Prosthetic digit actuator
Features for a prosthetic digit actuator. The various systems and methods allow for smaller volume actuators, which in turn allows for smaller digits and/or more space for other features of the digit. The actuator includes a motor that causes rotation of a worm gear along a fixed worm wheel. The worm gear is unibody with the output shaft. The worm gear climbs along the worm wheel to cause rotation of a digit or digit segment. The arrangement of the actuator parts allows for transmitting axial forces in first and second directions corresponding respectively to performing opening and closing rotations of the digits.
1. An actuator for a prosthetic digit, the actuator comprising:
a gearbox housing;
a motor;
an output shaft extending proximally along a rotation axis, wherein the motor is in mechanical communication with the output shaft and is configured to cause a rotation of the output shaft about the rotation axis, the output shaft including a worm gear that is unibody with and axially fixed on the output shaft proximally of the gearbox housing, the worm gear comprising threads, wherein a first gap is defined between a distal-facing side of a distal end of the threads of the worm gear and a proximal-facing side of a proximal end of the gearbox housing;
a radial bearing supported along the output shaft proximally of the worm gear, wherein a second gap is defined between a distal-facing side of a distal end of the radial bearing and a proximal-facing side of a proximal end of the threads of the worm gear, and the radial bearing comprising an inner race in mechanical communication with an outer race;
a 4-point contact bearing located within the gearbox housing at a distal end of the output shaft distally of the worm gear and distally of the first gap, the 4-point contact bearing comprising at least one outer race and at least one inner race, wherein the at least one outer race contacts a step on an inner sidewall of the gearbox housing that prevents distal translation of the 4-point contact bearing, and the at least one inner race contacts the distal end of the output shaft and is configured to rotate with the output shaft relative to the at least one outer race, such that rotation of the output shaft rotates the at least one inner race about the rotation axis, and the at least one outer race is axially compressed by the gearbox housing and a preload ring, the preload ring being disposed within the gearbox housing proximally of the 4-point contact bearing and contacting only a single proximal-facing surface of the 4-point contact bearing; and
a worm wheel configured to be attached with a prosthetic hand, wherein the worm wheel is in mechanical communication with the threads of the worm gear such that rotation of the worm gear about the rotation axis causes the worm gear to travel along an arcuate outer perimeter of the worm wheel to thereby rotate the gearbox housing about the worm wheel.
2. The actuator of claim 1 , further comprising a carrier shaft extending proximally and configured to engage the output shaft to mechanically transmit rotation from the motor via the gearbox to the output shaft.
3. The actuator of claim 1 , further comprising a carrier shaft, wherein the output shaft comprises an internal opening extending axially at least partially therethrough and is configured to at least partially receive the carrier shaft therein.
4. The actuator of claim 3 , wherein the internal opening comprises internal threads and the carrier shaft comprises external threads configured to engage the internal threads.
5. The actuator of claim 1 , further comprising a gearbox, wherein the motor is configured to rotate the output shaft via the gearbox.
6. The actuator of claim 1 , wherein the at least one inner race comprises two inner races and the at least one outer race comprises two outer races.
7. The actuator of claim 6 , wherein the two inner races contact and rotate with the output shaft, and the two outer races are axially compressed by the housing and a preload ring.
8. An actuator for a prosthetic digit, the actuator comprising:
a gearbox housing;
a motor;
an output shaft having a worm gear that is unibody with the output shaft, the output shaft extending proximally along a rotation axis, wherein the motor is in mechanical communication with the output shaft and is configured to cause a rotation of the output shaft about the rotation axis, wherein the worm gear is located proximally of the gearbox housing, the worm gear comprising a threads, and wherein a first gap is defined between a distal-facing side of a distal end of the threads of the worm gear and a proximal-facing side of a proximal end of the gearbox housing;
a first bearing located at a proximal end of the output shaft proximally of the worm gear, wherein a second gap is defined between a distal-facing side of a distal end of the first bearing and a proximal-facing side of a proximal end of the threads of the worm gear;
a second bearing located within the gearbox housing at a distal end of the output shaft distally of the worm gear and distally of the first gap, the second bearing comprising at least one outer race and at least one inner race, wherein the at least one outer race contacts and rotates with the output shaft, and the at least one outer race is axially compressed by the gearbox housing and a preload ring, the preload ring being disposed within the gearbox housing proximally of the second bearing and contacting a proximal-facing surface of the second bearing; and
a worm wheel configured to be attached with a prosthetic hand, wherein the worm wheel is in mechanical communication with the threads of the worm gear such that rotation of the worm gear about the rotation axis causes the worm gear to travel along the worm wheel to cause the gearbox housing and motor to rotate about the worm wheel.
9. The actuator of claim 8 , the gearbox housing further comprising an inward step on an inner surface, wherein the inward step prevents axial movement of the second bearing in a distal direction.
10. The actuator of claim 8 , further comprising a carrier shaft extending proximally and configured to engage the output shaft to mechanically transmit rotation to the output shaft.
11. The actuator of claim 8 , further comprising a carrier shaft, wherein the output shaft comprises an internal opening extending axially at least partially therethrough and is configured to at least partially receive the carrier shaft therein.
12. The actuator of claim 11 , wherein the internal opening comprises internal threads and the carrier shaft comprises external threads configured to engage the internal threads.
13. The actuator of claim 8 , wherein the first bearing is a radial bearing comprising an inner race in mechanical communication with an outer race.
14. The actuator of claim 8 , wherein the second bearing is a 4-point contact bearing comprising at least one outer race and at least one inner race, wherein the at least one outer race contacts a step on an inner sidewall of the gearbox housing that prevents distal translation of the 4-point contact bearing, and the at least one inner race contacts the distal end of the output shaft and is configured to rotate relative to the at least one outer race, such that rotation of the output shaft rotates the at least one inner race about the rotation axis.
15. The actuator of claim 8 , wherein rotation of the worm gear about the rotation axis causes the worm gear to travel along an arcuate outer perimeter of the worm wheel.
16. The actuator of claim 8 , further comprising a gearbox within the gearbox housing and in mechanical communication with the motor.
17. A prosthetic digit comprising:
an actuator comprising:
a gearbox housing;
a motor;
an output shaft having a worm gear that is unibody with the output shaft, the output shaft extending proximally along a rotation axis, wherein the motor is in mechanical communication with the output shaft and is configured to cause a rotation of the output shaft about the rotation axis, wherein the worm gear is located proximally of the gearbox housing, the worm gear comprising a threads, and wherein a first gap is defined between a distal-facing side of a distal end of the threads of the worm gear and a proximal-facing side of a proximal end of the gearbox housing;
a first bearing located at a proximal end of the output shaft proximally of the worm gear, wherein a second gap is defined between a distal-facing side of a distal end of the first bearing and a proximal-facing side of a proximal end of the threads of the worm gear;
a second bearing located within the gearbox housing at a distal end of the output shaft distally of the worm gear and distally of the first gap, the second bearing comprising at least one outer race and at least one inner race, wherein the at least one outer race contacts and rotates with the output shaft, and the at least one outer race is axially compressed by the gearbox housing and a preload ring, the preload ring being disposed within the gearbox housing proximally of the second bearing and contacting a proximal-facing surface of the second bearing; and
a worm wheel configured to be attached with a prosthetic hand, wherein the worm wheel is in mechanical communication with the threads of the worm gear such that rotation of the worm gear about the rotation axis causes the worm gear to travel along the worm wheel to cause the gearbox housing and motor to rotate about the worm wheel.
18. The prosthetic digit of claim 17 , the gearbox housing further comprising an inward step on an inner surface, wherein the inward step prevents axial movement of the second bearing in a distal direction.
19. The prosthetic digit of claim 17 , wherein the actuator further comprises a carrier shaft extending proximally and configured to engage the output shaft to mechanically transmit rotation to the output shaft.
20. The prosthetic digit of claim 17 , wherein the actuator further comprises a carrier shaft, wherein the output shaft comprises an internal opening extending axially at least partially therethrough and is configured to at least partially receive the carrier shaft therein.