Modular and lightweight myoelectric prosthesis components and related methods

Patent metadata

Field	Value
Publication number	US-11464654-B2
Application number	US-201916448756-A
Country	US
Kind code	B2
Filing date	Jun 21, 2019
Priority date	Feb 4, 2014
Publication date	Oct 11, 2022
Grant date	Oct 11, 2022

Abstract

Prosthetic devices and, more particularly, modular myoelectric prosthesis components and related methods, are described. In one embodiment, a hand for a prosthetic limb may comprise a rotor-motor; a transmission, comprising a differential roller screw; a linkage coupled to the transmission; and at least one finger coupled to the linkage. In one embodiment, a component part of a wrist of a prosthetic limb may comprise an exterior-rotor motor, a planetary gear transmission, a clutch, and a cycloid transmission. In one embodiment, an elbow for a prosthetic limb may comprise an exterior-rotor motor, and a transmission comprising a planetary gear transmission, a non-backdrivable clutch, and a screw.

First claim

What is claimed is:

1. A method of rotating a prosthetic elbow joint of a prosthetic upper limb comprising a proximal portion and a distal portion, the method comprising:
aligning a screw, a motor and a transmission housing of the prosthetic upper limb along a first axis, wherein the proximal portion of the prosthetic upper limb is rotationally attached to the distal portion of the prosthetic upper limb about a third axis at the elbow joint, the third axis perpendicular to and offset ventrally from the first axis, and wherein a frame located in the distal portion of the prosthetic upper limb is rotationally attached to the transmission housing about a second axis that is perpendicular to the first axis and is located distal to the third axis;
rotating the screw in a first direction about the first axis, the screw supported by the transmission housing of the prosthetic upper limb;
translating a nut linearly relative to the screw and away from the transmission housing along the first axis in response to rotation of the screw in the first direction;
rotating the screw and transmission housing relative to the frame about the second axis in response to the translation of the nut; and
rotating the distal portion of the prosthetic upper limb relative to the proximal portion of the prosthetic upper limb in a first rotational direction about the third axis in response to the translation of the nut.

2. The method of claim 1 , wherein rotating the distal portion of the prosthetic upper limb relative to the proximal portion of the prosthetic upper limb in the first rotational direction comprises rotating the distal portion of the prosthetic upper limb toward the proximal portion.

3. The method of claim 1 , further comprising rotating the screw in a second direction opposite the first direction about the first axis, translating the nut linearly along the first axis in response to rotation of the screw in the second direction, and rotating the distal portion of the prosthetic upper limb relative to the proximal portion of the prosthetic upper limb in a second rotational direction about the third axis in response to translation of the nut, wherein the second rotational direction is opposite the first rotational direction.

4. The method of claim 3 , wherein rotating the distal portion of the prosthetic upper limb relative to the proximal portion of the prosthetic upper limb in the second rotational direction comprises rotating the distal portion of the prosthetic upper limb away from the proximal portion.

5. The method of claim 3 , wherein translating the nut linearly along the first axis in response to rotation of the screw in the second direction comprises moving the nut linearly towards the transmission housing that is rotatably coupled to the prosthetic upper limb.

6. The method of claim 1 , further comprising actuating a transmission in response to rotation of the screw in the first direction about the first axis.

7. The method of claim 1 , further comprising indicating rotational movement of the prosthetic elbow joint using a position sensor.

8. A method of rotating a prosthetic elbow joint of a prosthetic upper limb comprising a proximal portion and a distal portion, the method comprising:
translating a nut linearly away from a transmission housing along a first axis, wherein the transmission housing is rotatably coupled to the distal portion of the prosthetic upper limb about a second axis that is perpendicular to the first axis;
rotating the transmission housing relative to the prosthetic upper limb about the second axis in response to translation of the nut; and
rotating the distal portion of the prosthetic upper limb relative to the proximal portion of the prosthetic upper limb in a first direction about a third axis in response to the translation of the nut, wherein the third axis is parallel to the second axis and offset ventrally from the first axis, and wherein the second axis is positioned between a distal end of the transmission housing and the nut.

9. The method of claim 8 , wherein the transmission housing is rotatably coupled to the prosthetic upper limb via a frame.

10. The method of claim 8 , wherein rotating the transmission housing relative to the prosthetic upper limb comprises rotating the housing relative to the distal portion of the prosthetic upper limb.

11. The method of claim 8 , further comprising translating the nut linearly towards the transmission housing along the first axis and rotating the distal portion of the prosthetic upper limb relative to the proximal portion of the prosthetic upper limb in a second direction about the third axis in response to translation of the nut, wherein the second direction is opposite the first direction.

12. The method of claim 8 , wherein rotating the distal portion of the prosthetic upper limb relative to the proximal portion of the prosthetic upper limb in the first direction comprises rotating the distal portion of the prosthetic upper limb toward the proximal portion of the prosthetic upper limb.

13. The method of claim 11 , wherein rotating the distal portion of the prosthetic upper limb relative to the proximal portion of the prosthetic upper limb in the second direction comprises rotating the distal portion of the prosthetic upper limb away from the proximal portion of the prosthetic upper limb.

14. A method of rotating a prosthetic elbow joint, the method comprising:
rotating a screw in a first direction about a first axis, the screw supported by a housing of a prosthetic upper limb;
translating a nut linearly relative to the screw along the first axis in response to rotation of the screw in the first direction;
rotating the screw and the nut relative to the prosthetic upper limb about a second axis in response to translation of the nut, wherein the second axis is perpendicular to the first axis; and
rotating a distal portion of the prosthetic upper limb relative to a proximal portion of the prosthetic upper limb in a first rotational direction about a third axis in response to the translation of the nut, wherein the third axis is parallel to the second axis and offset ventrally from the first axis, and wherein the second axis is positioned between a distal end of the distal portion of the upper prosthetic limb and the nut.

15. The method of claim 14 , further comprising rotating the screw in a second direction opposite the first direction about the first axis, translating the nut linearly along the first axis in response to rotation of the screw in the second direction, and rotating the distal portion of the prosthetic upper limb relative to the proximal portion of the prosthetic upper limb in a second rotational direction about the third axis in response to translation of the nut, wherein the second rotational direction is opposite the first rotational direction.

16. The method of claim 14 , further comprising axially aligning the screw and the nut with a motor and a transmission housing.

Assignees

• Chicago Rehabilitation Inst

Inventors

• Lipsey James
• Sensinger Jon

Classifications

• A61F2/72

  Bioelectric control, e.g. myoelectric · CPC title

• F16H25/2252

  Planetary rollers between nut and screw · CPC title

• B25J15/086

  with means for synchronizing the movements of the fingers · CPC title

• A61F2002/543

  Lower arms or forearms · CPC title

• A61F2002/5043

  with rotation-limiting stops, e.g. projections or recesses · CPC title