Modular and lightweight myoelectric prosthesis components and related methods

• US 10,369,016 B2
• Filed: 11/07/2017
• Issued: 08/06/2019
• Est. Priority Date: 02/04/2014
• Status: Active Grant

• Current Assignee: Rehabilitation Institute of Chicago (Tenet Healthcare Corporation)
• Original Assignee: Rehabilitation Institute of Chicago (Tenet Healthcare Corporation)
• Inventors: Lipsey, James, Sensinger, Jon
• Primary Examiner(s): Snow, Bruce E
• Application Number:
  US15/806,209
• Publication Number:
  US 20180071115A1
• Time in Patent Office: 637 Days
• CPC Class Codes: A61F 2/54 Artificial arms or hands or parts thereof
• CPC Class Codes: A61F 2/58 Elbows; Wrists ; Other joints; Hands
• CPC Class Codes: A61F 2/582 Elbow joints
• CPC Class Codes: A61F 2/583 Hands; Wrist joints
• CPC Class Codes: A61F 2/585 Wrist joints
• CPC Class Codes: A61F 2/586 Fingers
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2002/5043 with rotation-limiting stops, e.g. projections or recesses
• CPC Class Codes: A61F 2002/5072 having spring elements spring-biased locking means A61F2002/30505; for implantable joints A61F2002/30565; other elastic means A61F2002/5007
• CPC Class Codes: A61F 2002/543 Lower arms or forearms
• CPC Class Codes: A61F 2002/587 Thumbs
• CPC Class Codes: A61F 2002/6836 Gears specially adapted therefor, e.g. reduction gears
• CPC Class Codes: A61F 2002/6845 Clutches
• CPC Class Codes: A61F 2002/6872 attached and mechanically operated by remaining muscle bioelectrical control A61F2/72
• CPC Class Codes: A61F 2002/701 operated by electrically controlled means, e.g. solenoids or torque motors
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• CPC Class Codes: A61F 2310/00047 Aluminium or Al-based alloys
• CPC Class Codes: B25J 15/0009 comprising multi-articulated fingers, e.g. resembling a human hand
• CPC Class Codes: B25J 15/086 with means for synchronizing the movements of the fingers
• CPC Class Codes: B25J 17/0258 Two-dimensional joints
• CPC Class Codes: F16D 15/00 : Clutches with wedging balls or rollers or with other wedgeable separate clutching members freewheels, freewheel clutches F16D41/00
• CPC Class Codes: F16H 2035/005 : Gearings or mechanisms preventing back-driving braking or locking of screw actuators F16H25/2454
• CPC Class Codes: F16H 25/2252 : Planetary rollers between nut and screw
• CPC Class Codes: F16H 37/041 : for conveying rotary motion with constant gear ratio
• CPC Class Codes: H02K 7/116 : with gears
• CPC Class Codes: H02K 7/14 : Structural association with mechanical loads, e.g. with hand-held machine tools or fans with fan or impeller for cooling the machine H02K9/06

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.

Claims

1. A system for flexing an elbow joint of a prosthetic limb, the system comprising:

a frame configured to attach to a distal portion of the prosthetic limb,

a transmission housing pivotally attached to the frame about a hinge joint, the transmission housing supporting a drive subsystem, the drive subsystem comprising;

a motor,

a non-backdrivable clutch,

a planetary gear transmission coupled with the motor and the non-backdrivable clutch, and

a screw extending along a longitudinal screw axis and having a distal portion coupled to the non-backdrivable clutch,

a nut coupled with a proximal portion of the screw, wherein the screw is configured to couple via the nut with a proximal portion of the prosthetic limb, the proximal portion of the prosthetic limb configured to pivot with respect to the distal portion of the prosthetic limb;

the screw adapted to be rotated by the clutch about the longitudinal screw axis in a first direction to extend the nut linearly away from the transmission housing and thereby rotate the transmission housing about the hinge joint to cause a first pivot of the distal portion of the prosthetic limb relative to the proximal portion of the prosthetic limb; and

the screw further adapted to be rotated by the clutch about the longitudinal screw axis in a second direction opposite the first direction to retract the nut linearly towards the transmission housing and thereby rotate the transmission housing about the hinge joint to cause a second pivot of the distal portion of the prosthetic limb relative to the proximal portion of the prosthetic limb, wherein the second pivot is in an opposite direction relative to the first pivot.

2. The system of claim 1, wherein the non-backdrivable clutch comprises:

a cam comprising an annulus, an input side that is adapted to receive an input force, and an output side that is adapted to provide an output force;

a pin and a roller, each located adjacent to the input side of the cam;

wherein the cam is adapted so that movement of the cam in response to the input force causes the pin to push the roller out of contact with the annulus, when a force is applied to the input side of the cam, the pin pushes the roller out of contact with the annulus to allow for movement of the cam.

3. The system of claim 1, wherein the screw is a differential roller screw.

4. The system of claim 1, wherein the first pivot comprises causing the distal portion of the prosthetic limb to rotate about the elbow joint toward the proximal portion of the prosthetic limb.

5. The system of claim 1, wherein the the second pivot comprises causing the distal portion of the prosthetic limb to rotate about the elbow joint away from the proximal portion.

6. The system of claim 1, wherein the hinge joint is offset from the elbow joint.

7. The system of claim 1, wherein the motor is an exterior-rotor motor.

8. The system of claim 1, wherein the planetary gear transmission comprises a planetary gear.

17. The system of claim 1, further comprising a linkage connected with the nut, wherein the screw is configured to couple via the nut and linkage with the proximal portion of the prosthetic limb.

9. A system for flexing an elbow joint of a prosthetic upper limb having a first portion and a second portion, the system comprising:

a motor configured to be supported by the second portion of the prosthetic upper limb;

a planetary gear transmission in mechanical communication with the motor;

a non-backdrivable clutch in mechanical communication with the planetary gear transmission;

a screw having a first end and a second end, the first end in mechanical communication with the clutch; and

a nut in mechanical communication with the second end of the screw and with the first portion of the prosthetic upper limb, the nut configured to move linearly in response to rotation of the screw to thereby cause the first portion of the prosthetic upper limb to rotate relative to the second portion,

wherein the motor, the planetary gear transmission, the non-backdrivable clutch, and the screw are housed within a transmission housing that is configured to be pivotally attached to the second portion of the prosthetic upper limb about a hinge joint, such that the screw pivots with the transmission housing about the hinge joint when the first portion of the prosthetic upper limb rotates relative to the second portion.

10. The system of claim 9, wherein the non-backdrivable clutch comprises:

a cam comprising;

an annulus,

an input side that is adapted to receive an input force, and

an output side that is adapted to provide an output force;

a pin; and

a roller,

wherein the pin and the roller are each located adjacent to the input side of the cam, and

wherein the cam is configured so that movement of the cam in response to the input force causes the pin to push the roller out of contact with the annulus, such that when a force is applied to the input side of the cam, the pin pushes the roller out of contact with the annulus to allow for movement of the cam.

11. The system of claim 9, wherein the screw is a differential roller screw and the nut is a roller screw nut.

12. The system of claim 9, wherein the screw, in response to a first rotational force in a first direction, is configured to extend the nut linearly away from the transmission housing to cause the first portion of the prosthetic upper limb to rotate about the elbow joint toward the second portion.

13. The system of claim 9, wherein the screw, in response to a second rotational force in a second direction, is configured to retract the nut linearly towards the transmission housing to cause the first portion of the prosthetic upper limb to rotate about the elbow joint away from the second portion of the prosthetic upper limb.

14. The system of claim 9, wherein the motor, the planetary gear transmission, the non-backdrivable clutch, and the screw are housed in a transmission housing, the transmission housing being configured to pivot about the hinge joint supported by the frame.

15. The system of claim 9, wherein the hinge joint is offset from the elbow joint.

16. The system of claim 9, wherein the motor is an exterior-rotor motor and the planetary gear transmission comprises a planetary gear.

18. The system of claim 9, further comprising a linkage connected with the nut, wherein the nut is in mechanical communication with the first portion of the prosthetic upper limb via the linkage.

19. The system of claim 9, wherein the transmission housing is configured to be pivotally attached to the second portion of the prosthetic upper limb via a frame.