# US 10,869,772 B2 · Electronic artificial hand

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- Number: US 10,869,772 B2
- Document ID: US10869772B2
- Status: Granted
- Kind: B2
- Application number: 16/021,481
- Filed: 2018-06-28
- Published: 2018-10-25
- Granted: 2020-12-22
- Earliest claimed: 2015-12-31
- Assignees: Mand.Ro Co., Ltd.
- Applicants: Mand.Ro Co.,Ltd.
- Inventors: Sang Ho Yi
- Web page: https://patentgrep.com/patent/US10869772B2

## CPC

- A61F 2/583: {Hands; Wrist joints}
- A61F 2/58: Elbows; Wrists {; Other joints; Hands}
- A61F 2/70: electrical
- A61F 2/72: Bioelectric control, e.g. myoelectric
- A61F 2002/6872: {attached and mechanically operated by remaining muscle}
- A61F 2002/701: {operated by electrically controlled means, e.g. solenoids or torque motors}
- B25J 15/0023: {Gripper surfaces directly activated by a fluid (flexible fingers B25J15/12)}
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

The present invention relates to an electronic artificial hand including a power section, a tendon section, and a restoring line section for joint movement of a finger group which is capable of preventing unnecessary driving of the power section using tension of the tendon section caused by the joint movement of the finger group and implementing a gripping force similar to a gripping force of a person through a physical configuration using the tension of a spring section and the tendon section and which is easily implemented due to a simplified configuration and has low manufacturing costs.

## Claims

### Claim 1

An electronic artificial hand comprising:
a plurality of finger groups configured to perform a gripping operation through joint movement in one direction or perform unfolding movement through the joint movement in another direction,
wherein each of the plurality of finger groups includes:
a body part including a power section;
a plurality of knuckles sequentially engaged with each other, one of the plurality of knuckles being connected to one end of the body part;
a plurality of joints disposed between the plurality of knuckles to perform the joint movement in the one direction or in the another direction at a predetermined angle;
a tendon path (501) disposed in the respective knuckle to be eccentric in the one direction on the basis of the respective joint;
a restoring line path formed to be eccentric in the another direction;
a tendon section having one end configured to be connected to the power section to be wound and another end passing through the body part and the tendon path of the respective knuckle to be connected to the most distal one of the plurality of knuckles; and
a restoring line section having a restoring force and having one end connected to the body part and another end passing through the restoring line path of the respective knuckle to be connected to the most distal one of the plurality of knuckles,
wherein the body part further includes a first switch configured to stop the power section by using tension of the tendon section which is variable when the power section winds or unwinds the tendon section.

### Claim 2 (depends on 1)

The electronic artificial hand of claim 1, wherein the body part includes the first switch at a location adjacent to the tendon section, and
wherein:
the first switch is configured to be pressed by the tension of the tendon section generated by the restoring force of the restoring line section and decompressed when the tension is removed because the power section is unwound; and
the unwinding of the power section is stopped when the first switch is decompressed.

### Claim 3 (depends on 2)

The electronic artificial hand of claim 2, wherein the tendon section has a length greater than that of the tendon path, and the tension is removed due to the unwinding of the power section.

### Claim 4 (depends on 2)

The electronic artificial hand of claim 2, wherein the first switch is a limit switch.

### Claim 5 (depends on 1)

The electronic artificial hand of claim 1, wherein the body part includes:
a support member, on which the tendon section is hooked, configured to reverse a proceeding direction of the tendon section;
a guide groove, with which the support member is engaged, configured to guide the support member moved along a direction in which the tension of the tendon section is generated;
a second switch provided in one end of the guide groove and configured to be pressed due to movement of the support member; and
a spring section having one end connected to the support member and another end connected to another end of the guide groove,
wherein:
the support member is configured to move to the first switch along the guide groove to press the second switch when the tension of the tendon section generated due to the winding of the power section is greater than a restoring force of the spring section; and
the winding of the power section is stopped when the second switch is pressed by the support member.

### Claim 6 (depends on 1)

The electronic artificial hand of claim 1, wherein the body part includes the first switch at a location adjacent to the tendon section, and
wherein:
the first switch is configured to be pressed by the tension of the tendon section generated by the restoring force of the restoring line section and decompressed when the tension is removed because the power section is unwound,
the unwinding of the power section is stopped when the first switch is decompressed;
the body part includes a support member, on which the tendon section is hooked, configured to reverse a proceeding direction of the tendon section, a guide groove, with which the support member is engaged, configured to guide the support member moved along a direction in which the tension of the tendon section is generated, a second switch provided in one end of the guide groove and pressed due to movement of the support member, and a spring section having one end connected to the support member and another end connected to another end of the guide groove;
the support member is configured to move to the first switch along the guide groove to press the second switch when the tension of the tendon section generated due to the winding of the power section is greater than a restoring force of the spring section; and
the winding of the power section is stopped when the second switch is pressed by the support member.

### Claim 7 (depends on 1)

The electronic artificial hand of claim 1, wherein the body part has two layers, and
wherein:
the power section is provided in one of the two layers; and
the switch part is provided in the other layer of the two layers.

### Claim 8 (depends on 1)

The electronic artificial hand of claim 1, wherein the plurality of knuckles sequentially include a first knuckle, a second knuckle and a third knuckle.

### Claim 9 (depends on 1)

The electronic artificial hand of claim 1, wherein:
the plurality of finger groups include five finger groups;
one of the plurality of finger groups is a thumb group; and
the thumb group is provided at an angle different from those of the remaining four finger groups, and an end of the thumb group is configured to comes come into contact with at least one respective end of the remaining four finger groups when the plurality of finger groups perform the joint movement in the one direction.