GB2146406A - Actuator for converting rotary to oscillatory motion - Google Patents

Actuator for converting rotary to oscillatory motion Download PDF

Info

Publication number
GB2146406A
GB2146406A GB08324096A GB8324096A GB2146406A GB 2146406 A GB2146406 A GB 2146406A GB 08324096 A GB08324096 A GB 08324096A GB 8324096 A GB8324096 A GB 8324096A GB 2146406 A GB2146406 A GB 2146406A
Authority
GB
United Kingdom
Prior art keywords
cam
axis
actuator
cam follower
follower
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB08324096A
Other versions
GB2146406B (en
GB8324096D0 (en
Inventor
David John Brown
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Southampton
Original Assignee
University of Southampton
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Southampton filed Critical University of Southampton
Priority to GB08324096A priority Critical patent/GB2146406B/en
Publication of GB8324096D0 publication Critical patent/GB8324096D0/en
Publication of GB2146406A publication Critical patent/GB2146406A/en
Application granted granted Critical
Publication of GB2146406B publication Critical patent/GB2146406B/en
Expired legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
    • F16H21/52—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions for interconverting rotary motion and oscillating motion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/582—Elbow joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/585—Wrist joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30329—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
    • A61F2002/30518—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements with possibility of relative movement between the prosthetic parts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30329—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
    • A61F2002/30518—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements with possibility of relative movement between the prosthetic parts
    • A61F2002/30523—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements with possibility of relative movement between the prosthetic parts by means of meshing gear teeth
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2002/543—Lower arms or forearms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61F2220/00—Fixations or connections for prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
    • A61F2220/0025—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Transplantation (AREA)
  • Robotics (AREA)
  • Vascular Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Cardiology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)

Abstract

An actuator for providing a wrist joint in a prosthetic or robotic limb including a hand member 10 angularly movable relative to a forearm portion 6 about an axis AA, comprises a rotatable shaft 34 mounted on the portion 6 and having a cam 32 obliquely skewed to the shaft axis. The cam surface 41 is engaged at diametrically opposed positions by two hemispherical cam followers 42, 44 mounted on a transverse base member 45 of the hand member 10. The axis of shaft 34, the pivot axis AA and the line joining the centres of curvature of the two cam followers 42, 44 intersect at a common point. <IMAGE>

Description

SPECIFICATION Actuator This invention relates to an actuator suitable for use as a joint in a prosthetic or robotic limb.
According to the invention there is provided an actuator for angularly moving an output member relative to a base member about a first axis, comprising an input member supported by the base member for angular movement about a second axis transverse to the first axis, the input member having a cam track obliquely skew to the second axis, a cam follower engaging the cam surface, the cam follower being mounted on the output member in a position spaced from the first axis, means acting on the output member for holding the cam follower in engagement with the cam track and means for turning the input member to positions corresponding to required angular positions of the output member.
In a preferred embodiment the means for holding the cam follower in engagement with the cam track comprise a second cam follower, on the opposite sides of the first axis to the first cam follower, engaging a second cam track on the input member.
Preferably the first and second cam tracks together form a continuous circuit around the second axis and the cam followers are equally spaced from the first axis.
When two cam followers are used each cam follower may have a cam-track-engaging element of circular curvature and wherein the line joining the centres of the two elements, and the first and second axes all intersect at a common point. The cam track may lie in a plane oblique to the second axis and spaced from the point of intersection by a distance equal to the radius of the said elements.
The base member of the actuator may be supported bya mounting memberforturning movement relative to the mounting member about an axis substantially parallel to the second axis, means being provided for turning the base member and hence the actuator to required positions about the mounting member.
The invention will now be further described, by way of example, with reference to the accompanying drawings, in which: Figure 1 is a plan view of part of a prosthetic or robotic limb incorporating the actuator; Figure 2 is a partially cut-away side elevation of the part of the limb shown in Figure 1; Figure 3 is a more detailed side elevation of the wrist portion of the limb.
The part of the limb illustrated in the drawings comprises an elbow portion 2 and a lower arm portion generally indicated as 4. The lower arm portion 4 comprises a base member formed by a forearm frame 6. From the upper end of the forearm frame 6 projects a shaft 8 which is journalled, by means of two ball bearings and a thrust bearing, in the elbow portion 2.
On the lower end of the forearm frame is pivotally mounted a lever or hand member 10.
Within the forearm frame 6 are mounted two bidirectional DC motors 12 and 14. The first motor 12 serves to turn the forearm frame 6 and hence the complete lower arm portion 4 with respect to the elbow portion 2 about the axis of the shaft 8. The motor 12 drives the frame through a speed reducer 16, which comprises a smaller toothed pulley 18 on the output shaft of the motor 12, a toothed belt 20, a larger pulley 22, a pinion 24 mounted on the same shaft as the pulley 22, anda spur gear wheel 26 meshed with the pinion 24 and fixed to the elbow portion 6, coaxial with the shaft 8. The shaft on which the second pulley 22 and pinion 24 are mounted is journalled via a radial ball race bearing, in the end of the forearm frame 6.
When the motor 12 is operated the pinion 24 rotates and orbits the fixed spur 26, causing the lower arm portion 4 to turn with respect to the elbow portion 2.
The second motor 14 enables the hand member 10 to be angularly displaced in the plane of Figures 2 and 3 about the pivot axis. The motor 14 acts on the member 10 through reduction gearing 28 and thence through a cam mechanism 30. The cam mechanism 30 includes a cam 32 on a shaft 34 journalíed by means of two ball bearings (not shown) in the forearm frame 6. The motor 14 when operated, drives the cam from a small toothed pulley 36 on the motor shaft through a toothed belt 38 to a large toothed pulley 39, which in turn drives a pinion 40 meshing with a spur wheel 40 mounted on the shaft 34 of the cam 32.
The cam 32 has a plane cam surface 41 inclined obliquely to the axis about which the cam member 32 may be turned. The cam surface 41 is engaged at diametrically opposed positions by two hemispherical cam followers 42,44 mounted on a transverse base member 45 of the hand member 10. In an alternative embodiment rolling balls may be used instead of fixed cam followers. The axis of the cam shaft 34, the pivot axis AA of the hand member 10 and the line joining the centres of curvature of the two cam followers 42, 44 intersect at a common point. Thus the line joining the centres is spaced from the points of contact of the cam followers on the cam surface by a distance equal to the radius of the cam followers.
The pivot axis AA is perpendicular to the axis of the cam shaft and to the line joining the centres of the cam followers.
The cam 32 forms the input member of the wrist mechanism and the hand member 10 its output member; when the former is turned the latter is angularly displaced about its pivot axis AA. When the input member turns, for example from the central position shown in Figure 2 one of the cam followers is pushed and causes the hand member 10 to pivot about the axis AA, and the second cam follower 44 on the opposite side of the axis AA to the first cam follower 42, is maintained in engagement with the cam surface 41. When the cam member 32 is turned further in the same direction, or turned in the opposite direction, the second cam follower 44 is pushed and the hand member 10 pivots towards its central position.
The elbow portion 2 may be fixed to an upper arm memberthrough gearing which enables the elbow portion 2, and hence the lower arm portion 4 to be moved up and down in one plane; the upper arm member may be connected to a shoulder unit which mimics the rotation of an arm about a shoulder.
When the arm is used as a prosthetic device the user may control the various movements available by operating switches to turn the motors on and off.
Computer-assisted techniques may also be used, for example, to keep the hand member 10 at the same angle in space when joints higher up the arm are moved. When the arm is used for robotic purposes its movements will be preprogrammed.

Claims (8)

1. An actuatorfor angularly moving an output member relative to a base member about a first axis, comprising an input member supported by the base member for angular movement about a second axis transverse to the first axis, the input member having a cam track obliquely skew to the second axis, a cam follower engaging the cam surface, the cam follower being mounted on the output member in a position spaced from the first axis, means acting on the output member for holding the cam follower in engagement with the cam track and means for turning the input member to positions corresponding to required angular positions of the output member.
2. An actuator as claimed in claim 1 wherein the means for holding the cam follower in engagement with the cam track comprise a second cam follower, on the opposite side of the first axis to the first cam follower, engaging a second cam track on the input member.
3. An actuator as claimed in claim 2 wherein the first and second cam tracks together form a continuous circuit around the second axis and the cam followers are equally spaced from the first axis.
4. An actuator as claimed in claim 2 or claim 3 wherein each cam follower includes a cam track engaging element of circular curvature and wherein the line joining the centres of curvature of the two elements, and the first and second axes, all intersect at a common point.
5. An actuator as claimed in claim 4 wherein the cam track engaging elements are rolling balls.
6. An actuator as claimed in claim 4 or claim 5 wherein the cam track lies in a plane oblique to the second axis and spaced from the point of intersection by a distance equal to the radius of the said elements.
7. An actuator as claimed in any preceding claim wherein the base member is supported by a mounting member for turning movement relative to the mounting member about an axis substantially paraliel to the second axis, means being provided for turning the base member and hence the actuator to required positions about the mounting member.
8. An actuator for angularly moving an output member relative to a base member about a first axis by means including a cam and cam4ollower mechanism, said cam and cam-follower mechanism being substantially as hereinbefore described with reference to the accompanying drawings.
GB08324096A 1983-09-08 1983-09-08 Actuator for converting rotary to oscillatory motion Expired GB2146406B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB08324096A GB2146406B (en) 1983-09-08 1983-09-08 Actuator for converting rotary to oscillatory motion

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB08324096A GB2146406B (en) 1983-09-08 1983-09-08 Actuator for converting rotary to oscillatory motion

Publications (3)

Publication Number Publication Date
GB8324096D0 GB8324096D0 (en) 1983-10-12
GB2146406A true GB2146406A (en) 1985-04-17
GB2146406B GB2146406B (en) 1986-09-17

Family

ID=10548494

Family Applications (1)

Application Number Title Priority Date Filing Date
GB08324096A Expired GB2146406B (en) 1983-09-08 1983-09-08 Actuator for converting rotary to oscillatory motion

Country Status (1)

Country Link
GB (1) GB2146406B (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999021517A1 (en) * 1997-10-24 1999-05-06 Lothian Primary Care Nhs Trust Upper limb prosthesis
WO2002033308A1 (en) * 2000-10-19 2002-04-25 Optikinetics Limited Pan and tilt drive mounting
WO2011001136A3 (en) * 2009-07-02 2011-02-24 Rslsteeper Group Limited Prosthetic apparatus and artificial joint
CN103878790A (en) * 2014-04-18 2014-06-25 南京工程学院 Multi-mode elastic driver for lower limb power-assisted exoskeleton robot
US10265197B2 (en) 2014-05-09 2019-04-23 Touch Bionics Limited Systems and methods for controlling a prosthetic hand
US10369016B2 (en) 2014-02-04 2019-08-06 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
US10369024B2 (en) 2016-09-02 2019-08-06 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US10398576B2 (en) 2011-08-18 2019-09-03 Touch Bionics Limited Prosthetic feedback apparatus and method
US10449063B2 (en) 2014-10-03 2019-10-22 Touch Bionics Limited Wrist device for a prosthetic limb
US10610385B2 (en) 2013-02-05 2020-04-07 Touch Bionics Limited Multi-modal upper limb prosthetic device control using myoelectric signals
US10973660B2 (en) 2017-12-15 2021-04-13 Touch Bionics Limited Powered prosthetic thumb
US11083600B2 (en) 2014-02-25 2021-08-10 Touch Bionics Limited Prosthetic digit for use with touchscreen devices
US11185426B2 (en) 2016-09-02 2021-11-30 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US11931270B2 (en) 2019-11-15 2024-03-19 Touch Bionics Limited Prosthetic digit actuator

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1551372A (en) * 1975-07-14 1979-08-30 Cessna Aircraft Co Device to convert rotary to oscillatory motion
GB2019522A (en) * 1978-04-17 1979-10-31 Vicon Nv Rotary to Oscillatory Drive Converter
GB2085544A (en) * 1980-10-08 1982-04-28 Taylor Henry Swash-plate drive

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1551372A (en) * 1975-07-14 1979-08-30 Cessna Aircraft Co Device to convert rotary to oscillatory motion
GB2019522A (en) * 1978-04-17 1979-10-31 Vicon Nv Rotary to Oscillatory Drive Converter
GB2085544A (en) * 1980-10-08 1982-04-28 Taylor Henry Swash-plate drive

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6361570B1 (en) 1997-10-24 2002-03-26 Lothian Primary Care Nhs Trust Upper limb prosthesis
WO1999021517A1 (en) * 1997-10-24 1999-05-06 Lothian Primary Care Nhs Trust Upper limb prosthesis
WO2002033308A1 (en) * 2000-10-19 2002-04-25 Optikinetics Limited Pan and tilt drive mounting
WO2011001136A3 (en) * 2009-07-02 2011-02-24 Rslsteeper Group Limited Prosthetic apparatus and artificial joint
US9101499B2 (en) 2009-07-02 2015-08-11 Hugh Steeper Limited Prosthetic apparatus and artificial joint
US11259941B2 (en) 2011-08-18 2022-03-01 Touch Bionics Limited Prosthetic feedback apparatus and method
US10398576B2 (en) 2011-08-18 2019-09-03 Touch Bionics Limited Prosthetic feedback apparatus and method
US10610385B2 (en) 2013-02-05 2020-04-07 Touch Bionics Limited Multi-modal upper limb prosthetic device control using myoelectric signals
US11890208B2 (en) 2013-02-05 2024-02-06 Touch Bionics Limited Multi-modal upper limb prosthetic device control using myoelectric signals
US11464654B2 (en) 2014-02-04 2022-10-11 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
US10369016B2 (en) 2014-02-04 2019-08-06 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
US11083600B2 (en) 2014-02-25 2021-08-10 Touch Bionics Limited Prosthetic digit for use with touchscreen devices
CN103878790B (en) * 2014-04-18 2015-08-12 南京工程学院 Towards the multi-mode elastic driver of lower limb assistance exoskeleton robot
CN103878790A (en) * 2014-04-18 2014-06-25 南京工程学院 Multi-mode elastic driver for lower limb power-assisted exoskeleton robot
US11234842B2 (en) 2014-05-09 2022-02-01 Touch Bionics Limited Systems and methods for controlling a prosthetic hand
US10265197B2 (en) 2014-05-09 2019-04-23 Touch Bionics Limited Systems and methods for controlling a prosthetic hand
US10449063B2 (en) 2014-10-03 2019-10-22 Touch Bionics Limited Wrist device for a prosthetic limb
US11357646B2 (en) 2014-10-03 2022-06-14 Touch Bionics Limited Wrist device for a prosthetic limb
US12097131B2 (en) 2014-10-03 2024-09-24 Touch Bionics Limited Wrist device for a prosthetic limb
US11185426B2 (en) 2016-09-02 2021-11-30 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US10369024B2 (en) 2016-09-02 2019-08-06 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US12059362B2 (en) 2016-09-02 2024-08-13 Touch Bionics Limited Systems and methods for prosthetic wrist rotation
US10973660B2 (en) 2017-12-15 2021-04-13 Touch Bionics Limited Powered prosthetic thumb
US11786381B2 (en) 2017-12-15 2023-10-17 Touch Bionics Limited Powered prosthetic thumb
US11931270B2 (en) 2019-11-15 2024-03-19 Touch Bionics Limited Prosthetic digit actuator

Also Published As

Publication number Publication date
GB2146406B (en) 1986-09-17
GB8324096D0 (en) 1983-10-12

Similar Documents

Publication Publication Date Title
GB2146406A (en) Actuator for converting rotary to oscillatory motion
US4568311A (en) Flexible wrist mechanism
JP4133188B2 (en) Robot hand finger unit
US4661040A (en) Manipulator robot, more particularly for transferring sheet metal elements from a pressing station to the next pressing station of a pressing line
EP0105656A2 (en) Industrial robot
CA2045487A1 (en) Robotic manipulator
WO2006054443A1 (en) Robot joint structure and robot finger
JPS5841996B2 (en) Industrial robot wrist mechanism
US4403907A (en) Cam-driven rotary pick-and-place assembly apparatus
US4512710A (en) Robot forearm
CN109124984B (en) Joint module for upper limb rehabilitation training robot
JP2009113195A (en) Joint device
JPS63163063A (en) Two-degree of freedom driving mechanism performing straight advancing motion and rotary motion
SE8602626D0 (en) ROBOT WRIST
JPS6249070A (en) Driving device for shaft
JPS6232794Y2 (en)
JPS62502844A (en) robotic arm
JPS6334870Y2 (en)
SU896294A1 (en) Apparatus for converting rotation to oscillatory motion
CN117679221A (en) Harmonic system double-freedom degree prosthesis wrist
JP2592090B2 (en) Rocking device
JP2576282B2 (en) Industrial robot
JPH074144Y2 (en) Stopper mechanism for industrial robot
JPS6039092A (en) Wrist device for robot
JPH0418791Y2 (en)

Legal Events

Date Code Title Description
PG Patent granted