Material or article handling – Article manipulator moves analogous with human hand – finger,...
Reexamination Certificate
2001-02-27
2002-12-17
Underwood, Donald W. (Department: 3652)
Material or article handling
Article manipulator moves analogous with human hand, finger,...
C192S09300C, C192S223300
Reexamination Certificate
active
06494662
ABSTRACT:
The present invention relates to the field of devices for remote control of movement. More particularly, the invention concerns a single device for remote control of elements, particularly gripping elements, such as articulated jaws or fingers and adapted to converge upon the object to be gripped.
The invention is particularly applicable to the control of an element having to be placed successively in active position, position in which the element is blocked, then disengaged from this blocked active position, the control of the cycle being permitted from one sole movement transmission means, with unidirectional linear or angular action. The same manoeuvre of the transmission means makes it possible, when the controlled element is inactive, to take it towards its blocked active position, and when the controlled element is in blocked active position, a fresh manoeuvre identical to the preceding one returns it towards its inactive starting position.
The invention is particularly applicable to the control of elements for gripping and displacing objects, forming an artificial hand usable for the remote manipulation of objects in an aggressive or dangerous environment; the invention will also be more particularly applicable to the production of a manual prosthesis controlled by cable, for example from a scapular or dorsal harness and transmitting to the articulated fingers an effort of traction taking the fingers towards their gripping position. It is in connection with this latter application that the invention will be described hereinafter, although it does not constitute the limiting framework of application of the device described and claimed here. The latter may in effect be adapted to the control of numerous bistable systems moving between two positions of rest, the same unidirectional manoeuvre of a single transmission means operating the passage from one position to the other.
Numerous systems of manual prostheses are known, aiming at allowing persons having undergone an amputation of the hand, to perform certain gestures or certain elementary functions of everyday life, both personal and social, and in particular and especially the bi- or pluridigital gripping of objects, under conditions reproducing more or less faithfully the gripping functions of the natural hand.
French Patents Nos. 73 25719, 83 15850 and 90 10455 for example disclose a hand prosthesis constituted by a rigid plate forming palm supporting articulated elements forming the phalanxes, the latter being provided with an inner spring made of elastically deformable material and returning the corresponding finger in position of extension, a terminal cable connected to the end of each finger being adapted to provoke the movement of angular closure of the finger; the terminal cables are connected to a common beam or bar distributing the traction transferred successivly on each of the terminal cables, this traction coming from a single cable controlled by the user, for example from a dorsal harness. This mechanical structure is completed by a surfacing or trim both for facing and functional, viz. a rigid or semi-rigid dorsal shell and a coating made of supple material, particularly cellular on the palm face.
The invention relates to a device for transmitting and controlling the effort of traction operating from the single cable and driving terminal cables for individual control of the fingers belonging to a manual prosthesis, in particular of the type such as provided by the above-mentioned Patents; reference is expressly made to these Patents for a more complete description of the elements ensuring the functionality and the aesthetically satisfactory aspect of the prosthesis.
According to Patents 83 15850 and 90 10455, a device has been provided for locking the traction arriving at the beam for balancing and distribution on the terminal cables. The object of the devices provided in these Patents is to make it possible to block the gripping elements, particularly the fingers once closed on the object gripped; such blocking allows comfort of use in that it allows a relaxing of the effort of traction having controlled the retraction of the fingers and the grip of the object. Thus the user may, without maintaining his/her effort, conserve in manually held position the gripped object which is in that case capable of being displaced or changed in its positioning in space. In effect, it will be understood that it is particularly hard and difficult for the user to ensure at the same time the maintaining of a traction ensuring stability of the grip and, in parallel, a manipulation or a manoeuvre of the object held in the hand.
The mechanical blocking devices according to the afore-mentioned Patents employ elements acting on the traction cable, either directly by pinching or braking, or via means associated with the cable and subjected to a locking catch. In this way an immobilization of the cable in the position of the closed fingers in abutment on the object is obtained, despite the stop of any traction voluntarily controlled by the user on the cable. Despite their interest and efficiency, these known devices remain imperfect. In effect, although their actuation towards the blocking position can be controlled automatically, for example by a return spring controlling the displacement towards its active position of the locking catch constituted by a pawl associated with a rack or a ratchet wheel, unblocking of the locking system requires a specific manoeuvre and an intervention of the other hand, which handicaps and slows down the overall operation of the ongoing manipulation.
A first object of the invention is to provide a system for locking the hand in position where the fingers are closed on the gripped object, which locking automatically occurs at the end of the phase of closure, the fingers having arrived in position of abutment on the gripped object; this system allows a relaxing of the voluntary effort of traction, while ensuring maintenance of the gripping position acquired.
A second object of the invention is to allow an unlocking which occurs when the user desires, therefore at the opportune moment, solely by manoeuvring the traction cable, while allowing the user to resume, at the moment of release of the fingers, the control of the gripping position previously set. More especially according to this object of the invention, after a period of rest of the traction cable, the maintained grip no longer being under the voluntary control of the user, the latter can in one and the same manoeuvre return to the gripping position voluntarily controlled by the traction cable via an autonomous action of unlocking of the gripping elements, by means of a single subsequent action on the single cable.
Another object of the invention is to introduce in the functioning of the artificial hand a comfort and convenience of control such as a precision of the gesture, by an effect of demultiplication of the movement between the movement of control and the displacement of the remote-controlled elements.
Finally, an essential object of the invention is to allow the use of a single movement control means, for example a linear traction means, to take a bistable element successively towards an active position, position stable and blocked therefore allowing relaxing of the effort, then subsequently by the same manoeuvre as the preceding one, to disengage the element from this active position and control the progressive and controlled return of the element towards its inactive, stable starting position.
To that end, the invention relates to a device for remote-control by a single manoeuvre of at least one element such as a gripping element formed by articulated elements and adapted to close, converging upon the object to be gripped, the device ensuring a blocking of said elements in their active position, while allowing in this stable position a relaxing of the control manoeuvre, characterized in that it comprises:
a) a rotating element such as a primary pulley connected to a control means such as a cable wound and driven in rotation by the
Compagnie Generale de Participations
Jacobson & Holman PLLC
Underwood Donald W.
LandOfFree
Device for remote control of the movement of gripping elements does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Device for remote control of the movement of gripping elements, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Device for remote control of the movement of gripping elements will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2981835