Prosthetic Arm With Adaptive Grip

Abstract

An upper extremity prosthesis may include a prosthetic hand including a prosthetic thumb having a base and a tip, and a prosthetic index finger having a base and a tip. Actuators may be coupled to the upper extremity prosthesis. Prosthetic flexion tendons may have first ends operably coupled to the actuators and second ends coupled to the tips of the thumb and the index finger. Biasing systems may be operably coupled to the prosthetic thumb and the index finger. Upon actuation of the actuators in a first direction, the prosthetic flexion tendons cause the thumb and index finger to flex. Upon actuation of the linear actuators in a second direction opposite the first direction, the biasing systems cause the thumb and index finger to extend.

1 . A prosthesis comprising:
 a prosthetic hand including a first prosthetic finger;   a first actuator;   a first prosthetic flexion tendon having a first end operably coupled to the first actuator and a second end operably coupled to the first prosthetic finger; and   a first biasing member operably coupled to the first prosthetic finger;   wherein upon actuation of the first actuator, the first prosthetic flexion tendon causes the first prosthetic finger flex, the first biasing member tending to cause the first prosthetic finger to extend in the absence of forces causing flexion.   
     
     
         2 . The prosthesis of  claim 1 , wherein the first prosthetic flexion tendon is a cable. 
     
     
         3 . The prosthesis of  claim 1 , wherein the first prosthetic flexion tendon is formed as a mono-filament. 
     
     
         4 . The prosthesis of  claim 1 , wherein the first prosthetic flexion tendon is braided. 
     
     
         5 . The prosthesis of  claim 1 , wherein the first prosthetic flexion tendon has a break strength between about20 lbs and about 100 lbs. 
     
     
         6 . The prosthesis of  claim 1 , wherein the prosthetic hand includes a cavity having a mounting member positioned therein, the first actuator being coupled to the mounting member, and the mounting member including a slot, electronics for use with the first actuator being received within the slot. 
     
     
         7 . The prosthesis of  claim 1 , further comprising:
 a second prosthetic finger,   a second actuator;   a second prosthetic flexion tendon having a first end operably coupled to the second actuator and a second end operably coupled to the second prosthetic finger, such that actuation of the second actuator causes the second prosthetic finger to flex;   third, fourth, and fifth prosthetic fingers;   a third actuator;   third, fourth, and fifth prosthetic flexion tendons each having a first end coupled to an adaptive grip bar, and each having a second end coupled to the third, fourth, and fifth prosthetic fingers respectively; and   a coupling tendon coupling the third actuator to the adaptive grip bar, such that actuation of the third actuator causes the third, fourth, and fifth prosthetic fingers to flex.   
     
     
         8 . The prosthesis of  claim 1 , further comprising a first prosthetic fingernail being removably coupled to a tip of the first prosthetic finger such that, when the first prosthetic fingernail is uncoupled from the tip of the first prosthetic finger, an interior of the first prosthetic finger is accessible through the tip of the first prosthetic finger. 
     
     
         9 . The prosthesis of  claim 1 , further comprising:
 a prosthetic forearm; and   a socket:   the prosthetic forearm having distal end for coupling the prosthetic hand, and a proximal end for coupling to the socket, the socket configured to receive a residual limb of a user of the prosthesis.   
     
     
         10 . The prosthesis of  claim 9 , further comprising a prosthetic wrist joint coupling the prosthetic forearm to the prosthetic hand, the prosthetic wrist joint providing for articulation between the prosthetic hand and the prosthetic forearm. 
     
     
         11 . The prosthesis of  claim 10 , wherein the articulation includes flexion and extension. 
     
     
         12 . The prosthesis of  claim 10 , wherein the articulation includes a first degree of freedom of motion, the first degree of freedom of motion being pronation and supination. 
     
     
         13 . The prosthesis of  claim 12 , wherein the articulation includes a second degree of freedom of motion, the second degree of freedom of motion being radial deviation and ulnar deviation. 
     
     
         14 . The prosthesis of  claim 10 , wherein the articulation is manually controllable. 
     
     
         15 . The prosthesis of  claim 10 , wherein the articulation is powered. 
     
     
         16 . The prosthesis of  claim 9 , wherein the prosthetic forearm is configured to be rotatably coupled to the socket. 
     
     
         17 . The prosthesis of  claim 9 , further compressing a button on the prosthetic forearm, the button being operably connected to a power source of the prosthesis, the button having a first mode of actuation in which actuating the button turns power to the prosthesis on or off, the button having a second mode of actuation in which actuating the button causes the first prosthetic finger to flex. 
     
     
         18 . The prosthesis of  claim 1 , wherein the prosthetic hand is configured to be operably coupled to a residual limb of a user, and the prosthetic hand has user-specific dimensions based on a remaining hand of the user, the remaining hand being on a limb opposite the residual limb of the user. 
     
     
         19 . The prosthesis of  claim 1 , further comprising a processor operably coupled to a motor of the first actuator, the processor configured to measure current drawn by the first actuator and to calculate force being applied by the first prosthetic finger to an object during flexion of the first prosthetic finger based on the measured current draw. 
     
     
         20 . The prosthesis of  claim 1 , wherein the prosthesis includes a haptic feedback system configured to vibrate in different patterns and intensities, the vibration configured to propagate through the prosthesis to a user wearing the prosthesis, the different patterns and intensities corresponding to different indicia of conditions of the prosthesis. 
     
     
         21 . The prosthesis of  claim 1 , wherein the first prosthetic finger is a prosthetic thumb having a base coupled to a palm of the prosthetic hand, the base of the prosthetic thumb being rotatable between first and second rotational positions relative to the palm such that, in the absence of rotational forces, the base of the prosthetic thumb is rotationally locked relative to the palm when the base is in the first rotational position and when it is in the second rotational position.