JP7090286B2 - Battery built-in fitting - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act I. Website (Website 1: Document 1) Publication date December 18, 2017 Address http: // amazon-tech. co. jp / 2017? post_type = info http: // amazon-tech. co. jp / info / 171218 https: // docks. Google. com / viewerng / viewer? url = http: // amazon-tech. co. jp / wordpress / pp-content / uploads / 2017/12 /% EF% BC% AE% EF% BC% B2% EF% BC% 88% E7% AD% 8B% E9% 9B% BB% E7% BE% A9 % E6% 89% 8B% E7% 94% A8% E5% B0% 8F% E5% 9E% 8B% E5% 86% 86% E7% AD% 92% E5% BD% A2% E9% 9B% BB% E6 % B1% A0-01. pdf & hl = ja (Website 2: Document 3) Publication date December 25, 2017 Address http: // www. toyal co. jp / whatsnews / 171225_02. html (Website 3: Document 9) Date of publication June 15, 2018 Address Hyogo Prefectural Social Welfare Corporation Welfare Town Development Institute Welfare Town Development Institute Report Collection http: // www. assist. hwc. or. jp / kenkyu / pdf / research / 2017 / 2017-4. pdf II. Exhibition (Exhibition 1: Material 2) Exhibition name Seeds and Needs Matching Exchange Meeting 2017 Osaka Date December 19th and 20th, 2017 (Exhibition 2: Material 8) Exhibition Name Seeds and Needs Matching Exchange Meeting 2017 Tokyo Dates February 20th and 21st, 2018 III. Newspaper (Newspaper 1: Material 4) Publication date December 26, 2017 Publication date Daily Steel Newspaper (Newspaper 2: Material 5) Publication date January 5, 2018 Publication light metal communication (Newspaper 3: Material 6) Publication date 2018 January 11, 2014 Publication Daily Light Metal IV. Magazine (Magazine 1: Document 7) Publication date February 15, 2018 Publication February issue of Altopia

The present invention relates to a joint with a built-in battery and an electric prosthesis using the joint.

The myoelectric prosthetic hand 20 as shown in FIGS. 7 and 8 is known. As shown in the figure, the conventional myoelectric prosthetic hand 20 includes a socket 21 attached to the defective portion E of the arm, and a prosthetic hand main body 22 having a prosthetic finger 22a and being openable and closable.
A joint (wrist metal) 23 is attached to the tip of the socket 21, and the socket 21 and the wrist portion 22b of the artificial hand main body 22 are connected to each other via the joint 23. The joint 23 has a solid structure made of a lump of metal.
The socket 21 contains a motor 24 and an electromyographic sensor (sensor for detecting myoelectric potential) 25. The linear motion mechanism 26 connected to the rotating shaft of the motor 24 penetrates the joint 23 and is connected to the artificial hand body 22. By driving the motor 24, the artificial finger 22a of the artificial hand body 22 is opened and closed. It has become.
The myoelectric sensor 25 can detect the movement of the muscle at the stump of the arm, and the signal output from the myoelectric sensor 25 is input to the control circuit 27 built in the socket 21 and is based on this signal. The control circuit 27 controls the drive of the motor 24.
As shown by the chain line in the figure, the myoelectric prosthetic hand 20 is covered with a decorative glove 28 that imitates a human hand.

Such an electric prosthetic hand such as a myoelectric prosthetic hand needs to be equipped with a battery for driving a motor 24 and a myoelectric sensor 25, but a conventional battery for an electric prosthetic hand has an elbow on the side of the forearm of the prosthetic hand. It was common to mount it in a position close to.
This is because, for the wearer of the artificial hand, when the heavy battery is located on the elbow side rather than the fingertip side, the feeling of weight due to the weight of the battery is somewhat reduced, and the elbow is bent and stretched. This is because the influence of the moment is also small.

Therefore, as shown in FIG. 7, in the conventional myoelectric prosthetic hand, it is common that a battery box 29 protruding outward is provided at a position near the elbow on the side surface of the socket (FIG. 3 of Patent Document 1). Also refer to reference numeral 101 in FIG. 4. Although Patent Document 1 relates to a robot arm and not to an electric prosthetic hand, it can be seen that the battery box is arranged in the same manner in the electric prosthetic hand. Is done.).
Here, since the drive voltage of the motor and the myoelectric sensor are different, the battery box 29 is individually provided.
This is because it is difficult for an electric prosthetic hand such as a myoelectric prosthetic hand to provide a space for storing a battery inside a socket near the elbow, especially in the case of a short stump (a state where a defect or a cut portion is short). This is because the size of the prosthetic hand itself is small and there is almost no space for installing the battery box, so it has been thought that the battery must be externally attached.

US Pat. No. 9,579,218

However, if there is a battery box that protrudes from the side of the forearm of the electric prosthesis in this way, the appearance is significantly different from that of the forearm of the human body or the type of prosthesis that does not require a non-electric battery, so there is a problem that it looks unnatural. was there.

In addition, since such a protruding battery box may interfere with the range of movement of the electric prosthesis, the position of the battery box does not hinder the movement of the electric prosthesis, depending on the patient's body shape. , It was necessary for the prosthetist to individually determine the installation position of the battery box.
Here, regarding the installation position of the battery box, it is necessary to set the position so as not to burden the wearer at the time of mounting and when replacing or charging the battery.
It is not preferable in terms of smooth supply of artificial hands because it takes skill to determine such an installation position, it takes time and effort, and the number of manufactured hands is limited.

As mentioned above, it is difficult to find a space inside the electric prosthesis, and it is necessary to be careful not to restrict the movement of the prosthesis, but if a battery can be built in, the appearance will be unnatural. This also eliminates the trouble of installing the battery box.
Such a problem is not different in electric prostheses other than electric prostheses such as electric prostheses.

Therefore, the problem to be solved by the present invention is to enable the electric prosthesis to have a built-in battery.

In order to solve the above-mentioned problems, the battery-built-in joint according to the invention is attached to a socket that can be attached to the remaining part as a substitute for the defective part of the human body, and is attached to the artificial limb body that can be electrically driven. On the other hand, the joint for connecting the socket has a bottom wall and a peripheral wall rising from the peripheral edge of the bottom wall, and the motor for driving the artificial limb body into a storage space partitioned by the bottom wall and the peripheral wall. It includes a tubular container that can store a battery as a power source, a lid that closes the opening of the container, and an engaging portion that is connected to the outer surface of the container or the lid and can be engaged with the artificial limb body. It was a joint with a built-in battery.

In the past, the joint (wrist metal) attached to the socket of the prosthetic limb body had a solid structure (metal block), but it can also be used as a battery box by making it into a container shape so that the battery can be stored inside. The battery will be built into the electric prosthesis.
Therefore, the battery box does not protrude to the side surface of the electric prosthesis, and the trouble of individually installing the battery box according to the shape of the stump of the patient is saved.

In the joint with a built-in battery according to the present invention, when the socket is attached to the defective portion of the human body, the side close to the trunk is proximal and the side far from the trunk is distal, the container is far from the socket. It is preferable that it is attached to the position.
When the battery built-in joint is configured to be attached at a position away from the proximal side to be attached to the defective part of the human body in this way, it can be attached to the defective part of the human body on the proximal side of the socket. Sufficient space can be naturally secured. Therefore, it is possible to prevent the socket from becoming an unnatural shape in an attempt to forcibly secure a mounting space.

In the battery built-in joint according to the present invention, a control circuit housed inside the container that can control the motor and a control signal line for controlling the motor provided on the outer surface of the container or the lid can be connected. It is preferable to further include a terminal.
With this configuration, the control circuit is also built into the joint, so there is no need to provide a separate space for accommodating the control circuit.

In the battery built-in joint according to the present invention, the battery is a rechargeable battery (secondary battery), and is provided inside the container, a charging circuit capable of charging the battery, and an outer surface of the container or the lid. Further, it is preferable to further provide a charging terminal for the battery.
With this configuration, unlike the case of using a primary battery, the labor and frequency of battery replacement are reduced, and the charging circuit is also built into the joint, so there is no need to provide a separate space for accommodating the charging circuit. ..
Further, it is more preferable to further include a protection circuit housed inside the container, which protects the battery from deterioration when charging the battery while driving the prosthetic limb body.
With this configuration, the electric prosthesis can be continuously used while charging even if the battery is about to run out.

In the battery-built-in joint according to the invention, the socket is attached with a myoelectric sensor, and the prosthetic limb body is operated and controlled based on a signal from the myoelectric sensor, and is housed inside the container. Further, it is preferable to further include a transformer circuit capable of outputting different voltages for the motor and the myoelectric sensor.
With this configuration, the joint with a built-in battery can also be used as a power source for the myoelectric sensor, so that it is not necessary to provide a power source for the myoelectric sensor separately from the power source for the motor in the myoelectric prosthesis.

In the battery built-in joint according to the invention, the motor is built in the socket, and the container and the lid are in the axial direction of the container for inserting a transmission member that transmits the driving force of the motor to the artificial limb body. A configuration having a through hole through which it penetrates can be adopted.
When the motor is built in the socket, the battery built-in joint is located on the transmission path of the driving force of the motor to the prosthesis body, and if the transmission member is provided avoiding this battery built-in joint, a part of the electric prosthesis is a human body. It becomes unnatural because it becomes thicker than the shape of the corresponding part of.
By providing a through hole in the battery built-in joint and inserting a transmission member through the through hole, the electric prosthesis can have a natural shape.

In the battery built-in joint according to the invention, it is preferable that a plurality of the batteries are housed in the container and are connected in series.
With this configuration, a high power supply voltage can be obtained, so a motor with a higher driving force can be adopted, and the speed of movement of the electric prosthesis can be made closer to the speed of human movement.

In the battery built-in joint according to the present invention, the material of the container and the lid is preferably selected from the group consisting of aluminum, aluminum alloy, stainless steel, magnesium, magnesium alloy and resin.
When the container or the like is made of a relatively lightweight metal or resin in this way, the weight of the electric prosthesis as a whole can be reduced. In the case of a user of an electric prosthesis with a congenital missing arm, the muscles of the arm are often underdeveloped and the muscle strength is insufficient, and it is necessary to reduce the weight of the electric prosthesis as much as possible. Therefore, if the weight is reduced, the burden on the user is reduced.
Further, in the battery built-in joint according to the invention, the material of the container and the lid is preferably stainless steel.
When the container or the like is made of high-strength and high-corrosion-resistant stainless steel in this way, the wall of the container or the like can be thinned, so that the space for mounting the battery or circuit in the container can be increased.

In the battery-built-in joint according to the present invention, the engaging portion is preferably a bayonet claw or a bayonet groove that can be bayonet-bonded to the prosthetic limb body.
When the bayonet-type coupling structure is adopted in this way, the prosthetic limb body and the socket can be easily attached and detached. Further, unlike the screw type, it is possible to prevent the connection wire of the terminal from being twisted at the time of coupling, which adversely affects the electrical connection, and to prevent the coupling structure from loosening at the time of use.

In the battery-built-in joint according to the invention, the artificial limb main body is a prosthetic hand main body, the battery-built-in joint is connected to the wrist portion of the artificial hand main body, and the peripheral wall of the container is substantially cylindrical. It is preferable that the cylinder axis is perpendicular to the bottom wall.
With this configuration, the wrist of the electric prosthesis has a cylindrical shape similar to that of a human wrist, so that the appearance does not become unnatural.

In order to solve the above-mentioned problems, the prosthesis body capable of electrically driving the electric prosthesis according to the invention, the socket attached to the defective portion of the human body, and the prosthesis built in the socket or the prosthesis body. It is provided with a motor capable of driving the main body and a battery-incorporated joint according to the invention, which is attached to the tip of the socket and connects the socket to the prosthetic limb main body.

Since the electric prosthesis and the battery built-in joint according to the invention are configured as described above, it is possible to incorporate the battery into the electric prosthesis.

Overall schematic of the electric prosthesis of the embodiment Block diagram of the electric prosthesis of the embodiment Perspective view of the main part of the electric prosthesis of the embodiment Longitudinal sectional view of the battery built-in joint of the embodiment An exploded perspective view of the battery built-in joint of the embodiment Perspective view of the battery built-in joint of another embodiment Overall schematic of a conventional electric prosthesis Block diagram of a conventional electric prosthesis

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The myoelectric prosthetic hand 100 of the embodiment shown in FIGS. 1 to 5 is attached to the remaining portion of the arm and performs an operation according to the myoelectric potential generated by moving the muscle of the stump thereof.

As shown in FIGS. 1 and 2, the myoelectric prosthetic hand 100 of the embodiment includes a socket 110 and a prosthetic hand main body 120. The socket 110 has a substantially dome shape, and it is possible to cover the concave side of the socket 110 with the defective portion E of the arm and attach the socket 110. The artificial hand body 120 has five artificial fingers 121 and can be opened and closed synchronously or individually.
The basic structure of the socket 110 and the prosthetic hand body 120 is the same as that of the conventional myoelectric prosthetic hand (for example, refer to Japanese Patent Application Laid-Open No. 2016-54915 in which a part of the applicant is the applicant. ).

As shown in FIGS. 1 and 2, the tip of the socket 110 (corresponding to the distal side when the side closer to the trunk is proximal and the side far from the trunk is distal) has a built-in battery of the embodiment. A joint 130 is attached, and the socket 110 and the wrist portion 122 of the artificial hand body 120 are coupled to each other via the battery-built joint 130.
The socket 110 contains a motor 140 and an EMG sensor 150. The shaft-shaped linear motion mechanism 160 connected to the rotating shaft of the motor 140 is connected to the artificial hand body 120, and the driving of the motor 140 causes the artificial finger 121 of the artificial hand body 120 to be opened and closed. There is.
The myoelectric sensor 150 can detect the myoelectric potential at the stump of the arm, and a plurality of myoelectric sensors 150 are built in the socket 110 so as to face an appropriate position of the stump of the arm. The drive of the motor 140 is controlled based on the signal output from the myoelectric sensor 150.
As shown by the dashed line in FIG. 1, the myoelectric prosthetic hand 100 of the embodiment is covered with a decorative glove 170 that imitates a human hand.

As shown in FIGS. 2 to 5, the battery built-in joint 130 of the embodiment includes a container 131, a lid 132, a battery 133, a control circuit 134, and a charging circuit 135.

As shown in FIGS. 3 and 4, the container 131 has a disk-shaped bottom wall 131a and a cylindrical peripheral wall 131b rising from the peripheral edge of the bottom wall 131a, and is open upward. A cylindrical storage space is partitioned by a bottom wall 131a and a peripheral wall 131b. The cylinder axis of the peripheral wall 131b is substantially perpendicular to the bottom wall 131a.
At the center of the storage space, a cylindrical boss 131c rising from the bottom wall 131a at the same height as the peripheral wall 131b is provided. The boss 131c is provided with a through hole 131d that penetrates the axial center portion thereof.
The opening edge of the peripheral wall 131b is provided with screw holes 131e that are parallel to each other at equal intervals in the circumferential direction.

As shown in FIGS. 3 and 4, the lid 132 has a disk shape as a whole, a charging terminal 132a is provided on the outer peripheral wall thereof, and a control terminal 132b is provided on the upper surface thereof.
Further, a through hole 132c having the same diameter as the through hole 131d is provided at the center of the disk of the lid 132, and screw holes 132d arranged in parallel in the circumferential direction with the through hole 132c as the center are provided.
The container 131 and the lid 132 are connected by aligning the screw hole 131e and the screw hole 132d with the screw hole 131e and screwing the screw 132f in a state where the opening of the container 131 is covered with the lid. As a result, the opening of the container 131 is closed by the lid 132. In this state, the through hole 131d and the through hole 132c match.

As shown in FIGS. 1 and 5, the shaft-shaped linear motion mechanism 160 connected to the rotating shaft of the motor 140 has through holes 131d and 132c inserted therein. That is, the linear motion mechanism 160 penetrates the battery built-in joint 130.
Further, from the upper surface of the lid 132, bayonet claws 132e that are parallel to each other at equal intervals in the circumferential direction are projected from the upper surface of the lid 132 in a state of being out of phase with the screw holes 132d.
As shown in FIG. 5, the wrist portion 122 of the artificial hand main body 120 is provided with L-shaped bayonet grooves 122a parallel to each other at equal intervals in the circumferential direction.
When connecting the socket 110 to the prosthesis body 120, as shown in FIGS. 5A to 5B, each bayonet claw 132e is inserted into each bayonet groove 122a from the axial direction of the battery built-in joint 130, and then the battery is built-in. Rotate the joint 130 in the circumferential direction. When releasing the coupling, the bayonet claw 132e may be pulled out from the bayonet groove 122a after rotating in the reverse direction, that is, as shown in FIGS. 5 (b) to (a).

The material of the container 131 and the lid 132 is not particularly limited, but aluminum, an aluminum alloy, magnesium, a magnesium alloy, and a resin alone or a composite are preferable as being lightweight. Further, stainless steel may be used as a material having high strength. The material of the container 131 and the lid 132 is preferably the same, but may be different.
If the container 131 and the lid 132 are made of metal, anticorrosion treatment may be applied. By applying the anticorrosion treatment, it is possible to prevent the battery built-in joint 130 from being corroded by the sweat of the user of the myoelectric prosthetic hand. In addition, water repellent treatment can be applied to prevent sweat from adhering.
As the resin material, a material having good moisture resistance such as polyethylene terephthalate (PET) and polypropylene (PP) is preferable. Further, a coating having a high moisture-proof effect such as a parylene coating can be applied.
It is preferable that the container 131 and the lid 132 have a waterproof structure so that the inside is not impregnated with sweat.

As shown in FIGS. 2 and 3, the battery 133 is a cylindrical storage battery, and a plurality of the batteries 133 are stored in the storage space of the container 131. A lithium ion battery cell can be exemplified as such a battery 133. The battery 133 is housed so as to be perpendicular to the container 131. That is, the axis of each battery 133 and the axis of the container 131 are parallel to each other in the stored state.
The batteries 133 are arranged in parallel in the circumferential direction of the container 131, and are connected in series inside the container 131. As shown in FIG. 2, the battery 133 is attached with a transformer circuit, which can provide two different output voltages, one for the myoelectric sensor and one for the motor. As the circuit configuration of the transformer circuit, a known circuit configuration can be adopted.

As shown in FIGS. 2 and 3, the control circuit 134 and the charging circuit 135 are housed in the gap between the peripheral wall 131b and the battery 133 in the storage space of the container 131, respectively. The control circuit 134 is connected to the control terminal 132b and the battery 133 of the lid 132, and the charging circuit 135 is connected to the charging terminal 132a and the battery 133 of the lid 132 by conductive wires, respectively. As the circuit configuration of the control circuit 134 and the charging circuit 135, a known circuit configuration can be adopted.
Further, as shown in FIG. 2, the control circuit 134 is connected to the motor 140 in the socket 110 by a conductive wire through the control terminal 132b.
The myoelectric sensor 150 is connected to the battery 133 by a conductive wire as shown by the solid line in FIG. 2, and is connected to the control circuit 134 by a signal line as shown by the chain line in FIG. 2, and the control circuit 134 is connected to the myoelectric sensor. The rotation of the motor 140 can be controlled based on the signal from the 150.
As shown in FIG. 2, the charging circuit 135 is provided with a protection circuit so that the battery 133 does not deteriorate when the battery 133 is charged through the charging terminal 132a. The type of the charging terminal 132a is not particularly limited, but it is preferable because the USB terminal has high versatility and a commercially available mobile battery or the like can be connected.
Regarding the control circuit 134, there is a circuit that processes a signal from the myoelectric sensor and a circuit that controls the motor drive based on the signal, and it is preferable to integrate them for compactness and light weight. However, if the circuit becomes large due to complicated processing, the control circuit may be stored in the joint separately from the control circuit that processes the signal of the myoelectric sensor and the motor control circuit, or one of them may be stored. It may be installed outside the joint.

The configuration of the myoelectric prosthetic hand 100 and the battery built-in joint 130 of the embodiment is as described above. When the myoelectric sensor 150 detects the movement of the muscle at the stump of the arm, the detection signal is output to the control circuit 134. Based on this signal, the control circuit 134 rotates and controls the motor 140, whereby the prosthetic hand body 120 is opened and closed.
Since the battery 133 is built in the joint, it is not necessary to separately provide a battery box, and it is possible to prevent the appearance of the myoelectric prosthetic hand 100 from becoming unnatural and the time and effort required to install the battery box.

The embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is indicated by the scope of claims and includes all modifications and modifications within the scope of claims and in the sense equivalent thereto.

In the embodiment, the myoelectric prosthetic hand is mentioned as an example of the electric prosthetic hand, but the present invention is not limited to this, and the present invention can be applied to the electric prosthetic hand other than the myoelectric prosthetic hand.
Further, the present invention can be applied to electric prostheses other than electric prostheses such as electric prostheses.

The shape or structure of the battery built-in joint 130 is not limited to the embodiment as long as the battery 133 for driving the motor 140 and the myoelectric sensor 150 can be built in.
In the embodiment, the container 131 has a cylindrical shape, but as shown in FIG. 6, it may have a long cylindrical shape. Further, it may be a square cylinder. The bottom wall 131a and the peripheral wall 131b of the container 131 may be combined with each other. A notch or a notch may be provided on the outer periphery of the container 131 depending on the purpose such as engaging with other parts.
In the embodiment, the container 131 and the lid 132 are connected by using a screw, but the mode of connection is not limited to this. For example, threads may be formed on the inner peripheral wall of the lid 132 and the outer peripheral wall of the opening of the container 131, respectively, and directly connected to each other. Further, as shown in FIG. 6, a cylindrical fitting piece 131f is provided on the opening edge of the container 131, a semi-cylindrical fitting piece 132g is provided on the peripheral edge of the lid 132, and the fitting pieces 131f and 132g are fitted. Depending on the fit, they may be able to be combined.
Further, the container 131 and the lid 132 do not have to be separate bodies, and as shown in FIG. 6, by hinge-coupled and rotating the lid 132, it is possible to switch between the open state and the closed state of the opening of the container 131. May be good.

In the embodiment, the through hole for inserting the linear motion mechanism 160 is provided in the battery built-in joint 130, but the through hole can be omitted as shown in FIG.
When a transmission member for transmitting the driving force of the motor 140 to the artificial hand body 120 is provided on the side of the artificial hand body 120, the battery built-in joint 130 does not exist on the driving force transmission path, so it is necessary to provide a through hole. Alternatively, even when the battery built-in joint 130 is present on the transmission path, the transmission member can be arranged by detouring.
Further, when a through hole is provided, a member other than the transmission member, for example, a conductive wire, a signal line, or a wire can be inserted into the through hole.

In the embodiment, the bayonet claw is provided in the battery built-in joint 130 and the bayonet groove is provided in the artificial hand main body 120 to connect the two to the bayonet. However, the bayonet groove is provided in the battery built-in joint 130 and the bayonet claw is provided in the artificial hand main body 120. It may be provided.
Further, the mode of connecting the battery built-in joint 130 and the artificial hand main body 120 is not limited to the bayonet connection, and for example, a screw connection can be used.

The mode of storing the battery 133 is not limited to the embodiment, and as shown in FIG. 6, the battery 133 is stored horizontally, that is, in a state where the axis of the battery 133 and the axis of the container 131 are perpendicular to each other. May be. Further, the battery may be stored at an angle to the container 131, that is, in a state where the axis of the battery 133 is inclined with respect to the axis of the container 131.
The number of batteries 133 is not limited to the embodiment, but in order to operate the artificial hand body 120 in a human hand at a speed close to the opening / closing speed, a voltage of 10 V or more is generally required, so three or more batteries are connected in series. Is preferable.
In the embodiment, all the batteries 133 are connected in series, but some of them may be connected in parallel.
In order to reduce the weight of the battery built-in joint 130 as a whole, a part of the battery 133 may be replaced with a hollow cylindrical dummy battery.
In the embodiment, the battery 133 has a cylindrical shape, but the shape is not limited to this, and may be a prismatic shape as shown in FIG. 6, for example.

In the embodiment, the control circuit 134 and the charging circuit 135 are housed in the battery built-in joint 130, but they may be arranged outside the battery built-in joint 130 such as inside the socket 110. The protection circuit attached to the charging circuit 135 may be omitted.
Further, even when the control circuit 134 and the charging circuit 135 are housed in the battery built-in joint 130, the mode of the storage is not limited to the embodiment, for example, the gap between the lid 132 and the end face of the battery 133 and the bottom wall of the container 131. It may be stored in the gap between the 131a and the end face of the battery 133.

20 Conventional myoelectric prosthesis 21 Socket 22 Prosthesis body 22a Prosthesis 22b Wrist 23 Joint 24 Motor 25 Myoelectric sensor 26 Linear mechanism 27 Control circuit 28 Glove 29 Battery box 100 Myoelectric prosthesis 110 Socket 120 Prosthesis body 121 of the embodiment Prosthesis 122 Wrist 122a Bayonet groove 130 Battery built-in joint 131 Container 131a Bottom wall 131b Peripheral wall 131c Boss 131d Through hole 131e Thread hole 131f Fitting piece 132 Lid lid 132a Charging terminal 132b Control terminal 132c Through hole 132d Thread hole 132e Bayonet Claw 132f Screw 132g Fitting piece 133 Battery 134 Control circuit 135 Charging circuit 140 Motor 150 Myoelectric sensor 160 Linear mechanism 170 Globe E Missing part of arm

Claims (12)

Attached to a socket that can be attached to the defective part of the human body,
A joint with a built-in battery for connecting the socket to the main body of the artificial limb that can be electrically driven.
A tubular container that has a bottom wall and a peripheral wall that rises from the peripheral edge of the bottom wall, and can store a battery that is a power source for a motor for driving the prosthetic limb body in a storage space partitioned by the bottom wall and the peripheral wall. When,
A lid that closes the opening of the container and
A battery-built joint comprising an engaging portion that is connected to the outer surface of the container or lid and is engageable with the artificial limb body. When the socket is attached to the defective part of the human body, the side closer to the trunk is the proximal side and the side far from the trunk is the distal side.
The battery built-in joint according to claim 1, wherein the container is attached to the distal end of the socket. A control circuit that can control the motor and is housed inside the container.
The battery-built-in joint according to claim 1 or 2, further comprising a control terminal provided on the outer surface of the container or a lid to which a control signal line of the motor can be connected. The battery is a rechargeable battery and is
A charging circuit that can charge the battery housed inside the container,
The battery built-in joint according to any one of claims 1 to 3, further comprising a charging terminal for the battery provided on the outer surface of the container or the lid. The battery-built-in joint according to claim 4, further comprising a protection circuit, which is housed inside the container and protects the battery from deterioration when the battery is charged while driving the prosthetic limb body. The socket comes with an EMG sensor
The operation of the artificial limb body is controlled based on a signal from the myoelectric sensor.
The battery-built-in joint according to any one of claims 1 to 5, further comprising a transformer circuit, which is housed inside the container and can output different voltages for the motor and the myoelectric sensor. The motor is built into the socket
The container and lid
The battery-built-in joint according to any one of claims 1 to 6, which has a through hole penetrating in the tubular axis direction of the container for inserting a transmission member that transmits the driving force of the motor to the artificial limb body. A plurality of the batteries are housed in the container.
The joint with a built-in battery according to any one of claims 1 to 7, which is connected in series. The battery-built-in joint according to any one of claims 1 to 8, wherein the material of the container and the lid is selected from the group consisting of aluminum, aluminum alloy, stainless steel, magnesium, magnesium alloy and resin. The battery-built-in joint according to any one of claims 1 to 9, wherein the engaging portion is a bayonet claw or a bayonet groove that can be bayonet-coupled to the prosthetic limb body. The prosthetic limb body is a prosthetic hand body, and is
The battery built-in joint is coupled to the wrist portion of the artificial hand body.
The battery-built-in joint according to any one of claims 1 to 10, wherein the peripheral wall of the container has a substantially cylindrical shape, and the cylinder axis thereof is perpendicular to the bottom wall. The main body of the artificial limb that can be electrically driven,
A socket attached to the missing part of the human body,
A motor built into the socket or the body of the prosthesis and capable of driving the body of the prosthesis,
An electric prosthesis comprising the battery-embedded joint according to any one of claims 1 to 11, which is attached to the socket and connects the socket to the prosthesis body.

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