Automated hand
The invention relates to an automated hand, such as a prosthetic hand. In one form, the automated hand may be fluid compatible. In one form, the automated hand may comprise features to reduce the risk of harm to motors and/or other sensitive components of the hand when subject to an impact. In one form, the hand may comprise a wrist joint configured to allow the hand to curl and flex and/or to rotate. In one form, one or more digits of the hand may be individually controlled. In one form the hand may include a thumb rotation locking mechanism. In one form the hand may be provided with removable grip plates. In one form, the hand may be configured for use as a training hand.
1. An automated hand comprising:
a. a palm;
b. one or more resiliently flexible and compressible mounts attached to the palm wherein each mount is formed of a material having a DMTA damping factor of between 0.05 to 0.8 over a temperature range of −20° C. to 100° C.; and
c. one or more connectors, each having a first end that is disposed within the palm and a second end with a digit extending therefrom that is moveable by an actuator to curve towards or away from the palm, each connector mounted to one of the one or more mounts such that each connector may rotate about the mount in a plane normal to the plane of the palm when a force is applied to the digit extending therefrom,
wherein each of the one or more connectors is connected to a proximal phalanx of the digit extending therefrom via an articulated joint.
2. An automated hand as claimed in claim 1 wherein each connector may rotate in the plane of the palm.
3. An automated hand as claimed in claim 1 including a plurality of connectors.
4. An automated hand as claimed in claim 1 including a plurality of discrete mounts.
5. An automated hand as claimed in claim 1 wherein the one or more mounts is a single integrally formed mount.
6. An automated hand as claimed in claim 1 wherein each mount has an aperture formed therein dimensioned to receive a respective connector.
7. An automated hand as claimed in claim 6 wherein each aperture is non-circular in cross-section and each connector has a non-circular cross-section to prevent axial rotation of the connector with respect to the mount.
8. An automated hand as claimed in claim 1 , the one or more mounts having a DMTA damping factor of between 0.05 to 0.5.
9. An automated hand as claimed in claim 1 , the one or more mounts having a resilience of between 20% to 60%.
10. An automated hand as claimed in claim 1 , the one or more mounts having a Shore A hardness of between 10 to 90.
11. An automated hand as claimed in claim 1 , the one or more mounts having a Shore A hardness of between 30 to 60.
12. An automated hand as claimed in claim 1 , the one or more mounts having a Shore D hardness of between 40 to 90.
13. The automated hand of claim 1 , wherein each digit houses the actuator by which it is movable.
14. The automated hand of claim 1
wherein each connector is mounted to one of the one or more mounts with two rotational degrees of freedom such that each connector may rotate about the mount in the plane of the palm and in the plane normal to the plane of the palm.
15. The automated hand of claim 1
wherein each connector comprises an actuator.
16. An automated hand comprising:
a. a palm;
b. one or more resiliently flexible and compressible mounts attached to the palm, wherein the one or mounts form a metacarpal brace, and wherein the metacarpal brace is made of one or more materials of the group consisting of the following: an elastomer, rubber, silicone, a compressible polymer; and
c. a plurality of connectors mounted to the metacarpal brace, each connector having a first end that is disposed within the palm and a second end with a digit extending therefrom that is moveable by an actuator to curve towards or away from the palm, each connector mounted to one of the one or more mounts such that each connector may rotate about the mount in a plane normal to the plane of the palm when a force is applied to the digit extending therefrom,
wherein each of the one or more connectors is connected to a proximal phalanx of the digit extending therefrom via an articulated joint.
17. An automated hand as claimed in claim 16 wherein the metacarpal brace has such resilience that at least two digits may be splayed apart by at least 5 degrees due to relative movement between the connector and palm allowed by elastic deformation of the metacarpal brace.
18. An automated hand as claimed in claim 17 wherein the metacarpal brace has such resilience that at least two digits may be splayed apart by at least 10 degrees due to relative movement between the connector and palm allowed by elastic deformation of the metacarpal brace.
19. An automated hand as claimed in claim 17 wherein the metacarpal brace has such resilience that at least two digits may be splayed apart by at least 20 degrees due to relative movement between the connector and palm allowed by elastic deformation of the metacarpal brace.
20. An automated hand as claimed in claim 16 wherein the metacarpal brace provides impact absorption for forces applied to a digit in a direction normal to the palm such that each connector may rotate by at least 2 degrees relative to the palm due to elastic deformation of the metacarpal brace.
21. An automated hand as claimed in claim 20 wherein each connector may rotate by at least 5 degrees relative to the palm.
22. An automated hand as claimed in claim 20 wherein each connector may rotate by at least 10 degrees relative to the palm.
23. An automated hand as claimed in claim 16 wherein the metacarpal brace is formed of a material having a Shore A hardness of about 30.
24. An automated hand as claimed in claim 16 wherein a lateral force of between 2.5 and 20 Newtons applied to the tip of a digit results in angular rotation with respect to the palm in the plane of the palm of at least 3 degrees due to elastic deformation of the metacarpal brace.
25. An automated hand as claimed in claim 24 wherein the angular rotation is at least 5 degrees.
26. An automated hand as claimed in claim 16 wherein a force of between 2.5 and 20 Newtons applied to the tip of a digit in a direction normal to the palm results in angular rotation of the digit relative to the palm of at least 3 degrees due to elastic deformation of the metacarpal brace.
27. An automated hand as claimed in claim 26 wherein the angular rotation is at least 5 degrees.
28. The automated hand of claim 16 , wherein the metacarpal brace is made of a hydrocarbon, fluorocarbon or silica-based thermoset elastomer.
29. The automated hand of claim 16 , wherein the metacarpal brace is made of a thermoplastic elastomer.
30. The automated hand of claim 16 , wherein the metacarpal brace is made of a thermoset rubber.
31. The automated hand of claim 16 , wherein the metacarpal brace is made of a thermoplastics material.
32. The automated hand of claim 31 , wherein the metacarpal brace is made of an inherently soft thermoplastics material.
33. The automated hand of claim 16 , wherein the metacarpal brace is made of a foamed composition based on any of these polymers.
34. The automated hand of claim 16 , wherein the metacarpal brace is made of an alloy or blend of such a material.
35. The automated hand of claim 16 , wherein each digit houses the actuator by which it is movable.