Automated Hand

Abstract

An automation hand having a device for mounting a digit connector such that the digit connector can rotate when a force is applied to the digit. The device can include a rigid mount and an elastically deformable sleeve with the connector within the sleeve. The automation hand can be compatible with a touch screen. The automation hand can have a worm drive for rotating the digit, the worm drive including a bearing configured to resist axial loads in both directions. The automation hand can have a thumb with an auxiliary support. A catch can be provided to limit pivoting of the digit under load. The wrist can be clamped to the hand, can be releasably electrically coupled to the hand, can be locked against rotation, and can include an elastically deformable piece. A cover can also be provided to the automation hand. The cover can include a braided body and a structural brace.

Description

[Technical field]

[0001] The present invention relates to an automated hand. The present invention also relates to a cover for an automated hand. The present invention also relates to a wrist for an automated hand. The present invention also relates to a wrist joint. The present invention also relates to an assembly including a wrist joint and an automated hand. [Background technology]

[0002] Automated hands are commonly used as prosthetic hands, which can be used to grasp objects, hold another person's hand, and perform other tasks commonly performed by the human hand. Summary of the Invention [Means for solving the problem]

[0003] According to one example, an automated hand: a. Palmar; b. a rigid mount in or on the palm; c. an elastically deformable sleeve positioned within the rigid mount and having a sleeve aperture therein; and d. a connector positioned within an aperture in the sleeve, the connector having digits extending therefrom and movable relative to the palm; Equipped with The automated hand is positioned to allow the connector to rotate relative to the mount when a force is applied to a digit extending from the connector.

[0004] In some instances, the arrangement is such that each connector can rotate in the plane of the palm.

[0005] In some instances, the arrangement is such that each connector can rotate in a plane perpendicular to the plane of the palm.

[0006] In some instances, the arrangement is such that each connector can rotate about its longitudinal axis.

[0007] In some instances, the arrangement is such that each connector can translate when a force is applied to a digit extending from the connector.

[0008] In some examples, the arrangement is such that each connector can translate with three degrees of freedom in the translational direction.

[0009] In some examples, the automated hand is configured to absorb shocks applied longitudinally to the digits.

[0010] In some examples, the connector is part of a digit driver that drives the bending and / or extension of the digits.

[0011] In some examples, the connector comprises an actuator.

[0012] In some examples, the actuator comprises a motor.

[0013] In some examples, a connector is connected between the actuator and the digit.

[0014] In some examples, the automated hand comprises an actuator at the digit, which actuator drives the bending and / or extension of the digit.

[0015] In some examples, the actuator includes a pivot between the connector and the rigid mount, and the connector can rotate about the pivot relative to the mount.

[0016] In some examples, the pivot includes one or more pairs of bearing surfaces, one of which is on or coupled to a rigid mount and another of which is on or coupled to a connector, and each pair of bearing surfaces is adjacent to one another.

[0017] In some examples, the elastically deformable sleeve has one or more apertures formed therein, and one of each pair of bearing surfaces is on a protrusion that protrudes at least partially through a respective one of the apertures.

[0018] In some examples, the automated hand further comprises a rigid sleeve between the connector and the elastically deformable sleeve.

[0019] In some examples, the rigid sleeve is configured to couple the connector to the rigid mount.

[0020] In some examples, the rigid sleeve includes one or more torsional locking features that torsionally lock into complementary torsional locking features in the retainer that holds the rigid sleeve to the rigid mount.

[0021] In some examples, one of each pair of bearing surfaces is provided on the rigid sleeve.

[0022] In some examples, the automated hand further comprises a seal between the connector and the rigid mount to prevent liquid from entering the sealed area within the automated hand.

[0023] In some instances, the seal is located near the pivot.

[0024] In some instances, the automated hand: one or more separate rigid mounts attached to the palm; one or more separate elastically deformable sleeves, each with a respective sleeve aperture therein, each separate elastically deformable sleeve positioned within a respective one of the one or more separate rigid mounts; and one or more further connectors, each positioned within an aperture of a respective sleeve, each further connector having a further digit extending therefrom; Equipped with Each separate connector can rotate relative to its respective rigid mount when a force is applied to a separate digit extending from the connector.

[0025] In some instances, the rigid mounts are integral with one another.

[0026] In some instances, the rigid mounts are separate from one another.

[0027] In some examples, the rigid mount is configured to limit rotation of the connector relative to the mount.

[0028] In some examples, the inner surface of the rigid mount in which the elastically deformable sleeve rests is dimensioned to control the maximum lateral rotation of the connector about one or more axes.

[0029] In some examples, the automated hand further comprises a barrier around a portion of the connector that is not within the rigid mount, the barrier configured to limit lateral rotation of the connector about one or more axes.

[0030] In some examples, the inner surface of the rigid mount includes one or more rotational restraints to limit rotation of the connector about the longitudinal axis of the connector.

[0031] In some instances, each connector is coupled to a respective digit by an articulation joint.

[0032] In some examples, the elastically deformable sleeve comprises an elastomer, rubber, silicone, or polymer.

[0033] In some examples, the elastically deformable sleeve includes polyurethane, or a hydrocarbon-based elastomer, a fluorocarbon-based elastomer, or a silica-based elastomer.

[0034] In some examples, the elastically deformable sleeve is a thermoset elastomer.

[0035] In some examples, the elastically deformable sleeve is a thermoplastic material, such as a thermoplastic elastomer.

[0036] In some examples, the elastically deformable sleeve is a thermoset rubber.

[0037] In some examples, the elastically deformable sleeve includes a foamable composition of one or more of the materials listed in the preceding paragraph.

[0038] In some examples, the elastically deformable sleeve includes an alloy or mixture of two or more of the materials listed in the preceding paragraph.

[0039] In some examples, the elastically deformable sleeve is constructed of a material with a damping coefficient in DMTA of about 0.05 to about 0.8 over a temperature range of about -20 to about 100°C.

[0040] In some examples, the elastically deformable sleeve is constructed of a material with a damping coefficient in DMTA of about 0.05 to about 0.5 over a temperature range of about -20 to about 100°C.

[0041] In some examples, the automated hand includes a material having an elasticity of about 20% to about 60%.

[0042] In some examples, the elastically deformable sleeve includes a material having a Shore A hardness of about 10 to about 90.

[0043] In some examples, the elastically deformable sleeve includes a material having a Shore A hardness of about 30 to about 60.

[0044] In some examples, the elastically deformable sleeve includes a material having a Shore A hardness of about 30.

[0045] In some examples, the elastically deformable sleeve comprises a material having a Shore D hardness of about 40 to about 90.

[0046] According to another example, an automated hand compatible with a touch screen is provided, which: A conductive member; b. digit; and c. One or more conductive fittings; Equipped with one or more conductive attachments are configured to be attached to the digit to provide a conductive path from an exterior of the digit to the conductive member; The automated hand is configured to allow operation of the touch screen when the conductive path is electrically insulated from the body of a user of the automated hand.

[0047] According to another example, an automated hand compatible with a touch screen is provided, which: A conductive member; b. digit; and c. One or more conductive fittings; Equipped with The one or more conductive attachments are configured to be attached to the digit and provide a conductive path from the outside of the digit to the conductive member, the conductive path being insulated from the body of a user of the automated hand during use.

[0048] In some examples, one or more of the conductive fittings comprises a polymer.

[0049] In some instances, the polymer is a silicone.

[0050] In some examples, one or more of the conductive fittings also includes a conductive carbon additive.

[0051] In some instances, the conductive carbon additive includes carbon nanotubes.

[0052] In some examples, the conductive member is a structural member of an automated hand.

[0053] In some instances, the conductive members are structural members of the digits.

[0054] In some examples, the conductive member is part of the articulation of the digit.

[0055] In some examples, the one or more conductive fittings include a pad and a connecting piece, the pad being positioned on the exterior of the digit during use, and the connecting piece contacting the pad and the conductive member during use.

[0056] In some examples, the pad is a conductive attachment as defined in any one of the preceding paragraphs.

[0057] In some examples, the linking piece is a spring that is biased into contact with the conductive member.

[0058] In some examples, the one or more conductive garments comprise a conductive distal phalangeal portion of a digit.

[0059] In some instances, the conductive member is mechanically coupled to the conductive distal phalangeal portion.

[0060] In some examples, the conductive path is insulated from the terminals of the actuator of the automated hand.

[0061] In some examples, the conductive path is insulated from the housing of the actuator.

[0062] In some examples, the conductive member and the one or more conductive mountings are configured to cause a touch sensing array in the touchscreen to sense a change in capacitance within a range indicative of an actual human finger touching the touchscreen when one of the conductive mountings touches the touchscreen.

[0063] In some examples, the conductive pathway terminates in a conductive member.

[0064] In some examples, the one or more conductive attachments are configured to be incorporated into existing automated hands that are not touch screen compatible.

[0065] According to another example, a method is provided that: Attaching one or more conductive attachments to the digits of the automated hand; and placing one of the one or more conductive attachments in contact with a conductive member of the automated hand; Including, The conductive mount or mounts provide a conductive path from the exterior of the digit to the conductive member.

[0066] In some examples, the conductive member is a structural member of an automated hand.

[0067] In some examples, the conductive member is part of the articulation of the digit.

[0068] In some examples, one of the conductive fixtures includes a polymer.

[0069] In some instances, one of the conductive fittings also includes a conductive carbon additive.

[0070] In some instances, the conductive carbon additive includes carbon nanotubes.

[0071] In some examples, attaching one or more conductive attachments to the digit includes: Attaching a connecting piece to the digit; and Putting pads on the outside of the digit to contact the connecting piece; Including, Placing one of the one or more conductive mountings into contact with a conductive member of the automated hand includes biasing the linking piece toward contact with the conductive member.

[0072] In some examples, the method includes incorporating one or more conductive attachments into an automated hand that is not touchscreen compatible to produce an automated hand that is touchscreen compatible.

[0073] In some examples, the method further includes removing and replacing non-conductive portions of the automated hand that are not compatible with the touch screen with one or more of the conductive attachments.

[0074] According to another example, an automated hand is provided which: a. Palmar; b. digits extending from said palm; and c. a worm drive configured to rotate the digit relative to the palm during use, the worm drive including a worm and a bearing configured to resist an axial force generated by the worm in both directions along a longitudinal axis of the worm; Equipped with.

[0075] In some examples, a bearing is located between the worm and a motor that drives the rotation of the worm.

[0076] In some examples, the bearings are deep groove ball bearings.

[0077] In some examples, the worm is constrained against axial movement relative to the bearing.

[0078] In some examples, the automated hand includes flanges fixed to the worm, one flange on each side of the bearing.

[0079] In some examples, one or more of the flanges are welded to the worm.

[0080] In some examples, the automated hand further comprises a two-part housing, the outer ring of the bearing being held between the two parts of the housing.

[0081] In some examples, the worm drive further comprises a second bearing on an opposite side of the worm from the bearing.

[0082] In some instances, the second bearing is smaller than the above bearing.

[0083] In some examples, the diameter of the second bearing is about 2 / 3 or less the diameter of the first bearing.

[0084] In some examples, the diameter of the second bearing is about half the diameter of the first bearing.

[0085] In some examples, the second bearing is configured to resist radial forces on the worm.

[0086] In some examples, the second bearing is configured to provide substantially no resistance to the axial force generated by the worm.

[0087] In some examples, the second bearing is configured to be slidable relative to the longitudinal axis of the worm.

[0088] According to another example, a cover for an automated hand is provided, the cover comprising: a. a cover body including a knitted material; and b. a hand coupling on the cover body configured to be secured to an automated hand; Equipped with.

[0089] In some examples, the knitted material is configured to have a low resistance to stretch over a first stretch range and a high resistance to stretch over a second stretch range, where the second range is higher than the first range.

[0090] In some instances, the resistance to stretch increases sharply between the first stretch range and the second stretch range.

[0091] In some examples, the cover body is configured to cover an articulation joint of an automated hand.

[0092] In some examples, the cover body is configured to cover a thumb joint of an automated hand.

[0093] In some examples, the cover body is configured to cover a joint between an automated hand and a wrist.

[0094] In some examples, the cover body is configured to maintain a substantially smooth surface during movement of the interface.

[0095] In some examples, the cover is configured to allow movement through a full range of motion of the articulation joint without significantly loading an actuator that drives movement at the articulation joint.

[0096] In some examples, the cover is configured to prevent an actuator that drives movement of the articulation joint from back-driving when the articulation joint extends or retracts.

[0097] In some instances, the knitted material is knitted from elastic yarn.

[0098] In some instances, the hand connector is a shaped body that has a greater stiffness than the material of the cover body.

[0099] In some instances, the hand connector is made from molded plastic.

[0100] In some examples, the hand connector at least partially surrounds an edge of the cover.

[0101] In some examples, the hand interface is configured to couple to a palm of an automated hand.

[0102] In some examples, the cover further comprises a wrist link configured to connect to a wrist to which the automated hand is connected.

[0103] In some examples, the cover further comprises a thumb coupling configured to couple to a thumb of the automated hand.

[0104] In some examples, the hand interface is configured to be sandwiched between shell pieces of the automated hand.

[0105] In some examples, the wrist connection is configured to be held in a groove that surrounds the wrist.

[0106] In some examples, the cover further comprises one or more additional bodies of a material having a greater stiffness than the material of the cover body to help maintain the shape of the cover.

[0107] In some instances, these additional bodies include one or more hoops that completely or substantially surround a portion of the cover.

[0108] In some instances, the additional body is made of molded plastic.

[0109] In some examples, the cover body is configured to allow water to pass therethrough so that water can escape from the area between the automated hand and the cover.

[0110] In some instances, the cover body material is knitted with a sufficiently open knit to allow water to pass through the material.

[0111] In some examples, the cover body is formed by a 3D knitting process.

[0112] In some examples, the cover body includes multiple regions having different properties from one another.

[0113] In some examples, the cover body includes a thumb region that covers at least a portion of the thumb of the automated hand, and a palm region that covers at least a portion of the palm of the automated hand.

[0114] In some instances, two or more of these regions have different stretch properties than one another.

[0115] In some instances, the thumb area is formed from a less stretchy material than the palm area.

[0116] In some instances, two or more of the regions have different roughnesses from one another.

[0117] In some instances, the thumb region is formed of a rougher material than the palm region.

[0118] In some examples, the plurality of regions includes regions that are not made of knitted material.

[0119] In some instances, the thumb area is made from a knit material and the palm area includes a woven material.

[0120] In some instances, the cover body has different stretch characteristics in different directions.

[0121] In some examples, the cover is configured to approximate the shape of a portion of a real human hand that responds to a portion of the automated hand covered by the cover.

[0122] In some instances, the cover body is substantially wrinkle-free during use.

[0123] In some examples, the cover further comprises one or more reinforcement regions configured to rest on top of a protruding feature or a user input feature of an automated hand.

[0124] In some examples, the cover further comprises one or more visual indicators configured to rest over the user input features of the automated hand.

[0125] In some examples, the cover further comprises one or more seams that are sewn, knitted, glued, or joined using bonding tape.

[0126] According to another example, a cover for an automated hand is provided, the cover comprising: a. a cover body including a textile material; and b. a structural brace attached to the cover body and configured to support the cover body against external forces; Equipped with The cover is adapted to be secured to an automated hand.

[0127] In some examples, the structural brace is configured to support the cover body against collapse due to gravity.

[0128] In some examples, the cover body is configured to cover an articulation joint of an automated hand.

[0129] In some examples, the cover body is configured to cover a thumb joint of an automated hand.

[0130] In some examples, the cover body is configured to cover a joint between an automated hand and a wrist.

[0131] In some examples, the cover body is configured to maintain a substantially smooth surface during movement of the interface.

[0132] In some examples, the cover is configured to allow movement through a full range of motion of the articulation joint without significantly loading an actuator that drives movement at the articulation joint.

[0133] In some examples, the cover is configured to prevent an actuator that drives movement of the articulation joint from back-driving when the articulation joint extends or retracts.

[0134] In some examples, the cover body includes a knitted material.

[0135] In some examples, the structural brace includes a hand coupling configured to couple the cover to an automated hand.

[0136] In some instances, the hand connector is made from molded plastic.

[0137] In some examples, the hand connector at least partially surrounds an edge of the cover.

[0138] In some examples, the hand interface is configured to couple to a palm of an automated hand.

[0139] In some examples, the structural brace includes a wrist link configured to connect to a wrist to which the automated hand is connected.

[0140] In some examples, the structural brace further comprises a thumb coupling configured to couple to a thumb portion of the automated hand.

[0141] In some examples, the hand interface is configured to be sandwiched between shell pieces of the automated hand.

[0142] In some examples, the wrist connection is configured to be held in a groove that surrounds the wrist.

[0143] In some examples, the structural brace comprises one or more inner brace pieces positioned inward from the edge of the cover body to help maintain the shape of the cover.

[0144] In some instances, the inner brace includes one or more hoops that completely or substantially surround a portion of the cover.

[0145] In some instances, the inner brace is made of molded plastic.

[0146] In some instances, the wrist link and / or thumb link are made from molded plastic.

[0147] In some examples, the cover body is configured to allow water to pass therethrough so that water can escape from the area between the automated hand and the cover.

[0148] In some examples, the cover body includes a woven material.

[0149] In some examples, the cover is configured to approximate the shape of a portion of a real human hand that corresponds to the portion of the automated hand covered by the cover.

[0150] In some examples, the structural brace is configured to maintain the shape of the cover when the cover is not attached to the automated hand.

[0151] In some instances, the cover body is substantially wrinkle-free during use.

[0152] In some examples, the cover further comprises one or more reinforcement regions configured to rest on top of a protruding feature or a user input feature of an automated hand.

[0153] In some examples, the cover further comprises one or more visual indicators configured to rest over the user input features of the automated hand.

[0154] In some examples, the cover further comprises one or more seams that are sewn, knitted, glued, or joined using bonding tape.

[0155] According to one example, an automated hand is provided, which: a. Palmar; b. a thumb portion attached to the palm portion of the hand and pivotally attached to the palm portion at a first connection portion; and c. a secondary support portion from a midpoint along the thumb portion to a second connection portion at the palm portion; Equipped with.

[0156] In some examples, the second connection portion on the palm portion is spaced apart from the first connection portion.

[0157] In some instances, the first connection is at the base of the palm.

[0158] In some instances, the second connection is intermediate to the base of the palm and at the distal end of the palm.

[0159] In some instances, this intermediate point is at least 10% of the extension of the thumb from the end of the palm.

[0160] In some instances, the intermediate point is at least 25% of the extension of the thumb from the end of the palm.

[0161] In some instances, the thumb portion comprises two segments connected by an articulation joint.

[0162] In some instances, the intermediate location is near the facet joint.

[0163] In some instances, the intermediate location is at an articular joint.

[0164] In some instances, the intermediate location is distal to the facet joint.

[0165] In some instances, the auxiliary support is flexible.

[0166] In some examples, the auxiliary support is a support arm.

[0167] In some examples, the support arm comprises a resilient material, such as a polymer.

[0168] In some examples, the second connection is a pivot connection.

[0169] In some examples, the support arms are configured to connect to either side of the thumb portion at an intermediate point.

[0170] In some instances, the support arm has a curved shape that can straighten under tension.

[0171] In some examples, the side of the support arm facing away from the base of the palm has a recessed portion to assist in gripping an object.

[0172] In some examples, the support arm is configured such that the thumb portion does not interfere with the palm portion or the thumb portion other than at the first and second connections as the thumb portion moves through its full range of motion.

[0173] In some examples, the secondary support is a cord.

[0174] In some examples, the thumb portion has a conforming portion between the first connection portion and the intermediate point.

[0175] In some examples, the first connection portion comprises a substantially rigid mount in or on the palm portion.

[0176] In some examples, the secondary support is frangible and the thumb portion is connected to the palm portion via a safety pivot that allows the thumb portion to pivot freely in the extension direction when the secondary support breaks.

[0177] In some examples, the automated hand further comprises a catch portion configured to limit pivoting of the thumb portion at the first connection portion when the thumb portion is under load.

[0178] According to another example, an automated hand is provided which: a. A palm portion having a pivot mount; b. a digit mounted on a pivot mount for pivoting about a first axis and conforming at a conforming point distal to the pivot mount; and c. a catch portion configured to selectively limit pivoting of the digit about the first axis when the digit conforms at the conforming location under load; Equipped with.

[0179] In some instances, the digit is compliant about a second axis corresponding to the flexion-extension axis of the digit.

[0180] In some instances, the digit is the thumb.

[0181] In some instances, the first axis corresponds to an anterior-posterior axis of the thumb.

[0182] In some examples, the pivot mount is substantially non-compliant about the second axis.

[0183] In some examples, the digits are disposed at or near the first side of the palm portion, and the catch portion is located between the digits and the first side of the palm portion.

[0184] In some examples, the catch portion includes a tooth attached to the digit and one or more recesses in the palm portion, the tooth being driven toward the recesses when the digit conforms at the conforming location.

[0185] In some examples, the teeth are biased away from the recesses when no load is applied to the digit.

[0186] In some instances, this load is in the direction of digit extension.

[0187] In some instances, the digits include articulating joints that accommodate at accommodation points.

[0188] In some examples, the catch portion is configured to limit pivoting of the digit about the first axis when an external force is applied to the digit at the compliant articulation joint toward extension of the digit.

[0189] In some examples, the catch portion is configured to limit pivoting of the digit about the first axis when the digit actuator drives the digit toward bending at the compliant articulation joint.

[0190] In some instances, the catch portion includes an articulating arm coupled to a conformably mounted gear that is attached to a segment of the digit proximal to the articulation joint and engages a gear on the distal side of the articulation joint.

[0191] In some instances, the gear distal to the articulation joint is the drive gear that drives the rotation of the digit at the articulation joint.

[0192] In some examples, the automated hand further comprises a digit actuator configured to drive a drive gear distal to the articulation joint.

[0193] In some instances, the teeth are carried on an articulating arm.

[0194] In some instances, the bias is provided by a spring kinematically coupled to the articulating arm.

[0195] In some instances, the proximal portion of the digit comprises a housing that conforms, either at the conforming location described above or at another such conforming location.

[0196] According to another example, an assembly is provided having a wrist and an automated hand, the assembly comprising: a. an articulating tongue extending from the wrist or automated hand and having a distal portion and a proximal portion, the distal portion being wider than the proximal portion; b. a coupling clamp extending from the other of the wrist and the automated hand and configured to receive and clamp the coupling tongue to releasably couple the wrist to the automated hand; It further comprises:

[0197] In some examples, the coupling clamp includes a clamp plate configured to be clamped securely to the coupling tongue.

[0198] In some examples, the connecting clamp includes one or more screw fasteners for securely fastening the clamp plates.

[0199] In some instances, tightening the interlocking clamp onto the interlocking tongue draws the wrist and hand together.

[0200] In some examples, the assembly is configured such that when the interlocking tongue is received in the interlocking clamp, the contact interface where the interlocking clamp and the interlocking tongue contact each other is at an oblique angle relative to a longitudinal axis passing through the wrist and automated hand.

[0201] In some examples, the interlocking clamp and interlocking tongue have complementary surfaces configured to abut one another to limit lateral movement of the hand relative to the wrist.

[0202] In some examples, the interlocking tongue is positioned within the pocket and the interlocking clamp is configured to fit snugly within the pocket such that complementary surfaces include an inner surface of the pocket and an outer surface of the interlocking clamp.

[0203] In some examples, the interlocking tongue includes one or more ribs, and the interlocking clamp includes one or more slots configured to fit over the ribs with complementary surfaces including sides of the ribs and sides of the slots.

[0204] According to another example, an assembly for an automated hand is provided, which comprises: a.Automated hand; b.list; c. a releasable mechanical coupling for releasably mechanically coupling the wrist to the automated hand; and d. a releasable electrical coupling for releasably electrically coupling the wrist to the automated hand; Equipped with The releasable electrical connection includes a plurality of biased terminals on the automated hand or wrist, each biased terminal being biased toward a complementary terminal on the other of the automated hand and wrist, each biased terminal being configured to electrically connect to the complementary terminal when the wrist is mechanically coupled to the automated hand.

[0205] In some instances, the biased terminals are spring loaded.

[0206] In some examples, the complementary terminal is a pad.

[0207] In some instances, the pad is recessed.

[0208] In some examples, the wrist comprises a cable with a biased terminal or a complementary terminal located at an end of the cable.

[0209] In some examples, the assembly of the automated hand further comprises a friction fit feature on the cable, which is configured to couple to the friction fit feature of the hand.

[0210] In some examples, the automated hand assembly further comprises a brace on the wrist configured to prevent electrical isolation of the terminals when the cable and the hand are mechanically coupled.

[0211] In some instances, the wrist has ports in it that allow cables to pass from one side of the wrist to the other.

[0212] In some examples, the automated hand assembly further comprises a rotational coupling for coupling the wrist to the arm socket, the rotational coupling configured to allow the wrist to rotate about a longitudinal axis of the arm socket.

[0213] Another example provides a list for use with an automated hand, which is: a. a first connection for connecting the wrist to the arm socket; b. a second connection for connecting the wrist to an automated hand; c. a rotatable wrist joint configured to rotate the automated hand between the first linkage and the second linkage to allow bending or extension; and d. a locking mechanism having a base and a locking plate configured to rotate relative to one another as the wrist joint rotates, the base having one or more recesses, the locking plate being configurable to be selectable between two states: a first state in which the locking plate is biased toward engagement with one of the one or more recesses in the base, and a second state in which the locking plate is held out of engagement with the recesses in the base; Equipped with The locking mechanism is configured to limit rotation of the wrist joint when the locking plate engages one of the one or more recesses in the base.

[0214] In some examples, the locking mechanism further includes a locking button configured to be depressed along a first axis to select a configuration of the locking plate, the first axis being transverse to a direction that the locking plate moves to enter the recess.

[0215] In some examples, the first axis is located along an axis of rotation of the rotatable wrist joint.

[0216] In some examples, the locking plate has recesses for receiving pins coupled to a locking actuator, the recesses having ramps such that the plate is moved out of engagement with the recesses when the pin overcomes the ramps.

[0217] In some examples, the wrist further comprises a spring configured to bias the plate into engagement with the recess.

[0218] In some examples, the one or more recesses are multiple recesses arranged radially about an axis of rotation of the rotatable wrist joint.

[0219] In some examples, the locking plate is configured to move directly towards the axis of rotation of the rotatable wrist joint to engage the recess.

[0220] According to another example, a wrist joint for use with an automated hand is provided that: A rigid sleeve with an aperture formed therein that is non-circular in cross section; b. a rigid shaft, having a non-circular cross section, extending through the aperture; and c. one or more elastically deformable pieces in an aperture between the rigid sleeve and the rigid shaft; Equipped with The rigid axis is in a neutral orientation with respect to the rigid sleeve, and the one or more elastically deformable pieces return the rigid axis to the neutral orientation after rotation away from the neutral orientation.

[0221] In some examples, the rigid shaft has a non-flat surface adjacent at least one of the elastically deformable pieces.

[0222] According to another example, a wrist joint for use with an automated hand is provided that: A rigid sleeve with an aperture formed therein that is non-circular in cross section; b. a rigid shaft, having a non-circular cross section, extending through the aperture; and c. one or more elastically deformable pieces in an aperture between the rigid sleeve and the rigid shaft; Equipped with The rigid shaft has a non-planar surface adjacent to at least one of the one or more elastically deformable pieces, the non-planar surface shaped to provide a neutral orientation of the rigid shaft relative to the rigid sleeve, and the one or more elastically deformable pieces returning the rigid shaft toward the neutral orientation after rotation away from the preferred neutral orientation.

[0223] In some instances, the non-planar surface is recessed.

[0224] In some examples, the non-flat surface is configured to provide a higher return torque toward the neutral orientation for a small deviation from the neutral orientation than a flat surface.

[0225] In some examples, the aperture in the rigid sleeve has multiple corners with each corner having an elastically deforming piece.

[0226] In some examples, the perimeter of the aperture includes one or more partial circular arcs in cross section and one or more recesses, each of the one or more recesses configured to receive one of the one or more elastically deformable pieces.

[0227] In some examples, the circumference of the rigid shaft includes one or more partial circular arcs in cross section and one or more recesses formed therein: Each recess in the rigid shaft is configured to receive one of the one or more elastically deformable pieces, and each of the one or more elastically deformable pieces is held between one of the recesses in the aperture and one of the recesses in the rigid shaft.

[0228] In some examples, the elastically deformable piece is an elastomer, or suitable polymer.

[0229] It is to be understood that the terms "comprise, comprise" and "comprising" can have either an exclusive or inclusive meaning in various legal systems. For purposes of this specification, unless otherwise specified, these terms are intended to have an inclusive meaning. That is, these terms are to be taken to mean to encompass the recited components that they use in direct reference and, in some cases, in reference to other unspecified components or elements.

[0230] No admission is made that reference in this specification is made to any document that forms part of the prior art or common general knowledge which may be validly combined with other documents.

[0231] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present invention and, together with the above general description of the invention and the following detailed description, serve to explain the principles of the invention. [Brief description of the drawings]

[0232] [Figure 1] FIG. 1 is a perspective view of an automated hand according to one example. [Diagram 2] FIG. 2 is another perspective view of the automated hand of FIG. 1. [Diagram 3] FIG. 2 is a partial exploded view of the automated hand of FIG. 1. [Figure 4] FIG. 2 is a perspective view of a portion of the automated hand of FIG. 1; [Diagram 5] 1 is a perspective view of a connector attachment device according to one example. [Figure 6] 6 is another perspective view of the connector attachment device of FIG. 5. [Figure 7] 7 is a longitudinal sectional view of the connector attachment device of FIG. 6. [Figure 8] FIG. 1 is a perspective view of a connector mount according to one example. [Figure 9] FIG. 9 is a partial exploded view of the connector mount of FIG. 8. [Figure 10] FIG. 2 is a front view of a portion of a connector mount according to one example. [Figure 11] FIG. 2 is a top view of an actuator assembly according to one example. [Figure 12] FIG. 12 is a longitudinal sectional view of the actuator assembly in FIG. [Figure 13] FIG. 1 is a partially exploded view of a gear bearing assembly according to one example. [Figure 14] FIG. 2 is a partially exploded view of a digit drive device according to one example. [Figure 15] FIG. 2 is a partial exploded view of a digit according to one example. [Figure 16] FIG. 2 is a top view of a digit according to one example. [Figure 17] FIG. 17 is a longitudinal cross-sectional view of the digit of FIG. 16. [Figure 18] FIG. 2 is a perspective view of a cover according to one example. [Figure 19] FIG. 19 is another perspective view of the cover of FIG. 18. [Figure 20] FIG. 1 is a side view of a wrist assembly connected to a palm chassis according to one example. [Figure 21] FIG. 21 is a side view of the wrist assembly and palm chassis of FIG. 20 separated from each other. [Figure 22] FIG. 21 is another side view of the wrist assembly and palm chassis of FIG. 20 separated from each other. [Diagram 23] FIG. 21 is an end view of the palm chassis of FIG. [Figure 24] FIG. 21 is a partial exploded view of the wrist assembly in FIG. [Diagram 25] FIG. 1 is a perspective view of a wrist according to one example. [Figure 26] FIG. 26 shows two components of the list of FIG. 25. [Figure 27] FIG. 26 is a top view of the list of FIG. 25. [Figure 28] FIG. 21 is a cross-sectional view of the wrist of FIG. [Figure 29]FIG. 21 is a partial exploded view of the wrist of FIG. [Diagram 30] FIG. 13 is a perspective view of a portion of a locking mechanism according to one example. [Diagram 31] FIG. 1 is a perspective view of a wrist assembly connected to a palm chassis according to one example. [Diagram 32] FIG. 1 is a perspective view of a thumb assembly according to one example. [Diagram 33] FIG. 33 is another perspective view of the thumb assembly in FIG. 32. [Diagram 34] FIG. 33 is a top view of the thumb assembly in FIG. 32. [Diagram 35] FIG. 13 is a perspective view of components of a lock assembly according to one example. [Diagram 36] FIG. 33 is an exploded view of the thumb assembly in FIG. 32. [Figure 37] FIG. 33 is another exploded view of the thumb assembly of FIG. 32. [Figure 38] FIG. 33 is another view of the thumb assembly in FIG. 32. [Figure 39] 21 is a cross-sectional view of an alternative wrist to that of FIG. 20. [Diagram 40] FIG. 13 is a perspective view of components of another example locking mechanism. [Diagram 41] FIG. 13 is a perspective view of components of another example thumb assembly; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0233] This specification describes and claims several aspects of an automated hand and components for use with the automated hand. Unless it is clear from the context that the aspects or components are used alternatively to one another, any combination of the described and claimed aspects and components may be provided together in an automated hand or in an assembly including an automated hand.

[0234] 1 and 2 show an automated hand 1 according to an example embodiment.

[0235] Size may be an important consideration in the design of an automated hand. An excessively large automated hand may be heavy, inconvenient, and unbalanced for the user. The automated hand 1 may have several space-saving features, which may enable the automated hand 1 to be made relatively small and compact.

[0236] The automated hand 1 has a palm portion 2. Digits 3, 4 are attached to the palm portion 2. The palm portion 2 and the digits 3, 4 can be arranged to correspond to the palm and digits of a real human hand.

[0237] In this example, the digit includes four finger portions 3 and one thumb portion 4. The finger portions 3 in this example are arranged like four fingers on a real human hand. The finger portions 3 in this example may be different from each other like four fingers on a real human hand. In particular, the finger portions 3 may have different sizes like fingers on a real human hand.

[0238] The finger portion 4 in this example is positioned like a thumb on a real human hand. The thumb portion 4 can be movable opposite the finger portion 3 in a manner similar to the thumb of a real human hand.

[0239] Generally, the automated hand 1 in this example is generally anatomically correct. In other examples, the automated hand 1 may be less anatomically correct and may be positioned differently than a real human hand. For example, the automated hand 1 may have more or less than four fingers and more or less than one thumb.

[0240] The fingers 3 in this example are each made up of two sections 31 and 32. Section 31 is referred to herein as the proximal phalangeal section 31. Section 32 is referred to herein as the distal phalangeal section 32. The proximal phalangeal section 31 and the distal phalangeal section 32 are connected by an articulation 34 that serves as a knuckle section. The fingers 3 in this example differ from a real human hand in that a real human hand has three phalanges, a proximal phalange, a middle phalange, and a distal phalange. In some examples, each finger 3 may have more or less than two phalanges. For example, it may have a proximal phalange, a middle phalange, and a distal phalange, just like a real human hand.

[0241] As best seen in FIG. 2, a pad 35a may be provided at the end of each finger 3. This may improve grip. The pads 35a may also serve to enable the finger portion 3 to operate a touch screen, as will be described in further detail with reference to Figures 15 to 17.

[0242] The finger portions 3 are connected to the palm portion 2 by respective articulation joints 33. The articulation joints 33 may be provided at respective finger joints 21. The finger portions 3 may be conformably attached to the palm portion 2, as will be described in further detail with reference to Figures 4 to 10.

[0243] The thumb portion 4 in this example is made up of two sections 42 and 43, respectively. Section 43 is referred to herein as the thumb metacarpal portion. Section 42 is referred to herein as the thumb phalanx portion. Sections 42 and 43 can be connected to each other by an articulation (not shown in FIGS. 1 and 2). The thumb portion 4 can be connected to the palm portion 2 by an articulation (not shown in FIGS. 1 and 2). The thumb portion 4 in this example differs from the thumb of a real human hand in that a real human thumb has a thumb metacarpal bone as well as a proximal phalanx and a distal phalanx with an articulation between them. In other examples, the thumb portion 4 can have more or fewer sections. For example, the thumb portion 4 can have a metacarpal portion, a proximal phalanx, and a distal phalanx portion, like a real human thumb.

[0244] As best seen in Figure 2, a pad 35b may be provided at the end of the thumb portion 4. This may improve grip. The pad 35b may also serve to enable the thumb portion 4 to operate a touch screen, as will be described in further detail with reference to Figures 15-17.

[0245] 1 and 2, the thumb portion 4 is shown covered by a cover 41. The cover 41 can cover the articulation connecting the thumb metacarpal portion 43 to the palm portion 2 and / or the articulation connecting the thumb metacarpal portion 43 to the thumb phalanx portion 42.

[0246] Also shown in Figures 1 and 2 is a wrist 5' for connecting the automated hand 1 to a user's arm. The automated hand 1 may be suitable for use with a range of wrists. In the example of Figures 1 and 2, the wrist 5' is a quick-disconnect wrist. The wrist 5' in this example can be operated to disconnect the automated hand from the arm connection by pressing 24a and 24b simultaneously. Patches or other visual indicators may be provided on the cover 41 in areas 24a and 24b to indicate where to press to disconnect the wrist 5'.

[0247] The palm portion 2 in this example is partially covered by a faceplate 25. On the faceplate 25 is a user interface panel 23. The user interface panel 23 may have input devices such as buttons. The user interface panel 23 may have output devices such as lights or a display screen. The user interface panel 23 may have a touch screen that serves as an input / output device.

[0248] A band 22 may also be provided on the palm portion 2 near the knuckles 21. This may be shaped to fit snugly against the palm portion 2 and to cover the knuckles 21.

[0249] In FIG. 3, the automated hand 1 is shown with the fascia 22 (made of upper portion 22a and lower portion 22b), the faceplate 25, the interface panel 23, and the cover 41 separated from the rest of the hand 1. With these parts separated, the interior 6 of the palm 2 is visible. The control electronics and digit actuators can be sealed within the interior 6. Also shown separated from the rest of the hand 1 are the palm chassis 26 and the palm cover 28, which when assembled, enclose the interior 6 of the palm 2. The faceplate 25, the interface panel 23, the fascia 22, and the cover 41 can be assembled on the palm over the chassis 26 and the palm cover 28. The cover 41 can be secured to the palm as will be described in more detail with reference to FIGS. 18 and 19. For example, the cover 41 can be clipped under the faceplate 25. The wrist 5' can be secured to the palm chassis 26 as will be described in more detail with respect to FIGS. 20-22 and 31.

[0250] Figure 3 shows a connector mount 27, which when assembled is located under the web 22 of the automated hand 1. The connector mount 27 mounts one or more connectors to which one or more digits are connected. In the example of Figure 3, the connector mount 27 mounts four fingers 3 as shown in Figure 4.

[0251] [Digit mounting device] In an automated hand, it may be desirable to seal the interior against the ingress of water. It may also be desirable to mount parts of the hand, such as digits, conformably. Digits may be bumped, pulled, and pushed during use. Providing conformability to the digit mount allows it to move somewhat in these scenarios without being damaged at the attachment point and without damaging the part of the hand to which it is attached. This allows the digit mount to passively conform to the shape of the object being grasped, making it feel more natural, such as a handshake. However, it may also be desirable to ensure that the digits are precisely positioned and oriented relative to each other and the rest of the hand, which can be difficult when the digits are conformably mounted and may require significant "tuning" of the digit control algorithms and / or adjustment of the digits' positions after mounting to ensure that the digits precisely perform the desired grasp. Additionally, the conforming attachment device also provides a sealing function in some cases, which can make it difficult to design a conforming element that provides both a good seal and good conformability. It may also be desirable to mechanically control the limits and other parameters of the conforming movement of the digits more precisely than in other automated hands.

[0252] 4 shows four fingers 3 of the exemplary automated hand 1 of FIGS. 1-3 mounted using a connector mount 27. In other examples, more or fewer fingers and / or one or more thumbs may be mounted using a connector mount 27.

[0253] As shown in FIG. 4, the connectors 29 are attached to the mount 27. The fingers 3 are connected to the respective connectors 29 at the knuckle 21. The fingers 3 are thereby attached to the palm via the connectors 29 and the mount 27. In some examples, the connectors 29 can form part of a digit drive that drives the digits to bend and / or extend. For example, each connector 29 can include an actuator. In other examples, each connector 29 can include one or more cables, or one or more articulating arms of the articulation. In these examples, the cables or articulating arms can be located between the digits and an actuator located further back in the palm, at the wrist, or at the back of the wrist. In other examples, the digits can include an actuator (e.g., a motor) that causes movement of the digits relative to the palm. In this example, each connector can be "passive" and does not actuate the movement of the fingers. For example, the connectors can include a mounting arm with a fixed gear at its end, with an actuator at the digit. The actuator has a drive gear that engages a fixed gear and rotates to drive the movement of the digits.

[0254] Each connector 29 is mounted such that it can move within the mount 27 when a force is applied to a digit extending from the connector 29. The mount 27 may allow rotation of the connector 29 in the plane of the palm (i.e., about an axis that is transverse or generally perpendicular to the plane of the palm), rotation of the connector 29 in a plane perpendicular to the plane of the palm (i.e., about an axis that extends generally laterally through the palm), and / or rotation of the connector 29 about its longitudinal axis. The mount 27 may allow translation of the connector 29 in the plane of the palm or perpendicular to the plane of the palm. Thus, each connector 29 may be mounted with three degrees of freedom in translation and three degrees of freedom in rotation. However, in some instances, the connectors 29 may be mounted with fewer degrees of freedom in rotation or translation.

[0255] The mount 27 may be located at or near the front of the palm as shown in FIG. 3. The mount 27 may be a part of the palm that generally corresponds to the metacarpals in a real human hand. The connector 29 may correspond to the metacarpals in a real human hand. In a real human hand, the metacarpals extend through the palm towards the knuckles where the metacarpals connect to the digits. The connector 29 may similarly extend through the palm 2 of the automated hand 1 and connect to the digits 3, 4 of the automated hand 1. In the detailed example described herein, the mount 27 attaches the four finger portions 3 of the automated hand 1 via the connector 29 that corresponds to the four metacarpals in a real human hand that connect to the four fingers. In other examples, the mount may attach more or fewer finger portions 3, or attach only the thumb portion 4 or the thumb portion 4 in combination with one or more finger portions 3.

[0256] Figures 5 and 6 show the digit attachment arrangement in more detail. The connector 29 in the example includes an actuator in the form of a motor 295. The connector 29 in the example drives the flexion and extension of the digit. Various types of motors may be suitable. In one example, the motors 295 are brushless DC (BLDC) motors. Each motor 295 is provided with an encoder 296 and a printed circuit board (PCB) 292 on a PCB mount 294. The connector 29 extends through the mount 27 and terminates at the knuckle 21 where the digit is attached.

[0257] The mount 27 can include a rigid mount for each connector 29. In the example shown, the connector mounts are integrated together to form a single rigid mount 275 for all connectors 29. In other examples, separate rigid mounts for different connectors 29 can be used. The rigid mount 275 has a flange 277 around it. The flange 277 is sized to fit within the palm chassis 26 (shown in FIG. 3) when the hand is assembled. The flange 277 has a groove formed on its periphery that receives an O-ring (not shown) that seals to the palm chassis 26 when assembled. This can prevent water or other liquids from entering the interior of the palm through the front of the palm. Other seals, such as gaskets, elastomer blocks, or silicone sealants, can be used in place of or in addition to the O-ring. In other examples, a seal, such as an O-ring, can be provided on the palm chassis and seal against the rigid mount 275. Alternatively, one or more intermediate members may be placed between the chassis 26 and the rigid mount 275 to provide a seal between the intermediate members, the palm chassis 26, and the rigid mount 275.

[0258] In the example shown, the rigid mount 275 is a separate member from other parts of the palm to which it is attached. In other examples, one or more rigid mounts may be integrated with or formed as part of other structural members of the palm. For example, a modified palm chassis may incorporate the rigid mount. In such an arrangement, the palm chassis is provided in two parts that can be fastened together to define apertures for each connector. In another example, one or more palm housing / shell pieces may have an exterior surface that provides the outer body of the palm and a rigid inner surface configured to provide the rigid mount.

[0259] The rigid mount 275 can be made of any suitable material capable of providing sufficient rigidity. In some examples, the rigid mount 275 is made of a metal. In some examples, the metal is aluminum.

[0260] 7 is a vertical cross-sectional view of the mounting device taken along line AA in FIG. 6. This shows the detailed structure of one example of a mounting device for a single connector 29.

[0261] The rigid mount 275 has a sleeve 271 therein. The sleeve 271 is capable of elastic deformation so that it can deform an appropriate amount under forces having a magnitude that would typically be encountered in normal use of an automated hand. These forces may be experienced when a digit attached to the connector 29 is bumped, pushed, pulled, twisted, or otherwise impacted or stressed. The elasticity of the sleeve 271 also allows it to return to its neutral or undeformed state after the force is removed. However, it should be understood that in some cases, there may be some hysteresis or flexibility associated with the sleeve 271 such that it does not return completely to its neutral or undeformed state.

[0262] Suitable materials for the elastically deformable sleeve 271 include elastomers, rubbers, silicones, or polymers; thermoplastic materials such as polyurethanes, hydrocarbon-based elastomers, fluorocarbon-based elastomers, or silica-based elastomers; thermoset elastomers; thermoplastic elastomers; thermoset rubbers; foamed compositions of one or more of these materials; and alloys or blends of two or more of these materials. The sleeve material can be selected to have a damping coefficient in dynamic mechanical thermal analysis (DMTA) of about 0.05 to about 0.8 over a temperature range of about -20 to about 100°C; or about 0.05 to 0.5 over a temperature range of about -20 to about 100°C. The sleeve material can be selected to have an elasticity of about 20 to about 60%, which can be measured according to the ASTM D2632 standard. The sleeve material can be selected to have a Shore A hardness of about 10 to about 90; a Shore A hardness of about 30 to about 60; a Shore A hardness of about 30; or a Shore D hardness of about 40 to about 90.

[0263] The elastically deformable sleeve 271 has apertures for receiving the respective connectors 29. These apertures are generally indicated by arrows 281 in FIG. 8. Providing the elastically deformable sleeve 271 between the connectors 29 and the rigid mount 275 allows the connectors 29 to move, for example rotationally and translationally, within the rigid mount 275 while keeping the rigid mount substantially immovable. Because the rigid mount 275 is substantially immovable, the seal formed between the rigid mount 275 and the palm is not weakened as the connectors 29 move about within the mount 275.

[0264] In the example of FIG. 7, a rigid sleeve 276 is placed between the connector 29 and the elastically deformable sleeve 271. The rigid sleeve 276 can have features formed thereon to aid in mounting the connector 29 and controlling the movement of the connector 29 in response to forces. The rigid sleeve 276 in this example includes a protrusion 285 that projects outwardly from the rigid sleeve 276 toward the rigid mount 275. The elastically deformable sleeve 271 can have a corresponding aperture (shown as 286 in FIG. 9) for the protrusion 285 to pass through. The protrusion 285 provides a pivot 288 for the connector 29 to rotate about. The inner surfaces of the protrusion 285 and the rigid mount 275 are closely adjacent to one another and form a bearing surface when they come into contact under each rotation about the pivot 288. There can be a small gap between the protrusion 285 and the rigid mount in a neutral position, which can allow the connector 29 to translate somewhat laterally when a force is applied. In other examples, one or more protrusions may project inwardly from an inner surface of the rigid mount 275 toward the rigid sleeve to form a pivot 288. A varying number of complementary bearing surfaces may be provided to act as pivots.

[0265] The rigid sleeve 276 may be attached to the retaining rings 211 and 278 at the front and rear, respectively, of the connector 29. The connector 29 may also be attached to the retaining ring 211 to which the knuckle 21 may be attached. The rigid mount 275 may be held between the retaining ring 278 and the flange 274 at the front of the rigid sleeve 276. In this manner, the rigid sleeve 276 may attach the connector 29 to the rigid mount 275, and the knuckle 21 may attach to the connector 29.

[0266] The elastic flange 272 of the elastically deformable sleeve 271 is disposed between the flange 274 of the rigid sleeve 276 and the front of the rigid mount 275. The sealing ring 279 is disposed between the retaining ring 278 and the rear of the rigid mount 275. The sealing ring 279 can provide a primary seal to prevent water or other liquids from entering the interior of the hand through the digit mount 27. In one example, the sealing ring 279 is overmolded onto the retaining ring 278, while in other examples, the sealing ring 279 is provided as a separate element. The sealing ring 279 is configured to provide a seal 287 between the rigid mount 275 and the connector 29. In this example, the seal 287 is between the rigid mount 275 and the rigid sleeve 276. The seal 287 can be located near the pivot 288. Because the sealing portion 287 is close to the pivot 288, the movement of the connector 29 (or the rigid sleeve 276) relative to the rigid mount 275 due to the pivoting of the connector is less at the sealing portion 287. It means that the sealing ring 279 does not have to accommodate large variations in the space between the sealed elements, thus improving the reliability of the seal in this respect. The sealing and conforming functions of the automated hand are separated. Conformity is provided by the elastically deformable sleeve 271 and sealing is provided by the sealing ring 279. This may allow the conforming mounting features to optimize conformance without compromising the reliability of the seal provided by the sealing features, and vice versa.

[0267] Also shown in Figure 7 is a PCB mount 294, which in this example is connected to the connector 29 by a retaining ring 278. Figure 7 also shows a motor 295 of a typical connector 29, as well as a motor encoder 296, a motor transmission 298, and a motor output shaft 297. Typically, the encoder 296, transmission 298, and output shaft 297 are provided in a single unit with the motor 295.

[0268] Figure 8 shows the mount 27 separated. A flange 274 of each rigid sleeve (indicated at 276 in Figure 7) is shown at the front of the mount 27, and an elastic flange 272 of the elastically deformable sleeve (indicated at 271 in Figure 7) is held between the flange 274 and a rigid mount 275. At the rear of the mount 27, a sealing ring 279 is shown held between a retaining ring 278 and the rigid mount 275. An aperture through the elastically deformable sleeve is indicated by arrow 281.

[0269] 9 shows a typical mount 27 for four connectors with one connector mounting device exploded, showing the rigid sleeve 276, elastically deformable sleeve 271, sealing ring 279, and retaining ring 278 for one connector, in this example for the index finger.

[0270] 9, there are several protrusions 285 from the rigid sleeve 276 and a corresponding number of apertures 286 in the elastically deformable sleeve. In this example, there are four protrusions 285 evenly spaced around the circumference of the rigid sleeve 276, with one hidden by the body of the rigid sleeve 276.

[0271] Torsional locking features 289a and 289b are provided on the rigid sleeve 276 and the retaining ring 278, respectively. In this example, the rigid sleeve 276 has a compound groove 289a into which a tab 289b fits on the inside of the retaining ring 278. In this example, the sealing ring 279 is molded onto the retaining ring 278. To assemble the connector attachment, the rigid sleeve 276 is inserted into the elastically deformable sleeve 271, which is itself inserted into an aperture (indicated at 282 in FIG. 10) of the rigid mount 275. The retaining ring 278 is then torsionally locked into the rigid sleeve 276.

[0272] In other examples, the rigid sleeve 276 may be omitted, and one or more of the features in the rigid sleeve 276 described above may instead be provided on the exterior of the connector itself.

[0273] Figure 10 shows the rigid mount 275 in isolation. The rigid mount 275 has an aperture 282 for receiving the connector and the elastically deformable sleeve. Within the aperture 282 are protrusions 283 that project inwardly towards the connector. These protrusions fit into notches 268 (shown in Figure 9) in the elastically deformable sleeve during assembly. These act as rotational restraints to limit rotation of the connector about its longitudinal axis, although some rotation is permitted by the elastic deformation of the elastically deformable sleeve.

[0274] The aperture 282 can be dimensioned to set limits on the maximum lateral rotation of the connector (i.e. in the plane of the palm and in the plane perpendicular to the plane of the palm). The wider the aperture 282 is in a given direction, especially at its end (away from the pivot), the greater the maximum rotation. The maximum rotation in different directions can be set separately by setting the width in different directions, i.e. by creating an aperture of non-circular cross section. This allows the maximum rotation of the connector in one direction (e.g. corresponding to extended fingers) to be different from the rotation in another direction (e.g. corresponding to rotation in flexion / extension).

[0275] In an alternative example (not shown), a barrier may be provided around a portion of the connector that is not within the mount. For example, a rigid ring may be provided around the proximal portion of the connector (i.e., rear of the mount) to limit rotation of the connector at this point. This may be dimensioned to control the limit of rotation in each direction.

[0276] [Worm bearing] Worm drives are commonly used in automated hands to drive the movement of the digits. The worm can be installed on a drive motor in the palm or the digit. The worm can engage with a worm wheel in the other of the palm and the digit. When using a worm drive to rotate the worm wheel, an axial force is generated in the worm. Generally, bearings are used on both sides of the worm to resist the axial force. These bearings resist the axial force in one direction each. To resist the very large axial force in the worm, both bearings need to be quite large. In automated hands, space is very limited, and having large bearings at each end of the worm can hinder the design of a compact hand. In particular, to accommodate the large bearings at the distal end of the worm, it may be necessary to make the knuckles very large. Additionally, having two different bearings to resist the axial force requires careful control of the allowance for axial play for both bearings. It would be advantageous to provide a worm drive that does not require two separate bearings to resist axial forces in both directions along the longitudinal axis of the worm.

[0277] 11 and 12 show an assembly of the actuator, consisting of a connector 29 and a knuckle 21. The connector 29 is connected to the knuckle 21 by a retaining ring 211. In this example the assembly is connected to a finger of an automated hand, but it could also be used for a thumb.

[0278] FIG. 12 is a cross-sectional view along the line BB in FIG. 11. The knuckle 21, in combination with the retaining ring 211, serves as a gear housing for the worm 291 and the worm wheel 214. The worm 291 is supported by a bearing 212. The bearing 212 is designed to be able to resist axial forces on the worm 291 in both axial directions (i.e., from left to right or from right to left as shown in FIG. 12) when the worm 291 is rotated by the motor 295 of the connector 29. The bearing 212 can be selected to be large enough to resist the forces expected to be encountered during the operation of the automated hand without needing a second bearing to help resist the axial forces. Generally speaking, the larger the bearing, the greater the axial load it can resist. The bearing 212 can be a deep groove ball bearing, which is particularly suitable for dealing with axial forces.

[0279] Eliminating the need for a second bearing to resist axial forces reduces the size of the worm drive, allowing for a more compact hand design. In particular, the size of the gear housing (provided by the knuckle 21 in this example) can be reduced. In the example of FIG. 12, the bearing 212 to resist axial forces is between the motor 295 and the worm 291. This allows the size of the worm drive at the other end (distal end) of the worm 291 to be reduced. In this example, a second bearing 213 is used at the distal end of the worm 291. This bearing 213 can be small because it does not need to resist axial forces. In this example, the bearing 213 resists substantially only radial forces, so the bearing 213 does not need to be large. The second bearing 213 can be smaller than the bearing 212. The second bearing 213 may have a diameter of about 2 / 3 or less of the diameter of the bearing 212, for example about half the diameter of the bearing 212.

[0280] The worm 291 can be prevented from moving axially relative to the bearing 212. Axial forces on the worm 291 can be transferred to the bearing 212. In this example, flanges (shown as 284a and 284b in FIG. 13) are fixed to or formed on the worm 291. The flanges 284a and 284b are located on either side of the bearing 212 and capture and hold the bearing 212 between the flanges of the worm. In some examples, one or both of the flanges 284a and 284b can be welded (e.g., laser welded) to the worm. In the example of FIG. 13, the flange 284a is integrally formed with the worm 291 and the flange 284b is welded to the worm 291. In this example, the flanges 284a and 284b are fixed to the worm 291 in intimate contact with the inner ring 217 of the bearing. An outer ring 216 of the bearing 212 may be retained between the knuckle 21 and the retaining ring 211 .

[0281] The second bearing 213 is free to move axially relative to the worm 291. In this example, the second bearing 213 is mounted on a bearing shaft 299, but is free to slide axially along the shaft 299. The bearing shaft 299 may be fixed to the worm 291, for example by a press fit. This isolates the second bearing 213 from the axial forces, thereby providing substantially no resistance to the axial forces.

[0282] The motor 295 can be provided either in the palm or in the digit of the automated hand. In a typical automated hand, the motor 295 is in the palm. In this arrangement, the worm wheel 214 is connected to the digit to drive the rotation of the digit. The digit can have two sections, for example a proximal phalangeal section and a distal phalangeal section, connected to each other by an articulation. In the example of FIG. 12, the knuckle section 21 includes a mount 218 for an articulated arm at the articulation section that connects to the distal phalangeal section of the digit. This allows the rotation of the proximal phalangeal section at the knuckle section and drives the rotation of the distal phalangeal section at the articulation section to the proximal phalangeal section.

[0283] 13 shows the components of the worm drive separated from one another. These include the worm 291, bearings 212 and 213, flanges 284a and 284b, and bearing shaft 299. The size difference between the large bearing 212 and the small bearing 213 can be seen here. When assembled, the bearing 213 may be mounted on the bearing shaft 299 and secured thereto. The shaft 299 is slidable within the worm 291. In an alternative arrangement, the bearing shaft 299 may be fixed to or integral with the worm 291 or the motor output shaft 297. The bearing 213 is slidable on the bearing shaft 299.

[0284] FIG. 14 shows the drive for the digits, which includes a worm drive and digit drive assembly 215. A motor 295 drives a worm 291, which in turn drives a worm wheel 214. The worm wheel 214 drives the rotation of output wheels 226a and 226b through a clutch assembly. The clutch assembly is made up of a threaded ring 225, a drive shaft 222, a clutch core hub 221, a clutch core slider 228, and a disk spring 223. The clutch assembly is fixed to the digits using screws 227a and 227b. Output bushings 224a and 224b are also provided on either side of the digit drive assembly 215. The clutch assembly can transmit rotation from the worm wheel 214 to the output wheels 226a, 226b, while allowing slippage between them when the torque between them exceeds a threshold value. This can help protect components in the actuator assembly, such as the housing, bearings, gears, and gear teeth, from high loads.

[0285] [Touchscreen compatibility] Although touch screen devices are now commonplace, they typically rely on electrical characteristics in a real human body to detect touch. Users of automated hands may not be able to operate these touch screens unless their automated hands have special equipment to approximate the relevant electrical characteristics of a real human hand or body. For example, capacitive touch screens can detect touch due to the effect of the human body acting as a parasitic capacitance to ground. An automated hand may not be able to provide sufficient parasitic capacitance to ground to register a touch on these touch screens.

[0286] Some prosthetic devices have sought to address the challenge of operating capacitive touch screens by providing a conductive connection between the fingertips of an automated hand and the user's body. This can be difficult to implement given that prosthetic devices are to be fitted to various types of amputated feet and partial hands. These designs also require specialized conductive wires or the like to be incorporated during manufacturing, making them unsuitable for embedded applications. There can also be safety concerns regarding electrostatic discharge with these designs. These designs are generally avoided in automated hands.

[0287] Some automated hands provide conductive materials, such as paint, adhesives, etc., on the tips of the fingers. This can provide a conductive path from the tips to electrical components, such as the motor of the hand, through a complex electrical path. This complex electrical path can include dedicated wires that electrically connect the conductive materials to the terminals of the electrical components. These conductive materials can be relatively rigid, which means that they can only contact the screen over a very small contact area. This means that touches cannot be recognized reliably, especially when the angle of the finger on the screen is not optimal. They can also require an electrical connection between the conductive materials and the motor terminals to actuate them.

[0288] Some automated hands provide conductive coatings or finger tips that do not electrically connect to other finger components. In these designs, the conductive coating or tip itself is intended to mimic the electrical properties of a real human body. It can be difficult to provide enough parasitic capacitance to reliably register a touch on a capacitive touch screen without connecting to any other conductive members in the hand.

[0289] 15-17 show an exemplary digit designed to interact with a touchscreen. In this example, the digit is a finger 3. In other examples, a similar device may be used for the thumb. The touchscreen compatible digits in FIGS. 15-17 avoid the need for connection to the user's body, avoid the need for multiple conductive paths through the hand, avoid the need for connection to electrical components such as motors, are suitable for incorporation into existing touchscreen incompatible digits, avoid the need to apply conductive coatings, adhesives, etc., and can be reliably detected by a touchscreen.

[0290] The finger 3 includes a proximal phalange body 301 composed of pieces 301a and 301b, and a distal phalange body 302. The proximal phalange body 301 can accommodate other components of the proximal phalange 31. The proximal phalange body 301 can be connected to the knuckle 21 via the digit drive assembly 215. The proximal phalange body 301 has toothed sockets 308a and 308b, whose teeth engage with the teeth of the output wheels 226a and 226b (shown in FIG. 14) of the drive assembly 215. The digit drive assembly 215 drives the rotation of the proximal phalange 31 of the digit 3 in the extension and flexion directions. As shown in FIG. 17, an articulating arm 306 is connected between the knuckle 21 and the distal phalange body 302 to rotate the distal phalange 32 when the proximal phalange 31 rotates. In this example, articulating arm 306 is connected to knuckle 21 at mount 218 and to distal phalangeal portion 32 at mount 307. In this configuration, articulating arm 306 acts as one of four bar articulations having joints at 33, 34, 218, and 307. Other articulations can be provided by proximal phalangeal portion body 301 (between joints 33 and 34), knuckle portion 21 (between joints 33 and 218), and distal phalangeal portion body (between joints 34 and 307).

[0291] The finger portion 3 also includes attachments 35a, 304, and 305. The attachments 35a, 304, and 305 can be configured to be attached to the finger portion 3 at the distal phalangeal portion 32. One or more of the attachments 35a, 304, and 305 can be conductive and can provide a conductive path from the exterior of the finger portion 3 to a conductive member in the hand. In the example of Figures 15-17, the attachment 35a is a digit pad. The digit pad can be provided on the tip of the digit (finger or thumb) and can provide a relatively soft surface to improve the ability of the digit to grasp an object and avoid damaging the object. The digit pad 35a can be made of a polymer, such as silicone. The digit pad 35a can have a conductive additive therein to provide conductivity to the digit pad 35a, which may otherwise be non-conductive. The conductive additive can include or be carbon, such as carbon black, graphite, graphene, or carbon nanotubes. Carbon nanotubes can be particularly useful as they tend not to mark surfaces such as touch screens. The carbon nanotubes can be single wall carbon nanotubes (SWCNTs). The carbon nanotubes can comprise about 0.1 to about 1 weight percent of the digit pad, or about 0.1 to about 0.4 weight percent of the digit pad, or about 0.3 weight percent of the digit pad. In one example, the carbon nanotubes can be provided with 10 weight percent SWCNTs and an additive that is 90 weight percent silicone. The digit pad can be 1 to 4 weight percent additive. The remainder of the digit pad (99 to 96 weight percent) can be silicone.

[0292] The attachment 304 in this example is a retaining clip that is connected to or integrated with the digit pad 35a and can be inserted into the distal phalangeal body 302 to retain the digit pad 35a to the distal phalangeal part 32. The digit pad 35a in this example is molded onto the attachment 304. The retaining clip can be clipped to the distal phalangeal body 302. The retaining clip 304 may or may not be conductive. In the examples of Figures 15-17, the retaining clip 304 need not be conductive. In some examples, the retaining clip 304 is made of a polymer, such as a plastic.

[0293] The attachment can include an articulating piece that provides an articulation between the conductive attachment on the exterior of the digit, such as pad 35a, and a conductive member within the hand. In the example of Figs. 15-17, attachment 305 is such an articulating piece. In one example, attachment 305 can be a spring made of metal. The spring 305 can be pressed into contact with pad 35a when the attachment is placed on the finger 3 to maintain a galvanic connection with pad 35a. The spring 305 can also be biased into contact with a conductive member of the hand. The conductive member of the hand can be located within the finger. The spring 305 can be biased into contact with a conductive member of the hand, such as articulating arm 306. The spring 305 is held by the distal phalangeal body 302 so as to contact both the conductive pad 35a and the conductive member, providing a conductive path from the exterior of the finger 3 to the conductive member.

[0294] In an alternative example to that shown in Figures 15-17, the tip of the digit may serve as a conductive attachment and contact a conductive member of an automated hand. This tip may have a conductive additive, such as one of the conductive carbon additives listed above with reference to pad 35a. In one example, the distal phalange 32 may be made conductive to provide the conductive attachment. The distal phalange body 302 may be made of a conductive material, such as a conductive polymer, for example a conductive plastic. In some examples, the conductive polymer or plastic may have carbon nanotubes embedded therein. The distal phalange may be attached to the remainder of the digit in an assembly operation, with or without one or more conductive inserts, to render a hand touchscreen compatible to a hand that is not previously touchscreen compatible. The conductive member may be mechanically connected to the conductive distal phalange, thereby avoiding the need for an additional conductive attachment (such as the linking piece 305) between the two. In one example, a conductive connection may be provided at a mount 307 between the distal phalanx 32 and the articulating arm 306 .

[0295] In some examples, digits can be made compatible with touchscreens by a process of incorporating one or more conductive attachments to digits that are not compatible with touchscreens. In these examples, it may be advantageous to place the conductive attachments in contact with existing members of the automated hand. Automated hands that are not compatible with touchscreens may nevertheless have members therein that, in combination with the conductive attachments, mimic the effect of a person on a touchscreen. For example, automated hands may have metal members therein that can add sufficient capacitive loading to a capacitive touchscreen to register a touch. Using existing conductive members in the automated hand may avoid the need to add special conductive members in the hand, such as dedicated conductive wires or coatings. The conductive members in the hand may be structural members of the hand. Using structural members of the hand may avoid the need to electrically connect conductive members external to the digits to electrical components such as motors. In the examples of Figures 15-17, the conductive members that form part of the electrical path are articulating arms 306. Articulating arm 306 may be made from a metal such as aluminum or steel.

[0296] The conductive path can be insulated from the electrical components of the hand. For example, the conductive path can be insulated from the housing of the actuator for the digit, such as the motor. The conductive path can be insulated from the terminals of the actuator. The insulation can be made by a substantially non-conductive material or coating, or by one or more voids. The conductive path can be insulated from the body of the user by a non-conductive socket used to attach the automated hand to the user's limb. In one example, the conductive path terminates at a conductive member, such as the articulating arm 306. In another example, the conductive member can be connected to another conductive member to extend the conductive path. The other conductive member can be a structural member of the hand. For example, the articulating arm 306 can be in conductive contact with the knuckle 21. The knuckle 21 can be made of a metal, such as aluminum.

[0297] The conductive member can be selected or designed in combination with one or more conductive attachments to have a significant effect on the characteristics measured by the touchscreen to be detected. This can be a function of the parasitic capacitance introduced when the finger 3 (or other digit) touches the touchscreen. For example, the finger 3 can be designed such that the effect of the conductive attachment and conductive member on the capacitance measured by a capacitive touchscreen is within a range representative of a human touch. In another example, the finger 3 can be designed such that the effect on one or more detection currents applied to the touchscreen surface is within a range representative of a human touch. Touchscreens have been found to be highly sensitive to material changes in the conductive path.

[0298] The finger portion 3 (or other digits) may be designed for use with various types of touchscreens, such as capacitive touchscreens. Capacitive touchscreens include surface capacitance or projected capacitance. Within the projected capacitance touchscreen category, there are mutual capacitance and self-capacitive touchscreen technologies.

[0299] Surface capacitive touchscreens detect touch from changes in a sensed current applied to the surface of the touchscreen at various points, usually the corners. If an element with sufficient parasitic capacitance touches the screen, the sensed current will change as charge flows into the element. The finger 3 (or other digit) can be designed to contribute enough parasitic capacitance to register a touch on a surface capacitive touchscreen.

[0300] Self-capacitive touchscreens operate by detecting changes in capacitance between an array of electrodes and ground. When an element with sufficient parasitic capacitance touches the screen, an increase in capacitance between the electrode and ground near the touch point is detected due to the addition of the element's parasitic capacitance to ground in parallel with the electrode's parasitic capacitance. The finger 3 (or other digit) can be designed to contribute enough parasitic capacitance to register a touch on a self-capacitive touchscreen.

[0301] Mutual capacitance touchscreens work by detecting changes in capacitance between pairs of electrodes in an array of electrodes. When an element with sufficient parasitic capacitance touches the screen, a decrease in capacitance between the intersecting pairs of electrodes near the touch point is detected by the element shunting charge from the electrode pairs to ground. A finger 3 (or other digit) can be designed to contribute enough parasitic capacitance to register a touch on a mutual capacitance touchscreen.

[0302] As discussed above, the design of the touch sensing device may be particularly suitable for retrofitting to an existing hand to render it compatible with a touch screen. A typical retrofitting method may include the prior procedure of removing one or more parts of the hand that are not compatible to make room for the conductive fitting. With reference to the exemplary conductive fittings 35a and 305 in Figures 15-17, this may include removing the existing digit pad. Alternatively, this may include removing the distal phalange 32.

[0303] A method for constructing a touchscreen compatible hand includes attaching one or more conductive members to the digits and placing the mounting equipment in contact with the conductive members of the automated hand. The conductive members can be one or more conductive members described above, such as the articulating arm 306, and the conductive mounting equipment can be one or more conductive mounting equipment described above, such as the pad 35a and spring 305, or the conductive distal phalanges. The method can be performed as an incorporation method, in which case a pre-processing step of removing parts from a non-compatible hand can be performed, or as part of the initial manufacturing of the touchscreen compatible hand, in which case no pre-processing step is required.

[0304] In the example where the conductive member is an articulating arm 306 and the conductive attachment is a pad 35a and a spring 305, the method includes inserting the spring 305 into the distal phalangeal portion 32 and placing a portion of the spring in contact with the articulating arm 306. Due to the elastic nature of the spring, the spring may be biased against the articulating arm 306. The pad 35a may then be placed on the distal phalangeal portion and brought into contact with the spring 305. A conductive path is then provided from the pad 35a on the exterior of the digit, through the spring 305, to the articulating arm 306.

[0305] As discussed above, the thumb portion 4 of the hand 1 may be configured for use with a touchscreen in addition to, or as an alternative to, one or more of the finger portions 3 being configured for use with a touchscreen. In these examples, the thumb portion may be provided with a mounting that contacts a conductive member on the thumb portion 4. One example will be described with reference to Figures 32 to 38.

[0306] The conductive thumb attachment can be configured to be attached to a distal end of the thumb, which may be the distal phalange of a thumb having multiple phalanges. One or more of the attachments can be conductive and can provide a path from the exterior of the thumb 4 to a conductive member within the hand.

[0307] In the examples of Figures 32-38, thumb pad 35b may be a conductive garment. Thumb pad 35b may be similar to thumb pad 35a of Figures 15-17. In particular, the material descriptions, material properties, electrical properties, compositions, and / or configurations of finger pad 35a may also be applicable to thumb pad 35b.

[0308] The thumb pad 35b can be attached to the thumb tip body 421. The thumb pad 35b can be in contact with the thumb body 422 through the thumb tip body 421. The thumb body 422 can be made of a conductive material, such as a conductive polymer or plastic. The thumb body 422 can be made of nylon. The thumb body 422 can be made of a polymer or plastic with a conductive additive. The conductive additive can be carbon. The carbon can be in the form of carbon nanotubes. In an alternative example, the thumb body 422 can be made of a metal, such as aluminum. The thumb body 422 can be in contact with a gear housing 425, which can be made of a conductive material, such as a metal, such as aluminum. The conductive path in this example may be provided by the thumb pad 35b, the thumb body 422, and the gear housing 425.

[0309] In the above example, the finger pads 35a and thumb pads 35b are provided only at the ends of the digits, i.e., at the distal phalangeal portion 32 and the thumb phalangeal portion 42 of each finger portion 3. In alternative examples, one or more additional finger pads may be provided elsewhere on the finger portion 3, for example at the proximal phalangeal portion 31. Similarly, one or more thumb pads may be provided elsewhere on the thumb portion 4, for example at the thumb metacarpal portion 43 and / or the auxiliary support portion 45. In alternative examples, finger pads may be attached to both the distal phalangeal portion 32 and the proximal phalangeal portion 31 of the finger portion, as well as at the interphalangeal joint portion 34. Similarly, thumb pads may be attached to the thumb phalangeal portion 42, as well as to one or both of the thumb metacarpal portion 43 and the auxiliary support portion 45.

[0310] [cover] Automated hands may use covers to improve appearance by covering mechanical joints and providing a more natural looking surface. They may also protect the joints and other working parts of the hand from debris and prevent foreign objects from attaching to the joints or other working parts. Covers typically cover the thumb joint and / or thumb metacarpal. They may be made of molded elastomeric material (e.g. rubber) with a bellows-like structure to allow the joints to bend. However, they look unnatural. Furthermore, they have a relatively high resistance to movement and high elasticity, which makes them prone to returning strongly to their neutral shape. This may make it difficult to hold the position of the thumb joint without using gears that cannot be backdriven. Wrinkles in the bellows-like structure may have a tendency to get caught. Molded elastomeric covers are also expensive and difficult to customize or redesign because any changes require a complete reworking of the mold for the entire cover (the cover is typically molded in one piece).

[0311] Some covers may use woven materials. Woven materials may be fairly stiff and resistant to initially stretching from their neutral state. Woven materials also tend to stretch substantially in only one direction. The tight weave of the woven material also prevents trapped water or other liquids from draining through the cover. Waterproofing around such covers may be difficult, so water cannot get behind the cover and drain away.

[0312] Some fabric covers do not hold their shape well and may fold or sag under their own weight when not pulled taut. This can result in an unnatural look and feel and can also increase the likelihood of the cover getting caught on something.

[0313] 18 and 19 show an exemplary cover 41, which can cover a part of the automated hand. The cover 41 includes a cover body 411. The body 411 partially covers the automated hand during use.

[0314] The body 411 may be made up of one or more regions. In the example of Figs. 18 and 19, the body 411 has a palm region 412 that at least partially covers the palm of the automated hand in use, and a thumb region 413 that at least partially covers the thumb of the automated hand in use, including covering the junction between the thumb and the palm. One or more of the regions of the cover may be made of a woven material. Each region may be made of a knitted or woven material, knitted or woven from a stretchable yarn. In one example, the palm region 412 and the thumb region 413 are made of a knitted material. The knitted material may be knitted with a rib knit, such as a full needle rib knit, a plain knit, or another suitable type of knitting or combination of knitting. The advantage of a knitted material is that it has a low resistance to stretching of small amounts of stretch from the beginning, but is more resistant to large amounts of stretch. This may allow the cover 41 to extend or retract relatively easily through much or all of the thumb's range of motion without having to force the thumb back toward a neutral position and without having to mount a thumb actuator. This may avoid the need for gears in the thumb that cannot be backdriven. The resistance to extension or retraction may increase sharply for large amounts of extension or retraction. This may help prevent the cover 41 from over-extending and expanding.

[0315] The woven material of the cover body 411 can be made to allow water to flow through the material by gravity alone. This allows any water that may get behind the cover 41 to naturally flow away from the automated hand. This can be achieved by using a loose knit or woven fabric.

[0316] The various regions of the cover body 411 can have different properties from one another. For example, they can have different coarseness, different weave constructions (e.g., knit or woven), different stretch properties, different knit / weave axes, or different yarn types. For example, the thumb region 413 can be made of a less stretchy weave than the palm region 412. The weave in the palm region 412 can be knitted more tightly (i.e., less coarsely) than the weave in the thumb region 413. In one example, both thumb regions 413 are knitted. In another example, the thumb region is made of a knit material and the palm region 412 is made of a woven material.

[0317] In some examples, the cover body 411 can be made of polyester fibers, polyethylene fibers such as ultra-high molecular weight polyethylene (UHMWPE) fibers, fiberglass, nylon fibers, spandex fibers, or combinations thereof. In some examples, the thumb region 413 is made from a combination of polyester fibers, UHMWPE fibers, and fiberglass, and the palm region 412 is made from a combination of nylon fibers and spandex fibers. In other examples, the thumb region 413 and the palm region are both made from polyester fibers.

[0318] The cover 41 in Figures 18 and 19 includes seams 417a, 417b, and 417c. The cover 41 in this example can be assembled from flat panels of fabric joined together at seams 417a and 417b. The seams 417a-417c can be formed using a joining tape. This tape can be made of a thermo-flexible polyurethane film. Alternatively or additionally, the seams 417a-417c can be sewn, knitted, and / or glued. In another example, the cover can be knitted in one piece in a 3D knitting process.

[0319] The fabric of the cover 41 can be designed with different stretch properties in different directions. This can help the cover 41 maintain a shape that approximates the portion of a real human hand that corresponds to the portion of the automated hand that the cover 41 covers. Selecting the appropriate stretch level in each direction can help prevent the portion of the hand from sagging or folding and wrinkling the surface, and allow the surface of the cover to remain smooth despite thumb movements.

[0320] The cover 41 may have additional braces on the cover body 411 to help maintain the shape of the cover 41. This may support the cover 41 against sagging, folding, or collapsing under its own weight due to gravity. The braces may be made of support pieces that are stiffer than the body fabric. The support pieces may surround portions of the cover body 411 to form structural hoops either at the edge of the body 411 or inward from the edge. The braces may be made of a polymer such as plastic. In some instances, the braces may be made of pieces of molded plastic. These are shown at 414, 415, and 416 in the examples of Figures 18 and 19. In this example, the braces 414 are provided on the edge of the cover 41 that connects to the palm. The braces 414 in this example also act as hand connectors that may connect the cover 41 to the palm of a hand. Hand connector / brace 414 can be coupled to the hand by sandwiching it between the shell pieces of the automated hand, such as between palm cover 28 and faceplate 25 (shown in FIG. 3). Brace 415 also acts as a thumb connector, allowing thumb area 413 to be coupled to the thumb of the automated hand.

[0321] The pieces of the brace can be attached to the cover body 411 in a variety of ways, such as by taping and / or molding onto the cover body 411. In one example, brace 414 (optionally comprised of pieces 414a, 414b, 414c, 414d) can be taped to the cover body at the edge of the cover that connects to the palm. In one example, brace 415 and / or 416 can be overmolded onto the cover body 411. Specifically, brace 415 can be overmolded onto the fabric at the distal edge of thumb region 413, and brace 416 can be overmolded onto the fabric at the proximal edge of palm region 412.

[0322] The cover 41 can cover the wrist joint that connects the automated hand to the arm joint. In the example of Figures 18 and 19, the palm area 412 can extend downwardly over the wrist joint to connect to the wrist. In this case, the brace 416 also acts as the wrist joint and is held in a groove (shown at 59 in Figure 24) that surrounds the wrist.

[0323] In some examples, the cover 41 may extend over the knuckles and the joints between the fingers and the palm. In some examples, the cover may extend back over the wrist and cover the connection of the wrist to the user's forearm. In other examples, the cover 41 covers less of the palm and thumb than the examples of Figures 18 and 19, for example covering the joints between the palm and the fingers and a little of the remainder.

[0324] As mentioned above, the braces 414, 415, 416 can surround a portion of the cover body 411 to form a hoop. These hoops can be continuous or interrupted. In one example, the hand connector / brace 414 is divided into several pieces. This can aid in pulling the cover 41 over the hand during installation or removal. As best shown in FIG. 18, the hand connector / brace 414 in this example is divided into four pieces: 414a, 414b, 414c, and 414d.

[0325] The cover 41 may also have reinforced sections positioned over protrusions or over user input features on the hand, including wrist release buttons, etc. The cover 41 may also have visual indicators at these locations, such as different colored patches or symbols.

[0326] [list] Some automated hands have a wrist component permanently or semi-permanently attached to the palm of the hand, which may require the user to remove the entire prosthesis if the hand needs to be removed, for example for repair.

[0327] Some wrists for automated hands have springs installed around the wrist joint to return the joint to a neutral angle. These can be very bulky due to the placement of the springs on the outside of the wrist joint. Spring-based wrist joints can also be difficult because they require the springs to be preloaded (i.e., compressed) during assembly. These designs can also be very heavy due to the added weight of the metal springs. Other wrists may use elastomers to return the joint to a neutral angle. Current designs using elastomers can only provide a weak force that returns the wrist close to the neutral angle, which can prevent the wrist from returning fully to the neutral position and can make the wrist too loose or "floppy" with no or little load on the wrist.

[0328] Some automated hands connect to electrical components, such as a battery, in the user's arm using a cable that passes through the wrist. This can make it difficult to connect and disconnect. Some automated hands have a plug-type electrical connector between the wrist and the hand. In these designs, a dedicated electrical release mechanism may be required to release the electrical connection in addition to the mechanical release that is required to separate the hand from the wrist.

[0329] Some wrists of automated hands can be selectively locked against rotation about a flexion-extension axis. These can have features on the hand itself and locking buttons located in the area of ​​the hand. Some locking buttons, etc. can be difficult to operate, especially if the locking elements are not perfectly aligned.

[0330] Some wrists may screw or bolt directly to the hand, which may require space in the hand for a dedicated screw or bolt hole.

[0331] Figure 20 shows a wrist 5 connected to a palm chassis 26 of an automated hand. The wrist 5 in this example differs from the wrist 5' shown in Figures 1-3 in that it is not a quick-disconnect wrist. By eliminating the quick-disconnect features from the wrist 5, the total extension of the wrist 5 can be reduced.

[0332] The wrist 5 includes a first connection for connection to the user's arm and a second connection for connection to an automated hand, with a wrist joint between the connections. In this example, the first connection is a socket connection 51, which connects to an arm socket in the remaining arm of the user. This is connected to a joint body 52, which together with a hand connection 53 forms a wrist joint. The wrist joint in this example is articulated, whereby the hand connection 53 can rotate in flexion and extension at the joint. The joint body 52 is rotatably connected to the socket connection 51 in this example, allowing the joint body 52 to rotate about the longitudinal axis of the arm socket, i.e. for pronation and supination of the hand. The wrist 5 can be selectively locked against flexion and extension at the wrist joint by a wrist lock 55.

[0333] A cable 54a is also shown in FIG. 20. It can electrically connect the automation hand to electrical components in the arm socket, such as one or more batteries. The cable 54a can be connected to a socket cable 54b extending from the arm socket. The cable 54 ends in an electrical connector 56, which can be connected to a corresponding connector (not shown) in the automation hand. The electrical connector 56 is designed to electrically connect and disconnect to a corresponding connector in the automation hand when the wrist 5 is mechanically coupled to and separated from the automation hand. This can simplify the procedure of mounting and dismounting the automation hand and ensure that the electrical connection is maintained while the hand is mounted to the wrist 5.

[0334] 21 and 22, the palm chassis 26 is separated from the wrist 5 to show the electrical and mechanical arrangements for electrically and mechanically connecting the wrist 5 and the hand (eg, by the chassis 26).

[0335] 21 and 22, the wrist-side electrical connector 56 has electrical terminals 561 that are biased towards complementary terminals (not shown) in the hand. The electrical terminals 561 can be spring loaded to naturally press against the terminals in the hand when the wrist 5 and hand are held together. In one example, the terminals 561 are pogo pins. The complementary terminals can be, for example, flat or recessed pads. In an alternative example, one or more of the biased electrical terminals are provided on the automated hand and accompany the complementary terminals with the electrical connector 56.

[0336] Friction fit features may also be provided on each of the electrical connector 56 and the portion of the automated hand to which the wrist connects (in this example, the palm chassis 26). In the example of Figures 21 and 22, a protrusion 572 is formed on the electrical connector 56 that fits into an aperture (shown at 265 in Figure 23) formed in the palm chassis 26.

[0337] A brace 563 is provided on the wrist 5 and rests against the back of the electrical connector 56 to hold the electrical connector 56 in place on the hand when the wrist 5 is mechanically coupled to the hand, which may prevent the electrical connection between the wrist 5 and the hand from breaking while the wrist 5 and hand are mechanically coupled.

[0338] The mechanical connection between the wrist and the hand uses a clamping device. In the example of Figures 21 and 22, the wrist 5 mechanically connects to the palm chassis 26 of the hand, but the wrist 5 may be used with hands having different structures that connect to the wrist via different structural members. The clamping device includes a connecting tongue 261 and a connecting clamp 57 that clamps the connecting tongue 261. In this example, the connecting tongue 261 is on the hand and the connecting clamp 57 is on the wrist, but this arrangement may be reversed. The connecting tongue 261 at least partially expands from a relatively narrow proximal portion to a wider distal portion.

[0339] The sides of the coupling clamp 57 may be placed in contact with complementary surfaces of the coupling tongue 261 to limit lateral movement between the coupling clamp 57. The coupling clamp 57 may fit snugly into one or more pockets 262 and 263 in the coupling tongue 261, the sides of the pockets providing complementary surfaces that limit movement. The pockets 262 and 263 may have ribs therein that fit snugly into slots 571 formed in the coupling clamp, also providing complementary surfaces that limit lateral movement. The outward facing sides of the pockets 262 and 263 engage the inward facing sides of the clamp 57. These provide a contact interface between the coupling clamp 57 and the coupling tongue 261 when clamped together. This contact interface is at an oblique angle to the longitudinal axis of the wrist hand portion, drawing the wrist 5 and palm chassis 26 together when the coupling clamp 57 is clamped firmly onto the coupling tongue 261.

[0340] The coupling clamp 57 can include a clamp plate 573. The clamp plate 573 is movable relative to the remainder of the clamp 57 for tightening or loosening. The clamp plate 573 can have a screw therethrough that can be tightened or loosened to tighten or loosen the clamp plate 573, and thereby the coupling clamp 57, on the coupling tongue 261.

[0341] Also shown in FIG. 22 is a cable stay 564 on the wrist 5 which helps to hold the cable in place during and after attachment of the hand to the wrist 5.

[0342] Figure 23 shows the base of the palm chassis 26, which in the example of Figures 21 and 22 the wrist 5 connects to. An aperture 264 allows a terminal 561 of the electrical connector 56 to access a complementary terminal (not shown) in the automated hand. An aperture 265 is a friction fit feature that receives a protrusion 562 of the electrical connector 56. An aperture 266 is for a thumb mount, which attaches the thumb of the automated hand to the palm chassis.

[0343] 24 shows the wrist 5 with the socket connector 51 and cable 54a separated from the joint body 52 and hand connector 53. As can be seen in this figure, the joint body 52 has a port 523 for the cable 54a to pass through. The joint body 52 also has a detent member housing 522 which receives a biased detent member which engages with a recess 512 in the socket connector. A rotation stop 521 is also provided on the joint body 52 which engages with a rotation stop 511 on the socket connector 51 to limit rotation of the wrist in the pronation-supination direction.

[0344] 25 shows the joint body 52 and the hand connector 53, which together form the wrist joint. In other examples, the joint body 52 may be connected to an intermediate body between the joint body 52 and the hand connector to form the wrist joint.

[0345] In the example of Figure 25, the wrist joint is rotatable in flexion and extension. Also shown is a wrist lock 55 which is operable to selectively lock the wrist joint to limit flexion and extension.

[0346] As shown in FIG. 26, the joint body 52 has a rigid mounting post 529 to which the hand coupling 53 is rotatably mounted. The mounting post 529 has an aperture 524 extending therethrough. The mounting post 529 defines a rigid sleeve surrounding the aperture 524. The sleeve, and therefore the aperture 524, is non-circular. A rigid shaft (shown at 531 in FIG. 29) can extend through the aperture 524. The non-circular aperture can be generally polygonal in cross section. In one example, the non-circular aperture is generally square. The rigid shaft can have the same overall shape as the cross section of the aperture 524, which can be square, for example. In the neutral orientation, there can be an angular offset between the aperture 524 and the shaft, whereby the corner of the shaft is located at the midpoint of the side of the aperture 524.

[0347] The elastically deformable piece 525 is positioned in the aperture 524 and extends between the sleeve and the rigid shaft. When the rigid shaft rotates within the aperture, the elastically deformable piece 525 is deformed. Due to the elasticity of the elastically deformable piece 525, the elastically deformable piece 525 acts to force the rigid shaft back towards a neutral orientation where the forces on the shaft are balanced. The elastically deformable piece 525 can be made of an elastomer or a suitable polymer. For example, the elastically deformable piece 525 can be made of silicone or rubber. The elastically deformable piece 525 can be positioned at a corner of the aperture 524 and can be shaped to fit within the space between the rigid sleeve and the rigid shaft in the neutral axis direction.

[0348] A locking base 526 for the locking mechanism is also shown in Figure 26. The locking base 526 includes recesses 527. As will be described in further detail with reference to Figures 28-30, the recesses 527 can receive locking plates of the locking mechanism. These recesses can be positioned radially about the axis of rotation of the wrist joint. The locking plates 534 can move towards and away from the axis of rotation of the wrist joint to lock and unlock the wrist.

[0349] Figure 27 shows the wrist joint from a top view. The axis of rotation for flexion and extension at the wrist joint is indicated at 58. Figure 28 is a cross-section taken along line DD.

[0350] 28, rigid shaft 531 is shown within a rigid sleeve provided by mounting post 529. Elastically deforming piece 525 is shown between the rigid sleeve and rigid shaft 531. The wrist joint is shown in a neutral orientation, to which the elastically deforming piece acts to return the wrist joint.

[0351] In the example of FIG. 28, the rigid shaft 531 has at least one non-flat surface 532. It has been found that the tendency of the wrist joint to return accurately to a neutral orientation can be controlled by the shape of the surface of the rigid shaft 531. The non-flat surface 532 in this example is concave. It has been found that concave surfaces provide good return torque toward a neutral orientation for small deviations from the neutral orientation. They can also return the wrist joint accurately to a neutral orientation. In this example, all four surfaces of the square rigid shaft 531 are concave. In some examples, flat surfaces can be used in addition to or instead of the non-flat surfaces 532.

[0352] Also shown is a locking rod 535 which forms part of the locking mechanism. In this example, the locking rod 535 passes through the rigid shaft 531 and runs along the axis of rotation 58 of the wrist joint. The wrist lock 55 can be operated by depressing the buttons 533a and 533b along the axis 58. This makes it easier for the user to operate the wrist lock 55 than if the wrist lock were located in another location, such as on the hand connection 53 or on the hand itself, because in those cases the wrist lock's actuator (e.g. a button) moves as the wrist rotates, rather than always staying in one position. Locking the rotation of the wrist joint by depressing the buttons 533a and 533b along the axis of rotation 58 of the wrist joint may be more intuitive for the user.

[0353] The locking mechanism also includes a locking member that engages with locking base 526. In this example, the locking member is a locking plate 534. Locking plate 534 is shown inserted into one of the recesses, in this case the recess that corresponds to the neutral position.

[0354] An alternative wrist joint is shown in FIG. 39. In this example, the elastically deformable piece 525' may be generally circular in cross section in a neutral state. The non-circular shaft 531' may be generally circular in cross section except for the recesses 532' for receiving the elastically deformable piece 525'. In particular, the circumference of the shaft 531' may include partial circular arcs 531'a between the recesses. The recesses 532' may be partially circular, for example approximately or somewhat less than semicircular. Alternatively, the recesses 532' may be flat. The non-circular aperture in the rigid sleeve defined by the mounting post 529' may be generally circular except for the recesses 524'b in which the elastically deformable piece 525' is located. The partial circular arcs 524'a may be provided between the recesses 524'b.

[0355] Recesses 532' and 524'b are recessed in the sense that they correspond to portions of the circumference of rigid shaft 531' and apertures in the rigid sleeve recessed from the imaginary circle on which their respective partial arcs lie. In other words, recess 532' in rigid shaft 531' is formed within the circumference of the imaginary circle on which partial arc 531'a of rigid shaft 531' lies. Recess 524'b of the aperture in the rigid sleeve is formed outside the circumference of the imaginary circle on which partial arc 524'a of the aperture lies.

[0356] The recesses 524'b may be partially circular, for example approximately or somewhat less than semicircular. As shown in FIG. 39, each of the elastically deformable pieces 525' may be held between a respective recess 532', 524'b of the shaft 531' and the rigid sleeve. The elastically deformable pieces 525, 525' may be located at multiple angular positions about the axis of rotation of the wrist joint. The elastically deformable pieces may be approximately evenly spaced about the axis of rotation. In each of the examples in FIGS. 26-29 and 39, there are four elastically deformable pieces 525, 525', evenly spaced about the axis of rotation. In alternative examples, there may be more or less than four elastically deformable pieces. For example, there may be one, two, three, or more than four elastically deformable pieces 525, 525'.

[0357] The locking mechanism is shown in more detail in Figures 29 and 30. In Figure 29, joint body 52 is separated from hand connector 53 and wrist lock 55. Hand connector 53 is exploded into housing bodies 53a and 53b, and clamp plate 573. Wrist lock 55 is shown with rigid shaft 531 and includes lock plate 534 and carrier 536.

[0358] FIG. 30 shows the locking mechanism separated. Locking buttons 533a and 533b are attached to rod 535. Carrier 536 is attached to rod 535. Pin 537 protrudes from carrier 536 and fits into recess 538 in locking plate 534. Within recess 538 is spring 539. This spring may be a leaf spring. The spring may be V-shaped and of the type also known as a V-spring. Locking buttons 533a and 533b, rod 535 and carrier 536 form a locking actuator that is operated to lock and unlock the wrist. In this example, the wrist is locked by the user manually depressing buttons 533a and 533b. In other examples, a powered actuator such as an electric or electromagnetic actuator may be provided.

[0359] Rod 535 has recesses 551 thereon that can be engaged by detent members in detent housing 552. For example, the detent housing can include a spring and a spherical detent that is biased toward rod 535 by the spring.

[0360] To operate the wrist lock, the user operates the lock actuator, for example by pressing button 533b to lock the wrist. Pin 537 will move from right to left (the direction in FIG. 30) in recess 538. When the lock plate is aligned with recess 527 of lock base 526, pin 537 will ride over the angled surface of spring 539, forcing spring 539 downward and driving lock plate 534 downward into recess 527. When lock plate 534 is not aligned with recess 527, the pin will compress spring 539 as it rides over the angled surface of the spring. When the wrist joint is rotated so that lock plate 534 is aligned with recess 527 of lock base 526, the spring will spring back to its normal shape and drive lock plate 534 into recess 527.

[0361] To unlock the wrist, the lock actuator is operated in the opposite direction (e.g., by depressing button 533a). Pin 537 rides over the angled surface of recess 538, driving the lock plate upward and out of recess 527 in locking base 526.

[0362] This mechanism ensures that the locking actuator is easily actuated (eg, buttons 533a, 533b are easily depressed, etc.) even when the locking plate 534 is not aligned with the recess 527 of the locking base 526.

[0363] FIG. 40 shows components of an alternative locking mechanism. In this example, the locking mechanism is similar to the springs of FIGS. 25-30, but with a different spring. In FIG. 40, an external spring 539' provides a bias against the outside of the plate 534'. This eliminates the need for a spring in the recess 538'. In this example, the spring 539' is in the form of a spring wire. The spring 539' can be a non-coil spring.

[0364] FIG. 31 shows an alternative shape of wrist 5' coupled to palm chassis 26. This wrist 5' is also shown in FIGS. 1-3. This wrist 5' is a quick-disconnect wrist. By twisting 59a and 59b, the user can quickly disconnect socket coupling 51' from interface body 52'. Wrist 5' can be the same as wrist 5 in other respects. In some examples, wrist 5' can be provided with quick-disconnect features as presented in WO2021 / 177840A1 to 5th Element Limited.

[0365] In another example, another alternative wrist is provided that does not have a wrist joint that allows for wrist flexion and extension. This may save space in the wrist and result in a shorter wrist. Because the wrist joint is eliminated, a single body may serve as the hand joint and the joint body, and is rotatably connected to the socket joint. This wrist may be similar to Wrist 5 in other respects.

[0366] [Thumb] Some automated hands have digits corresponding to the fingers and thumb of a real human hand. The thumb may be able to rotate in an anterior-posterior direction and move in and out of the opposite direction with the fingers. When performing a certain grasp, it may be important to ensure that the thumb is correctly positioned and does not rotate in an anterior-posterior direction undesirably. For this reason, some automated hands may include a thumb lock to prevent this rotation. Some thumb locks may lock the thumb against rotation in an anterior-posterior direction up to a certain point, for example when the thumb rotates in the opposite direction with the fingers. These automated hands are limited to only a few different positions where the thumb can be locked. Furthermore, the locking of the thumb does not correspond to the function performed by the thumb that requires the locking, such as performing a grasp. Other hands may use an engagement surface located on the rear of the thumb and a locking member located on the back of the thumb. These limit the rotation of the thumb when the thumb is pushed back onto the locking member with the engagement surface. It may be desirable to provide an automated hand that does not require a locking member on the back of the thumb.

[0367] Some automated hands include a thumb that is attached to the palm only at the base of the thumb. When a force is applied to the thumb, it generates a torque at the connection point. This connection point must withstand this torque itself and resist all of the applied force. The closer to the base of the palm the thumb is connected, the longer the lever arm provided by the thumb and the greater the torque at the connection point for a given applied force. It may be desirable to provide additional support for the thumb that resists a component of the applied force, which may improve the resistance of the thumb to breaking and allow the thumb connection to be lower on the palm than it would otherwise be. Moving the thumb connection point lower on the palm may save space on the palm.

[0368] Some automated hands include a thumb that is substantially non-compliant but is attached to an actuator that is compliantly attached to the palm. It can be advantageous to separate the compliance of the thumb from the attachment to the palm. This can improve the sealing of the palm, increase the structural strength of the thumb mount, and reduce the space required in the palm for the thumb mount.

[0369] 32-34 show a thumb section 4 according to one example. The thumb section 4 is connected to the palm section 2 and forms part of an automated hand. For clarity, only a part of the palm section 2 is shown with the fingers. The thumb section 4 is pivotally attached to the palm section 2 at a connection section 46. The connection section 46 can be lowered below the palm section, for example near the base 202 of the palm section 2. By attaching the thumb section 4 to the base 202 of the palm section 2, space on the palm section 2 can be saved.

[0370] Thumb pad 35b is also shown in Figure 32. As detailed in the "Touchscreen Compatibility" section above, thumb pad 35b can be a conductive attachment configured to make the thumb touchscreen compatible.

[0371] The auxiliary support 45 provides an additional structural connection between the thumb portion 4 and the palm portion 2. The auxiliary support 45 can serve to support the thumb portion 4 and reduce the torque of the connection portion 46 at the base of the thumb portion 4 when the thumb portion 4 is forced back.

[0372] The auxiliary support 45 extends from the middle point along the thumb part 4 to a connection point 201 at the palm part 2. The middle point on the thumb part is located between both ends of the thumb part 4, for example at a position at least 10% of the extension of the thumb part from either end, or at a position at least 25% of the extension of the thumb part 4. The auxiliary support 45 can be connected to the thumb part at or near the articulation 44 between two segments of the thumb part 4. In the example of Figs. 32 and 33, the auxiliary support 45 connects to the thumb part 4 at the articulation 44 between the thumb metacarpal part 43 and the thumb phalanx part 42. In other examples, the auxiliary support 45 can be connected to the thumb part 4 distal to the articulation 44 or proximal to the articulation 44.

[0373] The connection point 201 on the palm portion 2 is spaced from the connection point 46 where the base of the thumb portion 4 is connected. This allows the secondary support portion 45 to act on the thumb portion 4 along a line that moves primarily tangentially to the arc traced by the thumb portion when it is forced back under load. The connection point 201 on the palm portion 2 is between the base of the palm portion 2 and the distal end of the palm portion 2 (where the fingers wear).

[0374] The auxiliary support 45 can be flexible. The auxiliary support 45 can bend or stretch to allow the thumb portion 4 to conform under load. In some examples, the auxiliary support 45 can be made of nylon. The auxiliary support 45 in FIG. 32 and FIG. 33 is a support arm. The support arm 45 can be made of an elastic material, such as a polymer. In some examples, the support arm can be made of plastic or nylon. The support arm 45 has sufficient stiffness to retain its shape when the thumb portion is not under load, but is flexible enough to allow the thumb portion to conform and have some movement when the thumb portion is under load. The elasticity of the support arm 45 is sufficient for the support arm 45 to return to its initial shape after the load is removed.

[0375] The connection 201 of the support arm to the palm can be a pivot connection, allowing the support arm to pivot with little resistance when the thumb pivots in an anterior-posterior direction. Alternatively, the support arm can be sufficiently flexible to bend to accommodate the pivoting of the thumb 4. The support arm 45 can be connected to the thumb 4 on both sides for a secure connection at the thumb. This can also avoid the thumb 4 twisting around its longitudinal axis when a load is applied. To allow this, the support arm 45 can be forked at the end of the thumb. The support arm 45 can be curved so that it can straighten under tension, allowing the thumb 4 to accommodate the load. The "top" of the support arm 45, i.e. the side facing away from the base of the palm 2, can have a recessed portion to aid in grasping an object. The support arm 45 can be positioned so as not to interfere with the palm or thumb at any point throughout the full range of motion of the palm or thumb.

[0376] In an alternative example, the secondary support may be a cord.

[0377] The thumb 4 may have a compliant portion between its connection 46 to the base 202 of the palm 2 and an intermediate portion where the secondary support 45 connects to allow the thumb 4 to return under load. In the example of Figures 32 and 33, the compliant portion is the metacarpal housing 431. Providing a compliant portion on the thumb 4 means that the attachment of the thumb 4 does not need to be compliant. The pivotal connection 46 of the thumb 4 to the palm 2 may include a rigid mount. A rigid mount will move less than a compliant mount or not at all during the movement of the hand, which may facilitate waterproofing of the hand at this point.

[0378] The secondary support 45 may be frangible, thereby ensuring that it breaks under a certain tension. The pivotal connection of the thumb portion 4 to the palm portion 2 may be a safety pivot, which allows the thumb portion to pivot freely in the direction of extension when the secondary support 45 breaks.

[0379] A catch portion 49 is also provided to limit pivoting of the thumb portion 4 in the anterior-posterior direction when the thumb portion 4 is under load. This will be explained in more detail with reference to Figures 35-38.

[0380] Figure 34 shows the palm section 2 and thumb section 4 from above. Within the palm section is shown a thumb actuator 47 which pivots the thumb section in a forward and backward position. The thumb actuator 47 may be a motor, such as a BLDC motor. The thumb actuator 47 may drive the thumb section to pivot via one or more gears in a gearbox 48. The fork in the support arm 45 can also be seen in Figure 34.

[0381] 35 shows the catch portion 49 in more detail. The catch portion 49 includes a tooth 492 that can engage one of the recesses 496 in the palm portion to lock the thumb portion against pivoting. The catch portion 49 also includes a spring 494 that biases the tooth 492 away from the recess 496. The tooth 492 is connected to an articulating arm 491 having an axis 495. The axis 495 is configured to engage a compliant portion of the thumb portion that conforms under load at the thumb portion 4, thereby moving the articulating arm 491 and driving the tooth 492 into the recess 496.

[0382] Further details of the catch portion 49 and thumb portion 4 are shown in the exploded views of Figures 36 and 37. The thumb portion 4 includes a thumb flexion / extension actuator 423. The actuator 423 may be a motor, such as a BLDC motor. The motor 423 is located within the thumb body 422, which in turn is partially located within the thumb tip 421.

[0383] Attached to the motor is a motor driven gear 424, which drives a gear 432 located in a gear housing 425. The gear 432 is compliantly mounted so that it can compliantly adapt under an applied load. In particular, the gear 432 can rotate somewhat within the housing 425. A bushing 434 is placed over the gear 432, which is held between the metacarpal housings 431a, 431b. In this example, the motor driven gear 424 is a worm and the gear 432 is a worm wheel. When assembled, the axle 495 fits into the socket 433 of the gear 432, rotatably connecting the articulating arm 491 to the gear 432. The end of the spring 494 is wrapped over the pin 493 and received within a recess 437 in the metacarpal mount 431a. A pin 493 in the articulating arm 491 can extend through an aperture in the metacarpal housing 431a and into the teeth 492. The pin 493 is held in place by a retaining ring 497. The end of the pin 493 extends into an aperture 436 in the block 435. This controls the limit of movement of the pin 493, thereby controlling the extension of the teeth 492 and the rotation of the gear 432. The fingers 498 also control the limit of extension of the teeth 492 by engaging with the metacarpal housing 431a.

[0384] In operation, the actuator 423 can rotate the gear 424 which is engaged with the gear 432. The gear 432 acts as a fixed gear, and the gear 424 can move around as the gear 432 rotates, except that the gear 432 is not completely fixed and can rotate a small amount. When the gear 424 moves counterclockwise on the gear 432, the thumb portion 4 extends. When the gear 424 moves clockwise on the gear 432, the thumb portion 4 flexes. When the gear 424 drives the gear 432 such that the thumb portion 4 flexes, the gear 432 can rotate somewhat against the bias of the spring 494. This rotation of the gear 432 drives the rotation of the articulating arm 491, moving the toothed portion 492 into a recess in the palm, thereby locking the thumb portion 4 against pivoting in the anterior-posterior direction. In an alternative example, a compression spring 494' can be located on the palm side 498' of the finger as shown in FIG. 41 in the position of the tension spring 494 in FIGS. 35-37. This spring 494' is compressed during use and is coupled to the articulating arm 491' to bias the tines 492' away from the palm recesses. It should be understood that the spring 494' can be directly or indirectly attached to the articulating arm 491' in some examples, but need only be kinematically coupled to the articulating arm 491' and not necessarily attached thereto. For example, the spring 494' can be coupled to the articulating arm 491' by being biased against the articulating arm 491' or against an object (such as the finger 498') coupled to the articulating arm 491', without needing to be a direct attachment to the articulating arm 491' of an object coupled to the articulating arm.

[0385] When the thumb 4 is forced back (i.e., towards extension), the phalangeal portion of the thumb 4 rotates back relative to the metacarpal portion. This forces the gear 424 on the phalangeal portion into the compliant gear 432. The compliant gear 432 rotates compliantly counterclockwise, thereby rotating the articulating arm 491 and driving the toothed portion 492 to move into a recess in the palm portion, locking the thumb against pivoting.

[0386] FIG. 38 shows the axes about which the thumb portion 4 can pivot and rotate. An actuator 47 drives the entire thumb portion 4 to pivot by gears in a gearbox 48 about an anterior-posterior axis 461. This causes the thumb portion 4 to pivot at its connection 46 to the base of the palm. An actuator (shown at 423 in FIG. 37) is located within the thumb phalanx 42 and drives flexion and extension of the thumb portion 4 at the articulation joint 44. This rotation is about a flexion-extension axis 441.

[0387] Referring to the axes of FIG. 38 , the catch portion 49 limits pivoting of the thumb portion 4 about axis 461 when an actuator in the phalangeal portion 42 drives flexion of the thumb portion 4 about axis 441 or when an external load is applied to the thumb portion 4 forcing it toward extension about axis 441.

[0388] The thumb catch described herein can help precisely maintain the position of the thumb when performing a grasp. It can also maintain the thumb at a fixed angle about axis 461 when bending the thumb to help carry it precisely with the fingers of the hand. It can also more precisely control the angle of the thumb about axis 461. The placement of the thumb catch can also avoid the need for a catch or rotation lock at the rear of the thumb, resulting in a more anatomically correct hand.

[0389] While the present invention has been illustrated by the description of its embodiments and those embodiments have been described in detail, it is not the applicant's intention to restrict the scope of the appended claims to such details or to impose any limitations thereon. Additional advantages and modifications will readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details, representative apparatus and methods, and illustrative examples shown and described. Thus, departures may be made from these details without departing from the spirit or scope of the applicant's general inventive concept.

Claims

1. An automated hand, comprising: a. Palm, b. a rigid mount in or on said palm; c. an elastically deformable sleeve positioned within the rigid mount and having a sleeve aperture therein; d. a connector positioned within the aperture of said sleeve, said connector having digits extending therefrom and movable relative to said palm; Equipped with an automated hand positioned to rotate the connector relative to the mount when a force is applied to the digit extending from the mount;

2. 2. The automated hand of claim 1, wherein the connector is rotatable in the plane of the palm.

3. 3. The automated hand according to claim 1, wherein the device is such that the connector can rotate in a plane perpendicular to the plane of the palm.

4. 4. The automated hand according to claim 1, wherein the device is such that the connector can rotate about its longitudinal axis.

5. 5. The automated hand according to claim 1, wherein the device is such that the connector can translate when a force is applied to the digit extending from the connector.

6. 6. The automated hand of claim 5, wherein the device is such that the connector can translate in three degrees of freedom in a translational direction.

7. 7. The automated hand according to claim 1, configured to absorb shocks applied longitudinally to the digit.

8. 8. The automated hand according to claim 1, wherein the connector is part of a drive for the digit, which drives the bending and / or extension of the digit.

9. The automated hand of claim 8 , wherein the connector comprises an actuator.

10. The automated hand of claim 9 , wherein the actuator comprises a motor.

11. 9. The automated hand of claim 8, wherein the connector is connected between an actuator and the digit.

12. 8. The automated hand according to claim 1, wherein the digits are provided with actuators, which drive the bending and / or extension of the digits.

13. 13. The automated hand according to claim 1, further comprising a pivot between the connector and the rigid mount, the connector being rotatable about the pivot relative to the mount.

14. 14. The automated hand of claim 13, wherein the pivot comprises one or more pairs of bearing surfaces, one of the bearing surfaces being on or connected to the rigid mount and another of the bearing surfaces being on or connected to the connector, each pair of bearing surfaces being adjacent to one another.

15. 15. The automated hand of claim 14, wherein the elastically deformable sleeve has one or more apertures formed therein, and one of each pair of bearing surfaces is on a protrusion that protrudes at least partially through each of the apertures.

16. The automated hand according to any one of claims 1 to 15, further comprising a rigid sleeve between the connector and the elastically deformable sleeve.

17. The automated hand of claim 16 , wherein the rigid sleeve is configured to couple the connector to the rigid mount.

18. 20. The automated hand of claim 17, wherein the rigid sleeve includes one or more torsional locking features that torsionally lock into complementary torsional locking features at a retainer that holds the rigid sleeve to the rigid mount.

19. An automated hand according to any one of claims 16 to 18 when dependent on claim 14 or 15, in which one of the bearing surfaces of each pair is provided on the rigid sleeve.

20. 20. The automated hand according to any one of claims 1 to 19, further comprising a seal between the connector and the rigid mount, to prevent liquids from entering a sealed area within the automated hand.

21. The automated hand according to claim 20, when dependent on any of claims 13 to 15 or claim 19, wherein the sealing portion is located near the pivot.

22. one or more additional rigid mounts attached to the palm; one or more further elastically deformable sleeves, each with a respective sleeve aperture therein, each further elastically deformable sleeve being positioned within a respective one or more further said rigid mounts; one or more further connectors, each positioned within an aperture of a respective sleeve, each further connector having a further digit extending therefrom; Equipped with 22. An automated hand according to any one of the preceding claims, wherein each separate connector is rotatable relative to its respective rigid mount when a force is applied to the separate digit extending therefrom.

23. 23. The automated hand of claim 22, wherein the rigid mounts are integral with one another.

24. 23. The automated hand of claim 22, wherein the rigid mounts are separated from each other.

25. The automated hand according to any one of the preceding claims, wherein the rigid mount is configured to limit rotation of the connector relative to the mount.

26. 26. The automated hand of claim 25, wherein an inner surface of the rigid mount in which the elastically deformable sleeve is placed is dimensioned to control maximum lateral rotation of the connector about one or more axes.

27. 25. The automated hand of claim 1, further comprising a barrier around a portion of the connector that is not within the rigid mount, the barrier being configured to limit lateral rotation of the connector about one or more axes.

28. 28. The automated hand of claim 25, wherein an inner surface of the rigid mount includes one or more rotational restraints to limit rotation of the connector about a longitudinal axis of the connector.

29. 29. The automated hand according to any one of the preceding claims, wherein each connector is connected to a respective one of said digits by an articulation joint.

30. The automated hand according to any one of claims 1 to 29, wherein the elastically deformable sleeve comprises an elastomer, rubber, silicone, or polymer.

31. 31. The automated hand of claim 30, wherein the elastically deformable sleeve comprises polyurethane, or a hydrocarbon-based elastomer, a fluorocarbon-based elastomer, or a silica-based elastomer.

32. 32. The automated hand of claim 31, wherein the elastically deformable sleeve is a thermosetting elastomer.

33. 31. The automated hand of claim 30, wherein the elastically deformable sleeve is a thermoplastic material such as a thermoplastic elastomer.

34. 31. The automated hand of claim 30, wherein the elastically deformable sleeve is a thermoset rubber.

35. 31. The automated hand according to claim 30, wherein the elastically deformable sleeve comprises a foamable composition of one or more of the materials listed in claims 30 to 34.

36. 31. The automated hand according to claim 30, wherein the elastically deformable sleeve comprises an alloy or a mixture of two or more of the materials listed in claims 30 to 34.

37. 37. The automated hand according to claim 1, wherein the elastically deformable sleeve comprises a material with a damping coefficient in DMTA of about 0.05 to about 0.8 over a temperature range of about -20 to about 100°C.

38. 38. The automated hand of claim 37, wherein the elastically deformable sleeve comprises a material with a damping coefficient in DMTA of about 0.05 to about 0.5 over a temperature range of about -20 to about 100°C.

39. An automated hand described in any one of claims 1 to 38, wherein the elastically deformable sleeve comprises a material having an elasticity of about 20 to about 60%.

40. 40. The automated hand according to claim 1, wherein the elastically deformable sleeve comprises a material having a Shore A hardness of about 10 to about 90.

41. 41. The automated hand of claim 40, wherein the elastically deformable sleeve comprises a material having a Shore A hardness of about 30 to about 60.

42. 42. The automated hand of claim 41, wherein the elastically deformable sleeve comprises a material having a Shore A hardness of about 30.

43. 40. The automated hand according to claim 1, wherein the elastically deformable sleeve comprises a material having a Shore D hardness of about 40 to about 90.

Images