Hand exoskeleton device

Patent metadata

Field	Value
Publication number	US-10028880-B2
Application number	US-201414773075-A
Country	US
Kind code	B2
Filing date	Mar 7, 2014
Priority date	Mar 8, 2013
Publication date	Jul 24, 2018
Grant date	Jul 24, 2018

Abstract

In a hand exoskeleton device, according to a three-layered sliding spring mechanism, the motion of the device is changed by a single drive mechanism to transmit power to the metacarpophalangeal, proximal and distal interphalangeal joints of a human finger, thereby enabling support of the daily activity motions of the finger. According to the hand exoskeleton device, when compared with a conventional device, there can be realized a device which is small in size and weight and is capable of supporting the gripping motions of the human finger. The hand exoskeleton device is characterized in that the three joints of the finger can be bent and extended by the single drive mechanism and it can transmit large drive power. Further, the device body is flexible, thereby enabling safe movement.

First claim

The invention claimed is:

1. A hand exoskeleton device being a three-layered sliding spring mechanism drivable by a drive mechanism and mountable on a finger, the hand exoskeleton device comprising:
a zeroth outer mounting part, a first outer mounting part, a second outer mounting part and a third outer mounting part arranged in series along a longitudinal direction of the finger from a tip end of the hand exoskeleton device, wherein
the zeroth outer mounting part and the first mounting part, the first outer mounting part and the second mounting part, and the second outer mounting part and the third outer mounting part are respectively connected to each other by multiple sets of upper springs and lower springs arranged in parallel in a vertical direction,
the upper springs for fixing upper portions of the respective outer mounting parts are variable in length so that fixed ends of the upper springs are freely movable with sliding mechanisms by a specific distance in the finger longitudinal direction,
the lower springs for fixing lower portions of the respective outer mounting parts are fixed at both ends to the respective outer mounting parts,
the respective outer mounting parts include therein a drive spring capable of freely sliding only in the finger longitudinal direction,
a tip end of the drive spring is fixed to the zeroth outer mounting part and the other end of the drive spring is fixed to a drive shaft, and
the upper and lower springs connecting together the outer mounting parts and the drive spring constitute three layers in the vertical direction, wherein
where the hand exoskeleton device is mounted onto a finger of a human body, the zeroth outer mounting part is fixed to a portion ranging from a distal interphalangeal joint to a terminal end of the finger, the first outer mounting part is fixed to a portion intervening between the distal interphalangeal joint and a proximal interphalangeal joint of the finger, the second outer mounting part is fixed to a portion intervening between the proximal interphalangeal joint and metacarpophalangeal joint of the finger, and the third outer mounting part is fixed to a palm part of the human body, and
while the hand exoskeleton device is mounted on the human body, the drive shaft is driven on the finger of the human body in the longitudinal direction of the finger of the human body, thereby applying torque to the distal interphalangeal joint, the proximal interphalangeal joint and the metacarpophalangeal joint of the finger to support flexion and extension movements of the finger of the human body.

2. The hand exoskeleton device according to claim 1 , wherein, in the three-layered sliding spring mechanism, lengths of the upper and lower springs respectively connecting together the zeroth outer mounting part, the first outer mounting part, the second outer mounting part and the third outer mounting part and a length of the drive spring serve as indexes for changing a timing for flexing the respective joints, and
motions are adjustable by changing the spring length.

3. A hand exoskeleton device mountable on a finger, the device comprising:
a plurality of outer mounting parts arranged in series along a longitudinal direction of the finger;
a plurality of lower springs, each having a fixed length and connecting respective lower portions of the plurality of outer mounting parts;
a drive shaft driven in the longitudinal direction of the finger; and
a drive spring passing through the plurality of outer mounting parts, and having one end fixed to an outer mounting part, a distance of which is the longest from the drive shaft among the plurality of outer mounting parts, and the other end fixed to the drive shaft, the drive spring being freely slidable along the longitudinal direction of the finger, wherein
the lower springs and the drive spring are arranged in parallel to be separate from each other in vertical direction orthogonal to the longitudinal direction of the finger, and
the drive shaft is driven to slidably move the drive spring, generate a flexing-direction movement of the drive spring and apply torque to joints of the finger.

4. The hand exoskeleton device according to claim 3 , wherein the plurality of outer mounting members includes a zeroth outer mounting part, a first outer mounting part, a second outer mounting part and a third outer mounting part,
the zeroth outer mounting part is fixed to a portion ranging from a distal interphalangeal joint to a terminal end of the finger, the first outer mounting part is fixed to a portion intervening between the distal interphalangeal joint and a proximal interphalangeal joint of the finger, the second outer mounting part is fixed to a portion intervening between the proximal interphalangeal joint and metacarpophalangeal joint of the finger, and the third outer mounting part is fixed to a palm part, and
the drive shaft is driven in the longitudinal direction of the finger to apply torque to the distal interphalangeal joint, the proximal interphalangeal joint and the metacarpophalangeal joint of the finger.

5. The hand exoskeleton device according to claim 3 , further comprising:
a plurality of upper springs, each having a variable length and connecting respective upper portions of the plurality of outer mounting parts, wherein
the upper lower springs, the lower springs and the drive spring are arranged in parallel in the vertical direction and constitute a three layered sliding spring mechanism.

6. The hand exoskeleton device according to claim 5 , wherein the lengths of the upper springs, the lengths of the lower springs and a length of the drive spring serve as indexes for changing a timing for flexing the respective joints of the finger, and
a motion of the three layered sliding spring mechanism is adjustable by changing the lengths of the upper springs, the lengths of the lower springs and the length of the drive spring.

7. The hand exoskeleton device according to claim 5 , wherein stiffness of the upper springs, stiffness of the lower springs and stiffness of the drive spring serve as indexes for changing a timing for flexing the respective joints of the finger, and
a motion of the three layered sliding spring mechanism is adjustable by changing the stiffness of the upper springs, the stiffness of the lower springs and the stiffness of the drive spring.

Assignees

• Kyusyu Univ National Univ Corporation
• Univ Kyushu Nat Univ Corp

Inventors

• Arata Jumpei
• Gassert Roger

Classifications

• A61H2201/1676

  Pivoting · CPC title

• A61H2201/1664

  linear · CPC title

• A61F2/583

  Hands; Wrist joints · CPC title

• A61H2201/5007

  computer controlled · CPC title

• A61F2002/7862

  Harnesses or straps · CPC title