Mechanical finger
View Patent ↗The invention relates to a mechanical finger comprising, a knuckle, a proximal element, a rod, a motor, a motor driven screw and a distal element. The knuckle has a first and second pivot. The proximal element knuckle end is coupled to the first pivot. The proximal element also has a third pivot at a variable longitudinal distance from the first pivot. The rod has a near end pivotally coupled to the second pivot and a far end pivotally coupled to the third pivot. A motor is coupled to and referenced to the proximal element. A screw is driven to change the distance between the third pivot and the first pivot in response to a command from a controller to the motor. A distal element is pivotally coupled to the proximal element. The distal element rotates with respect to the proximal element in response to a change in the variable distance between the third pivot and the first pivot.
1. A mechanical finger comprising:
a mechanical knuckle having a first pivot attached to the mechanical knuckle and a second pivot attached to the mechanical knuckle, the second pivot being separated by a first predetermined distance from the first pivot;
a proximal element having a first proximal element end pivotally coupled to the first pivot and the proximal element having a third pivot at a variable longitudinal distance from the first pivot, wherein the proximal element rotates with respect to the mechanical knuckle around the first pivot in response to a change in the variable distance between the first pivot and the third pivot;
a rod having a first rod end pivotally coupled to the second pivot and a second rod end pivotally coupled to the third pivot;
a force generator driving a screw causing a translatory motion of a threaded screw nut that is threaded onto the screw, the screw being coupled to the proximal element and the threaded screw nut being coupled to the third pivot to change the variable longitudinal distance between the first pivot and the third pivot in response to a command from a control sensor to the force generator rotating the screw; and
a distal element, the distal element being pivotally coupled to the proximal element at a fourth pivot, the distal element rotating with respect to the proximal element around the fourth pivot in response to a change in the variable distance between the third pivot and the first pivot, wherein the distal element further comprises a distal element slot, wherein the third pivot includes a pivot boss connected to the threaded screw nut, said pivot boss engaging the distal element slot.
2. The mechanical finger of claim 1 further comprising:
a frame, the frame being formed to receive and be attached to the residual limb of a patient,
the mechanical knuckle being coupled to the frame.
3. The mechanical finger of claim 1 further comprising:
an elastic or spring element extending in tension from the distal element to the proximal element to add to the grip force and help maintain a closed grip as the power to the force generator is interrupted.
4. The mechanical finger of claim 1 wherein the proximal element further comprises:
a proximal element cavity accommodating
the threaded screw nut, the force generator being coupled to drive the screw in response to a control signal; and
a sensor coupled to the force generator for measuring the variable longitudinal distance between the first pivot and the third pivot.