System and method for an advanced prosthetic hand
Inventors
Akhtar, Aadeel • Austin, James Alastar • Cornman, Jesse Michael • Bala, Dhipak Murthy • Wang, Zipeng
Assignees
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Publication Number
US-12440354-B2
Publication Date
2025-10-14
Expiration Date
Abstract
A system and method for creation and function of an advanced prosthetic hand includes: a base palm, comprising the primary body of the prosthetic hand; a set of actuating digits, wherein each actuating digit is connected to the palm; a sleeve, connected to the palm, providing an interface; a sensor system, comprising sensors integrated on a subset of the set of actuating digits; and a feedback system, connected to the sensor system enabling sensory feedback from the sensor system. In preferred variations, the base palm comprises, at least partially, a carbon-fiber shell. The system may further include a set of water sealing elements integrated into the prosthetic hand. The system functions as a hand prosthesis with actuating digit and hand components.
Core Innovation
The document describes an advanced electromechanical bionic prosthetic hand system including a base palm as the primary body and a set of five actuating digits connected to the palm via an interface sleeve. Each actuating digit comprises a bone structure and a malleable skin layer overmolded around the bone structure, and the sleeve connects the prosthetic hand to a prosthetic wearer.
The system further includes a sensor system integrated on a subset of the actuating digits and a feedback system connected to the sensor system to enable sensory feedback from the sensor system. The sensor system includes a set of Hall effect sensors and a set of magnets, where each magnet is encased in the skin layer and displaced and aligned with a Hall effect sensor.
At least one sensor is integrated into a bone structure, and in a specified embodiment the sensor is integrated near a passively flexible distal phalanx joint. The document also describes embodiments with touch/pressure sensors on a subset of digits, including barometric pressure/MEMS, force sensitive resistors, and Hall effect sensor arrangements with encased magnets.
The document addresses water-resistant waterproofing by using integrated water-sealing elements in multiple parts of the prosthetic hand, including strategies for multibody palms, digit drive trains, sensor seals, and thumb interfaces. Multiple embodiments describe internal palm structure and circuitry/drivetrains, digit actuation mechanisms including four-bar linkage mechanisms and compliant joints, and feedback implementations that include sensory feedback and haptic or multi-channel electrical stimulation feedback linked to sensor outputs.
Claims Coverage
The partial content provides two independent claims (clm-00001 and clm-00015). Both independent claims require a base palm, actuating digits with a bone structure and an overmolded malleable skin layer, an interface sleeve, a sensor system integrated on a subset of digits using Hall effect sensors and magnets with a displaced/aligned arrangement, and a feedback system connected to the sensor system for sensory feedback; the second independent claim further requires compliant joint regions and a passively flexible distal phalanx joint with sensor placement near that joint.
Hall effect sensor and encased displaced/aligned magnet arrangement with sensory feedback
A system including a sensor system comprising a set of Hall effect sensors and a set of magnets, where each magnet is encased in a skin layer and displaced and aligned with a Hall effect sensor, with a feedback system connected to the sensor system enabling sensory feedback from the sensor system.
Overmolded bone-structure digit with integrated sensors in a bone structure
A set of actuating digits where each digit comprises a bone structure and a malleable skin layer overmolded around the bone structure, and where at least one sensor of a set of sensors is integrated into a bone structure, with the set of sensors including Hall effect sensors and a set of magnets positioned with displaced and aligned relation.
Compliant joint region and passively flexible distal phalanx joint with sensor near the distal phalanx joint
A system where each actuating digit comprises a bone structure with a compliant joint region and a passively flexible distal phalanx joint, and where a sensor of the sensor system is integrated into a bone structure near the passively flexible distal phalanx joint of at least one actuating digit, including Hall effect sensors and a set of magnets encased in the skin layer and displaced and aligned with a Hall effect sensor.
Across the two independent claims, the core claim coverage centers on prosthetic digits with overmolded malleable skin around a bone structure, a sensor system using Hall effect sensors with magnets encased in the skin layer and displaced/aligned relative to the Hall effect sensors, and a feedback system connected to the sensor system to enable sensory feedback; claim 15 additionally requires compliant joint regions and passively flexible distal phalanx joints with sensor integration near the distal phalanx joint.
Stated Advantages
Robust water-resistant waterproofing.
Intelligent operation with a sensor system and sensory feedback.
Enhanced strength with a carbon-fiber shell.
Compliant joints.
Documented Applications
An advanced bionic electromechanical prosthesis implemented as an advanced prosthetic hand connected to a prosthetic wearer via a sleeve.
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