Prosthetic Wrist Rotation Synchronization and Coupling
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Solution Overview
Problem
Existing prosthetic wrist systems suffer from delayed wrist rotation responses and inadequate synchronization with other prosthetic movements, leading to a less natural mimicry of human wrist functionality, and have issues with secure attachment and detachment mechanisms.
Innovation Solution
A prosthetic wrist system with an expanding coupling mechanism, such as an expanding ring, and torque control features, including a 'quick wrist disconnect' apparatus, to securely attach and detach the prosthetic hand, and an inertial measurement unit (IMU) with a processor to synchronize wrist rotation with grip formation based on user commands and orientation data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If existing prosthetic wrist systems are used, then basic wrist rotation function is provided, but responsive delay occurs with wrist rotation that detracts from mimicking natural wrist functionality
Solution Approach 1:
The system pre-positions the prosthetic hand in anticipated positions and pre-loads the expanding coupling mechanism based on predicted user movements. The processor analyzes orientation data from the IMU to anticipate grip formation requirements, allowing the wrist to rotate more responsively by having components ready in advance rather than reacting from a stationary state.
2Adaptability or versatility
If existing prosthetic wrist systems are used, then wrist rotation is provided, but insufficient synchronization with other prosthetic movements occurs
Solution Approach 1:
The patent combines the wrist rotation actuator, expanding coupling mechanism, and IMU-based orientation sensing into an integrated system. The processor merges data from the IMU with control signals for the wrist actuator, coordinating wrist rotation with grip formation commands. This unified approach enables synchronized movement without requiring separate complex coordination systems for each function.
3Reliability
If existing connection and disconnection features are used, then basic attachment is provided, but deficient connection and disconnection features result that fail to securely attach and remove prosthetics
Solution Approach 1:
The expanding coupling mechanism transitions from a static connection to a dynamic one. The coupling expands radially outward using an actuator to securely engage with the prosthetic socket during normal use, providing reliable attachment. For disconnection, the coupling can be quickly retracted or released, enabling rapid removal. This dynamic adjustment of connection strength resolves the contradiction between secure attachment and easy detachment.
Data Source
AI summary
Features for a prosthetic wrist and associated methods are described. The wrist couples with a prosthetic socket and a prosthetic hand. The wrist may rotate the hand. The wrist includes features to prevent or mitigate undesirable separation of the wrist from the socket. The wrist may have an expanding coupling, such as an expanding ring, to better secure the wrist with the socket. An actuator may cause the coupling to expand outward to prevent or mitigate undesirable separation of the wrist from the socket. Alternatively or in addition, the wrist may include torque control features to prevent undesirable or premature separation of the hand from the wrist, for example when using a “quick wrist disconnect” (QWD) apparatus. A torque control method may tailor or limit multiple torques to be applied by the wrist to the hand based on operational requirements and phases, such as anticipated torque loads and operational timing.