JP6501358B2 - Finger movement assistance device - Google Patents

Description

  The present invention relates to a finger movement assisting device which is disposed on the back side of a finger of a human hand and assists the bending and stretching movement of the finger of the hand.

  Person who has disturbed bending and stretching of the fingers of the hand or loses grip due to an accident or disease etc. In this case, a person who has disturbed the bending and stretching of the fingers or loses grip Was supposed to be forced to a very inconvenient life. In order to eliminate such inconveniences, the inventor of the present invention has proposed a device capable of assisting the bending and stretching operation of the finger of the hand and adding a grip in Patent Document 1 below.

JP, 2002-345861, A

  However, in the above-mentioned conventional device, the structure is complicated and it is difficult to miniaturize, for example, a glove type in which a finger movement assisting device is housed in a glove and the device can be attached and detached simply by fitting or removing the glove. It was unsuitable for the application to a finger movement auxiliary device.

  Therefore, an object of the present invention is to provide a finger movement assisting device which has a simple structure and can be miniaturized.

In order to solve the above problems, the finger movement assisting device according to the first aspect of the present invention is a finger movement assisting device which is disposed on the back surface of the finger of a human hand and assists the bending and stretching movement of the finger of the hand. A distal end member corresponding to the distal end of the finger, a proximal end member corresponding to the finger portion at the base of the finger than the distal end of the finger, or the back of the hand, and between the proximal end member and the distal end member A plurality of link members arranged along the longitudinal direction of the finger, a plurality of connecting shafts for pivotably connecting the base end member, the link member and the distal end member with each other, and a finger At least one first line extending continuously along the longitudinal direction from the proximal member, through the link member, to the distal end member along the longitudinal direction and having the distal end fixed or locked to the distal end member. Member, and the opposite of the first linear member with the connecting shaft interposed therebetween. The side, along said longitudinal direction, said base member, said link member through with fixed or locked with at least one second linear to tip member end extends continuously until the tip member with both the members, by adjusting the tension force of the first linear member and the second linear member, the link member and the distal member about the coupling axis relative to the base member, the finger And a driving unit for pivoting in an inward direction, which is a direction for bending the finger, or an outward direction, which is a direction for expanding the finger, and the link member is a first link member disposed opposite to each other in the width direction of the finger. And a second link member disposed between the first link members, wherein the first link member is formed on the dorsal side of the finger relative to the connecting shaft. A second guide hole through which the second Link member, characterized in Rukoto which have a opposite formed end, a second guide hole for inserting the second linear member of the first guide hole across the connecting shaft is there.

  In the finger movement assisting device according to the first aspect of the invention, it is preferable that both the first linear member and the second linear member be provided.

Further, in the finger movement assisting device according to the first aspect of the present invention, when the tension of the first linear member is increased, the driving unit loosens the tension of the second linear member to thereby reduce the base end. The first link member and the second link member as well as the tip member are pivoted in the inward direction, which is a direction in which a finger is bent, with respect to the member, and conversely, the second linear member When the tension of the first linear member is loosened, the first link member and the second link member and the tip member are spread in the direction of expanding the finger around the connection axis. It is preferable to swing in the direction.

  Further, in the finger movement assisting device according to the first aspect of the present invention, the link members are provided over three rows in the width direction of the finger, and the link members extend in the longitudinal direction between adjacent rows in the width direction. Are preferably arranged alternately.

  Furthermore, in the finger movement assisting device according to the first invention, the base end member, the link member and the tip end member guide at least one of the first linear member and the second linear member. It is preferable to have each of the guide portions.

Furthermore, in the finger movement assisting device according to the first aspect of the present invention, the first link member is provided on the surfaces of the base end member, the first link member, and the tip member facing each other in the longitudinal direction. And an inclined surface which contacts the tip members with each other at a predetermined swing angle in the inward direction to prevent the swing in the inward direction exceeding the predetermined swing angle. preferable.

  In addition, in the finger movement assisting device according to the first aspect of the present invention, partial gears meshing with each other are formed on the surfaces of the base end member, the link member and the tip member facing each other in the longitudinal direction. Is preferred.

  In order to solve the above problems, a finger movement assisting device according to a second aspect of the present invention is a finger movement assisting device which is disposed on the back side of a finger of a human hand and assists the bending and stretching movement of the finger of the hand. Of the finger between the proximal end member and the distal end member, the proximal end member disposed corresponding to the finger portion at the base of the finger or the back of the hand with respect to the distal end portion of the finger A plurality of link members arranged along the longitudinal direction, the link members being provided over at least two rows in the width direction of the finger and alternately disposed in the longitudinal direction between adjacent rows in the width direction; A proximal end member, a plurality of connecting shafts pivotally connecting the link member and the distal end member with each other, and a direction in which a finger is bent around the connecting shaft with respect to the proximal end member at least one link member In the inward direction or in the direction to expand the finger And at least one link member by mutually engaging the surfaces of the base end member, the link member, and the distal end member facing each other in the longitudinal direction. A partial gear is formed to transmit the rocking motion of the link to the longitudinally adjacent other link member and the tip member.

  In the finger movement assisting device according to the second aspect of the invention, the drive unit has a rod connected to the at least one link member, and the link member based on forward and backward movement of the rod along the longitudinal direction. It is preferable to have an actuator that swings around the connecting shaft.

  In the finger movement assisting device according to the second aspect of the present invention, preferably, the link members are provided in three rows in the width direction of the finger.

  Furthermore, in the finger movement assisting device according to the second aspect of the invention, it is preferable that the device further comprises biasing means for always biasing the link member and the tip member in the inward direction or the outward direction.

  In addition, in the finger movement assisting device according to the second invention, the biasing means is a plate spring extending along the longitudinal direction from the base end member to the tip end member through the link member. Is preferred.

  According to the finger movement assisting device of the first invention, the finger movement assisting device is attached to the finger of the hand, and the first linear member or the second wire whose end is fixed or locked to the tip member by the drive unit When the rod-like member is pulled toward the root side of the finger, the distal end member and the link member swing inward or outward around the connection axis with respect to the proximal end member, so that the distal end member and the link member The finger on the hand on which the is worn is folded or stretched. Therefore, according to the first aspect of the invention, the finger can be bent and stretched only by pulling the first linear member or the second linear member, so that the structure is simple and the size can be reduced. .

  Further, according to the finger movement assisting device of the second aspect of the present invention, when at least one link member is rocked with respect to the proximal end member around the connecting shaft by the drive unit, the rocking movement is the link member and the tip member Is transmitted to the other link member and the tip member via the partial gear and the members swing, so that the finger of the tip member and the link member are attached with the swing of the link member and the tip member. Is folded or stretched. Therefore, since the link member itself transmits the swinging motion, the structure is simple and the size can be reduced. Furthermore, since the transmission of the rocking motion is performed through the partial gear and the rocking angles become equal at all rocking points, bending and extension of the finger can be uniformly performed over the entire finger.

It is a perspective view which shows a mode that the finger movement assistance apparatus which concerns on one Embodiment of 1st invention was mounted | worn to the forefinger of a human hand, and the action part was made to bend. It is a disassembled perspective view of the action | operation part (1st and 2nd linear member is abbreviate | omitted) in the finger movement assistance apparatus shown in FIG. The expanded action part in the finger movement assistance device shown in FIG. 1 is shown, (a) is a top view, (b) is a bottom view The expanded action part in the finger movement assistance device shown in FIG. 1 is shown, (a) is a right side view, (b) is a front view, (c) is a rear view. The action part and drive part in the finger movement assistance device shown in FIG. 1 are shown, (a) is a plan view in a state where the second linear member is pulled by the drive part, (b) is a first line shape by the drive part It is a top view in the state where a member was pulled. FIG. 2 shows a bent operating part in the finger movement assisting device shown in FIG. 1, wherein (a) is a plan view and (b) is a bottom view. FIG. 2 shows a bent operating part in the finger movement assisting device shown in FIG. 1, in which (a) is a front view and (b) is a right side view. It is a perspective view which shows a mode that the finger movement assistance apparatus of one Embodiment of 2nd invention was mounted | worn with the forefinger of a human hand, and was expand | deployed. The finger movement assistance device shown in FIG. 8 is shown, (a) is a plan view, (b) is a side view FIG. 9 shows the finger movement assisting device shown in FIG. 8, in which (a) is a cross-sectional view taken along the line A-A in FIG. 9 (a), (b) a front view, and (c) a rear view. It is a side view which shows a mode that a spherical body is hold | gripped by mounting | wearing a finger the finger movement auxiliary | assistance apparatus shown in FIG. 8, and assisting bending operation of a finger | toe. It is a perspective view which shows the finger movement auxiliary | assistance apparatus of other one Embodiment of 2nd invention.

  Hereinafter, an embodiment of the first invention will be described in detail based on the drawings. FIG. 1 is a perspective view showing how a finger movement assisting device according to an embodiment of the first invention is attached to a forefinger of a human hand and an operating portion is bent, and FIG. 2 is a finger shown in FIG. FIG. 4 is an exploded perspective view of an actuating part (the first and second linear members are omitted) in the movement aiding apparatus, and FIGS. 3 and 4 show a developed actuating part in the finger movement aiding apparatus shown in FIG. 3 (a) is a plan view, FIG. 3 (b) is a bottom view, FIG. 4 (a) is a right side view, FIG. 4 (b) is a front view, and FIG. 4 (c) is a rear view. 5 shows an actuating part and a driving part in the finger movement assisting device shown in FIG. 1; (a) is a plan view in a state where the second linear member is pulled by the driving part; (b) is a first drawing by the driving part It is the top view in the state which pulled the linear member of.

  As shown in FIG. 1, the finger movement assisting device 10 of the present embodiment is installed along the longitudinal direction of the finger on the back side of a person's finger f, and is an operation for assisting the bending and stretching movement of the finger f. And a drive unit 14 for driving the operation unit 12. The operating portion 12 mainly has a finger length between the proximal end member 16 closest to the user (the supportee), the distal end member 18 at the most distal end, and the distal end member 16 and the proximal end member 18. Between the proximal member 16 and the link members 20, between the link members 20 and 20, and between the link members 20 and the distal end member 18 with a plurality of link members 20 arranged along the direction and overlapping each other when seen in the width direction of the finger A first linear member 24 having a pin 22 as a connecting shaft pivotally connected to each other, and one end connected to the drive unit 14 and the other end (end) fixed or locked to the tip member 18 And the second linear member 26.

  The details of each component will be described below. In the following description, the term “front” refers to the side with the tip member 18 in the relation between the tip member 18 and the base end member 16, and the term “rear” refers to the relation between the tip member 18 and the base end member 16. In which the proximal end member 16 is located. Moreover, when it says "lower", the finger movement assistance apparatus 10 arrange | positioned on the back of the finger f points out the side with the back of the finger f in the relationship of the back of this finger f, when saying "upper" In the relation between the finger movement assisting device 10 disposed on the back of the finger f and the back of the finger f, the finger movement assisting device 10 is to be the side on which the finger movement assisting device 10 is located. Thus, the “front-rear direction” is synonymous with the longitudinal direction of the finger, and the “left-right direction” or the “lateral direction” is synonymous with the width direction of the finger.

First, the tip member 18 swings about the pin 22 relative to the proximal member 16 and link member 20 together with the addressed cracking the back of the front end portion f _t of the finger f, bending the tip portion f _t inwardly Or it is made to expand outside. The distal end portion f _t of the finger f may at least include a portion corresponding to the distal phalanx of the finger f of the hand, and may include a portion corresponding to the distal interphalangeal joint and the middle phalanx.

  As shown in FIGS. 2 to 4, the tip member 18 has a flat, substantially trapezoidal shape whose height is smaller than the width in a front view, and has a predetermined length in the longitudinal direction (front-rear direction) of the finger f There is. Further, a curved convex portion 18 a extending in the front-rear direction is formed on the upper surface of the tip member 18, and a curved concave portion 18 b extending in the front-rear direction is formed on the lower surface of the tip member 18. The curved concave portion 18b can ensure stable contact between the tip end member 18 and the tip end portion ft of the finger f, and can also reduce the height when the tip end member 18 is placed on the finger.

  At the rear end of the tip member 18, two legs 18c and 18d are provided so as to project rearward from the left and right end positions, and in each leg 18c and 18d, a pin 22 as a connecting shaft is in the left-right direction A pin receiving hole 28 is formed to be inserted through the hole. The position of the pin accommodation hole 28 in the longitudinal direction when the device is attached is preferably on or near the distal interphalangeal joint of the finger f. Furthermore, at the rear edge of each of the legs 18c, 18d, a partial gear 30 that integrally engages with a partial gear described later formed on the link member 20 adjacent to the rear is integrally formed. Pivoting with the tip member 18 about the axis of. Further, an inclined surface 31 which is inclined forward as viewed from above is formed at a portion of the rear edge portion of each of the legs 18c and 18d below the pin.

In addition, the first linear member 24 is inserted and guided in the front-rear direction in the vicinity of the lower surface and near the left and right ends of the tip member 18, which is the back side of the finger f (lower side than the pin 22) than the pin 22 Guide holes 32 as guide portions are respectively penetrated and formed, and a second linear member 26 is inserted in the front-rear direction in the vicinity of the center near the upper surface of the tip member 18 above the pin 22; Two guide holes 34, which are also guided as guides, are formed through.

The proximal end member 16 is disposed on the finger portion f _b (FIG. 1) at the base of the finger relative to the tip end ft of the finger f (FIG. 1) or on the back of the hand (for example, the metacarpal bone near the interphalangeal joint) It supports the member 20 and the tip member 18, and as shown in FIGS. 2 to 4, it has a flat, substantially trapezoidal shape whose height is smaller than the width in a rear view, in the longitudinal direction (front and rear direction) of the finger f. It has a predetermined length. Further, a curved convex portion 16 a extending in the front-rear direction is formed on the upper surface of the base end member 16, and a curved concave portion 16 b extending in the front-rear direction is formed on the lower surface of the base end member 16. The curved concave portion 16b can ensure stable contact between the proximal end member 16 and the finger portion fb or the back of the hand, and can reduce the height when the proximal end member 16 is placed on the back of the finger or the hand. It also becomes.

  Further, at the front end of the base end member 16, two legs 16c and 16d are provided so as to project forward from the left and right both end positions, and in each leg 16c and 16d, a pin 22 as a connecting shaft is provided. A pin housing hole 36 which is inserted in the left-right direction is formed. The position of the pin accommodation hole 36 in the longitudinal direction when the device is attached is preferably on or near the metacarpal interphalangeal joint. At the front edge of each of the legs 16c and 16d, a partial gear 38 is formed integrally with a partial gear described later formed on the link member 20 adjacent in the front-rear direction. The axial center of each partial gear 38 coincides with the axial center of the pin 22 as a connecting shaft.

In addition, the first linear member 24 is inserted and guided in the front-rear direction in the vicinity of the lower surface of the proximal member 16 and in the vicinity of both left and right ends, which is the back side of the finger f (lower side than the pin 22) than the pin 22 A second linear member 26 is formed in the front-rear direction in the vicinity of the center in the vicinity of the upper surface of the base end member 16 which is formed on the upper side of the pin 22. Two guide holes 41, which are also inserted and guided, are also formed as guide portions. Furthermore, on the lower side of the pin at the front edge of each of the legs 16c and 16d, an inclined surface 42 is formed to be inclined rearward as viewed from above.

  The link member 20 is applied to the spine of the finger portion between the distal end member 18 and the proximal member 16 and swings relative to the proximal member 16 to bend the finger portion inward or deploy it outward. It is A plurality of link members 20 are arranged in a row along the front-rear direction (longitudinal direction of the finger), and are further provided in two or more rows, here three rows in the lateral direction (width direction of the finger). The link members 20 are alternately arranged in the front-rear direction between adjacent rows in the left-right direction, that is, the link members 20 adjacent in the left-right direction are shifted in the front-rear direction by half a pitch. The link members 20 shifted by a half pitch are mutually connected so as to be able to swing relative to each other through pins 22 inserted into pin housing holes 44 formed in the front and back of the link members 20. Similarly, the rearmost link member 20 is pivotally connected to the legs 16c and 16d of the proximal member 16 via the pin 22, and the frontmost link member 20 is a pin. 22 are mutually rockably connected to the legs 16c, 16d of the tip member 18.

  Further, in the present embodiment, two link members 20 having mutually different widths are used, one of which is a wide link member 20 disposed at the center in the lateral direction, and the other one of which is a central link member. It is a narrow link member 20 disposed so as to be sandwiched from the side. By forming the center link member 20 wide as described above, the bending and extension operation of the link member 20 can be stably transmitted to the finger.

  Similar to the distal end member 18 and the proximal end member 16, the upper surface of the central link member 20 is formed with a curved convex portion 20 a extending in the front-rear direction in front view, and the lower surface of the central link member 20 is a curved extending in the front-rear direction The recess 20 b is formed. The curved concave portion 20b can ensure stable contact between the central link member 20 and the finger f, and can also reduce the height when the central link member 20 is placed on the finger.

Further, in the vicinity of the center near the upper surface of the center link member 20, which is the upper side of the pin 22, two guide holes 46 as guide portions through which the second linear member 26 is inserted and guided in the front and rear direction A guide groove 48 serving as a guide portion is formed following the guide holes 46. The guide grooves 48 guide the second linear members 26 in the front-rear direction. Moreover, the part which transmits the rocking movement of one center link member 20 to the other center link member 20 by mutually engaging on the mutually opposing surfaces of the center link members 20 adjacent to each other in the front-rear direction The gear 50 is integrally formed. Each partial gear 50 rotates together with the link member 20 around the axis of the pin 22 as a connecting shaft.

The side link member 20 has a height dimension larger than that of the central link member 20, and the lower end portion is lower than the lower surface of the central link member 20 when connected to the central link member 20 via the pin 22. Stand out. A guide hole 52 as a guide portion through which the first linear member 24 is inserted and guided in the front-rear direction is formed to penetrate the lower end portion that protrudes.

  Further, as shown in FIG. 4A, the front and rear surfaces of the side link members 20 on the front and rear surfaces thereof are the longitudinal length of the side link members 20 as they go downward. Inclined surfaces 54 are formed at a predetermined inclination in the direction of decreasing the thickness. That is, the lower portion of the front surface of the side link member 20 is inclined rearward, and the lower portion of the rear surface of the side link member 20 is inclined forward. The sloped surface 54 of the side link member 20, the sloped surface 42 of the base end member 16 and the sloped surface 31 of the distal end member 18 support the link member 20 and the distal end member 18 to assist the bending operation of the finger f. On the other hand, when the pins 20 are swung inward (palm side), they abut each other at a predetermined swing angle and prevent swing exceeding the swing angle. The predetermined swing angle is equal to the angle θ between the inclined surfaces 54, 31 and 42 adjacent to each other in the front-rear direction in a state in which the actuating portion 12 is developed straight (FIG. 4A). Desired rocking angle regulation can be performed by changing the angle. In the illustrated example, the angle is approximately 40 °.

  Furthermore, in the mutually opposing surfaces of the side link members 20 adjacent to each other in the front-rear direction, the rocking motion of one side link member 20 is transferred to the other side link member 20 by meshing with each other. A partial gear 56 for transmission is integrally formed. Further, a partial gear 56 is formed on the rear surface of the rearmost side link member 20 so as to mesh with the partial gear 38 of the base end member 16, and a front end member 18 is provided on the front side of the frontmost side link member 20. A partial gear 56 is formed to mesh with the partial gear 30. Each partial gear 56 rotates with the side link member 20 around the axis of a pin 22 as a connecting shaft.

As shown in FIGS. 1 and 5, the first linear member 24 and the second linear member 26 are connected at one end to the drive unit 14, and from there via the proximal member 16 and the link member 20. Extending to the tip member 18 through the respective guide holes 40, 52, 32, 41, 46, 34 and the guide groove 48, the other end (end) is engaged with the front open end of the guide holes 32, 34 of the tip member 18. It is stopped and kept off. As the first and second linear members 24 and 26, for example, a cord made of para-aramid fiber, a metal wire or the like can be used. For example, Kevlar (registered trademark) can be used as the aramid fiber. In the illustrated example, two first linear members 24 and two second linear members 26 are provided, but each may be one as long as predetermined tensile strength is exhibited, and three or more each may be provided. May be

In the present embodiment, the drive unit 14 adjusts the tension of the first linear member 24 and the second linear member 26 so that the link member 20 and the distal end member 18 move around the pin 22 with respect to the proximal end member 16. It is made to rock in the inside direction which is a direction which makes a finger bend, and the outside direction which is a direction which develops a finger. As shown in FIG. 5, the drive unit 14 includes an actuator 58 disposed behind the proximal member 16 and generating a driving force for pulling the first and second linear members 24 and 26 from the rear. As the actuator 58, a linear actuator such as a motor drive type, a hydraulic drive type or an air drive type or a motor drive type rotary actuator can be used. In the present embodiment, the linear actuator 58 is used as an example.

In addition, the drive unit 14 may have a transmission mechanism for transmitting the driving force from the actuator 58 to the first and second linear members 24 and 26 as necessary. As the transmission mechanism, various known transmission mechanisms such as a pulley mechanism, a gear mechanism, and a link mechanism can be used. In this embodiment, a rack and pinion transmission mechanism 60 is used as an example. Specifically, the rack and pinion transmission mechanism 60 is movable in the front-rear direction with a first rack gear 61 provided on a rod 58a of the linear actuator 58 to which the rear end of the second linear member 26 is fixed. The rear end 24 of the first linear member is disposed between the second rack gear 63 to which the rear end 24 is fixed and the first and second rack gears 61 and 63, and transmits power between these rack gears 61 and 63. It consists of a pinion gear 65. In the transmission mechanism 60, when the rod 58a is retracted with the first rack gear 61 (FIG. 5A), the second rack gear 63 is moved forward, so the tension of the second linear member 26 is increased. At the same time, the tension of the first linear member 24 is loosened, and conversely, when the rod 58a is advanced forward with the first rack gear 61 (FIG. 5 (b)), the second rack gear 63 moves backward. Therefore, the tension of the first linear member 24 is increased and the tension of the second linear member 26 is relaxed.

  The finger movement assisting device 10 of the present embodiment may include control means (not shown) for controlling the drive unit 14. The control means includes, for example, a sensor that detects a biological signal, and an operation unit that outputs a control signal to the actuator 58 based on the biological signal detected by the sensor, and the assist person operates the finger when operating the finger. The bending and extension operation of the finger corresponding to the muscle may be assisted based on the generated myoelectric signal. Alternatively, the finger movement assist device 10 may be directly operated using a controller (not shown).

  Next, a method for assisting the bending and stretching movement of a person's finger f using the finger movement assisting device 10 described above will be described. First, the finger movement assist device 10 is installed on the back side of the hand in a posture in which the curved recesses 18 b and 20 b formed on the lower surface of the link member 20 and the tip member 18 face the back of the finger f, and the link member 20 and the tip member 18 are , And a tie fastener such as a hook-and-loop fastener so as to avoid the area of the pin 22 and fix it to the finger f at several places. The proximal member 16 and the drive 14 may also be secured to the back of the hand with similar fasteners. Alternatively, when constructing a glove-type finger movement assisting device (not shown), the finger movement assisting device 10 is fixed in advance in the finger pouch so that the above posture is obtained when a person inserts the finger f in each finger pouch. In this case, the finger operation assisting device 10 and the finger f can be positioned simply by inserting the finger f into each finger bag. In any case, as an initial state, when the actuating portion 12 is expanded outward and straightened in advance (FIG. 5 (a)), the finger movement assisting device 10 is attached to the finger f. It is easy. In this initial state, the rod 58a of the linear actuator 58 is in the backward retracted position.

  Then, when the rod 58a of the linear actuator 58 of the drive unit 14 is advanced forward from the state in which the finger movement assist device 10 is attached to the finger f and the operation unit 12 extends straight, the second line extending above the pin 22 As the tension of the second member 26 is relaxed and the tension of the first linear member 24 extending to the lower side of the pin 22 is increased (Fig. 5 (b)), as shown in Figs. 18 and the front part of the link member 20 pivot relative to the proximal member 16 downward (inward) around each pin 22 so that the finger f can be bent. At this time, in the finger movement assisting device 10 of the present embodiment, partial gears that can rotate around the meshing pins 22 on the surfaces of the base end member 16, the link member 20, and the tip member 18 facing each other in the front-rear direction. Because 38, 56, 30, 50 are formed, the relative swing angles between the opposing members 16, 20, 18 are equal at all points. Thereby, the bending from the root to the tip of the finger f can be performed uniformly. When the relative swing angle between the proximal end member 16, the link member 20 and the distal end member 18 reaches a predetermined angle θ, the proximal end member 16, the link member 20 and the distal end member 18 are opposed in the front-rear direction The inclined surfaces 31, 54, 42 formed on the surfaces abut each other, and bending of the finger further is prevented.

  When the finger f is developed from the bent state of the finger f, the rod 58a of the linear actuator 58 of the drive unit 14 is retracted (FIG. 5 (a)). As a result, the tension of the first linear member 24 is relaxed and the tension of the second linear member 26 is increased, so that the front end of the distal end member 18 and the link member 20 with respect to the proximal end member 18 It can be swung (caused) upward (outward) around each pin 22 so that the finger f can be deployed. Also at this time, since the partial gears 38, 56, 30, 50 formed on the proximal end member 16, the link member 20 and the distal end member 18 rotate while meshing with one another, the relative relationship between the opposing members 16, 20, 18 The swing angle is equal at all points.

  Therefore, according to the finger movement assisting device 10 of the present embodiment, the first linear member 24 bridging the lower side of the pin 22 and the second linear member 26 bridging the upper side of the pin 22 are alternately pulled. Since the bending and stretching operation of the finger can be performed, the structure is simple and the size can be reduced.

  Moreover, according to the finger movement assisting device 10 of the present embodiment, since the link members 20 are provided in three rows in the width direction of the finger f, the rigidity in the lateral direction (width direction) can be enhanced, which is more stable. It is possible to support bending and stretching of the finger f.

  Furthermore, according to the finger movement assisting device 10 of the present embodiment, the guide holes for guiding the first linear member 24 and the second linear member 26 to the proximal end member 16, the link member 20 and the distal end member 18. Since 40, 52, 32, 41, 46 and 34 are provided, bending and stretching operations of the finger f can be performed smoothly.

  Furthermore, according to the finger movement assisting device 10 of the present embodiment, the inward direction of the link member 20 and the distal end member 18 is provided on the surfaces of the proximal end member 16, the link member 20 and the distal end member 18 facing each other in the front and rear direction. Since the inclined surfaces 31, 54, 42 are formed in contact with each other at a predetermined rocking angle to prevent the rocking in the inward direction exceeding the predetermined rocking angle, the excess of the finger f is excessive. Flexure can be prevented.

  In addition, according to the finger movement assisting device 10 of the present embodiment, the partial gears 38, 56, 30 meshing with each other on the surfaces of the proximal end member 16, the link member 20 and the distal end member 18 facing each other in the front and rear direction. 50, the swing angles of the opposing members 16, 20, 18 in the front-rear direction can be made equal, and the finger f can be bent and stretched uniformly over the entire finger.

  In the present embodiment, the linear members 24 and 26 are provided on the upper and lower sides of the pin 22, respectively. However, the operating portion 12 includes the first linear member 24 and the second linear member. One of the members 26 and a biasing member such as a plate spring, a coil spring, rubber or the like that always biases the actuating portion 12 in the deployment direction or the bending direction may be used. Specifically, in the case where only the first linear member 24 is provided on the lower side of the pin 22, a biasing member for always urging the actuating portion 12 in the deployment direction is provided, and the second wire is provided on the upper side of the pin 22. In the case where only the shape member 26 is provided, a biasing member can be provided which always biases the actuating portion 12 in the bending direction, and in this way, the structure of the driving portion 14 can be simplified.

  Next, an embodiment of the second invention will be described in detail based on the drawings. Here, FIG. 8 is a perspective view showing how a finger movement assisting device according to an embodiment of the second invention is attached to the forefinger of a human hand and developed, and FIGS. 9 and 10 are shown in FIG. 9 (a) is a plan view, FIG. 9 (b) is a side view, and FIG. 10 (a) is a cross-sectional view taken along the line A-A in FIG. 9 (a). b) is a front view and FIG. 10 (c) is a rear view.

  As shown in FIG. 8, the finger movement assisting device 70 of the present embodiment is installed along the longitudinal direction of the finger on the back side of a person's finger f, and operates to assist the bending and stretching movement of the finger f. And a drive unit 74 for driving the operation unit 72. The operating portion 72 mainly has a finger length between the proximal end member 76, the distal end member 78, the distal end member 76, and the proximal end member 78, which are the most proximal to the user (the supportee). Between the proximal member 76 and the link member 80, between the link members 80 and 80, and between the link member 80 and the distal end member 78, the plurality of link members 80 arranged along the direction and overlapping each other in the width direction of the finger A pin 82 as a connecting shaft which is movably connected to each other, an operating portion 72, an outward direction which is a direction in which the finger is deployed or an urging means which always biases in an inward direction which is a direction in which the finger is bent. There is.

  The details of each component will be described below. In the following description, the term “front” refers to the side with the tip member 78 in the relationship between the tip member 78 and the base end member 76, and the term “rear” refers to the relationship between the tip member 78 and the base end member 76. Point to the side where the proximal end member 76 is located. Moreover, when it says "lower", it points out the side with the back of the finger f in the relationship between the finger operation auxiliary device 70 arrange | positioned on the back of the finger f, and the back of this finger f, and when saying "upper" In the relation between the finger movement assisting device 70 disposed on the back of the finger f and the back of the finger f, the finger movement assisting device 70 shall point to the side on which the finger movement assisting device 70 is located. Thus, the “front-rear direction” is synonymous with the longitudinal direction of the finger, and the “left-right direction” or the “lateral direction” is synonymous with the width direction of the finger.

First, the tip member 78 swings about the pin 82 relative to the proximal member 76 and link member 80 together with the addressed cracking the back of the front end portion f _t of the finger f, inward tip portion f _t (volar ) Or to the outside (the back side of the hand). The distal end portion f _t of the finger f may at least include a portion corresponding to the end bone of the finger f of the hand, and may include a portion corresponding to the distal interphalangeal joint and the middle joint bone.

As shown in FIGS. 9 and 10, the tip end member 78 has a flat, substantially rectangular shape whose height is smaller than the width in a front view, and has a predetermined length in the longitudinal direction of the finger. Further, on the lower surface of the tip member 78, a curved recess 78b extending in the front-rear direction is formed. The curved concave portion 78b can ensure stable contact between the tip end member 78 and the tip end portion f _t of the finger f, and can also reduce the height when the tip end member 78 is mounted on the finger f .

  At the rear end of the tip member 78, two legs 78c and 78d are provided so as to project rearward from the left and right end positions, and in each leg 78c and 78d, the pin 82 as a connecting shaft is connected to the left and right. A pin receiving hole 88 is formed to be inserted in the direction. The position of the pin accommodation hole 88 in the longitudinal direction when the device is attached is preferably on or near the distal interphalangeal joint of the finger. At the rear edge of each of the legs 78c, 78d, a partial gear 90 is formed integrally with a partial gear 90, which meshes with a partial gear described later formed in the link member 80 at the rear. It pivots with the tip member 78 around.

The proximal end member 76 is disposed on the finger portion f _{b at} the base of the finger relative to the distal end portion f _t of the finger f or on the back of the hand (for example, near the metacarpal interphalangeal joint of the metacarpal bone), and the link member 80 The tip member 78 is supported, and as shown in FIGS. 9 and 10, it has a flat, substantially rectangular shape whose height is smaller than the width in rear view, and has a predetermined length in the longitudinal direction of the finger. There is. Further, a curved recess 76 b extending in the front-rear direction is formed on the lower surface of the base end member 76. The curved concave portion 76b can ensure stable contact between the proximal end member 76 and the finger portion fb or the back of the hand, and can reduce the height when the proximal end member 76 is placed on the back of the finger or the hand. It also becomes.

  Further, at the front end portion of the base end member 76, two legs 76c and 76d are provided so as to project from the left and right both end positions, and in each leg 76c and 76d, a pin 82 as a connecting shaft is provided. A pin housing hole 92 is formed to be inserted in the left-right direction. The position of the pin housing hole 92 in the longitudinal direction when the device is attached is preferably on or near the metacarpal interphalangeal joint. At the front edge of each of the legs 76c and 76d, a partial gear 94 is integrally formed that meshes with a partial gear described later formed on the link member 80 adjacent in the front-rear direction. The axial center of each partial gear 94 coincides with the axial center of a pin 82 as a connecting shaft.

  The link member 80 is applied to the spine of the finger portion between the distal end member 78 and the proximal end member 76 and pivots relative to the proximal end member 76 to bend the finger portion inward or deploy it outward. It is A plurality of link members 80 are arranged in a row along the front-rear direction (longitudinal direction of the finger), and are further provided in two or more rows, here three rows in the lateral direction (width direction of the finger). The link members 80 are alternately arranged in the front-rear direction between adjacent rows in the left-right direction, that is, the link members 80 adjacent in the left-right direction are shifted in the front-rear direction by half a pitch. The link members 80 shifted by a half pitch are mutually connected so as to be able to swing relative to each other via pins 82 inserted into pin housing holes 96 formed at the front and back of the link members 80. Similarly, the rearmost link member 80 is pivotally connected to the legs 76c and 76d of the proximal member 76 via the pin 82, and the frontmost link member 80 is a pin. Each of the legs 78c and 78d of the tip end member 78 is pivotally connected to each other via 82.

  Further, in the present embodiment, two link members 80 having mutually different widths are used, one is a wide link member 80 disposed at the center in the lateral direction, and the other is a central link member 80. The narrow link member 80 is disposed so as to sandwich the side from the side. By forming the center link member 80 wide as described above, the bending and extension operation of the link member 80 can be stably transmitted to the finger.

  Similar to the distal end member 78 and the proximal end member 76, a curved recess 80b extending in the front-rear direction may be formed on the lower surface of the central link member 80, thereby stabilizing between the link member 80 and the finger f. It is possible to secure a low contact when mounting the link member 80 on a finger.

  In addition, the mutually opposing surfaces (front and rear surfaces) of the central link members 80 adjacent to each other in the front-rear direction interlock with each other to cause the pivoting motion of one central link member 80 to the other central link member A partial gear 98 is formed which is transmitted to 80. Each partial gear 98 rotates around the axis of a pin 82 as a connecting shaft.

  Similarly, on the mutually facing surfaces of the side link members 80 adjacent to each other in the front-rear direction, the rocking motion of one side link member 80 is engaged with the other side link member 80 by meshing with each other. A partial gear 99 is integrally formed. Further, on the rear surface of the rearmost side link member 80, a partial gear 99 meshing with the partial gear 94 of the base end member 76 is formed, and on the front surface of the frontmost side link member 80, a tip member 78 is provided. A partial gear 99 is formed to mesh with the partial gear 90 of the Each partial gear 99 rotates together with the side link member 80 around the axis of a pin 82 as a connecting shaft.

  The biasing means always biases the link member 80 and the tip member 78 in the outward direction in which the finger f is deployed or in the inward direction in which the finger f is bent. As a means, the base end member 76, the link member 80, and the curved concave portions 76b, 80b, 78b of the lower surface of the distal end member 78 extend from the proximal end member 76 through the link member 80 to the distal end member 78 along the front and rear direction. In addition, a leaf spring 101 is provided which always biases inward, which is the direction in which the finger is bent. A coil spring or rubber may be used instead of the plate spring.

  The drive unit 84 applies a driving force to at least one link member 80 (here, the central link member 80 closest to the proximal member 76) to pin the link member 80 and the distal member 78 against the proximal member 16 Around this, it is made to swing in an inward direction which is a direction in which the finger f is bent or in an outward direction which is a direction in which the finger f is expanded. The drive unit 74 is disposed on the upper surface of the base end member 76, and includes an actuator 103 for applying a driving force to the center and rearmost link members 80. As the actuator 103, motor drive type, hydraulic drive type, air A linear actuator such as a drive type or a rotary actuator driven by a motor can be used. In this embodiment, the linear actuator 103 is used as an example.

  Further, the drive unit 84 may be provided with a transmission mechanism for transmitting the driving force from the actuator 103 to the link member 80 as necessary. As the transmission mechanism, various known transmission mechanisms such as a pulley mechanism, a gear mechanism, and a link mechanism can be used, and in the illustrated example, the forward and backward movement of the rod 103a of the actuator 103 is converted to the swinging movement of the link member 80. The link mechanism 105 is used.

  Note that the finger movement assist device 70 of the present embodiment may include control means (not shown) that controls the drive unit 84. The control means has, for example, a sensor that detects a biological signal, and an operation unit that outputs a control signal to the actuator 103 based on the biological signal detected by the sensor, and the muscle assists the finger when operating the finger The bending and extension operation of the finger corresponding to the muscle may be assisted based on the generated myoelectric signal. Alternatively, the finger movement assist device 70 may be directly operated using a controller (not shown).

  Next, a method of assisting the bending and stretching movement of the finger f of a person using the finger movement assisting device 70 of the present embodiment will be described. In this embodiment, since the link member 80 and the tip member 78 are always urged inward by the plate spring 101, the rod 103a of the linear actuator 103 is retracted against the biasing force of the plate spring 101, The proximal end member 76, the link member 80 and the distal end member 78 should be in a straightly extended position against the biasing force of the plate spring 101 (FIG. 8). Note that the linear actuator 103 preferably has a self-locking function that holds the position of the rod 103a at the time of no power feeding, and according to this, the posture in which the link member 80 and the tip member 78 extend straight even under no power feeding. Can be maintained. In this state, the finger movement assist device 70 is installed on the back side of the hand in a posture in which the curved recesses 80b and 78b formed on the lower surface of the link member 80 and the tip member 78 face the back of the finger f. The member 78 is bound and fixed to the finger at several places with a fastener such as a hook-and-loop fastener so as to avoid the area of the pin 82. The proximal member 76 and drive 74 may also be secured to the back of the hand with similar fasteners.

  Then, when the rod 103a of the linear actuator 103 of the drive unit 74 is gradually advanced forward from the state where the finger movement assist device 70 is attached to the finger f and the operation unit 72 extends straight, as shown in FIG. The center and rearmost link members 80 connected to the transmission mechanism 105 via the transmission mechanism 105 swing forward and downward. This swinging motion is transmitted to the center link member 80 adjacent to the front of the link member via the partial gear 98 and as a connecting shaft to the laterally adjacent side and rearmost link members 80 as well. Transmitted through the pin 82 of FIG. In this manner, the pivoting movement of the central and rearmost link member 80 is transmitted forward through the partial gears 98 and 98 of the link member 80 and the pin 82, and finally the tip member 78 is a leg As it swings forward and downward around the pin 82 extending between 78c and 78d, the finger f can be bent, for example, to grip the sphere.

  When expanding the finger from the state in which the finger f is bent, the rod 103 a of the linear actuator 103 is retracted against the biasing force of the plate spring 101. Then, the link member 80 connected to the rod 103a of the linear actuator is caused to swing around the pin 82 inserted into the legs 76c and 76d of the proximal end member 76, and this swinging motion is caused by the partial gears 98 and 99. The finger f can be deployed because the tip member 78 and the link member 80 are brought out to the outside by being sequentially transmitted to the other link member 80 and the tip member 78 via the pins 82.

  Therefore, according to the finger movement assisting device 70 of the present embodiment, a plurality of link members 80 between the proximal end member 76 and the distal end member 78 are provided, and the proximal end member 76, the distal end member 78 and the link members 80 Since the finger bending operation can be performed simply by forming the gears 90, 94, 98, 99 and swinging the at least one link member 80, the structure is simple and the size can be reduced. Furthermore, by transmitting the swing through the partial gears 90, 94, 98, 99, the swing angle can be made equal at all the swing points, and the finger f can be bent and extended uniformly over the entire finger. it can.

  Further, according to the finger movement assisting device 70 of the present embodiment, since the link members 80 are provided in three rows in the width direction of the finger f, the rigidity in the lateral direction (width direction) can be enhanced, which is more stable. It is possible to support bending and stretching of the finger f.

  In this embodiment, the plate spring 101 is provided to always bias the actuating portion 72 in the bending direction, and an example in which the movement assistance of the finger in the bending direction is performed by the biasing force of the plate spring 101 is shown. A plate spring may be provided on the upper side of the pin 82 so as to always bias in the deployment direction, and the actuating portion 72 may be bent by the actuator against the biasing force of the plate spring. Alternatively, as shown in FIG. 12, without using a leaf spring, at least one link member, preferably the rearmost link member 80, in the forward and reverse directions by the electric motor M and the gear G fixed to the rotating shaft tip of the motor The actuating portion 72 may be bent and extended by rotating it to the

  As mentioned above, although this invention was demonstrated based on the example of illustration, this invention is not limited to what was shown by the above-mentioned embodiment, It can change suitably within the indication of a claim. For example, in the above embodiment, the connecting shaft is a pin, but may be a laterally projecting projection. Further, in the illustrated example, although the two pin housing holes formed in the front and back of the link member are independent, the two pin housing holes may be mutually connected in the front and rear direction. Furthermore, in the first invention, the partial gears 30, 38, 50, 56 may be omitted.

  Thus, the present invention has made it possible to provide a finger movement assisting device which has a simple structure and can be miniaturized.

Reference Signs List 10, 70 finger movement assisting device 12, 72 actuation unit 14, 74 drive unit 16, 76 proximal end member 18, 78 tip member 20, 80 link member 22, 82 pin 24 first linear member 26 second linear Members 28, 36, 44 Pin housing holes 30, 38, 50, 56, 90, 94, 98, 99 Partial gears 31, 42, 54 Sloped surfaces 58, 103 Linear actuator 60 Rack and pinion transmission mechanism 101 Leaf spring 105 Transmission mechanism G gear M motor

Claims (3)

A finger movement assisting device disposed on the back side of a finger of a human hand to assist bending and stretching of the finger of the hand,
A tip member disposed corresponding to the tip of the finger;
A proximal portion disposed corresponding to a finger portion at the base of the finger relative to the tip of the finger or the back of the hand;
A plurality of link members arranged along the longitudinal direction of the finger between the proximal end member and the distal end member;
A plurality of connecting shafts pivotally connecting the proximal end member, the link member, and the distal end member to each other;
At least the proximal end, the link member, and the distal end are continuously extended to the distal end member along the longitudinal direction on the back side of the finger and the distal end is fixed or locked to the distal end member. One first linear member and the other side of the first linear member across the connection shaft, along the longitudinal direction, through the proximal member, the link member, to the distal member Both continuously extending and at least one second linear member whose end is fixed or locked to the tip member;
By adjusting the tension force of the first linear member and the second linear member, the link member and the tip member relative to the base member about the connecting shaft, in the direction to bend the finger A driving unit that swings in an inward direction or an outward direction that is a direction in which the finger is expanded ;
The link member includes a first link member disposed to face each other in the width direction of the finger, and a second link member disposed between the first link member.
The first link member has a first guide hole formed on the back side of the finger with respect to the connection shaft and through which the first linear member is inserted.
It said second link member, characterized Rukoto which have a opposite formed end, a second guide hole for inserting the second linear member of the first guide hole across the connecting shaft Finger movement assistance device. The driving unit loosens the tension of the second linear member when the tension of the first linear member is increased, whereby the first link member and the second link member with respect to the base end member And swinging the distal end member around the connection axis in an inward direction which is a direction in which the finger is bent, and when the tension of the second linear member is increased, the tension of the first linear member is relaxed. The finger movement assist device according to claim 1, wherein the first link member, the second link member, and the tip member are swung around the connection axis in an outward direction that is a direction in which a finger is deployed. . A predetermined swing angle of the first link member and the distal end member in the inward direction is provided on surfaces of the base end member, the first link member, and the distal end member facing each other in the longitudinal direction. The finger movement assisting device according to claim 1 or 2, wherein inclined surfaces are formed in contact with each other to prevent the inward swinging beyond the predetermined swinging angle.

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