Modular and lightweight myoelectric prosthesis components and related methods

• US 9,839,534 B2
• Filed: 02/04/2015
• Issued: 12/12/2017
• 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:
  US14/614,231
• Publication Number:
  US 20150216679A1
• Time in Patent Office: 1,042 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
• 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
• 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
• 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. An elbow for a prosthetic limb, the elbow comprising:

an exterior-rotor motor;

a transmission comprising a planetary gear transmission, a non-backdrivable clutch, and a screw;

the screw adapted to receive a rotational force in a first direction from the clutch, and in response to the rotational force in the first direction, rotate in the first direction so as to cause the elbow to flex.

2. The elbow of claim 1, wherein the 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 elbow of claim 2, further comprising:

a first limb portion and a second limb portion coupled together at an elbow joint;

wherein a first end of the screw is coupled to the first limb portion at a bracket, and the transmission is coupled to the second limb portion at a transmission joint;

wherein when the screw rotates, the screw pivots with respect to the bracket and the transmission pivots with respect to the second limb portion.

4. The elbow of claim 1, further comprising:

a frame adapted to surround the transmission and having opening for receiving a battery;

a socket connector coupled to the elbow, for attaching the elbow to a prosthetic socket; and

a position sensor for indicating the rotational movement of the elbow.

5. The elbow of claim 4, wherein the socket connector is coupled to the elbow at a carrying angle.

6. The elbow of claim 5, wherein the screw is a differential roller screw.

7. The elbow of claim 6, further comprising a pivot for the flexion or extension of the elbow, the pivot being encased in a bushing made of a nonlinear compliant material.

8. The elbow of claim 7, wherein the elbow has a 135 degree range of motion between full flexion and full extension.

9. The elbow of claim 1, wherein the screw is further adapted to receive a rotational force in a second direction from the clutch, and in response to the rotational force in the second direction, rotate in the second direction so as to cause the elbow to extend.

10. An elbow component for a prosthetic limb, comprising:

a first limb portion and a second limb portion coupled together at an elbow joint;

a transmission comprising a housing and a screw,

wherein a first end of the screw is coupled to the first limb portion at a bracket; and

,

the transmission housing is coupled to the second limb portion at a transmission joint positioned at a midpoint position of the transmission housing;

wherein the screw and the elbow joint are adapted so that;

when the screw rotates in a first direction, the screw applies a force on the bracket that causes the first limb portion to rotate about the elbow joint towards the second limb portion; and

when the screw rotates in a second direction opposite to the first direction, the screw applies a force on the bracket that causes the first limb portion to rotate about the elbow joint away from the second limb portion;

a bushing made of a nonlinear compliant material that encases the transmission pivot;

a socket connector coupled to either the first limb portion or the second limb portion; and

a frame that surrounds the transmission and is adapted to receive a battery;

wherein the screw is a differential roller screw.

11. The elbow component of claim 10, wherein the transmission and elbow joint are adapted so that:

when the screw rotates in the first direction, the transmission rotates about the transmission joint in a third direction;

when the screw rotates in the second direction, the transmission rotates about the transmission joint in a fourth direction opposite to the third direction.

12. The elbow of claim 11, wherein when the screw rotates, the screw pivots with respect to the bracket and the transmission pivots with respect to the second limb portion.

13. The elbow component of claim 12, wherein the screw is coupled to the bracket by a nut.

14. The elbow component of claim 10, wherein the screw rotates in response to actuation of the transmission.

15. The elbow component of claim 11, further comprising a position sensor to indicate rotational movement of the elbow component.

16. The elbow component of claim 10, wherein the socket connector is coupled to the first limb portion at a carrying angle.