DEVICE FOR ASSISTING HAND PRINTING OF THE HAND

专利摘要:
The main object of the invention is a device (1) for assistance in gripping the thumb (2) of the hand (3), comprising an orthosis (5) with a recess (12) for the insertion of the thumb (2) delimited by at least one rigid portion (5a) of the orthosis (5), extending around the base (2a) of the thumb (2) and configured to allow movement of the thumb (2) in flexion / extending and limiting the other movements of the thumb (2), an attachment member (6) to be placed around the thumb (2), first (7) and second (8) flexible connecting elements connecting the first portion (5). ) to the second part (6), each having a first end (7a, 8a) fixed on the second part (6), the first end (7a) of the first flexible connecting element (7) being fixed on the outer face ( 2nd) of the thumb (2) and the first end (8a) of the second flexible connecting element (8) being fixed on the inner face (2i) of the thumb (2), at least one actuator (10, 11), fixed on the first part (5), comprising at least one rotation shaft (10a, 11a) for actuating the first (7) and second (8) flexible connecting elements by winding / unfolding the first (7). ) and second (8) flexible connecting elements for respectively allowing the extension and the deflection of the thumb (2), and at least one guide member (13, 14), located on the first part (5), to constrain the routing each of the first (7) and second (8) flexible connecting elements between their first (7a, 8a) and second (7b, 8b) ends, the second flexible connecting element (8) extending at least in part substantially along the base (2a) of the thumb (2) so as to leave the palm (9) of the hand (3) free.
公开号:FR3024030A1
申请号:FR1457194
申请日:2014-07-25
公开日:2016-01-29
发明作者:Nicolas Tarrin；Arthur Tremeau
申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
IPC主号:

专利说明:

[0001] TECHNICAL FIELD The present invention relates to the general field of apparatus designed to allow assistance in gripping, or even restitution of the gripping capacity, for persons presenting with a patient. a handicap affecting the grasping functions of the hand, and in particular the grasping performed between the thumb and the index finger. She is particularly interested in the field of such devices using robotics techniques. More specifically, the invention is concerned with the field of hand orthoses, able to compensate for deficit functions of the hand to allow movement of the fingers, and in particular of the thumb towards the index. The invention finds multiple applications for persons suffering from a hand handicap, temporary or permanent. It can in particular be applied to cases of paralysis of the tetraplegia or hemiplegia type, or in the context of rehabilitation after a stroke or cerebral palsy (cerebral palsy). The invention thus proposes a device for assisting the gripping of the thumb of a handicapped person's hand, an assembly comprising such a device and a positioning pedestal allowing in particular the setting up or removal of the device, as well as a method of using such a device. STATE OF THE PRIOR ART Several factors can be at the origin of the appearance of a handicap on the hand of a person, affecting the gripping functions thereof. Such a handicap can for example occur as a result of the loss of the mobility function of his wrist and / or his fingers, including the thumb. People with disabilities can then have a poor grip capacity in their hand, insufficiently effective, or even completely ineffective. It is therefore desirable to be able to assist them with the design of specific equipment provided for at least partially recovering the lost grip functions of the hand. Several solutions have already been contemplated in the prior art to allow restitution of at least a portion of the lost hand grasping functions of a handicapped person. Most of these solutions involve the use of hand orthoses, which are attached to the hand, wrist and / or forearm to provide support and / or support. assist the movement of a limb, and in particular one or more fingers of the hand. For example, US Pat. No. 4,875,469 A describes the attachment of an electrical box to the inside of the forearm from which four traction / extension rods connected to the ends of the arm index, middle finger, ring finger and little finger of the hand; European Patent Application EP 2 417 941 A1 discloses the use of a glove threaded on the hand and the handle of a disabled person, comprising linear elements extending along the five fingers and the back of the hand to a control device on the forearm, so as to allow the grasping of an object in the palm of the hand; International Application WO 2011/117901 A1 which discloses another embodiment of a pull-on orthosis on the wrist and forearm of a handicapped person and having actuating rods between the ends of the fingers and a device for actuation on the outer side of the forearm. The invention is, however, particularly concerned with the gripping movement of the hand which consists in moving the thumb towards the index finger so that it comes into contact with the face of the index finger opposite the thumb. , and in particular in contact with the middle phalange (P2) of the index. Such a gripping movement is known by the name of "key grip" in English, that is to say "key entry", or even "key pinch" in English, in other words "pinch a key" .
[0002] 3024030 3 Figure 1 illustrates such a natural grip of the hand type "key grip". The thumb 2 of the hand 3 is resting on the average phalanx 4a of the index finger 4 to allow the gripping of a key K. In order to allow the realization of such a gripping movement between the thumb and the index finger in the hand of a handicapped person, solutions have also been described in the prior art. Thus, for example, the international application WO 2013/036925 A2 discloses an orthosis for the actuation of the thumb. The orthosis is placed on the hand, wrist and forearm of the handicapped person, and includes a control device associated with a user interface for controlling the movement of the thumb with the aid of an actuator. The orthosis allows the movement of the trapezio-metacarpal joint (TMC) of the handicapped person's hand. In addition, the management of the operation of the orthosis is done through the presence of sensors of muscle activity. Furthermore, the international application WO 2008/027002 A1 discloses a glove 15 threaded on the fingers of the hand of a disabled person, incorporating cables extending on the palm of the hand and connected to the fingers, whose actuation allows restitution of grasping functions of the hand. The cables are particularly similar to artificial tendons placed in guide ducts. They are connected to an electrical control device which makes it possible to exert a traction or an extension of these cables to allow reinforcement of the grip of an object. In addition, the international application WO 2006/137748 A1 teaches the realization of a mechanical orthosis intended to allow the restitution of the movement of the thumb towards the index of the hand for the seizure of an object. A cable, extending along the palm of the hand, connects a ring placed around the thumb and a mechanical control device placed on the inside of the forearm. The mechanical control device comprises a control pad which is placed in different notches depending on the desired force for gripping the thumb. According to one variant, the orthosis may comprise an electrical control device comprising an actuation button to enable the disabled person to exert traction of the cable connected to the thumb and to the electrical control device.
[0003] Nevertheless, devices known in the prior art for assisting the movement of the thumb of the hand for gripping an object are not entirely satisfactory. They have a number of disadvantages and do not meet the needs of persons with disabilities who have a hand grip disability. Indeed, most of these devices is not designed to release the inside of the hand, including the palm of the hand. However, this can be an inconvenience when gripping an object and also complicate the use of the palm of the hand to push a wheelchair, for example. Moreover, these devices do not generally make it possible to immobilize the fingers, and in particular to block the trapezo-metacarpal joint (TMC) and the distal interphalangeal joint (IPD), which may be at the origin of a difficulty of achieving a correct movement of the thumb to the index finger of the hand. Moreover, the majority of these devices are not suitable in terms of simplicity of implementation and use, cost of production and overall size around the hand of the disabled person. SUMMARY OF THE INVENTION There is therefore a need to provide an alternative device of the orthosis type, allowing assistance in gripping the thumb of the hand. The object of the invention is to at least partially overcome the above-mentioned needs and drawbacks relating to the embodiments of the prior art. The invention thus has, according to one of its aspects, a device for assisting the grasping of the thumb of the hand, comprising at least: a first part forming an orthesis of the hand, comprising a recess for the insertion of the thumb, this recess being delimited by at least a rigid portion of the first portion, which extends at least partially substantially around the base of the thumb and which is configured to allow movement of the thumb in flexion / extension and limiting the other movements of the thumb, - a second portion forming a fastener element to be placed around the thumb, first and second flexible connection elements connecting the first portion to the second portion, each having a fixed first end on the second part, the first end of the first flexible connecting element being fixed on the outer face of the thumb, facing away from the palm of the hand, and the first e 5 end of the second flexible connecting element being fixed on the inner face of the thumb, oriented towards the palm of the hand, - at least one actuator, fixed on the first part, comprising at least one rotation shaft for the actuation of first and second flexible connection elements by winding / unwinding of the first and second flexible connecting elements around said at least one rotation shaft to respectively allow the extension of the thumb, for example away from the index finger of the hand or the palm of the hand, and the bending of the thumb, for example towards the index finger of the hand or the palm of the hand, the first and second flexible connecting elements each having a second end fixed on said at least one rotating shaft said at least one actuator, - at least one guide member, located on the first part, for constraining the tracking of each of the first and second flexible elements connecting the first and second ends thereof, the second flexible connecting element extending at least in part substantially along the base of the thumb, between the palm of the hand and the proximal phalanx of the thumb, so as to leave the palm of the free hand. Throughout the description, the term "palm" also refers to the metacarpal of the hand. In addition, "base" of the thumb means the proximal end of the thumb, or more precisely the proximal end of the proximal phalanx (P1) of the thumb. Furthermore, by "configured to allow movement of the thumb in flexion / extension and to limit other movements of the thumb" is meant that said at least one rigid portion of the first portion is capable of locking the trapezoid joint. metacarpal (TMC) and leave free the metacarpophalangeal joint (MCP). In this way, a guide can be provided in flexion / extension, especially 3024030 6 thumb to the index, the other degrees of freedom being blocked. In other words, the movement of the thumb can in particular be essentially possible in a plane substantially perpendicular to the longitudinal axis of the thumb, containing the thumb.
[0004] Thanks to the invention, it may be possible to provide a grip aid, or even to restore the grip capacity of the thumb of the hand of a disabled person against the index finger. The device according to the invention can allow maximum clearance of the inside of the hand, including the palm of the hand and the lower part of the forearm, thus facilitating the use of this inner part for other features, and for example to act on the wheel of a wheelchair. In addition, the actuation of the movement of the thumb can be simplified to the extent that the device can allow blockage of the trapezio-metacarpal (TMC) and distal interphalangeal (IPD) joints. The device according to the invention may further comprise one or more of the following characteristics taken separately or in any possible technical combinations. The actuator (s) may include one or more geared motors. Said at least one rigid portion of the first portion may be configured to allow only thumb movement in flexion / extension, particularly towards the index. The device according to the invention can allow the articular or muscular assistance of the thumb, so that it can move in the direction of the index, and in particular so as to come into contact with the face of the index located opposite thumb. The device according to the invention can be used for the rehabilitation of the movement of the thumb to the index finger, but preferably for functional replacement to the thumb gripping functions in the event of partial or total loss of the mobility capacity of the thumb. 'a disabled person. Advantageously, the device according to the invention does not include a sensor to enable its operation. In particular, it may be devoid of a torque, force, pressure or speed sensor.
[0005] The constituent elements of the device according to the invention may be designed, especially dimensioned, so as to prevent any injury to the disabled person. In particular, the tensile force exerted by the actuator (s) on the first flexible element or the second flexible connecting element may be limited so as not to cause the inversion of the thumb. Advantageously, the second flexible connecting element has a curvature configured to substantially conform to the contour of the base of the thumb, between the palm of the hand and the proximal phalanx of the thumb. The first end of the first flexible connecting element and the first end of the second flexible connecting element may advantageously be fixed on the thumb substantially diametrically opposite. The second part forming the attachment element advantageously extends over the distal phalanx (P2) and the proximal phalanx (P1) of the thumb. The first part preferably comprises fastening means to allow its attachment to the hand, and possibly the wrist and / or the forearm. Such attachment means may for example extend all around a portion of the hand, and possibly the wrist and / or the forearm. They may for example be in the form of self-gripping fastening strips, including the Velcro type. These attachment means may for example extend around the palm and the back of the hand and / or around the wrist of the hand. The first part forming the orthosis of the hand can be made of a thermoformable material. The first part may include a holding plate in the position of the hand and / or wrist. It can be custom-made for the disabled person to use the device according to the invention. The first part can provide comfort and adaptability to the disabled person. According to one embodiment, the first part forming the orthosis of the hand can advantageously be designed to maintain a functional position of the wrist of the disabled person, in particular provided so that the disabled person can position his thumb in opposite to his index finger, or in front of the palm of his hand, so as to be able to seize an object. For example, the first portion forming the orthosis may be provided to hold the wrist in a position so as to have a natural thumb approach towards the index finger. The first part forming the orthosis of the hand can in particular be configured to maintain the wrist in extended position, with an extension angle of between 10 and 30 °, preferably of the order of 20 °. The extension of the wrist corresponds to a dorsal flexion of the wrist. It marks the movement of the wrist towards the outside of the forearm. It is thus opposed to the flexion of the wrist, or palmar flexion. The extension angle is defined substantially by the angle between the longitudinal direction of the arm of the handicapped person and the direction of the metacarpal of the hand, measured in a plane perpendicular to the lateral plane of the hand. The use of such an orthosis of the hand to maintain a wrist extension position can particularly find its usefulness for people with disabilities suffering from an inability to move their wrist.
[0006] The first portion forming the orthosis of the hand may further be configured to maintain the wrist in the adduction position. The adduction position may be light, and for example be characterized by an angle of adduction less than 5 °. This adduction angle is defined substantially by the angle between the longitudinal direction of the arm of the handicapped person and the direction of the metacarpal of the hand, measured in the lateral plane of the hand. The position of adduction corresponds to an ulnar inclination qualifying a movement of laterality of the wrist approaching the median plane of the body. It opposes the abduction relating to a radial inclination. Advantageously, the use of a first portion forming the orthosis of the hand capable of providing a locking in the extended position and in the adduction position of the wrist can facilitate the movement of the thumb towards the index finger. , or towards the palm of the hand, for the handicapped person. More particularly, the first part can thus ensure a locking of the trapezo-metacarpal joint (TMC) and leave free the metacarpophalangeal joint (MCP), so that the thumb is only guided in flexion / extension, in particular towards the index or the palm of the hand, the other degrees of freedom being blocked. According to yet another embodiment, the first part forming the orthosis of the hand may allow freedom of movement of the wrist.
[0007] In particular, the first part forming the orthosis of the hand can extend only on the hand so as to allow any movement of the wrist. This embodiment may especially be useful for a disabled person who has kept the freedom of movement of his wrist. On the other hand, the first and second flexible connecting members may be flexible wires. These flexible son may for example be protected by guide sleeves, for example made of polytetrafluoroethylene (PTFE) or Teflon. They can allow an anthropomorphic reproduction of the actuation of the hand. In particular, they can be likened to anthropomorphic tendons. In addition, the flexible wires, and any guiding sheaths surrounding them, may be provided so as to minimize the friction of the son during their movements to allow the extension or the deflection of the thumb. In particular, the flexible wires may be arranged to extend substantially linearly, with a reduced or zero number of curvatures.
[0008] Furthermore, the flexible connecting elements can be flexible and light, and in particular designed to break under a certain force applied to them, especially beyond a load of about 8 kg, this load being adapted to each case. The mechanical breaking of the flexible connecting elements beyond this value can help to protect the hand from too much traction, for example.
[0009] The second portion forming a fastener element to be placed around the thumb may be in the form of a ring. Fixing the first and second flexible connecting elements on this second part can be performed so as to substantially immobilize the distal interphalangeal joint (IPD) of the thumb in slight flexion. Thus, it may be possible to achieve a certain distribution of pressure on the thumb to limit or even prevent the occurrence of pressure ulcers.
[0010] The second portion forming a fastener element to be placed around the thumb may be in the form of a continuous piece disposed around the thumb. The first and second flexible connecting elements are attached to the second part, possibly reversibly. The fact that the first and second flexible connecting elements of the second part can be easily detached makes it easy to remove an assembly comprising the first part and the flexible connection elements. Each flexible connecting element is attached to the second part by an attachment point. The attachment points associated respectively with the first flexible connecting element 10 and the second flexible connecting element are preferably diametrically opposed. The attachment point associated with the first flexible connecting element is able to be disposed on the outer face of the thumb, while the attachment point associated with the second flexible connecting element is adapted to be disposed on the inner face of the thumb, that is, adjacent to the palm of the hand.
[0011] The continuous part forming the second part may for example be made of a thermoformable material. It may comprise a plurality of orifices allowing aeration in contact with the thumb. Alternatively, the second portion forming a fastener to be placed around the thumb may be in the form of at least two rings extending around the thumb, including a first ring extending all around the thumb. the distal phalanx (P2) of the thumb and a second ring extending all around the proximal phalanx (P1) of the thumb. The first and second rings may be made of fabric, for example thermoformable fabric.
[0012] The fixing of the first and second flexible connecting elements can be carried out on the first ring, while the second ring can make it possible to guide, for example by means of a guide means present on the second ring, flexible connecting elements so that they are held closer to the thumb.
[0013] Advantageously, the use of a second fastener portion in the form of at least two separate rings may allow greater force to be exerted than by the use of a continuous piece. Said at least one guide member may be in the form of an insert on the first part forming the orthosis of the hand, in the form of a passage bridge under which are positioned the first and second flexible elements link to help guide and constrain their journey. The device may also comprise at least one housing for fixing said at least one actuator on the first part forming the orthosis of the hand, in which at least one actuator is at least partially introduced. As indicated above, the actuator may comprise one or more geared motors, in particular electric geared motors. The electric gearmotor (s) of the device according to the invention may be designed so as to be able to generate, on the first and / or second flexible connecting elements, a traction force necessary and sufficient to move the thumb, without, however, generating a risk of injury to the thumb. The intensity of this force is, for example, less than 20 N. They may for example correspond to DC electric motors of the Maxon® type, for example of diameter equal to 6 mm and of power equal to 0.3 W. can also be used with a reducer.
[0014] The housing (s) for fixing the actuator (s) may comprise orifices to allow their attachment, for example by screws, to the first part forming the orthosis of the hand. Advantageously, the one or more fixing housings are disposed on said first part, adjacent to the outer face of the hand. By "outer face 25 of the hand" is meant the opposite face to the palm of the hand, ie the back of the hand. Having the mounting housings adjacent to this outer face releases the palm of the hand of any bulky item. In general, the first part has an upper section, adjacent to the outer face of the hand, and, at the level of the recess allowing the thumb to pass, a lower section 3024030 adjacent to the palm of the hand . It is important that the housings are disposed on said upper portion. The fixing case or cases may for example be made of brass. Advantageously, the use of brass may make it possible to limit the friction between the rotation shaft of the actuator and the fixing casing. Each fixing housing can be fixed on the first part by a fixing means, for example screws. The fixing means is preferably reversible. In particular, they may be Velcro type strips. Indeed, it has emerged that this type of adhesive has a sufficient resistance to shear. The use of such reversible adhesive strips, or their equivalents, allows the easy removal of the housings, which facilitates the cleaning of the first part. In such a case, the first and second flexible connecting elements are detachable either from the first part or, preferably, from the second part as already indicated. The fixing casing (s) may allow mechanical reinforcement of the actuator (s). In particular, they can prevent the rotation shafts of the actuators from bending during the winding / unfolding of the flexible connecting elements. To do this, said at least one fixing housing may in particular comprise a reinforcing shell provided with a contact orifice in which the rotation shaft of said at least one actuator is inserted. Thus, the radial forces that can be exerted on the rotating shaft (s) of the actuator (s) can be compensated by the contact orifice of the reinforcing shell. The reinforcing shell may include a lateral passage opening for the first and / or second flexible connecting elements. The lateral passage opening of the reinforcing shell may be formed on the lateral part of the shell, so as to allow a tangential positioning of the first and / or second flexible connecting elements with respect to the rotation shaft of said least one actuator. The positioning of the actuator (s) on the first portion may be such that the first and second flexible connecting members extend substantially perpendicularly to the rotation shaft (s) of the actuator (s). The winding / unfolding of the first and second flexible connecting elements is advantageously achieved by the rotation shaft of the actuator (s). The fixing of the flexible connecting elements on the rotation shaft of the actuator (s) may for example be achieved by the use of a washer, for example made of aluminum, placed on the rotation shaft, which makes it possible to maximize the force for a given engine torque. Furthermore, the device according to the invention may comprise a first actuator and a second actuator, fixed on the first part, in particular at the forearm and / or the hand, respectively comprising first and second shafts. rotation, respectively for the actuation of the first and second flexible connecting elements, the rotation shafts of the first and second actuators extending notably substantially parallel and / or perpendicular.
[0015] Alternatively, the device according to the invention may comprise a single actuator, fixed on the first part, comprising a single rotation shaft having at least a first portion and a second portion of different diameters, the first portion having in particular a larger diameter. the diameter of the second portion, one of the first and second flexible connecting elements, in particular the first flexible connecting element, being fixed on the first portion of the rotation shaft and the other of the first and second flexible elements connecting, in particular the second flexible connecting element, being fixed on the second portion of the rotation shaft, the first and second flexible connecting elements being wound on the first and second portions of the rotation shaft in directions of rotation. 25 different rotation, so that the winding of one causes the unfolding of the other, and vice versa. In this way, the first and second flexible connecting members can be mounted relative to the actuator rotation shaft in a "crossed" manner. The difference in winding length between the first and second flexible connecting elements is a few centimeters. For example, the length of the second flexible connecting element is of the order of 5 cm while the length of the first flexible connecting element is of the order of 7 cm. This difference in winding length can thus be managed by the difference in the diameters between the first and second portions of the rotation shaft. The upper diameter of the first portion 5 may for example be obtained by adding a pulley on the rotation shaft of the actuator at which is wound the first flexible connecting element. According to this variant, the invention can therefore make it possible to obtain a winding of the flexible flexor connection element and of the flexible extender connecting element 10 in opposite directions of rotation on the same rotation shaft of an actuator. thanks to the use of different diameters of the rotation shaft. As a further variant, the device may comprise a single actuator, fixed on the first part, possibly formed by the juxtaposition and the assembly of two distinct actuators, comprising a first rotation shaft and a second rotation shaft for respectively actuating first and second flexible connecting elements, the first and second rotation shafts extending substantially parallel to each other, the device comprising a deflection element, in particular in the form of a pulley, fixed on the first part, to allow to constrain the path of the first flexible connecting element of an elongation substantially perpendicular to the first rotation shaft to an elongation substantially parallel to the first rotational shaft in the direction of the second part forming a fastening element. The device may further include an onboard power source. The power source may for example comprise a rechargeable battery, for example via the supply source of the positioning base described below. The device may also include an electronic control system to enable control of the operation of the device. The electronic control system may for example be an integrated circuit, for example that known as Arduino Nano.
[0016] In addition, the device may comprise a user interface element to enable a disabled person to act on the device, in particular by means of control pushbuttons. The user interface element may for example be located on the forearm 5 of the disabled person. The invention further relates, in another of its aspects, to an assembly comprising: a device as defined above, and a positioning base for receiving the device in case of non-use for gripping assistance of the thumb of the hand. The positioning base may comprise fixing means to a support on which it is placed, for example a table. These fixing means may for example comprise adhesive fixing suction cups. Advantageously, the positioning base may allow the disabled person to facilitate donning and removal of the device by itself. The positioning base may comprise at least two threading tabs, able to come into contact with the second part on either side thereof and to allow the position of the second part to be maintained when a handicapped person introduces his thumb in the second part.
[0017] The positioning base may also comprise at least two tear-off tabs, able to come into contact with the second part on either side of the latter and to retain the second part on the positioning base when a disabled person removes his thumb from the second part. Said at least two threading tabs and two tear-off tabs may be designed to fit the dimensions of the second part of the device according to the invention. The second part of the device may also include a lug adapted to be threaded between said at least two threading tabs and two tear tabs.
[0018] Furthermore, the positioning base may include a power source capable of allowing a reloading of the device when it is in place on the positioning base. The invention further relates, in another of its aspects, to a method of using a device as defined above or to an assembly as defined above, in which a handicapped person performs a movement movement. from the thumb of the hand to the index finger or the palm of the hand, or vice versa, through the winding / unfolding of the first and second flexible connecting elements around said at least one rotation shaft of said at least one actuator.
[0019] The method may also include the step of the disabled person threading the device placed on the positioning pedestal of the assembly by inserting the hand into the first part of the device and the thumb into the second part of the device, and or removes the device by positioning it on the positioning base and removing the thumb from the second portion and the hand from the first portion. The device, the assembly and the method of use according to the invention may comprise any of the features set forth in the description, taken individually or in any technically possible combination with other characteristics.
[0020] BRIEF DESCRIPTION OF THE DRAWINGS The invention will be better understood on reading the detailed description which will follow, non-limiting examples of implementation thereof, as well as the examination of the figures, schematic and partial. of the accompanying drawings, in which: FIG. 1 illustrates a natural gripping movement of the "key grip" type hand, to allow grasping between the thumb and the index finger of the hand of a key-type object; - Figure 2 illustrates, in perspective, a first embodiment of a device for assisting the grasping of the thumb of the hand according to the invention, placed on the forearm, wrist and hand 3 illustrates, in perspective, the device of FIG. 2 in a non-use configuration, FIGS. 4 and 5 illustrate the device of FIG. 2 according to different angles of view allowing see the palm of the hand, 5 - Figure 6 illustrates, in rspective, a second exemplary embodiment of a device for assisting the grasping of the thumb of the hand according to the invention, placed on the wrist and the hand of a handicapped person, - FIGS. 7 and 8 illustrate the FIG. 6 is a device according to different viewing angles for respectively viewing the palm and the back of the hand; FIG. 9 illustrates an alternative embodiment of the second part forming an attachment element of a device for assisting with the grasping of the thumb of the hand according to the invention; FIG. 10 illustrates an example of an assembly comprising a device for assisting the grasping of the thumb of the hand according to the invention and a base for FIG. 11 is a top view of a detail of the first part of the device of FIG. 2, FIGS. 12A and 12B illustrate, respectively in front view and side view, a variant of FIG. of realization n of a rotation shaft of an actuator of a device 20 for assisting the gripping of the thumb of the hand according to the invention, and - FIG. 13 illustrates, in view from above, another variant of embodiment of an actuator of a device for assisting the grasping of the thumb of the hand according to the invention. In all of these figures, identical references may designate identical or similar elements. In addition, the different parts shown in the figures are not necessarily in a uniform scale, to make the figures more readable.
[0021] DETAILED DESCRIPTION OF PARTICULAR EMBODIMENTS FIG. 1 has already been described in the section relating to the state of the prior art. Referring to Figures 2 to 5, there is illustrated, in perspective, a first embodiment of a device 1 for assistance in gripping the thumb 2 of the hand 3 according to the invention. More specifically, Figure 2 illustrates the device 1 placed on the forearm 15, the wrist 16 and the hand 3 of a disabled person. FIG. 3 illustrates the device 1 in a non-use configuration, and FIGS. 4 and 5 illustrate the device 1 according to different viewing angles making it possible to see the palm 9 of the hand 3. The device 1 thus comprises a first part 5 forming an orthosis of the hand 3 and a second portion 6 forming a fastening element to be placed around the thumb 2. The orthosis 5 has a recess 12 for the insertion of the thumb 2. This recess 12 is delimited by a rigid portion 5a of the orthosis 5 which, in this example, extends around the base 2a of the thumb 2 and which is configured to allow only the movement of the thumb 2 flexion / extension towards the index 4. L orthosis 5 further comprises two self-gripping fastening strips 32 of the Velcro type to enable the device 1 to be secured to the hand 3, to the wrist 16 and to the forearm 15 of the handicapped person, in particular of the Velcro type . These two Velcro strips 32 extend respectively around the palm 9 and the back 17 of the hand 3 and around the wrist 16 of the hand 3. Moreover, in this example and in those which follow, the orthosis is presented under the shape of a holding plate made of a thermoformable material. It is also made to measure for the disabled person. The fastening element 6 is placed around the thumb 2. It advantageously extends on the distal phalanx (P2) and the proximal phalanx (P1) of the thumb 2. Moreover, the device 1 comprises first 7 and second 8 flexible connecting elements, in the form of flexible wires 7 and 8, connecting the orthosis 5 to the fastening element 6. These flexible wires 7 and 8 are protected by polytetrafluoroethylene guide sleeves ( PTFE), and allow anthropomorphic reproduction of the actuation of the hand 3. The flexible son of extension 7 and bending 8 each comprise a first end 7a and 8a fixed on the fastening element 6 diametrically opposite . The first end 7a of the first flexible connecting element 7 is fixed on the outer face 2e of the thumb 2, via the fastening element 6. The outer face 2 of the thumb 2 is oriented opposite the palm 9 of the hand 3. The first end 8a of the second flexible connecting wire 8 is fixed on the inner face 2i of the thumb 2, facing the palm 9 of the hand 3. In addition, the device 1 comprises two actuators 10 and 11 fixed on the orthosis 5. The first 7 and second 8 flexible son each comprise a second end 7b, 8b fixed respectively on the rotation shafts 10a and 11a of the two actuators 10 and 11. Each actuator 10, 11 comprises a rotation shaft 10a, 11a for actuating the first 7 and second 8 flexible son by winding / unwinding the first 7 and second 8 flexible son around the corresponding rotation shaft 10a, 11a. In this way, the first 7 and second 8 flexible threads respectively allow the extension of the thumb 2 away from the index 4 of the hand 3 and the deflection of the thumb 2 towards the index finger 4 of the hand 3. , the rotation shafts 10a, 11a of the first 10 and second 11 actuators extend substantially parallel, which allows to gain compactness. The device 1 also comprises two guide members 13 and 14, located on the orthosis 5, to constrain the path of each of the first 7 and second 8 flexible son between their first 7a, 8a and their second 7b, 8b ends. The guide members 13 and 14 are in the form of inserts forming passage bridges under which are positioned the first 7 and second 8 flexible son to allow to guide and constrain their path.
[0022] In addition, advantageously, the second flexible wire 8 extends in part substantially along the base 2a of the thumb 2, between the palm 9 of the hand 3 and the proximal phalanx 2b of the thumb 2, so that leave the palm 9 of the hand 3 free. In this first embodiment of device 1 according to the invention 5 of Figures 2 to 5, the orthosis 5 is provided to confer a natural positioning of the wrist 15 to perform the movement of the type "key grip" by approximation from the thumb 2 to the index 4. Thus, as can be seen in FIG. 4, the orthosis 5 is configured to hold the wrist 16 in the extended position with an extension angle α of the order of 10 20 °. The extension of the wrist 15 corresponds to a dorsal flexion of the wrist 15. The use of such an orthosis 5 allowing the wrist 15 to be held in the extended position is useful for disabled persons suffering from an incapacity to move their wrist. wrist 15. In addition, the orthosis 5 is configured to maintain the wrist 16 in the adduction position. This embodiment thus makes it possible to ensure a locking in the extended position and in the adduction position of the wrist 15 facilitating the movement of the thumb 2 towards the index finger 4 for the handicapped person. More particularly, the orthosis 5 ensures a locking of the trapezio-metacarpal joint (TMC) and leave free the metacarpophalangeal joint (MCP). In addition, the device 1 also comprises an onboard power supply 28 comprising a rechargeable battery via the power source 27 of the positioning base 23 described below. It also includes an electronic control system 29 for controlling the operation of the device 1, and a user interface element 30 for enabling a disabled person to operate on the device 1 via control push buttons. 31. This user interface element is for example intended to be located on the forearm of the disabled person.
[0023] Furthermore, with reference to FIGS. 6 to 8, a second exemplary embodiment of a device 1 for assisting gripping of the thumb 2 of the hand 3 in accordance with the invention has been illustrated in perspective. More precisely, FIG. 6 illustrates the device 1 placed on the hand 3 of a handicapped person, and FIGS. 7 and 8 illustrate the device 1 according to different viewing angles allowing to see the palm 9 and the back 17 respectively. 3. In this second embodiment, the orthosis 5 of the hand 3 extends only on the hand 3 so as to allow any movement of the wrist 16. In this way, if the disabled person does not suffer from an incapacity of movement of her wrist 16, she can preserve all freedom in the way of moving it. In this case, the actuators 10 and 11 are then placed on the orthosis 5, at the level of the hand 3. In addition, the orthosis 5 comprises attachment means 32 in the form of a single self-gripping tape 32 to allow it to be secured to the hand 3, extending around the wrist 16. In this second example also, the rotation shafts 10a, 11a of the first 10 and second 11 actuators extend substantially perpendicularly. In the first and second examples of Figures 1 to 5 and 6 to 8, the fastening element 6 is in the form of a continuous piece, arranged all around the thumb 2. This part is made of a thermo material -formable and has a plurality of orifices for aeration in contact with the thumb 2. The orthosis 5 can also be performed in a similar manner. FIG. 9 illustrates an alternative embodiment of the fastening element 6 of a device 1 according to the invention, for example of the type of FIG. 2 or the type of FIG. 6. According to this variant, the fastening element 6 is in the form of a first ring 6a extending around the distal phalanx (P2) of the thumb 2 and a second ring 6b extending around the proximal phalanx P1 of the thumb 2. These first 6a and second 6b rings are made of thermoformable fabric.
[0024] The fixing of the first 7 and second 8 flexible wires is carried out on the first ring 6a, while the second ring 6b makes it possible to guide the flexible wires 7 and 8 so that they are held in contact with the thumb 2 With reference to FIG. 10, an exemplary assembly 24 comprising a device 1 according to the invention, for example of the type of FIG. 2 or of FIG. 6, and a positioning base 23 are illustrated. The positioning base 23 is intended to receive the device 1 in case of non-use for assisting the gripping of the thumb 2 of the hand 3. Advantageously, the positioning base 23 enables the person 10 with a disability to facilitate threading and removal of the device 1 by itself. It comprises at least four tabs, including at least two threading tabs 25, adapted to come into contact with the fastening element 6 on either side of the latter and to allow this element to be held in position. 6 when a person with a disability places a thumb into the person.
[0025] It also comprises at least two tear-off tabs 26, able to come into contact with the fastening element 6 on either side of the latter and to retain the fastening element 6 on the base plate. positioning 23 when a disabled person removes his thumb from it. Although not shown, the fastening element 6 could comprise a lug 20 adapted to be threaded between the threading tabs 25 and the tear-off tabs. Moreover, the positioning base 23 comprises a feed source. 27 able to allow a reloading of the device 1 when it is in place on the positioning base23. FIG. 11 further shows, in plan view, a detail of the first part 5 of the device 1 of FIG. 2. As can be seen more easily in this FIG. 11, the device 1 comprises two fixing housings. 10b and 11b, made of brass, of the two actuators 10 and 11 on the orthosis 5, in which the actuators 10 and 11 are respectively partially introduced.
[0026] Advantageously, the two fixing housings 10b and 11b are arranged on the orthosis 5 adjacent to the back 17 of the hand 3. Indeed, the fact of arranging the fixing housings 10b and 11b adjacent to the back 17 of the hand 3 allows to release the palm 9 of the hand 3 of any bulky item. In general, the orthosis 5 has an upper section, adjacent to the back 17 of the hand 3, and a lower section, at the recess 12 allowing the thumb 2 to pass, and it is important that the housings 10b and 11b are arranged on this upper section. These fixing housings 10b and 11b have holes for fixing them with screws on the orthosis 5. They allow mechanical reinforcement of the actuators 10 and 11 and can prevent twisting of the rotation shafts 10a and 11a. Indeed, at least one of the fixing housings 10b and 11b, here the housing 10b, comprises a reinforcing shell 10c provided with a contact opening 19 in which the rotation shaft 10a is inserted. Thus, the radial forces that can be exerted on the rotation shaft 10a are compensated by the contact opening 19 of the reinforcing shell 10c.
[0027] Furthermore, this reinforcing shell 10c also includes a lateral passage opening 20 for the first flexible wire 7. This lateral passage orifice 20 allows a tangential positioning of the first flexible wire 7 relative to the rotation shaft 10a. In the first and second exemplary embodiments of a device 1 according to the invention according to FIGS. 2 and 6, the use of two separate actuators 10 and 11 placed on the orthosis 5 of the hand 3 has been envisaged. However, it is also possible to envisage the use of a single actuator 10. Thus, FIGS. 12A and 12B illustrate, respectively in front view and in side view, a variant embodiment of a rotation shaft. 10a for an actuator 10 of a device 1 according to the invention. The rotation shaft 10a has a first portion 21a and a second portion 21b of different diameters. In particular, the first portion 21a has a diameter Da greater than the diameter Db of the second portion 21b. In addition, the first flexible wire 7 is fixed on the first portion 21a of the rotation shaft 10a, and the second flexible wire 8 is fixed on the second portion 21b of the rotation shaft 10a, the first 7 and second 8 flexible wires being wound on the first 21a and second 21b portions in different directions of rotation, so that the winding of one causes the unwinding of the other, and vice versa. In this way, the first 7 and second 8 flexible connection wires can be mounted relative to the rotation shaft 10a in a "crossed" manner. According to this variant, it is therefore possible to obtain a winding of the flexor wire 8 and the expander wire 7 in opposite directions of rotation on the same rotation shaft 10a of an actuator 10. Furthermore, FIG. seen from above, another variant embodiment of a single actuator 10 for a device 1 according to the invention. According to this variant, the device 1 comprises a single actuator 10, fixed on the orthosis 5, possibly formed by the juxtaposition and the coupling of two separate actuators. This actuator 10 includes a first rotation shaft 10a and a second rotation shaft 11a for respectively actuating the first 7 and second 8 flexible wires. These first 10a and second 11a rotation shafts extend substantially parallel to each other. In order to allow the flexible wire 7 to travel to the fastening element 6, the device 1 comprises a deflection pulley 22, fixed on the orthosis 5, to make it possible to constrain the path of the first flexible wire 7 an elongation substantially perpendicular to the first rotation shaft 10a to an elongation substantially parallel to the first rotation shaft 10a towards the fastening element 6.
[0028] For the use of a device 1 according to the invention, a disabled person can perform a movement of movement of the thumb 2 of the hand 3 towards the index 4, or vice versa, through the winding and / or unfolding of the first 7 and second 8 flexible connection wires around the or rotation shafts 10a and 10b of the actuator (s) 10 and 11.
[0029] The positioning base 23 of the assembly 24 described with reference to FIG. 10 can be used in the following manner. To put the device 1, it is placed on the base 23 and the disabled person passes his thumb 2 in the orthosis 5 by the recess 12, then in the fastening part 6. The threading tabs 25 allow then resist the push. The handicapped person then raises the device 1 to remove it from the base 23, and closes the fastening strip 32 of the Velcro type. To remove the device 1, the disabled person places it on the base 23 which holds the fastening element 6. It removes the fastening strips 32 of the Velcro type, and removes its thumb 2 from the fastening element 6 then the orthosis 5. The tear tabs 26 can retain the fastener 6 during these operations. The installation of the device 1 on the base 23 also makes it possible to recharge the on-board power supply 28 of the device 1. Of course, the invention is not limited to the embodiments that have just been described. Various modifications may be made by the skilled person. The expression "having one" shall be understood as being synonymous with "having at least one", unless the opposite is specified. 26

权利要求:
Claims (21)
[0001]
REVENDICATIONS1. Device (1) for assistance in gripping the thumb (2) of the hand (3), comprising at least: - a first portion (5) forming an orthosis of the hand (3), having a recess (12) for insertion of the thumb (2), said recess (12) being delimited by at least one rigid portion (5a) of the first portion (5), which extends at least partially substantially around the base (2a) of the inch (2) and which is configured to allow movement of the thumb (2) in flexion / extension and to limit other movements of the thumb (2), - a second portion (6) forming a fastener element to be placed around the thumb (2), - first (7) and second (8) flexible connecting elements connecting the first part (5) to the second part (6), each having a first end (7a, 8a) fixed on the second part ( 6), the first end (7a) of the first flexible connecting element (7) being fixed on the outer face (2e) of the thumb (2), facing the opposite of the palm (9) of the hand (3), and the first end (8a) of the second flexible connecting element (8) being fixed on the inner face (2i) of the thumb (2), directed towards the palm (9). ) of the hand (3), - at least one actuator (10, 11), fixed on the first part (5), comprising at least one rotation shaft (10a, 11a) for actuating the first (7) and second (8) flexible connecting elements by winding / unfolding the first (7) and second (8) flexible connecting elements around said at least one rotation shaft (10a, 11a) to respectively allow the extension of the thumb (2) and flexing the thumb (2), the first (7) and second (8) flexible connecting members each having a second end (7b, 8b) attached to said at least one rotation shaft (10a, 11a) of said at least one an actuator (10, 11), - at least one guide member (13, 14), located on the first part (5), to constrain the path of each of the first er (7) and second (8) flexible connecting elements between their first (7a, 8a) and second (7b, 8b) ends, the second flexible connecting element (8) extending at least in part substantially the same along the base (2a) of the thumb (2), between the palm (9) of the hand (3) and the proximal phalanx (2b) of the thumb (2), so as to leave the palm (9) of the hand (3) free. 5
[0002]
2. Device according to claim 1, characterized in that the first part (5) forming the orthosis of the hand (3) is made of a thermoformable material.
[0003]
3. Device according to claim 1 or 2, characterized in that the first part (5) forming the orthosis of the hand (3) is configured to hold the wrist (16) in the extended position, with an angle d extension (a) of between 10 and 30 °, preferably of the order of 20 °.
[0004]
4. Device according to any one of the preceding claims, characterized in that the first (7) and second (8) flexible connecting elements are constituted by flexible son.
[0005]
5. Device according to any one of the preceding claims, characterized in that the second part (6) forming a fastening element to be placed around the thumb (2) is in the form of a continuous piece, arranged all around 20 inch (2).
[0006]
6. Device according to any one of claims 1 to 4, characterized in that the second part (6) forming a fastening element to be placed around the thumb (2) is in the form of at least two rings ( 6a, 6b) extending all the way around the thumb (2), in particular a first ring (6a) extending around the distal phalanx (P2) of the thumb (2) and a second ring (6b). ) extending around the proximal phalanx (P1) of the thumb (2).
[0007]
7. Device according to any one of the preceding claims, characterized in that said at least one guide member (13, 14) is in the form of an insert (13, 14) on the first part. (5) forming the orthosis of the hand (3), in the form of a passage bridge under which are positioned the first (7) and second (8) flexible connecting elements to help guide and constrain their path . 5
[0008]
8. Device according to any one of the preceding claims, characterized in that it comprises at least one fixing housing (10b, 11b) of said at least one actuator (10, 11) on the first portion (5) forming the orthosis of the hand (3), wherein at least partially said at least one actuator (10, 11) is introduced. 10
[0009]
9. Device according to claim 8, characterized in that said at least one fixing housing (10b) comprises a reinforcing shell (10c) provided with a contact hole (19) in which the rotation shaft (10a). said at least one actuator (10) is inserted. 15
[0010]
10. Device according to claim 9, characterized in that the reinforcing shell (10c) has a lateral passage opening (20) for the first (7) and / or the second (8) flexible connecting elements. 20
[0011]
11. Device according to any one of the preceding claims, characterized in that it comprises a first actuator (10) and a second actuator (11), fixed on the first part (5), particularly at the front-end. arm (15) and / or hand (3), respectively comprising first (10a) and second (11a) rotation shafts, respectively for the actuation of the first (74 and second (8) flexible connecting elements, the rotation shafts (10a, 11a) of the first (10) and second (11) actuators extending in particular substantially parallel and / or perpendicular manner.
[0012]
12. Device according to any one of claims 1 to 10, characterized in that it comprises a single actuator (10), fixed on the first part (5), 3024030 29 having a single rotation shaft (10a) having at least a first portion (21a) and a second portion (21b) of different diameters, the first portion (21a) having in particular a diameter (Da) greater than the diameter (Db) of the second portion (21b), one of first (7) and second (8) flexible connecting elements, in particular the first flexible connecting element (7), being fixed on the first portion (21a) of the rotation shaft (10a) and the other of the first (7) and second (8) flexible connecting elements, in particular the second flexible connecting element (8), being fixed on the second portion (21b) of the rotation shaft (10a), the first (7) and second (8) flexible connecting elements being wound on the first (21a) and second (21b) portions of the rotation shaft (10a) in different directions of rotation, so that the winding of one causes the unwinding of the other, and vice versa.
[0013]
13. Device according to any one of claims 1 to 10, characterized in that it comprises a single actuator (10), fixed on the first part (5), 15 possibly formed by the juxtaposition and assembly of two actuators separate, having a first rotation shaft (10a) and a second rotation shaft (11a) for respectively actuating the first (7) and second (8) flexible connecting elements, the first (10a) and second (11a) rotation shafts extending substantially parallel to each other, the device (1) comprising a deflection element (22), in particular in the form of a pulley (22), fixed on the first part (5). ), to make it possible to constrain the path of the first flexible connecting element (7) from an elongation substantially perpendicular to the first rotary shaft (10a) to an elongation substantially parallel to the first rotation shaft (10a) towards the second part (6) form an attachment element. 25
[0014]
14. Device according to any one of the preceding claims, characterized in that it comprises an onboard power supply (28). 3024030 30
[0015]
15. Device according to any one of the preceding claims, characterized in that it comprises an electronic control system (29) to enable the control of the operation of the device (1). 5
[0016]
16. Device according to any one of the preceding claims, characterized in that it comprises a user interface element (30) to allow a disabled person to act on the device (1), including via control push buttons (31). 10
[0017]
17. Assembly (24) comprising: - a device (1) according to any one of the preceding claims, and - a positioning base (23) for receiving the device (1) in case of non-use for assistance to the grasping the thumb (2) of the hand (3). 15
[0018]
18. The assembly of claim 17, characterized in that the positioning base (23) comprises at least two threading tabs (25), adapted to come into contact with the second part (6) on either side of it and to allow a maintenance in position of the second part (6) when a disabled person introduces his 20 inch in the second part (6).
[0019]
19. "An assembly according to claim 17 or 18, characterized in that the positioning base (23) comprises at least two tear tabs (26), adapted to come into contact with the second part (6) of part and other of the latter and to hold the second part (6) on the positioning base (23) when a handicapped person removes his thumb from the second part (6).
[0020]
20. An assembly according to claims 18 and 19, characterized in that the second portion (6) of the device (1) comprises a lug adapted to be threaded between said at least two threading lugs (25) and two lugs. pulling off (26). 3024030 31
[0021]
21. Assembly according to any one of claims 17 to 20, characterized in that the positioning base (23) comprises a power source (27) adapted to allow recharging of the device (1) when it is in 5 place on the positioning base (23).

类似技术:

---

公开号 | 公开日 | 专利标题

---

FR3024030A1|2016-01-29|DEVICE FOR ASSISTING HAND PRINTING OF THE HAND

---

US6921419B2|2005-07-26|Externally-powered hand prosthesis

---

WO2003073895A1|2003-09-12|Dressing aid

---

JP2011092507A|2011-05-12|Body-worn muscular strength assisting device

---

WO2017072463A1|2017-05-04|Motorized exoskeleton for a hand

---

WO1990000272A1|1990-01-11|Wristwatch with removable and interchangeable strap

---

EP0143132A1|1985-06-05|External apparatus for the motorically handicapped in at least one of the upper limbs

---

WO2017026943A1|2017-02-16|Exosuit

---

EP2890333B1|2016-12-07|Hand prosthesis

---

FR2559058A1|1985-08-09|PERMANENT PASSIVE MOTION THERAPY MEDICAL DEVICE

---

EP2403466A1|2012-01-11|Rehabilitation robot

---

EP1631230B1|2008-05-28|English cane for a person with mobility impairment

---

FR2957245A1|2011-09-16|Artificial hand prosthesis, has detecting device detecting touch on pulp parts of phalanx equipped with transmission device, and engine inflecting fingers and set under operation by sensors and electronic circuit that powers engine

---

EP0094704B1|1986-02-19|Patient lifting and carrying apparatus

---

KR20100018201A|2010-02-17|Myoelectric hand with new adaptive grasping and self-locking mechanism

---

EP2856980B1|2021-03-10|Prosthetic socket, method for manufacturing such a socket

---

EP3562627B1|2021-02-03|Linking device for an exoskeleton structure, facilitating the carrying of loads while walking or running

---

EP3013535B1|2017-08-23|Urban or industrial aspirator

---

FR2871663A1|2005-12-23|HAND HOLDER FOR GRIPPING HANDLE, GRIPPING HANDLE FOR SOCKET HAVING SUCH A HOLDER AND STICK HAVING SUCH A HANDLE

---

EP2281541B1|2015-02-25|Adjustable support stand with automated deployment

---

KR101471120B1|2014-12-12|Walking assistance apparatus for the old and the weak

---

FR2689394A1|1993-10-08|Motorised re-education device for tendons etc. of hand or foot - comprises power source and drive mechanism mounted on stirrup assembly for attachment to limb, connected to glove or sock attached to plate.

---

EP3152011A1|2017-04-12|Key for actuating a plurality of humanoid robot mechanisms

---

FR2468359A1|1981-05-08|Movable leg splint suspension - comprises overhead rail with fixed and moving anchors attached to upper and lower splint suspension cables

---

FR3108053A1|2021-09-17|Exoskeleton-type exercise assistance device

同族专利:

---

公开号 | 公开日

---

WO2016012480A1|2016-01-28|

---

FR3024030B1|2016-08-26|

---

EP3171844A1|2017-05-31|

引用文献:

---

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

---

WO2008027002A1|2006-09-01|2008-03-06|Bioservo Technologies Ab|Strengthening glove|

---

JP2009022577A|2007-07-20|2009-02-05|Nagasaki Univ|Active gripping equipment|

---

EP2218426A1|2007-11-07|2010-08-18|Activelink Co., Ltd.|Operation assist device|

---

EP2417941A1|2009-04-09|2012-02-15|University of Tsukuba|Wearable motion assist device|

---

WO2011117901A1|2010-03-23|2011-09-29|Idrogenet S.R.L.|A hand rehabilitation device|

---

WO2013036925A2|2011-09-08|2013-03-14|President And Fellows Of Harvard College|Isolated orthosis for thumb actuation|

---

EP3199136B1|2016-01-29|2020-04-08|Fundacíon Tecnalia Research & Innovation|Hand rehabilitation device|

---

GB2552358A|2016-07-21|2018-01-24|Omar Ward Ross|Rehabilitation device|

---

US11036295B2|2016-11-23|2021-06-15|Microsoft Technology Licensing, Llc|Electrostatic slide clutch|

---

DE102016123153A1|2016-11-30|2018-05-30|Helmut-Schmidt-Universität Universität der Bundeswehr Hamburg|DEVICE AND METHOD FOR MUSCLE POWER SUPPORT|

---

SE542072C2|2017-06-19|2020-02-18|Tendo Ab|A device for pivoting a body member around a joint|

---

US11023047B2|2018-05-01|2021-06-01|Microsoft Technology Licensing, Llc|Electrostatic slide clutch with bidirectional drive circuit|

---

US10852825B2|2018-09-06|2020-12-01|Microsoft Technology Licensing, Llc|Selective restriction of skeletal joint motion|

---

WO2020086515A1|2018-10-22|2020-04-30|Abilitech Medical, Inc.|Hand assist orthotic|

---

CN109758334A|2018-12-25|2019-05-17|河南科技大学第一附属医院|A kind of patients with cerebral apoplexy rehabilitation hand device for healing and training|

---

CN109875850A|2019-04-17|2019-06-14|浙江理工大学|A kind of cerebral apoplexy hand convalescence device|

---

US10860102B2|2019-05-08|2020-12-08|Microsoft Technology Licensing, Llc|Guide for supporting flexible articulating structure|

---

US11061476B2|2019-05-24|2021-07-13|Microsoft Technology Licensing, Llc|Haptic feedback apparatus|

---

US11054905B2|2019-05-24|2021-07-06|Microsoft Technology Licensing, Llc|Motion-restricting apparatus with common base electrode|

法律状态:
2015-07-31| PLFP| Fee payment|Year of fee payment: 2 |

---

2016-01-29| PLSC| Search report ready|Effective date: 20160129 |

---

2016-07-29| PLFP| Fee payment|Year of fee payment: 3 |

---

2017-07-31| PLFP| Fee payment|Year of fee payment: 4 |

优先权:

---

申请号 | 申请日 | 专利标题

---

FR1457194A|FR3024030B1|2014-07-25|2014-07-25|DEVICE FOR ASSISTING HAND PRINTING OF THE HAND|FR1457194A| FR3024030B1|2014-07-25|2014-07-25|DEVICE FOR ASSISTING HAND PRINTING OF THE HAND|

---

PCT/EP2015/066718| WO2016012480A1|2014-07-25|2015-07-22|Device for assisting the grip of the thumb of the hand|

---

EP15741177.8A| EP3171844A1|2014-07-25|2015-07-22|Device for assisting the grip of the thumb of the hand|