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Patent · US10034780B2 · B2 · US

Modular and lightweight myoelectric prosthesis components and related methods

(11) Publication number
US10034780B2
(21) Application number
14/614,187
(22) Filing date
2015-02-04
(30) Priority date
2014-02-04
(43) Publication date
2018-07-31
(45) Date of grant
2018-07-31
(51) IPC
A61F 2/50; A61F 2/54; A61F 2/58; A61F 2/68; A61F 2/70; A61F 2/72; B25J 15/00; B25J 15/08; B25J 17/02; F16D 15/00; F16H 25/22; F16H 35/00; F16H 37/04; H02K 7/116; H02K 7/14
(52) CPC
  • A61F Filters implantable into blood vessels; prostheses; devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents; orthopaedic, nursing or contraceptive devices; fomentation; treatment or protection of eyes or ears; bandages, dressings or absorbent pads; first-aid kits: 2/582, 2/54, 2/58, 2/583, 2/585, 2/586, 2/68, 2/72, 2002/5043, 2002/5072, 2002/543, 2002/587, 2002/6836, 2002/6845, 2002/6872, 2002/701, 2002/704, 2310/00047
  • B25J Manipulators; chambers provided with manipulation devices: 15/0009, 15/086, 17/0258
  • F16D Couplings for transmitting rotation; clutches; brakes: 15/00
  • F16H Gearing: 2035/005, 25/2252, 37/041
  • H02K Dynamo-electric machines: 7/116, 7/14
(73) Assignee
CHICAGO REHABILITATION INST
(72) Inventors
LIPSEY JAMES; SENSINGER JON
(54) Title
Modular and lightweight myoelectric prosthesis components and related methods
(57) 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.

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Claims (24)

  1. A component part of a wrist of a prosthetic limb, comprising an exterior-rotor motor comprising a rotor and a stator; a planetary gear transmission comprising a plurality of planetary gears and a sun gear, the sun gear being fastened to the stator and engaged with the plurality of planetary gears; a clutch; and a cycloid transmission; in a transmission arrangement such that actuation of the exterior-rotor motor causes movement through the planetary gear transmission, clutch, and cycloid transmission to cause rotation of the wrist; wherein the rotor is positioned on the outside of the stator.
  2. The wrist component of claim 1, wherein the exterior-rotor motor, a planetary gear transmission, a clutch, and a cycloid transmission are in a transmission arrangement such that actuation of the exterior-rotor motor causes movement through the planetary gear transmission, clutch, and cycloid transmission to cause movement of the wrist.
  3. The wrist component of claim 2, wherein the clutch comprises a non-backdrivable mechanism for preventing output motion of the clutch to be transmitted to the cycloid transmission.
  4. The wrist component of claim 3, wherein the planetary gear transmission is a single-stage planetary gear transmission.
  5. The wrist component of claim 4, wherein the movement of the wrist is a rotational movement.
  6. The wrist of claim 5, wherein the torque ratio of the planetary gear transmission is about 3.71:1 and the torque ratio of the cycloid transmission is about 16:1.
  7. The wrist component of claim 4, wherein the movement of the wrist is a flexion movement.
  8. The wrist component of claim 1, wherein an axis of rotation of the wrist component is skewed at a fixed position to provide radial or ulnar deviation.
  9. A prosthetic limb comprising the wrist component of claim 1, the prosthetic limb further comprising an elbow, 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, extend linearly with respect to the transmission so as to cause the elbow to flex.
  10. A prosthetic limb comprising the wrist component of claim 1, the prosthetic limb further comprising: a first limb portion and a second limb portion coupled together at an elbow joint; a transmission comprising a screw, 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 the screw and the hinge are adapted so that: when the screw extends linearly in a direction away from the transmission, 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 retracts linearly in a direction towards the transmission, 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.
  11. A wrist of a prosthetic limb, comprising: a wrist rotator comprising a first exterior-rotor motor comprising a first stator; a first planetary gear transmission comprising a first plurality of planetary gears and a first sun gear, the first sun gear being fastened to the first stator and engaged with the first plurality of planetary gears; a first clutch and a first cycloid transmission, in a transmission arrangement such that actuation of the first exterior-rotor motor causes movement through the first planetary gear transmission, first clutch, and first cycloid transmission to cause rotation of the wrist; a wrist flexor comprising a second exterior-rotor motor comprising a second stator; a second planetary gear transmission comprising a second plurality of planetary gears and a second sun gear, the second sun gear being fastened to the second stator and engaged with the second plurality of planetary gears; a second clutch; and a second cycloid transmission, in a transmission arrangement such that actuation of the second exterior-rotor motor causes movement through the second planetary gear transmission, second clutch, and second cycloid transmission to cause flexion of the wrist; the first clutch comprising a non-backdrivable mechanism for preventing output motion of the first clutch to be transmitted to the first cycloid transmission; and the second clutch comprising a non-backdrivable mechanism for preventing output motion of the second clutch to be transmitted to the second cycloid transmission; wherein each of the first exterior-rotor motor and the second exterior-rotor motor further comprises a rotor, the rotor of each motor being positioned on the outside of the stator of the motor.
  12. The wrist of claim 11, wherein at least one of the first planetary gear transmission and the second planetary gear transmission is a single-stage planetary gear transmission.
  13. The wrist of claim 11, wherein the torque ratio of the first planetary gear transmission is about 3.71:1 and the torque ratio of the first cycloid transmission is about 16:1.
  14. The wrist of claim 11, further comprising an interface on the wrist rotator for transmitting signals across an access of rotation of the wrist rotator.
  15. The wrist of claim 14, wherein the interface comprises an interface for power signals and an interface for ground signals.
  16. The wrist of claim 15, wherein the interface further comprises an interface for at least two communication signals.
  17. A prosthetic limb comprising the wrist component of claim 14, the prosthetic limb further comprising an elbow, 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, extend linearly with respect to the transmission so as to cause the elbow to flex.
  18. A prosthetic limb comprising the wrist component of claim 14, the prosthetic limb further comprising: a first limb portion and a second limb portion coupled together at an elbow joint; a transmission comprising a screw, 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 the screw and the hinge are adapted so that: when the screw extends linearly in a direction away from the transmission, 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 retracts linearly in a direction towards the transmission, 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.
  19. The wrist of claim 11, further comprising a mechanical stop to limit motion of the wrist flexor.
  20. The wrist of claim 11, wherein the wrist rotator and the wrist flexor are connected by a coupler that allows for the transmission of power from the wrist rotator to the wrist flexor.
  21. The wrist of claim 11, wherein an axis of rotation of the wrist flexor is skewed at a fixed position to provide radial or ulnar deviation.
  22. The wrist of claim 11, wherein the non-backdrivable mechanism comprises a plurality of rollers and a plurality of springs.
  23. A prosthetic limb comprising the wrist component of claim 11, the prosthetic limb further comprising an elbow, 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, extend linearly with respect to the transmission so as to cause the elbow to flex.
  24. A prosthetic limb comprising the wrist component of claim 11, the prosthetic limb further comprising: a first limb portion and a second limb portion coupled together at an elbow joint; a transmission comprising a screw, 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 the screw and the hinge are adapted so that: when the screw extends linearly in a direction away from the transmission, 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 retracts linearly in a direction towards the transmission, 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.

Description

The present disclosure is generally directed to prosthetic devices and, more particularly, to modular myoelectric prosthesis components and related methods.

Amputation of the arm causes significant disability, which is most effectively treated by replacement of the missing limb with a prosthetic device. Body-powered prostheses use a Bowden cable that couples motion of an intact joint to movement of the terminal device. Myoelectric prostheses control motorized joints via commands sent through the patients' residual muscles and sensed by surface electrodes embedded in the prosthetic socket. Advances in embedded controllers, battery density, and motor design have increased the number of myoelectric prosthesis users. However, existing myoelectric prostheses are heavy, and wearing them constantly does not appeal to many amputees. Additionally, such prostheses are often too large for many amputees, such as children and many women. Several multi-function arms have recently come on the market, including Otto Bock's Michelangelo Hand, the Touch Bionics Hand, the BeBionics Hand, and the Vincent Hand. These devices are typically designed for a 50th percentile male (22.2 cm/8.75″ hand circumference). Other hands are being developed in research, but use components that limit the strength, weight, and small volumes the limbs can achieve.

Citations (22)

  • EP1617103A1
  • EP2532927A2
  • EP2612619A1
  • US2004181289A1
  • US2008262634A1
  • US2011237381A1
  • US2011265597A1
  • US2012204665A1
  • US2012286629A1
  • US3883900A
  • US7867287B2
  • US8016893B2
  • US8100986B2
  • US8257446B2
  • US8579991B2
  • US8663339B2
  • US8690963B2
  • WO2008092695A1
  • WO2009011682A1
  • WO2010018358A2
  • WO2011088964A1
  • WO2011143004A2
Record as JSON 
{
  "publication_number": "US10034780B2",
  "country": "US",
  "kind": "B2",
  "title": "Modular and lightweight myoelectric prosthesis components and related methods",
  "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 component part of a wrist of a prosthetic limb, comprising an exterior-rotor motor comprising a rotor and a stator; a planetary gear transmission comprising a plurality of planetary gears and a sun gear, the sun gear being fastened to the stator and engaged with the plurality of planetary gears; a clutch; and a cycloid transmission; in a transmission arrangement such that actuation of the exterior-rotor motor causes movement through the planetary gear transmission, clutch, and cycloid transmission to cause rotation of the wrist; wherein the rotor is positioned on the outside of the stator.",
    "2. The wrist component of claim 1, wherein the exterior-rotor motor, a planetary gear transmission, a clutch, and a cycloid transmission are in a transmission arrangement such that actuation of the exterior-rotor motor causes movement through the planetary gear transmission, clutch, and cycloid transmission to cause movement of the wrist.",
    "3. The wrist component of claim 2, wherein the clutch comprises a non-backdrivable mechanism for preventing output motion of the clutch to be transmitted to the cycloid transmission.",
    "4. The wrist component of claim 3, wherein the planetary gear transmission is a single-stage planetary gear transmission.",
    "5. The wrist component of claim 4, wherein the movement of the wrist is a rotational movement.",
    "6. The wrist of claim 5, wherein the torque ratio of the planetary gear transmission is about 3.71:1 and the torque ratio of the cycloid transmission is about 16:1.",
    "7. The wrist component of claim 4, wherein the movement of the wrist is a flexion movement.",
    "8. The wrist component of claim 1, wherein an axis of rotation of the wrist component is skewed at a fixed position to provide radial or ulnar deviation.",
    "9. A prosthetic limb comprising the wrist component of claim 1, the prosthetic limb further comprising an elbow, 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, extend linearly with respect to the transmission so as to cause the elbow to flex.",
    "10. A prosthetic limb comprising the wrist component of claim 1, the prosthetic limb further comprising: a first limb portion and a second limb portion coupled together at an elbow joint; a transmission comprising a screw, 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 the screw and the hinge are adapted so that: when the screw extends linearly in a direction away from the transmission, 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 retracts linearly in a direction towards the transmission, 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.",
    "11. A wrist of a prosthetic limb, comprising: a wrist rotator comprising a first exterior-rotor motor comprising a first stator; a first planetary gear transmission comprising a first plurality of planetary gears and a first sun gear, the first sun gear being fastened to the first stator and engaged with the first plurality of planetary gears; a first clutch and a first cycloid transmission, in a transmission arrangement such that actuation of the first exterior-rotor motor causes movement through the first planetary gear transmission, first clutch, and first cycloid transmission to cause rotation of the wrist; a wrist flexor comprising a second exterior-rotor motor comprising a second stator; a second planetary gear transmission comprising a second plurality of planetary gears and a second sun gear, the second sun gear being fastened to the second stator and engaged with the second plurality of planetary gears; a second clutch; and a second cycloid transmission, in a transmission arrangement such that actuation of the second exterior-rotor motor causes movement through the second planetary gear transmission, second clutch, and second cycloid transmission to cause flexion of the wrist; the first clutch comprising a non-backdrivable mechanism for preventing output motion of the first clutch to be transmitted to the first cycloid transmission; and the second clutch comprising a non-backdrivable mechanism for preventing output motion of the second clutch to be transmitted to the second cycloid transmission; wherein each of the first exterior-rotor motor and the second exterior-rotor motor further comprises a rotor, the rotor of each motor being positioned on the outside of the stator of the motor.",
    "12. The wrist of claim 11, wherein at least one of the first planetary gear transmission and the second planetary gear transmission is a single-stage planetary gear transmission.",
    "13. The wrist of claim 11, wherein the torque ratio of the first planetary gear transmission is about 3.71:1 and the torque ratio of the first cycloid transmission is about 16:1.",
    "14. The wrist of claim 11, further comprising an interface on the wrist rotator for transmitting signals across an access of rotation of the wrist rotator.",
    "15. The wrist of claim 14, wherein the interface comprises an interface for power signals and an interface for ground signals.",
    "16. The wrist of claim 15, wherein the interface further comprises an interface for at least two communication signals.",
    "17. A prosthetic limb comprising the wrist component of claim 14, the prosthetic limb further comprising an elbow, 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, extend linearly with respect to the transmission so as to cause the elbow to flex.",
    "18. A prosthetic limb comprising the wrist component of claim 14, the prosthetic limb further comprising: a first limb portion and a second limb portion coupled together at an elbow joint; a transmission comprising a screw, 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 the screw and the hinge are adapted so that: when the screw extends linearly in a direction away from the transmission, 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 retracts linearly in a direction towards the transmission, 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.",
    "19. The wrist of claim 11, further comprising a mechanical stop to limit motion of the wrist flexor.",
    "20. The wrist of claim 11, wherein the wrist rotator and the wrist flexor are connected by a coupler that allows for the transmission of power from the wrist rotator to the wrist flexor.",
    "21. The wrist of claim 11, wherein an axis of rotation of the wrist flexor is skewed at a fixed position to provide radial or ulnar deviation.",
    "22. The wrist of claim 11, wherein the non-backdrivable mechanism comprises a plurality of rollers and a plurality of springs.",
    "23. A prosthetic limb comprising the wrist component of claim 11, the prosthetic limb further comprising an elbow, 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, extend linearly with respect to the transmission so as to cause the elbow to flex.",
    "24. A prosthetic limb comprising the wrist component of claim 11, the prosthetic limb further comprising: a first limb portion and a second limb portion coupled together at an elbow joint; a transmission comprising a screw, 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 the screw and the hinge are adapted so that: when the screw extends linearly in a direction away from the transmission, 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 retracts linearly in a direction towards the transmission, 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."
  ],
  "description_excerpt": "The present disclosure is generally directed to prosthetic devices and, more particularly, to modular myoelectric prosthesis components and related methods.\n\nAmputation of the arm causes significant disability, which is most effectively treated by replacement of the missing limb with a prosthetic device. Body-powered prostheses use a Bowden cable that couples motion of an intact joint to movement of the terminal device. Myoelectric prostheses control motorized joints via commands sent through the patients' residual muscles and sensed by surface electrodes embedded in the prosthetic socket. Advances in embedded controllers, battery density, and motor design have increased the number of myoelectric prosthesis users. However, existing myoelectric prostheses are heavy, and wearing them constantly does not appeal to many amputees. Additionally, such prostheses are often too large for many amputees, such as children and many women. Several multi-function arms have recently come on the market, including Otto Bock's Michelangelo Hand, the Touch Bionics Hand, the BeBionics Hand, and the Vincent Hand. These devices are typically designed for a 50th percentile male (22.2 cm/8.75″ hand circumference). Other hands are being developed in research, but use components that limit the strength, weight, and small volumes the limbs can achieve.",
  "cpc": [
    "A61F 2/582",
    "A61F 2/54",
    "A61F 2/58",
    "A61F 2/583",
    "A61F 2/585",
    "A61F 2/586",
    "A61F 2/68",
    "A61F 2/72",
    "A61F 2002/5043",
    "A61F 2002/5072",
    "A61F 2002/543",
    "A61F 2002/587",
    "A61F 2002/6836",
    "A61F 2002/6845",
    "A61F 2002/6872",
    "A61F 2002/701",
    "A61F 2002/704",
    "A61F 2310/00047",
    "B25J 15/0009",
    "B25J 15/086",
    "B25J 17/0258",
    "F16D 15/00",
    "F16H 2035/005",
    "F16H 25/2252",
    "F16H 37/041",
    "H02K 7/116",
    "H02K 7/14"
  ],
  "ipc": [
    "A61F 2/50",
    "A61F 2/54",
    "A61F 2/58",
    "A61F 2/68",
    "A61F 2/70",
    "A61F 2/72",
    "B25J 15/00",
    "B25J 15/08",
    "B25J 17/02",
    "F16D 15/00",
    "F16H 25/22",
    "F16H 35/00",
    "F16H 37/04",
    "H02K 7/116",
    "H02K 7/14"
  ],
  "assignees": [
    "CHICAGO REHABILITATION INST"
  ],
  "inventors": [
    "LIPSEY JAMES",
    "SENSINGER JON"
  ],
  "filing_date": "2015-02-04",
  "publication_date": "2018-07-31",
  "grant_date": "2018-07-31",
  "priority_date": "2014-02-04",
  "application_number": "US-201514614187-A",
  "family_id": "52484594",
  "citations": [
    "EP1617103A1",
    "EP2532927A2",
    "EP2612619A1",
    "US2004181289A1",
    "US2008262634A1",
    "US2011237381A1",
    "US2011265597A1",
    "US2012204665A1",
    "US2012286629A1",
    "US3883900A",
    "US7867287B2",
    "US8016893B2",
    "US8100986B2",
    "US8257446B2",
    "US8579991B2",
    "US8663339B2",
    "US8690963B2",
    "WO2008092695A1",
    "WO2009011682A1",
    "WO2010018358A2",
    "WO2011088964A1",
    "WO2011143004A2"
  ]
}

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