US20170266020A1

THELAST TA ETA ANTON A TO DA ANLAMLI KATALIN US 20170266020A1
(19 ) United States

(12 )Glasgow
Patent Application Publication ( 10) Pub . No.: US 2017/0266020 A1
(43) Pub . Date: Sep . 21, 2017
(54 ) MECHANICAL PROSTHETIC HAND (57 ) ABSTRACT
(71) Applicant: Ryan William Glasgow , Portland , OR A body -powered articulated prosthetic hand where each of
the segments of the digits, the palmer plate, the thumb pivot
(US ) plate and the wrist are individually sizeable . This allows for
(72 ) Inventor: Ryan William Glasgow , Portland , OR both a proportionately scalable hand as well as individual
(US) customization of geometric configurations tailored to spe
cific use patterns. The hand is crushable since it has flexible
and pivotable connections between digits along the length
(21) Appl. No.: 15/072,281 and width of the hand. It has a hollow member construction
that imparts a strong lightweight design . It is modular so
(22) Filed : Mar. 16, 2016 individual parts can be replaced for quick repair. From an
aesthetics point, it is visually pleasing and can be offered in
Publication Classification different colors , and with custom digit sleeves for specific
applications . Fingers can be operated individually or in
(51 ) Int. Cl. groups via pairs of cables which allow operation in either
A61F 2 /58 (2006 .01) voluntary open or voluntary closed modes of control. The
(52 ) U . S . CI. flexible construction allows gripping of irregularly shaped
CPC .. ... A61F 2 /583 (2013.01 ); A61F 2002 /5073 objects and deforms before failing giving indication of
(2013 .01 ) overload prior to failure .
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US 2017 /0266020 A1 Sep . 21, 2017
MECHANICAL PROSTHETIC HAND greater detail, is to provide an improved mechanical hand

that is able to connect to the existing body powered harness
COPYRIGHT NOTICE or a myoelectric controlled systems.
[ 0001] A portion of the disclosure of this patent document [0007 ] It is another object of the present invention to
contains material which is subject to copyright protection . provide a prosthetic hand that approximates the look and
The copyright owner has no objection to the facsimile function of the human hand with five digits capable of being
reproduction by anyone of the patent document or the patent manipulated with an opposable thumb capable of adjustable
disclosure , as it appears in the Patent and Trademark Office angle opposability .
patent file or records, but otherwise reserves all copyright 10008 ] It is yet another object of the present invention to
rights whatsoever. make a human hand- like prosthetic device wherein each
digit is made from a series of different sized connected
FIELD OF INVENTION elements so as to allow scalability of the device .
[0002] The present invention relates to a novel design for [0009 ] It is still another object of the present invention to
a mechanical hand that introduces a new level of tactile
provide a lightweight prosthetic hand that can be fabricated
operation for those who need such prosthetic devices . It is from the assembly of a minimal number of components ,
adapted to matingly connect with various standardized pros many identical, each of which can be economically and
thetic hand /arm components , thereby allowing a simple simply fabricated .
conversion for existing prosthetic hand users. [0010 ] It is a further object of the present invention to
provide a prosthetic hand with the capacity for individual
BACKGROUND OF THE INVENTION digit control.
[0011 ] It is still another object of the present invention to
[ 0003] Despite the portrayal of high tech prosthetic hands offer a prosthetic hand that has set of digits that incorporate
as the norm on the media , the current state of the art for metacarpalmembers which pivot at their proximal end in a
prosthetic hands/arms for the average person leaves much to plane that resides approximately 90 degrees relative to the
be desired . The most widely used terminal device is known plane of curl or extension of the digits.
as the “ HosmerTM Hook ” and has been around since 1912 . [0012 ] It is a final object of the present invention to offer
The basic HosmerTM Hook has a single pair of opposable, an improved , robust prosthetic hand capable of providing an
crescent shaped pinchers . It is a voluntary -open terminal entire host of different grasping and holding features con
device having a series of elastic bands that keep the pinchers figured similar to a human hand so as to present a five digit
closed. It is body -powered , very reliable, predictable , water crushable compliant grasping profile that is able to be
proof, affordable and enables precise grasping of small powered /operated by a industry standard body powered
objects with good visibility of item being grasped . It is very harness .
robust and capable of manipulations with very small items. [0013 ] The improved mechanical/prosthetic hand has
Unfortunately , it has several drawbacks . It is somewhat many of the advantages mentioned heretofore and many
menacing to look at, visually intimidating to third parties , novel features that result in a new human hand - like device
has a limited ability to grasp irregularly shaped or large which is not anticipated , rendered obvious, suggested , or
objects , does not lend itself to disguise with garment cover. even implied by any of the prior art, either alone or in any
While this device performs a single pinching task well , it is combination thereof.
limited to manipulations from rigid , non -adjustable , fixed [0014 ] The subject matter of the present invention is
length pinchers rotating in a single plane. particularly pointed out and distinctly claimed in the con
10004 ) Other more sophisticated ( e . g . robotic ) hands are cluding portion of this specification . However , both the
capable of performing with more dexterity but are also organization and method of operation , together with further
limited in many ways . These five - fingered robotic hands advantages and objects thereof, may best be understood by
tend to feature complex electo -mechanical assemblies and as reference to the following description taken in connection
such tend to be expensive , fragile and require a silicone with accompanying drawings wherein like reference char
glove to be waterproof. They are non flexible, non customi acters refer to like elements . Other objects , features and
zable and frequently incorporate motors or other electrical aspects of the present invention are discussed in greater
systems within the hand itself resulting in a stiff monolithic detail below .
palm which is not scalable and not lifelike . Performance of
these hands is limited by battery life. Many of such pros BRIEF DESCRIPTION OF THE DRAWINGS
thetic hands are not scalable or available in small sizes for
children or women . [0015 ] FIG . 1 is a front perspective view of the prosthetic
[0005 ] Henceforth , an aesthetically appealing, body -pow hand with attached flexible spacers ;
ered , five - fingered , prosthetic hand , would fulfill a long felt [0016 ] FIG . 2 is a front perspective view of the prosthetic
need in the prosthetic device industry. Similarly , a scalable hand with attached flexible spacers and thumb ;
prosthetic hand that resembled a human hand would allow [0017 ] FIG . 3 is a front perspective view of the prosthetic
for a greater visual and emotional acceptance . This new hand with an exploded thumb;
invention utilizes and combines known and new technolo [0018 ] FIG . 4 is a side perspective of the prosthetic hand;
gies in a unique and novel configuration to overcome the [0019 ] FIG . 5 is a top perspective view of a bent finger
aforementioned problems and accomplish this . digit;
SUMMARY OF THE INVENTION [0020] FIG . 6 is a side perspective view of a straightened
finger digit ;
[ 0006 ] In accordance with the invention , the object of the [0021 ] FIG . 7 is a side perspective view of a straight
present invention , which will be described subsequently in phalanges tube;
US 2017 /0266020 A1 Sep . 21, 2017
[0022 ] FIG . 8 is a side perspective view of a bent phalan - [0037 ] The term “ crushable” refers to the ability to have
ges tube ; the digits of the mechanical hand simultaneously pivot at
[0023 ] FIG . 9 is a side perspective view of a distal their proximal connections to the palmer plate and also
phalanges tube ; simultaneously flex slightly about their polymer spacers
[0024 ] FIG . 10 is a close up bottom perspective view of when external forces are applied . In this manner the digits
two connected phalanges tubes; may be forced together or undergo individual shocks with
[0025 ] FIG . 11 is a close up top perspective view of two out damage to the hand.
connected phalanges tubes ; [0038 ] It is to be noted , that because of the similarities
[0026 ] FIG . 12 is a close up top view of two connected between the prosthetic hand and the human hand , much of
phalanges tubes ; the medical terminology of the human hand has been
[0027] FIG . 13 is a front perspective view of the palmer adopted for the designations of the various elements of the
plate ; device .
[ 0028 ] FIG . 14 is front perspective view of the thumb [0039 ] The improved prosthetic hand 2 has been modeled
pivot flange ; after the human form with five scalable digits . Each digit is
[0029 ] FIG . 15 is a front perspective view of the thumb separately capable of dorsal extension ( finger opening) and
rotation plate ; palmer flexion (finger closing ) and with the ability to be
[ 0030 ] FIG . 16 is front perspective view of the installed individually controlled as desired .
prosthetic hand finger locking assembly ; [0040 ] Looking at FIGS . 1 and 2, it can be seen that the
[0031 ] FIGS. 17 - 21 are front and rear perspective viewsof hand 2 has seven parts: the finger digits 4 ; the thumb digit
the prosthetic hand showing various finger, thumb and palm 6 ; the palmer plate 8 ; the thumb rotation plate 10 ; the thumb
positions. pivot flange 12 ; the flexible spacers 14 ; and the wrist 16 .
[0032 ] Note : Only FIGS. 5 and 10 show the operational [0041] The palmer plate 8 is the central hub or means for
cables. The operational cables have otherwise been removed operationally supporting all of the digits or digital move
for diagrammatic simplification and visual clarity . Only ments . It also mounts to the wrist for operational connection
FIGS. 1 2 , 3 , 4 and 18 show the flexible spacers . The flexible to the user.
spacers have otherwise been removed from FIGS. 3 , 4 , 16 , [0042] The hand 2 is designed to be a terminal device
17 and 19 - 21 for diagrammatic simplification and visual wherein it is affixed to a standard prosthetic socket that
clarity . mounts to the distal end of the user ' s residual limb. Gener
DETAILED DESCRIPTION ally, a socket is fitted on the residual limb and connects the
residual limb to the prosthetic device 2 . These sockets are
[0033] The above description will enable any person attached by a tight, custom friction or vacuum fit over the
skilled in the art to make and use this invention . It also sets residual limb. The connection of the prosthetic hand 2 to the
forth the best modes for carrying out this invention . There residual limb is not discussed herein . There are several
are numerous variations and modifications thereof that will different matingly engageable mechanical configurations
also remain readily apparent to others skilled in the art, now that may be utilized , each of which is commercially avail
that the general principles of the present invention have been able. Adaption of the prosthetic hand to any of these devices
disclosed. is merely an act of mechanical manipulation as would be
[ 0034 ] There has thus been outlined , rather broadly, the well known by one skilled in the art.
more important features of the invention in order that the [0043 ] Operation of the prosthetic hand may be via one of
detailed description thereof that follows may be better the common cable and sling arrangements that are typically
understood and in order that the present contribution to the worn up the arm and across the shoulders of the user (body
art may be better appreciated . There are , of course , addi powered ). Optionally , the prosthetic hand 2 may be operated
tional features of the invention that will be described here by motorized driven myoelectric control initiated by a
inafter and which will form the subject matter of the claims signal. Such signals may come from an electrical impulse
appended hereto . generated by an electrode operationally contacting a muscle
[ 0035 ] In this respect, before explaining at least one group . (e . g . in the forearm ) It is to be noted that when used
embodiment of the invention in detail, it is to be understood as a human prosthetic device , the hand 2 is designed to be
that the invention is not limited in its application to the crushable , having flexible spacers 14 between all digits
details of construction and to the arrangements of the along the width of the hand 2 , as well as pivotal connections
components set forth in the following description or illus at the base of each finger digit 4 and the thumb digit 6 . These
trated in the drawings. The invention is capable of other flexible spacers 14 in the preferred embodiment are simply
embodiments and of being practiced and carried out in flexible cables sheathed with a pliable polymer between the
various ways. As an exemplar, the number of digits and type sections spanning adjacent digits . There are flexible spacers
of digit and scalable size of each digit is fully customizable 14 spanning between adjacent digits between the pinky digit
for both prosthetic and robotic applications. Also , it is to be 34 and index digit 28 . There is another one spanning
understood that the phraseology and terminology employed between the index digit 28 and the thumb digit 6 . (Although
herein are for the purpose of descriptions and should not be there may be more of less flexible spacers 14 to accomplish
regarded as limiting. the same functionality of the hand 2 .) This synergistic design
10036 ] As used herein , the term “mechanical hand ” or allows for the " crushable ” feature of the hand 2 and prevents
" prosthetic hand” refers to a device often referred to as a irreparable harm to the hand or its components under
prosthetic arm or prosthetic arm . Although discussed herein unexpected mechanical loads or shock . Additionally, the
used as a prosthetic hand , it is known that it may be used in flexible spacers 14 between all digits along the width of the
robotics applications or other powered applications as well hand 2 , allows simultaneous limited motion of some or all
because of its human hand- like tactile similarities. of the digits with respect to the other digits .
US 2017 /0266020 A1 Sep . 21, 2017
[0044 ] The prosthetic hand 2 has numerous physical con digits 4 and the distal end of the thumb digit metacarpal and
figurations so that it can be individually customized for each a 5/8 outside diameter for the proximal end of the thumb digit
user or for specific tasks that the user may be attempting. metacarpal. Each end (distal or proximal ) of the tube section
One such example can be seen in FIGS. 3 and 4 where it can 38 has a pair of opposing pivot pin orifices 40 formed there
be seen that the thumb digit 6 utilizes a tube - in - tube sleeved through at 180 degrees apart. Between the pair of pivot pin
configuration that allows the adjustable , mechanical fixation orifices 40 , there resides a pair of opposing cable guides 42
of the thumb digit through a full range of rotations, as will formed by the absence/ removal of tube wall sections there
be discussed in detail herein . between the pivot pin orifices 40. Since the cable guides 42
[0045 ] Looking at FIGS. 4 -6 it can be seen that four of the terminate before the ends of the tube section , the distal and
digits approximate fingers ( finger digits 4 ) and have four proximal ends of the tubes have parallel, opposing coupling
separately scalable elements pivotally connected in a linear flanges 41, through the center of which are the pivot pin
(series ) fashion from a distal phalange 18 at the tip , a middle orifices 40. It is these coupling flanges 41 that allow the
phalange 20 , a proximalphalange 22 and lastly a metacarpus relative motion of adjacent tube sections. Each opposing
24 . The fifth digit approximates a thumb thumb digit 6 ) and cable guide 42 has a cable slot 44 there through and is much
resembles the other digits but lacks a middle phalange 20 shorter than the coupling flanges 41 . The coupling flanges 41
and has an axially adjustable metacarpus 26 . Except for the all reside generally parallel to the same plane except those
elimination of the middle phalange 20 in the thumb digit 6 at the proximal end of the metacarpus , which are perpen
and the axially adjustable thumb digit metacarpus 26 , the dicular to the other coupling flanges .
finger digit 4 and thumb digit 6 structures are functionally [0048] FIG . 8 shows the second stage of construction
identical. Generally , the thumb digit 6 is the shortest of the where it can be seen that the ends of the four cable guides
digits . Each of the digits is capable of independent curling 42 are bent in an arc toward the longitudinal centerline of the
or straightening . Again it is noteworthy to state that the tube section 38 . Additionally, the distal end 46 and proximal
length , width and thickness of the individual digits is vari end 48 of the tube section 38 are bend inward toward the
able as well as the number of phalanges used to construct the tube section ' s center in a planar fashion about an axial planar
digits . ( The ability of curling or straightening of the finger bend line about the tube section 38 that also defines the
digits , in addition to their ability to pivot at the proximal end beginning of the bend of the cable guides 42 .
of their metacarpals in a plane that lies approximately 90 00491 Looking at FIGS . 5 and 6 it can be seen that the
degrees relative to the plane of curl or extension of the digits, distal phalange 18 differs from the middle phalange 20 , and
is one of the distinguishing and novel features of this hand.) proximal phalange 22 because its distal and proximal ends
[0046 ] From the thumb digit outward the digits are index are not identical. Rather, at the distal end , the entire distal
28 , middle 30 , ring 32 and pinky 34 ( see FIG . 5 ). The end of the tube is bent towards the tube' s longitudinal
proximal phalange 22 of the thumb digit 6 is connected to centerline so as to approximate the shape of a fingertip . An
the index finger at its metacarpus by a flexible spacer 14 . In optional fingernail may be affixed to this phalange . Simi
the preferred embodiment, this spacer 14 is made of a cable larly, an optional polymer sleeve 54 (FIG . 17 ) may be placed
held in a spring like fashion by a flexible polymer covering . about the center of the tube sections 38 for aesthetics and
This acts like the human hand 's adductor pollicis and flexor functional reasons.
pollicis brevis muscles to flexibly span the space between [0050] The finger digit's metacarpals 24 and the thumb
the thumb digit and finger digit, passively drawing the digit' s axially adjustable metacarpal 26 have a similar but
thumb to the palm without input for the control cables . The slightly different structure than the phalanges, although still
proximal ends of each of the finger digits terminates in a based on the tube section design . In FIG . 16 it can be seen
parallel pair of generally planar, substantially similar palm that the tube section still retains the two parallel coupling
flanges 36 . These palm flanges 36 lie in a plane that is flanges 41 at its distal end , however at the proximal end,
generally perpendicular to the plane in which the digits curl there are two parallel palm flanges 36 . The plane of the palm
and have a connector orifice formed therethrough . Gener flanges 36 reside perpendicular to the plane of the coupling
ally , this is also true of the thumb digit 6 however, as flanges 41 and there are no cable guides 42 at the proximal
discussed earlier, the thumb has an axially adjustable meta end . Rather, there are cable slots 44 on the palmer and dorsal
carpus 26 . These palm flanges 36 are what connect the digits sides of the metacarpus 24 to allow passage of cables . The
to the palmer plate 8 and because of their perpendicular coupling flanges 41 and palm flanges 36 are substantially
orientation with respect to plane of the finger curl, allow the similar but for their orientation on the tube section . The palm
metacarpals 24 and 26 of the digits to pivot in the sameplane flanges 36 also have centrally located pivot pin orifices 40
of the palmer plate 8 so as to allow the digits to adjust their formed therethrough .
proximity to adjacent digits and to move laterally , thereby 10051 ) The thumb digit metacarpal ' s structure as shown in
imitating human fingers and allowing overall crushability of FIGS. 3 and 4 , is slightly different to allow for the thumb
the hand 2 . digit 6 to axially adjust. In this manner it may oppositionally
[0047] FIGS. 7- 9 illustrate the most important individual contact any desired finger digit . The thumb digit 6 , when
component of the digits — that of the digit tube sections . straightened , has a linear axis that it is rotatable about so as
Each of the phalanges and metacarpals are made from a to enable adjustable angle opposable contact with at least
short tube section 38 cut or stamped and formed , or 3 - D one of the finger digits . To accomplish this , the thumb digit
printed to a specific configuration . FIG . 7 shows the first 6 has a two piece tube construction rather than a single tube
stage of the construction of a tube section 38 . The phalanges section 38 . It resembles finger digit metacarpals that have
and metacarpals need not be formed from the same diameter been axially cut. The distal half of this metacarpal 26 has a
tubing . In one embodiment the tubing is oval or circular, thin pair of opposing adjustment orifices 56 formed there
walled (0 .030 in outer diameter wall thickness in the pre - through . The proximal half of this metacarpal 26 has a series
ferred embodiment) having a 1/2 inch outer diameter finger of radially drilled orifices 58 therethrough . The proximal
US 2017 /0266020 A1 Sep . 21, 2017
half has an outer diameter sized for frictional but sliding (0054] Looking at FIGS . 8 , 9 and 10 , there is peripheral
rotation within the slightly larger inner diameter of the distal detent section 120 cut in the perimeter of the coupling
end 46 . When assembled , two of the radially drilled orifices flanges 41 on the proximal end of the phalanges. These act
58 will align with the two adjustment orifices 56 for the in conjunction with a adjustable stop pin ( removed for visual
insertion of a mechanical fastener. This allows the fixable, clarity ) that is installed in one of a series of stop pin orifices
axial adjustment of the thumb digit 6 . Although in alternate 122 formed there through the distal ends of the coupling
embodiments, other rotational locking devices may be uti flanges 41 of the metacarpals and phlanges . This system of
lized . stop pins and detents allows for control of the range of
motion of the joints and serve as backstops (e .g . to prevent
[0052 ] The proximal end of the distal phalange 18 is hyperextension . )
connected to the distal end of the middle phalange 20 , and [0055 ]. The remaining connections of the phalanges and
the proximal end of the middle phalange 20 is connected to metacarpals of digits 4 and 6 are similarly made . The cable
the distal end of the proximal phalange 22 , and the proximal 72 is routed through cable guides 42 traversing the linear
end of the proximal phalange is connected to the distal end arrangement ofphalanges and metacarpals, passing through
of metacarpal 24 or 26 in the identical manner outlined the internal cavity of each tube section 38 and the consecu
above to facilitate the linear assembly of the digits ( finger 4 tive cable slots 44 . The distal end of cable 72 is affixed to the
or thumb 6 ). In the case of the thumb digit 6 , the middle distal end of each distal phalange 18 .
phalange 20 is eliminated and the distal phalange 's proximal [0056 ] It is to be noted that the cable system used to
end is connected to the distal end of the proximal phalange operate the digits may be of two different configurations .
22. The assembly of the individual phalange -phalange con The first configuration ( preferred embodiment) uses two
nections, and phalange -metacarpal connections of the finger cables 72 , one internally traversing the dorsal side and one
digits and thumb digit , are best explained in FIGS. 10- 12 individually traversing the palmer side of the digit, each
with reference to the connection between a distal phalange running over the palmer plate 8 and operably connected at
18 and a middle phalange 20 . It is to be noted that each of its proximal end to the user's preferred control system . (e .g .
the digits (and thus the entire hand) are scalable because body -powered or myoelectric ) The second configuration
each of the individual phalanges are available in differing utilizes but one cable routed through either the palmer or
lengths and each digit may be made of a customized array dorsal side of the digits and similarly operationally con
of different sized phalanges . nected as above . Where only one cable 72 is provided , the
[0053 ] Beginning with a distal phalange 18 , the two cou springs 66 serve to return the digits to the open or closed
pling flanges 41 at the proximal end 48 of the tube section position depending on whether the cable runs on the palmer
are fitted adjacent (on top or below ) of the two coupling side and closes the digit or the dorsal side and opens the
flanges 41 at the distal end 46 of the middle phalange 20 digit . ( In this way the hand 2 can be configured to operate
such that their pivot pin orifices 40 align . Through one set of in either the voluntary open or voluntary closed modes .)
aligned pivot pin orifices 40 is inserted a first pivot pin 60 . [0057] The stiffness of the springs 66 are set for differing
The pivot pin 60 is less than one half of the width distance tensions across the various phalanges ( each phalange rela
between the parallel connection flanges 41 of a tube section tive to the adjacent phalange ) so as to control the closing
38 . Each pivot pin 60 has a head that resides normally to a profile of the entire hand similar to that of the human form
shaft section that has an axial groove 64 formed therein , or as desired . Generally , the spring 66 is set to open ( extend )
sized to accept a circular retaining clip 62. These are the finger at the joints with the weakest spring tension
commercially available mechanical fasteners , well known in ( stiffness ) at the distal end of the distal phalange and
the art. A retaining clip 62 is placed in the axial groove 64 increasing gradually toward the proximal end of the proxi
in the pivot pin 60 such that the inner face of the retaining mal phalange .
clip 62 resides adjacent to the inner face of the distal end 46 [0058 ] Looking at a voluntary -close configuration , the
of the middle phalange 20. A torsion (wound ) spring 66 is cable 72 on the palmar side of the digits under tension
placed over the shaft section of the pivot pin such that its two actively draw the digits inward in flexion . Since each joint
spring legs 68 (that reside 180 degrees apart and at opposite is held extended by differing spring tensions , when the cable
ends of the spring body ) are constrained by the inner wall of 72 is tensioned , the digits curl inward first from the distal
the tube sections 38 of the connected phalanges and or end in a human -like fashion where the joints with the weaker
metacarpals. ( These spring legs 68 are long enough to spring forces begin to curl inward first. All joints passively
extend into the internal cavity of the tube section 38 .) A spring open when the palmer cable tension is relieved .
spring cover 70 is placed over the spring 66 and the [0059] If a single -cable , voluntary -open (cable tension to
underlying shaft section of the first pivot pin shaft section , open ) system is employed , the cable on the dorsal side of the
and a second pivot pin 60 is installed and affixed through the digits under tension draw the digits outward in extension and
second set of aligned pivot pin orifices 40 in the distal
phalange 's proximal end 48 and themiddle phalange 's distal the springs 66 serve to close the digits in flexion .
end 46 in an identical fashion as described above. The spring [0060] If a single cable voluntary -close ( cable tension to
cover 70 merely prevents the cable 72 from interfering with close ) system is employed, the cable on the palmar side of
the spring 66 . It is to be noted that the spring 66 may be the digits under tension draw the digits inward in flexion and
oriented such that the torsional spring legs 68 may either the springs 66 serve to extend the digits .
open or close the joint. The closing order of individual [0061 ] In a dual cable system , the tension of either cable
phlanges is determined by the strength of the respective actively controls both the flexion or extension of the digits .
wound springs selected for use in that specific phlange . Wherein there is no or reduced dorsal cable tension , the
Generally the strength of the wound spring decreases toward springs 66 again act to control either the opening or closing
the distal end of the digits. profile of the digits .
US 2017 /0266020 A1 Sep . 21, 2017
[0062 ] FIG . 13 illustrates the means for operationally with the wrist bottom bracket 124 . Again this uses a
supporting all of the digits or digital movements (palmer mechanical fastener 126 passing through a series of aligned
plate 8 ). This is a curved plate that acts as the anchor point orifices 128 in these wrist components similar to the system
for the proximal end of the finger digit metacarpals 24 employed with the index digit . The bottom wrist bracket 124
( directly ) and the thumb digit metacarpal 26 (indirectly ) as may be affixed to the rest of the prosthesis in a plethora of
well as the connector to the wrist 16 . The palmar plate 8 has ways commonly known in the field . It accommodates the
a series ofmetacarpal orifices 77 (preferably four in number ) passage of the cables 72 to their intended control points .
formed therethrough that lie in a row adjacent the top [0067] The mechanical hand as disclosed herein , has been
perimeter edge 78 . Looking at FIG . 16 , it can be seen that discussed in association with uses as a prosthetic hand
these metacarpal orifices 77 accommodate the connection of although use in the robotics industry is anticipated with a
the finger digits by alignment with the pivot pin orifices 40 series of operable servo motors controlling the various
in the palm flanges 36 so that a pin 80 with a groove to retain digits . It is envisioned that the control of the individual digits
circlip (or e -clip ) 82 may be inserted into the aligned through the servo motors may be manipulated by a device
orifices. It is known that other mechanical connectors could affixed to the hand of the operator so as to mirror their digit
be optionally used here. Optionally, there may be a flexible , movements .
slightly compressible polymer disc (plain bearing ) placed
between either or both of the palm flanges 36 and the palmar [0068 ] From the disclosure it can be seen that the present
plate 8 to aid and silence pivotal movement of the metacar invention prosthetic hand has a plethora of capabilities not
pals, as well as increase the overall digit flexibility or previously provided in the prior art prosthetic hands. It is
deflection . In this manner of connection , and with the both scalable and scalable proportionately because each of
flexible spacers 14 , the four finger digits can be pivoted as the segments of the digits , the palmer plate , the thumb pivot
a group on the palmar plate 8 . The index metacarpal orifice plate and the wrist are individually sizeable , likewise all
77 has a series of lock orifices 84 arranged radially about it. components of the prosthetic hand distal of the wrist are
These allow the temporary locking of the index digit in a similarly scalable . This allows for individual customization
specific position and relative to the thumb digit 6 and the of geometric configurations tailored to specific use patterns
palmar plate 8 to accomplish a mechanical endeavor. This (ie longer fingers wherever needed . The prosthetic hand can
positioning is accomplished with a mechanicalmember 85 work powered by the body (manual) or a motive source
that passes through the lock orifices 84 and an orifice in the (electricity , hydraulics etc ) under myoelectric signal opera
palmer flange 36 of the index digit metacarpal 24 . (not tion . The hand is crushable since it is capable of having
visible in figures ) flexible and pivotable connections between rigid members
[0063] On the palmar plate 8 there is also a central orifice along the length and width of the hand . It is waterproof
86 that allows the connection of the wrist top bracket 90 and having a lack of sensitive electronics. It has a strong
the thumb rotation plate 10 . The thumb rotation plate 10 lightweight design due to the hollow tubular member design .
( FIG . 14 ) with a central opening 89 and a pair of parallel It is modular wherein individual parts can be replaced for
hinge arms 88 that extend therefrom . The thumb rotation quick repair. It can perform multiple tasks because of its
plate 10 is affixed to the central region of the palmar plate individually adjustable , controlable finger digits . From an
8 by alignment of its central opening 89 with the palmer aesthetics point, it is visually pleasing able to be offered in
plate 's central orifice 86 below , both sandwiched between colors and textured gripable soft resilient digit sleeves. The
the wrist ' s top bracket 90 . The wrist ' s top bracket 90 has an hand can be operated in the voluntary -open or voluntary
orifice that when aligned with the central opening 89 will closed position by simply installing the springs in the digits
accept the insertion of mechanical fastener 101 there in a reverse manner. It will deform before failing thereby
through . In this manner the thumb rotation plate 10 , the giving indication of overload before failure . Its body pow
palmer plate 8 and the wrist top bracket 90 may all pivot ered version will be “ plug and play ” into the existing prior
relative to each other. This mechanical pinning with fastener art sockets allowing patients to have the option of switching
101 is similar to that used to lock the index digit 28 and the out prosthetic hands and not having to relearn how to work
thumb digit 6 . their cable harness again . It offers excellent visibility of
0064 ] Between the parallel hinge arms 88 of the thumb objects grasped due to the separation of finger digits and the
rotation plate 10 is pivotally affixed the thumb pivot flange voided areas of the palm and digits . Finally , the hollow digit
structure allows for ample room to add future internal
12 . This pivot flange 12 has a pair of parallel ears 95 that are components from emerging technology.
substantially similar to the hinge arms 88 . The ears 95 are
located atop each of the hinge arms 88 and at least one [0069 ] Those skilled in the art will appreciate that the
thumb pivot pin 96 inserted therethrough . This may be conception , upon which this disclosure is based ,may readily
accomplished in a fashion similar to that of the digit joints be utilized as a basis for the designing of other structures,
as outlined herein . methods and systems for carrying out the several purposes
[0065 ] There is a torsion coil spring 102 around the thumb of the present invention . It is important, therefore , that the
pivot pin 96 that functions to apply rotational torque claims be regarded as including such equivalent construc
between the thumb rotation plate 10 and the thumb pivot tions insofar as they do not depart from the spirit and scope
flange 12 so as to keep the thumb digit 6 in an open position of the present invention .
relative to the palmer plate 8 . This ensures that as the user Having thus described the invention , what is claimed as
approaches an object to manipulate , the thumb is not initially new and desired to be secured by Letters Patent is as
in the way of the operation . This gives a maximally open follows:
position for grasping .
[0066 ] The wrist top bracket 90 ( FIGS . 4 and 16 ) is 1. A mechanical hand comprising ;
matingly engaged for adjustable lockable pivotal positioning at least two finger digits;
US 2017 /0266020 A1 Sep . 21, 2017
at least one thumb digit assembly housing a thumb digit , 13 . Themechanical hand of claim 12 wherein said pair of
said thumb digit capable of opposable contact with at coupling flanges at said proximal end of said finger meta
least one of said of finger digits ; carpus are pivotally connected to said support means , and
a means for operationally supporting all digits for digital said pair of coupling flanges at said distal end of said finger
movement; metacarpus are hingedly connected to said coupling flanges
a wrist member adjustably connected to said support at said proximal end of said proximal phalange, and said
means; coupling flanges at said distal end of said proximal phalange
wherein said finger and said thumb digit assembly are are hingedly connected to said coupling flanges at said
connected to said support means so as to allow for the proximal end of said middle phalange, and said coupling
crushable movement of said digits . flanges at said distal end of said middle phalange are
2 . The mechanical hand of claim 1 wherein said digits are hingedly connected to said coupling flanges at said proximal
made from a hingeably connected , linear series of separately end of said distal phalange.
scalable elements; said digits capable of independent curling 14 . The mechanical hand of claim 13 further comprising :
or straightening by the action of a tensioned cable passing a series of interchangeable strength , reversible springs
through said scaleable elements . placed around said pivot pins, said springs having
3 . The mechanical hand of claim 1 further comprising a spring legs extending 180 degrees apart from said
flexible spacer operationally disposed between said thumb spring and extending into said tube sections so as to
digit and an adjacent finger digit to aid in said opposable generate a closing or opening profile of said digits
contact. which may be altered by selection of differing strength
4 . The mechanical hand of claim 3 further comprising springs .
flexible spaces between all adjacent digits to enable simul
taneous lateral movement of said digits . 15 . Themechanical hand of claim 10 wherein said finger
5 . The mechanical hand of claim 1 wherein said finger distal phalange and said thumb distal phalange have a
digits have a distal end and a proximal end , said proximal longitudinal axis , a distal end and a proximal end , wherein
end pivotally connected to said support means incorporating at each proximal end there is formed a pair of parallel,
compressible , flexible plain bearings there between . generally planar coupling flanges with pivot pin orifices
6 . The mechanical hand of claim 1 wherein said thumb formed there through .
digit has a linear axis when said thumb digit is fully 16 . The mechanical hand of claim 2 wherein said thumb
extended , said thumb digit rotatable about said axis so as to digit assembly is adjustably, connected to said support
enable adjustable angle opposable contact with at least one means and allows for pivotal motion of said thumb digit .
of said of finger digits . 17 . A mechanical hand comprising;
7 . The mechanical hand of claim 2 wherein said sepa an array of finger digits wherein at least two of said digits
rately scalable elements are tube sections made of varying are capable of opposable contact;
dimensions so as to allow scalability of said digits . a supportmeans for operationally supporting all digits for
8 . The mechanical hand of claim 7 wherein said linear digital movement including curling and extension of
series tube sections of said finger digits consecutively are a said digits ;
distal phalange , a middle phalange , a proximal phalange and wherein at least one of said finger digits pivots in a plane
a finger metacarpus ; and wherein said linear series of tube
sections of said thumb digit consecutively are a distal that resides approximately 90 degrees relative to a
phalange, a proximal phalange and a thumb metacarpus. plane of the curl or extension of the digits.
9 . The mechanical hand of claim 8 wherein said tube 18 . The mechanical hand of claim 17 wherein said finger
sections have a longitudinal axis, a distal end and a proximal digits connect to said support means at a proximal end , and
end , wherein at each end of the said finger middle phalange, pivot from said proximal end .
said finger proximal phalange , said finger metacarpus, said 19 . A mechanical hand comprising;
thumb proximal phalange and said thumb metacarpus there at least two finger digits capable of curl or extension ;
is formed a pair of parallel, generally planar coupling flanges
with pivot pin orifices formed therethrough , and wherein at least one thumb digit assembly housing a thumb digit ,
said coupling flanges of all adjacent tube sections reside said thumb digit capable of opposable contact with at
aligned and connected with a pivot pin for relative motion of least one of said of finger digits ;
said tube sections. a means for operationally supporting all digits for digital
10 . The mechanical hand of claim 9 wherein said tube movement;
sections have a pair of cable guides thereon that guide the a wrist member adjustably connected to said support
cable inside said tube section . means;
11. The mechanical hand of claim 10 wherein all of said wherein at least one of said finger digits pivots in a plane
coupling flanges on said distal phalange , said middle pha that resides approximately 90 degrees relative to a
lange, and said proximal phalange reside parallel to a same plane of the curl or extension of the digits.
plane .
12 . The mechanical hand of claim 11 wherein on said 20 . The mechanical hand of claim 19 wherein said finger
finger metacarpus, said pair ofcoupling flanges at said distal digits connect to said supportmeans at its proximal end , and
end are perpendicular to said pair of coupling flanges at said pivot from said proximal end .
proximal end . * * * * *

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THELAST TA ETA ANTON A TO DA ANLAMLI KATALIN US 20170266020A1

(19 ) United States

" . . -- - - ??????? ?? 128

MECHANICAL PROSTHETIC HAND greater detail, is to provide an improved mechanical hand

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