Prosthetic Digit Articulating Links for Single-Actuator Grasping
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Solution Overview
Problem
Existing prosthetic digits do not sufficiently mimic natural fingers, leading to inadequate functionality and dexterity for amputees.
Innovation Solution
Prosthetic digits with three articulating segments, including a proximal, middle, and distal segment, articulated by an actuator and mechanical links, allowing for rotation and multiple degrees of freedom, utilizing a single actuator and a spring-biased worm wheel transmission for enhanced gripping capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple actuators are used to control each segment of the prosthetic digit, then the gripping functionality and dexterity are improved, but the device complexity, weight, and power consumption increase
Solution Approach 1:
The prosthetic digit is divided into three articulating segments (proximal, middle, and distal), each capable of independent rotation. This segmentation allows the digit to mimic natural finger movements and adapt to various object shapes and sizes, improving gripping functionality while maintaining a single actuator through mechanical linkage coordination.
Solution Approach 2:
Multiple actuators are merged into a single actuator that controls the proximal segment. The middle and distal segments are coupled to the proximal segment through mechanical links, allowing one actuator to control multiple segments. This reduces device complexity, weight, and power consumption while maintaining the ability to perform diverse gripping tasks.
2Device complexity
If a single actuator is used to control all segments, then the device complexity and weight are reduced, but the precision of segment control and gripping accuracy may deteriorate
Solution Approach 1:
Mechanical links serve as intermediaries between the single actuator and the multiple segments. These links transmit and coordinate the actuator's motion to the proximal, middle, and distal segments, ensuring precise control and accurate gripping despite using only one actuator.
3Device complexity
If the prosthetic digit uses a simple mechanical linkage, then the device complexity is reduced, but the ability to mimic natural finger movement and adapt to various object shapes may be limited
Solution Approach 1:
The mechanical linkage is designed with dynamic characteristics that enable it to adapt to various object shapes and sizes. The linkage allows the segments to rotate relative to each other in a coordinated manner, mimicking the natural flexion and extension movements of human fingers, thereby improving adaptability without significantly increasing device complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The prosthetic digits provide enhanced gripping functionality by mimicking natural finger movements, ensuring secure grasping of various object sizes and shapes while reducing weight, space, and power requirements.
Implementation Method 1
A spring-biased worm wheel transmission provides a manual mode for rotation of the digit and prevents damage due to rotation induced by external forces acting on the digit
Implementation Method 2
A spring-biased worm wheel transmission provides a manual mode for rotation of the digit and prevents damage due to rotation induced by external forces acting on the digit
Implementation Method 3
The actuator is coupled with the mount and the proximal segment, and the actuator is configured to cause the proximal segment to rotate about the first pivot, where rotation of the proximal segment about the first pivot causes the middle and distal segments to rotate
Data Source
AI summary
Features for prosthetic digits are described. The digits mimic natural fingers by having multiple articulating segments, for example three, that can rotate varying amounts. Rotatable and/or linearly expandable mechanical links are configured to provide the digit segments with multiple degrees of rotational freedom. The digit may have an actuator that outputs linear actuation to cause rotation of the digit segments. The digit may have an expandable proximal link to allow for variable relative rotational positions of the segments. Middle and/or distal digit segments may fully rotate independent of rotation of a proximal digit segment. The rotated digit may thus fully surround and grasp small or large objects, objects with irregular outer contours, etc.