the locking mechanism is released and the distal part of the prosthesis is in an unlocked state, it is usually freely movable. In the case of prosthetic wrists, this can cause the prosthetic hand to droop or fall in the direction of gravity.

[0003] From DE 10 2006 020 777 B4, a prosthetic wrist joint is known, comprising a base and a coupling element associated with the base for attachment to a limb or a prosthetic component, as well as a receiving device for a prosthetic hand pivotably connected to the base about at least one axis. A locking device blocks the receiving device relative to the base. A retaining element is elastically pre-tensioned against the receiving device and, after the locking device is released, exerts a holding force on it. The receiving device has detent elements into which the retaining element engages in a locked position.

[0004] WO 2020 / 065265 A1 discloses a device for mounting a mechanical hand, comprising an arm plate and a base plate of the hand, which is pivotably mounted on the arm plate about a joint axis. The pivotability of the base plate relative to the arm plate is adjustable via a locking mechanism. The locking mechanism has a longitudinally displaceable locking element mounted on the base plate of the hand, which features a conical toothed element. The arm plate has a locking opening. The longitudinally displaceable locking element can be moved into a locked position and an unlocked position. In the locked position, the conical toothed element of the locking element engages with the locking opening and prevents the base plate from pivoting relative to the arm plate about the joint axis.In the unlocked position, the conical tooth element is out of engagement with the locking opening, allowing pivoting.

[0005] CN 110 353 865 A relates to a cable-controlled hand prosthesis with a hand frame to which two fingers are attached. One of the fingers is connected to a locking gear and pivots relative to the hand frame. In a locked position, a locking pin rests against a projection on a locking lever and engages with the locking gear, thus preventing the finger from pivoting. The locking lever can be moved linearly along its longitudinal axis to an unlocked position, in which it no longer rests against the projection, allowing the locking gear to rotate freely. In both the locked and unlocked positions, a spring plunger engages with a corresponding recess in the locking lever, holding the locking lever in the respective position.

[0006] US Patent 8,795,387 B1 discloses a prosthetic wrist joint for attachment between an arm prosthesis and a prosthetic accessory. The prosthetic wrist joint has two joints, each with a locking mechanism that incorporates a pivoting arm with multiple grooves. A locking pin has a flat section on which a locking projection is arranged to engage in a groove of the pivoting arm. The locking projection is held in engagement with the groove by a spring. By pressing the locking pin against the spring, the locking projection can be disengaged from the groove, allowing momentary pivoting of the pivoting arm. When the locking pin is released, the spring force re-engages the locking projection with a groove of the pivoting arm, thus preventing further pivoting of the pivoting arm.

[0007] The object of the present invention is to provide a prosthetic wrist that has a stable, robust and compact design and provides increased flexibility for the user.

[0008] This problem is solved by a prosthetic wrist with the features of the main claim. Advantageous embodiments and further developments of the invention are disclosed in the dependent claims, the description, and the figures.

[0009] The prosthetic wrist, comprising a base for attachment to a proximal prosthetic component and a pivoting element mounted on the base so as to be pivotable about a pivot axis, with at least one fastening device for fixing a distal prosthetic component or prosthetic hand to the pivoting element, wherein at least one locking segment with positive locking elements arranged thereon is arranged on the pivoting element and at least one locking element is mounted on the base so as to be longitudinally displaceable along the pivot axis, which can be moved from a locking position, in which the locking element is in engagement with a positive locking element of the locking segment, to a release position against a spring force, provides that the locking element has two release areas with which a first and a second release position of the locking element is realized.that the first release area is spaced apart from the second release area in the direction of movement, and that a locking element is assigned to the second release area, which holds the locking element in the second release position. The design of the longitudinally displaceable locking element with two release areas makes it possible to move the prosthetic wrist into the release position in several positions, starting from the locked position in which the locking element engages with one of the positive locking elements of the locking segment. The spring force that prevents the locking element from moving from the locked position to the release position is applied by a spring element.which engages with the locking element. The locking element is moved from the locked position against the spring force into a first release position along the direction of the longitudinal orientation of the pivot axis, until the first release area is positioned so that the first release position is present. InIn the first release position, the pivoting element can be rotated relative to the base, allowing, for example, the prosthetic hand to be moved from a neutral position to an angled position. If the actuating force is then reduced or released against the spring force, the locking element returns to the locked position, so that the prosthetic wrist remains in the set position and is positively locked in place. When the locking element is moved to its second release position, a locking element engages with or engages with the locking element, so that the locking element holds the locking element in the second release position. InIn the second release position, there is also no positive locking connection between the locking element and the locking segment, allowing free or almost free movement of the pivoting part around its pivot axis. Additionally, the locking element holds the locking element permanently in the second release position, ensuring that the prosthetic wrist remains permanently free or almost freely movable. This is advantageous, for example, when a prosthetic hand lies flat on a table surface, during handshakes, or when patting someone on the back, as it results in a natural-looking wrist. The spring force against movement into the second release position is greater than the spring force against movement into the first release position.The resistance for a specific, predetermined displacement of the locking element from the locked position to the first release position is at a first level. Subsequent displacements, or displacements in the opposite direction, exhibit a second resistance and require a correspondingly higher restoring force, greater than the first resistance. Advantageously, the transition from the first resistance level to the second resistance level is significant, thus providing haptic feedback when the locking element is actuated.

[0010] InIn one embodiment, the locking element can be displaced from the first release position to the second release position against the spring force, so that the two release positions are arranged one after the other in the same direction of movement. The spring force pushes the locking element back from the release position to the locked position, provided the locking element is not, or no longer, engaged and blocks the reverse movement into the locked position. This makes it possible, for example, to design the spring element for applying a spring force only as a compression spring if the locking element is to be moved from the locked position to the release position against the spring force. Alternatively, it is possible that the first release position requires movement in one direction and the second release position requires movement of the locking element in the opposite direction.Either two spring elements or one spring element designed as a tension spring element and a compression spring element are provided for this purpose.

[0011] In one embodiment, the spring force against displacement into the second release position is significantly greater at the beginning of the second release area, in particular 10% greater than the spring force against displacement of the first release area at the end of the first release position.

[0012] In one embodiment, the locking element is supported against displacement into a release position relative to the base by at least one spring element. The spring element can be two-stage, with a stepped spring characteristic and / or a progressive spring characteristic to provide the tactile difference in the required displacement force against the spring preload. Alternatively, or in addition, several spring elements can be arranged in sequence in the displacement direction of the locking element, so that after reaching the first release range, the increased resistance against displacement into the second spring range is immediately present upon engagement of another spring element or further spring elements.When moving the locking element from the locked position to the first or second release position in the opposite direction, different spring strengths or resistances to displacement can be provided in the respective direction of movement. The resistances in the spring force preferably differ by more than 10% to provide a clearly perceptible distinction between the release ranges. The second release position and the second resistance mark the position in which unlocking has occurred and pivoting about the pivot axis is possible, optionally against a restoring force applied by spring elements or elastomer elements.At this second, increased resistance level, when the locking element reaches a corresponding position, at least one locking element is engaged or effectively switched, so that a return by the spring element to the first release position or the locking position is prevented.

[0013] The locking element can be assigned two actuating elements opposite each other in the direction of movement, so that the locking element can be easily moved in both directions along the longitudinal extent of the pivot axis. This makes actuation into the first and second release positions, as well as back from the second, locked release position to the first release or locking position, simple.

[0014] InIn one embodiment, two parallel locking elements are mounted on the base on either side of the pivot axis. This double locking mechanism on both sides of the pivot axis results in a reliable, high locking function due to the two locking axes with a comparatively large lever distance to the pivot axis.

[0015] The release areas of the locking element are designed as flattening or reductions in the diameter of the locking element. In In the area of ​​the flattening or diameter reductions of the locking element(s), the locking segments can pivot past the locking element(s).

[0016] In order to enable easy pivoting and functionality in all positions, in one embodiment the locking segment is designed in the shape of a circular segment and is attached or molded onto the pivoting part.

[0017] Multiple locking segments can also be spaced apart from each other, in particular along the longitudinal extent of the pivot axis, and attached to or formed on the pivot part to ensure reliable locking and uniform force absorption and transmission.

[0018] In In one embodiment, the locking element is spring-loaded in the direction of the locking element, so that automatically after reaching the second release position or the second release area, the locking element engages or engages with the locking element, wherein in one embodiment the locking element has a positive locking component with which the locking element can be positively engaged.

[0019] The swiveling part can be pivotally mounted at the base against a spring force in order to provide a certain restoring force to a starting position even in a release position.

[0020] The pivoting part can be held in a starting position by at least one spring component acting in opposite directions, in particular by two opposing spring components, or be subject to opposing spring forces that move the pivoting part towards a starting position or exert a force in the direction of the starting position.

[0021] The spring components for applying a spring force towards a starting position can be arranged in recesses on the base or the pivoting part, in particular the locking segment, and are supported by abutments on the respective opposite element. If the spring components are arranged in recesses on the base, the abutment is located on the pivoting part, in particular the locking segment. If the recesses are located in the pivoting part, in particular in a locking segment, the abutment is located or formed on the base, against which the respective spring component is supported. The respective abutment can be designed as a bushing that is fixed to the pivoting part, in particular the locking segment, or to the base.

[0022] In a further development, a stop is assigned to the spring component, against which the spring component rests, particularly in a pre-tensioned state. The abutment rests against the spring component in a predetermined position, for example, in a neutral position, and is arranged on the pivoting element or the base so that it can be displaced away from the spring component and the stop. This makes it possible to adjust the release force for pivoting from the neutral position, in particular to increase it in order to achieve a stable neutral position.

[0023] Exemplary embodiments of the invention are explained in more detail below with reference to the figures. The figures show: Figure 1 - an exploded view of a prosthetic wrist; Figure 2 - a schematic view in a vertical section in the locked position; Figure 3 - a representation according to Figure 2 in the first release position; Figure 4 - a representation according to Figure 2in the second release position; Figure 5 - a variant of the Figure 1 ; Figure 6 - different spring characteristics; Figure 7 - a side view according to Figure 5 ; Figures 8-10 - different positions of the prosthetic wrist; as well as Figures 11 and 12 - Variants of the locking mechanism.

[0024] In the Figure 1 A perspective exploded view of a prosthetic wrist joint with a base 10 is shown, on which a pivoting element 20 is pivotably mounted between two bearing blocks 11 about a pivot axis 30. The two bearing blocks 11 extend distally from a base plate of the base 10. InIn the exemplary embodiment, a pivot bearing is arranged proximal to the base plate, around which the prosthetic wrist can be rotatably attached to a forearm shaft or forearm tube. The base 10 is preferably formed in one piece or as a single unit. A space is formed between the two bearing blocks 11, in which the pivoting element 20 is arranged. The pivoting element 20 has a fastening device 21 on its distal upper surface for securing a distal prosthetic component (not shown), in particular a prosthetic hand. In the illustrated exemplary embodiment, the fastening device 21 is a dovetail guide onto which a corresponding dovetail groove of the component to be fastened can be inserted. Alternatively, the fastening device 21 is designed as a cap nut, as will be explained later.On the underside opposite the fastening device 21, two locking segments 22 are arranged, designed as disc-shaped, circular segment-like projections and positioned between the bearing blocks 11 in the assembled state. Positive locking elements 23 in the form of projections and notches are formed on the outer circumference of the locking segments 22; these positive locking elements 23 are distributed uniformly around the circumference. The positive locking elements 23 on the two axially spaced locking segments 22 are aligned with each other, allowing for stepwise adjustment and locking or release in the desired position.

[0025] At the base 10, two locking elements 40 in the form of longitudinally displaceable rods or bolts are mounted in the bearing blocks 11. The two locking elements 40 are aligned parallel to each other and run parallel to the longitudinal extent of the pivot axis 30. Actuating elements 70 in the form of pressure plates are arranged on the two end faces of the locking elements 40 and connected to the locking elements 40 by screws. The locking elements 40 are supported against the base 10 by one or more spring elements, so that a displacement and movement of the locking elements 40 within channels formed in the base 10 occurs against a spring force or a preload.

[0026] The locking elements 40 in the illustrated embodiment are rod-shaped and have a substantially round cross-section. Flattened sections or reductions in diameter are formed along the longitudinal extent of the locking elements 40, which can be aligned with the respective locking segments 22 in their respective positions. The operating principle will be explained later. In a locked position, the areas with the larger diameter engage with the positive locking elements 23 on the locking segments 22. When the locking elements 40 are moved, the areas with the larger diameter are disengaged from the positive locking elements 23, so that the areas with the smaller diameter or with the material recesses are opposite the positive locking elements 23.In the illustrated embodiment, two release areas 41, 42 are formed on the respective locking element 40 for each locking segment 22. The two release areas 41, 42 are divided into a first release area 41 and a second release area 42. The first release area 41 overlaps with the positive locking elements 23 of the respective locking segment 22 in a first release position. The second release area 42 adjoins the first release area 41 directly behind it in the axial displacement direction. In both release positions 41, 42, the locking elements 40 do not block the pivoting of the pivoting element 20 about the pivot axis 30.Additionally, a positive locking component 45 in the form of a circumferential groove is formed on the locking elements 40. This groove is arranged such that a locking element 50 can engage with the positive locking component 45 in the second release position and only in the second release position. In the illustrated embodiment, the locking element 50 is designed as a ball which is mounted in a bore within the base 10 and is biased towards the respective locking element 40 by a spring 55. The positive locking component 45 is spaced apart from the release areas 41, 42 and is formed separately on the respective locking element 40.

[0027] InIn the assembled state, the locking elements 50 are pre-tensioned by the spring element 55 and are in contact with the locking elements 40. Since the two locking elements 40, which are oriented essentially parallel to each other, are equidistant on both sides from the projection of the pivot axis 30, and since the outer diameters engage with the projections of the positive locking elements 23 outside the release areas 41, 42 and the positive locking component 45, a pivoting movement of the pivot element 20 relative to the base 10 is blocked. The enlarged diameter areas or locking areas of the locking elements 40 can be displaced longitudinally along the positive locking elements 23 or the recesses on the outer circumference of the locking segments 22 against the spring force exerted by the spring 60.Thus, the prosthetic wrist is in a starting position in a locked or latched position and is unlocked by pressing an actuating element 70 against the spring force 60. For this purpose, the locking elements 40 are moved from the locked or latched position to a release position against the spring force 60. In In the first release position, the pivoting element 20 can pivot relative to the base 10 about the pivot axis 30. The pivot axis 30 is secured against rotation and axial movement by a setscrew within the bearing blocks 11. Alternatively, the pivot axis 30 is designed in two parts, with each half-axis secured on each side by a setscrew. The pivoting element 20 is mounted on bearing bushings on the pivot axis 30.

[0028] Recesses 28 are arranged on the outer sides of the locking segments 22, each opening outwards towards the bearing blocks 11. The recesses 28 are segment-shaped, for example semicircular, and each accommodates a spring component 80. InIn the illustrated embodiment, the spring components 80 are formed in one piece and shaped as elastomeric elements corresponding to the shape of the recess 28. Each spring component 80 is supported against the base 10 by abutments 18 arranged on opposite sides of the pivot axis 30, which are fixed to the bearing blocks 11 at the base 10 by screws or axles. When pivoting in one direction from an initial position, one spring component 80 is compressed; when pivoting from the initial position in the other direction, the other component is compressed. Thus, only one spring component 80 is compressed relative to the initial position at any given time when pivoting from the initial position.The spring components 80 can be designed such that a basic tension is present, so that even in a release position a pivoting about the pivot axis 30 is only possible after overcoming a predetermined, preferably adjustable, spring force.

[0029] As an alternative to the embodiment shown, the corresponding recess for the spring component 80 can also be formed in the bearing block 11 of the base; the abutment is then arranged or formed on the respective locking segment 22. The recesses 28 are covered externally by cover plates 81, in particular stainless steel plates. Within the cover plates 81, cams are formed so that the axles or pins leading from the bearing blocks 11 to the bushings as abutments 18 do not impede pivoting of the cover plates 81 with the pivoting element 20.

[0030] The spring components 80 make it possible to achieve an elastic initial position or a neutral position. The opposing arrangement of the spring components 80 enables a uniform or variable counterforce against pivoting from the initial position. The cover plates 81 serve not only to protect against contamination but also to limit the volume of the recesses 28, so that if the spring components 80, designed as elastomer components, are deformed, they are not forced out of the recesses 28. Furthermore, the cover plates 81 serve to compensate for play. As an alternative to designing the spring components 80 as elastomer elements, they can also be designed as helical springs or coil springs.The storage of the elastomer components, in particular the crescent-shaped elastomer elements in correspondingly shaped receptacles, can also be used without the locking elements 40 with the release areas 41, 42 and the locking or fixing in the second release position and is a further aspect of the invention, which can also be pursued independently and autonomously.

[0031] In this embodiment, the positive locking elements 23 are semicircular and define detent positions in which the orientation of the pivoting part 20 relative to the base 10 can be fixed. Advantageously, the locking elements 40 have a round cross-section in the engagement areas, which results in improved surface pressure in the locked position. In the Figure 1It can be seen that both the locking segments 23 and the locking elements 40 have insertion ramps, so that the spring force of the spring 60 allows the locking elements 40 or locking pins to engage in the respective recess or the positive locking element 23 on the outer circumference of the locking segments 22. The spring 60 can be two-stage, progressive, conical, or multi-part.

[0032] In the Figure 2Figure 1 shows a top view through a section in the plane of the locking elements 40 in the locked initial position. The rod-shaped locking elements 40 are arranged parallel to each other and are slidably mounted on the base 10 on both sides of the locking segments 22, parallel to the pivot axis (not shown). The spring element 60 is pre-tensioned and mounted on the base 10 and on the actuating element 70, exerting a pre-tensioning force in the direction of the shown locked position. The locking elements 40 engage with the positive locking elements 23 of the locking segments and prevent pivoting about the pivot axis. The locking elements 50 are pre-tensioned by the spring 55 in the direction of the locking elements 40 and bear against the outside of the locking elements 40, allowing displacement of the locking elements 40.

[0033] In the Figure 3The position of the locking elements 40 after a shift to the right into a first release position is shown. The positive locking elements 23 of the locking segments 22 are now located opposite the first release area 41, which is designed as a circumferential groove. The previously existing positive locking between the locking elements 40 and the locking segments 22 at four opposing points is now released, so that the pivoting part 20 can pivot about the pivot axis 30 against the spring force exerted by the spring components 80. The locking elements 50, in the form of balls, continue to roll on the outside of the locking elements 40 and are not yet engaged with the positive locking component 45 of the locking element 40.If no further pressure is applied from the left side against the spring 60 in this position, the locking elements 40 move back to their initial position according to the . Figure 2 The first release position shown serves to perform a deliberate pivoting of the pivoting part 20 relative to the spring components 80 and then to fix the prosthetic hand in this position by automatically returning to the locking position when no more pressure is applied by the user.

[0034] If permanent release and pivotability against the spring components 80 is desired, the locking elements 40 are moved further to the right until the locking elements 50 engage in the positive locking components 45. This is described in the Figure 4The spring force of spring 55 is set such that even after the removal of a displacement force against spring 60, the second release position is maintained according to the diagram. Figure 4 This second release position is maintained. In this second release position, the positive locking elements 23 of the locking segments 22 remain disengaged from the locking elements 40 and face the second release areas 42. The second release area 42 is positioned and selected such that the locking element 50 engages in the positive locking component 45. To overcome this permanent release position, an actuating force acting to the left in the direction of the spring preload 60 is applied, causing the locking elements 50 to move inwards against the spring 55 and resulting in a displacement of the locking elements 40.

[0035] To make the transition from the first release area to the second release area noticeable to the user, several spring elements 60 can be provided which engage one after the other, so that a sudden and noticeable increase in the resistance force against a displacement from the first release area to the second release area occurs.

[0036] In the Figure 5 Another embodiment of the prosthetic wrist is shown, which is essentially the same as the embodiment of the Figure 1 This corresponds to the same reference symbols. The same reference symbols denote the same components. For the sake of clarity, not all reference symbols are shown. Figure 1 also in the Figure 5 registered. The essential difference between the embodiments of the Figure 1 and the Figure 5The feature consists in the fact that, on the pivoting part 20 in the area of ​​the locking segments, the recesses 28 into which the curved spring components 80 are inserted are each provided with a stop 288, which in the illustrated embodiment is designed as a constriction. The stop 288 can also be designed as a separate component. The stop 288 can be arranged at different locations on the locking segment in the recess 28 or on the recess 28 itself in order to be able to adjust and vary its position. The spring component 80 is supported by a driver 88 against the respective abutment 18, which is attached to the base 10. During pivoting, the abutments 18 pass through the constriction of the stop 288 or do not come into contact with the stop 288 when the pivoting part 20 is pivoted about the pivot axis 30.Depending on the pivoting direction and position, the respective abutments 18 are brought into engagement with the driver 88 or move freely without contact with the driver 88 if the abutments 18 are located between the projections of the stop 288 or away from them on the side facing away from the driver 88. The operating principle will be explained further below.

[0037] In the Figure 6 The spring characteristics of the individual spring components are shown in the upper diagram, while the combined or resulting spring characteristic of the entire spring assembly of spring components 80 is shown in the lower diagram. The left diagram shows the spring characteristic of the double-acting spring components 80 according to the Figure 1 , the right-hand illustration shows the design with the drivers 88 and the stop 288 according to Figure 5In both embodiments, two opposing spring components 80 are located between the base 10 and the pivoting part 20. Due to their design as elastomer components with solid-state damping, these spring components can also perform a damping function. The two abutments 18 for the opposing spring components 80, which can be designed, for example, as bearing screws, are connected to the base 10 and project into the recesses 28 in which the spring components 80 and the drivers 88 are arranged. The abutments 18 transmit the spring force from the spring components to the pivoting part 20. Both spring components 80 are designed as compression springs, at least in the illustrated embodiments, and are pre-tensioned in the neutral position, in which no flexion or extension of the pivoting part 20 occurs. Both spring components 80 act in opposite directions.Since the spring forces of the spring components 80 act in opposite directions, the resulting force is the difference between the two spring forces. An exemplary diagram of the oppositely acting spring components 80 of the... Figure 1 is shown in the upper left of the Figure 6 shown. If both spring components 80 transmit equal force to the base 10 until fully relaxed, the spring forces completely cancel each other out in the neutral position, or, conversely, if the spring forces completely cancel each other out, the pivoting part 20 is in the rest or neutral position. The resulting spring characteristic curve from such an arrangement is shown in the lower left figure of the Figure 6As shown, a significant restoring force can only be achieved above a certain flexion or extension angle, resulting in a comparatively high degree of play in the prosthetic wrist around the neutral position.

[0038] To achieve greater stability of the pivoting element 20 relative to the base 10, the force of a spring component 80 can be dissipated and thus neutralized in the pivoting element 20 only above a defined angle. This allows a significantly higher restoring force to be provided even for small deflections from the neutral position. Consequently, a greater force is required to deflect the pivoting element 20 from the neutral position, or the prosthetic hand, relative to the socket. This is achieved by providing the pre-tensioned spring component 80 with a high preload in the respective direction of action via the driver 88, and by allowing the abutment 18 to be disengaged from the driver 88 in the opposite direction. The arrangement of a driver 88 offers several advantages; for example, the separate driver 88 allows the use of different materials.The driver 88 can be significantly stiffer or more rigid than the spring component 80, thus enabling improved and more precise force transmission from the base 10 via the abutment 18 to the spring component 80. Both the abutment 18 and the driver 88 can be made of metal or a hard plastic, so that no deformation occurs when the abutment 18 contacts the driver 88. Furthermore, the spring preload of the spring component 80 can be adjusted via the replaceable driver 88. The larger the driver 88, the higher the compression and thus the preload of the spring component 80. However, it is also possible to design the driver 88 as part of the spring component 80 or to design the spring component 80 such that the abutment 18 can be disengaged from the spring component 80 by the spring component 80 bearing against the stop 288.

[0039] In the Figure 7 is a schematic side view of the prosthetic wrist according to Figure 5 The spring component 80 is shown before it is compressed and inserted into the recess 28. The curved spring component 80 is inserted into the similarly or similarly curved recess 28 and extends to the taper that forms the stop 288. The taper within the recess 28 is designed such that the abutment 18 at the base 10 can pass through a channel or free space and enter the right, free end of the recess 28. In In the neutral position shown, the spring component 80 is in an uncompressed state, the driver 88 is positioned against the stop 288, and the abutment 18 rests in a recess in the driver 88.

[0040] In the Figure 8The prosthetic wrist is now fully assembled. Both spring components 80 are arranged on opposite sides and inserted within their respective recesses 28. The driver 88 is located between the stop 288 and the right end of the spring component 80. The abutment 18 projects into the recess 28 and can be moved in both directions, depending on how the pivoting part 20 is pivoted about the pivot axis relative to the base 10. In From this starting position, comparatively high forces are required to displace the pivoting part 20 counterclockwise due to the spring preload of the spring components 80. A clockwise pivoting motion is not hindered by the spring component 80 shown; this is achieved by the spring component on the opposite side of the other locking segment.

[0041] In the Figure 9Figure 20 shows a clockwise pivoting of the pivoting part 20 about the pivot axis 30. The abutment 18 is disengaged from the driver 88, which continues to be pressed against the stop 288 by the pre-tensioned spring component 80. As shown in the Figure 10 As shown, the pivoting part 20 pivots counterclockwise around the pivot axis 30, starting from the neutral position, which is shown in the Figure 8 As shown, the abutment 18 engages with the driver 88, and a resistance force against pivoting is provided by the spring component 80. Depending on the magnitude of the preload force, it is possible to adjust the release force for pivoting in one direction or the other. It is also possible to set different release forces, i.e., to provide a higher release force for extension than for flexion, or vice versa.

[0042] In the Figures 11 and 12are sectional views of a variant of the locking mechanism according to the Figures 2 to 4 shown. In In the upper illustration, the actuating element is in the position shown in the Figure 2 The locking segments 22, with their positive locking elements 23, are both engaged with the locking elements 40. In addition, the locking elements 50, which are pressed outwards by the compression spring 55, are located in recesses or indentations in the form of grooves as a positive locking component of the locking elements 40, so that the locking mechanism with the actuating elements 70 is held in the control position. In the Figure 12 is the fully released and open position, as also described in the Figure 4The locking elements 50, which can be designed as pins with spherical heads, engage in the positive locking component 45 on the outer circumference of the locking elements 40 and hold them in the release position, in which the positive locking elements 23 of the locking segments 22 are disengaged from the locking elements 40.

Claims

1. A prosthetic wrist having a base (10) for fastening to a proximal prosthesis component and a pivot part (20) which is mounted on the base (10) in such a way that it can pivot about a pivot axle (30), - having at least one fastening device (21) for securing a distal prosthesis component or prosthetic hand to the pivot part (20), wherein - at least one catch segment (22) with form-fit elements (23) arranged thereon is arranged on the pivot part (20), and - at least one locking element (40) is mounted on the base (10) in such a way that it can be longitudinally displaced along the pivot axle (30) and can be brought from a locked setting, in which the locking element (40) is in engagement with a form-fit element (23) of the catch segment (22), against a spring force into a release setting, wherein the locking element (40) has two release regions (41, 42) with which a first and a second release setting are implemented, the first release region (41) is arranged spaced apart from the second release region (42) in the displacement direction, and a catch element (50) that holds the locking element (40) in the second release setting is assigned to the second release region (42), characterized in that the spring force against displacement into the second release setting is greater than the spring force against the displacement into the first release setting.

2. The prosthetic wrist as claimed in claim 1, characterized in that the locking element (40) in the first release setting can be displaced into the second release setting against the spring force and into the locked setting by the spring force.

3. The prosthetic wrist as claimed in claim 1, characterized in that the spring force against displacement into the second release setting at the start of the second release region (42) is 10% greater than the spring force against the displacement of the first release region (41) at the end of the first release setting.

4. The prosthetic wrist as claimed in one of the preceding claims, characterized in that the locking element (40) is braced in relation to the base (10) by means of at least one spring element (60) against displacement into a release setting.

5. The prosthetic wrist as claimed in claim 4, characterized in that the spring element (60) is configured in two stages, with a stepped or progressive spring characteristic, and / or in that a plurality of spring elements are arranged in the displacement direction of the locking element (40) in such a way that they can be brought successively into engagement.

6. The prosthetic wrist as claimed in one of the preceding claims, characterized in that the locking element (40) is assigned two actuation elements (70) lying opposite each other in the displacement direction.

7. The prosthetic wrist as claimed in one of the preceding claims, characterized in that two parallel-oriented locking elements (40) are mounted on the base (10) on either side of the pivot axle (30).

8. The prosthetic wrist as claimed in one of the preceding claims, characterized in that the release regions (41, 42) of the locking element (40) are configured as flats or reductions in diameter.

9. The prosthetic wrist as claimed in one of the preceding claims, characterized in that the catch segment (22) is configured in the form of a circle segment.

10. The prosthetic wrist as claimed in one of the preceding claims, characterized in that the form-fit elements (23) are arranged or formed on the circumference of the catch segment (22).

11. The prosthetic wrist as claimed in one of the preceding claims, characterized in that the catch element (50) is spring-loaded in the direction of the locking element (40).

12. The prosthetic wrist as claimed in one of the preceding claims, characterized in that the locking element (40) has a form-fit component (45), into engagement with which the catch element (50) can be brought.

13. The prosthetic wrist as claimed in one of the preceding claims, characterized in that the pivot part (20) is mounted on the base (10) in such a way that it can pivot against a spring force.

14. The prosthetic wrist as claimed in claim 13, characterized in that the pivot part (20) is held in an initial setting by means of at least one spring component (80) acting in opposite directions.

15. The prosthetic wrist as claimed in claim 14, characterized in that the spring components (80) are arranged in recesses (28) on the base (10) or the pivot part (20) and are braced on abutments (18) on the respectively opposite element.

16. The prosthetic wrist as claimed in claim 15, characterized in that the abutment (18) is configured as a bushing which is secured on the catch segment (23) or the base (10).

17. The prosthetic wrist as claimed in one of claims 14 to 16, characterized in that the spring component (80) is arranged on a stop (288) and the abutment (18) can be brought away from the stop (288) out of engagement with the spring component (80).