(12) INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT)

(19) World Intellectual Property

Organization
International Bureau
(10) International Publication Number
(43) International Publication Date WO 2015/060793 Al
30 April 2015 (30.04.2015) PO PCT

(51) International Patent Classification: (81) Designated States (unless otherwise indicated, for every
A61F 2/58 (2006.01) A61F 2/68 (2006.01) kind of national protection available): AE, AG, AL, AM,
AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY,
(21) International Application Number:
BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM,
PCT/TR2013/000363
DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT,
(22) International Filing Date: HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KN, KP, KR,
27 December 2013 (27. 12.2013) KZ, LA, LC, LK, LR, LS, LT, LU, LY, MA, MD, ME,
MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ,
(25) Filing Language: English OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA,
(26) Publication Language: English SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM,
TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM,
(30) Priority Data: ZW.
2013/1243 1 25 October 2013 (25. 10.2013) TR
(84) Designated States (unless otherwise indicated, for every
(71) Applicant: OZYEGIN UNIVERSITESI [TR/TR]; Nis- kind of regional protection available): ARIPO (BW, GH,
antepe Mahallesi Oman Sokak No: 13 Alemdag Cek- GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, SZ, TZ,
mekoy, Istanbul (TR). UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ,
TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK,
(72) Inventor; and
EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV,
(71) Applicant : KAPLANOGLU, Erkan [TR/TR]; Nisantepe
MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM,
Mah. Oman Sok.No: 13 Alemdag, Istanbul (TR).
TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW,
(74) Agent: DESTEK PATENT, INC.; Konak Mah. Lefkose KM, ML, MR, NE, SN, TD, TG).
Cad. NM Ofis Park B Blok No: 36 / 5 Besevler Nilufer,
Published:
161 10 Bursa (TR).
— with international search report (Art. 21(3))

(54) Title: BIONIC AND HYBRID PROSTHETIC HAND EMBODIMENT

Figure 1
o
© (57) Abstract: The present invention relates to an active hybrid prosthetic hand working with Electromyography (EMG) signals
taken on the front am, so as to provide a hybrid embodiment by using the shape memory alloy (SMA) and DC motors at the same
o time, characterized in comprising flexor tendon facilitating the closing movement of the fingers; extensor tendon which is located at
the back part of fingers, not in alignment with the palm, and which helps said phalanges springs (4) for the extension movement of
the fingers; flexor-actuator SMA which provides the hand to close and grasp and which is connected with the flexor tendon; extens -
or-actuator SMA which facilitates the returning movement of the fingers by making an extension movement following the grasping
and which is connected with the extensor tendon.
 DESCRIPTION

Bionic and Hybrid Prosthetic Hand Embodiment

Technical Field

The present invention relates to hybrid artificial organs.

The present invention especially relates to active hybrid prosthetic hand which works with
Electromyography (EMG) signals taken on the front arm.

State of the Art

Currently, as a result of the researches conducted on the prosthesis users, it is found out
that the factors relating to the performance of a prosthetic hand are the functionality,
interaction with the surrounding, low weight, high speed of grasping and power, being noise-
free or minimum level of noise and visuality.

The ideal prosthetic hands need to meet these criteria. In order to provide the "grasping"
function in the active prosthetic hand embodiments available in the state of the art, various
kinds of direct current motor are used on the part which moves the fingers.

The functionality and the grasping power in the systems that are moved by means of direct
current motor are high. However, the system works in a noisy way, and it poses a
disadvantage compared to a normal human being hand in terms of natural view of a hand
and its weight.

Although not that common, in some of the robotic hand embodiments, Shape Memory alloys
are used. Shape memory alloys (SMA) are the materials with shape memory which can turn
into its original shape from the temporary shape that it is in with the effect of the surrounding
stimulators such as temperature, pH, light by preserving its original shape within its memory.
In the robotic prosthetic hands where SMA is used, on the other hand, the grasping speed
and power is not at an adequate level compared to the healthy hands because of the
general characteristic of SMAs. Moreover, it is also considered as a disadvantage that the
reaction duration of the SMA used in the prosthetic hand is long.
The international application with the number WO2010080774A2 relates to a prosthetic
finger activator and a method of activating that prosthetic finger. For the tendons of said
finger embodiment, SMA is used as the smart material. Therefore, the prosthetic finger
comprises more than one cable/connection made of SMA material and each
cable/connection comprises a cooling mechanism within itself. The smart material used in
this embodiment is only SMA (Shaped Memory Alloy).

The American application numbered US6379393B1 , on the other hand, relates to a robot
hand embodiment which is activated with the memory-smart materials. Within the patent-
protection, an electrical structure is mentioned which enables the robot hand to be activated
and moved. As it is seen in the figures of the relevant application, the embodiment
comprises items (item numbered 210 in US application) equivalent to the flexor tendon (5).
However, no item is available which is equivalent to the extensor tendon (6). Moreover, it is
not possible to use DC motor, shape memory material and said tendons (5,6)
simultaneously in one single embodiment.

The hybrid prosthetic hand embodiment according to the present invention provides a
solution for a technical problem different than the technical problems that the above-
mentioned application has solved.

Consequently, because of the above-mentioned disadvantages and the insufficiency of the

current solutions, different than the known methods, it has become necessary to provide an
improvement or development in the field of bionic prosthetic hands.

Object of the Invention

The object of the present invention which is created with an inspiration from the current
conditions is to eliminate the disadvantages related to the above-mentioned bionic hand
embodiments and to the materials used in those embodiments, and to improve the bionic
prosthetic hands.

The main object of the present invention is that said hybrid hand can fulfill the daily-life
activities and it can be used in a lighter and more effective manner.

Another object of the present invention is to provide a high grasping speed and power by
using DC motor in the first three fingers as they are more actively used than the other two
fingers (ring and little fingers).
Another object of the present invention is to provide a hybrid embodiment by making use of
DC motor and shape memory alloys.

A further object of the present invention is to provide light and noise-free working by using
SMA actuator in the ring and little fingers which move less compared to the first three
fingers.

Another object of the present invention is to decrease the duration of SMA reaction by using
extensor tendon.

An object of the present invention is to extend the battery life by making use of SMA
actuator.

Another object of the present invention is to provide low weight, natural view, noise-free
working and low energy-consumption which are necessary for a prosthetic hand
performance by making use of SMA.

So as to fulfill the above-mentioned objects, the present invention relates to a bionic hybrid
prosthetic hand embodiment comprising phalanges springs providing the fingers to return
back following the grasping; so as to provide a hybrid embodiment by using the shape
memory alloy (SMA) and DC motors at the same time, wherein it further comprises;
Flexor tendon facilitating the closing movement of the fingers;
Extensor tendon which is located at the back part of fingers, not in alignment with
the palm, and which helps said phalanges springs for the extension movement of
the fingers;
Flexor-actuator SMA which provides the hand to close and grasp and which is
connected with the flexor tendon;
Extensor-actuator SMA which facilitates the returning movement of the fingers by
making an extension movement following the grasping and which is connected with
the extensor tendon.

In a preferred embodiment of the present invention, each of the ring and/or little fingers has
flexor tendon.

In a preferred embodiment of the present invention, there is a flexor-actuator SMA which is

connected with said flexor tendons available in the ring and little fingers.
In a preferred embodiment of the present invention, each of the ring and/or little fingers has
extensor tendon.

In a preferred embodiment of the present invention, there is an extensor-actuator SMA

which is connected with said extensor tendons available in the ring and little fingers.

In a preferred embodiment of the present invention, each of the thumb, index and middle
fingers has at least one DC motor.

The present invention, in its preferred embodiment, comprises electromyography (EMG)

signals taken on the front arm, which enable said prosthetic hand to work.

The structural and characteristic aspects and all the advantages of the present invention will
be more clearly understood by means of the following figures and the detailed description
written with certain references to these figures, and therefore this detailed description should
be considered while making the evaluation.

Figures for a Better Understanding of the Present Invention

Figure 1 is the general view of the hybrid prosthetic hand embodiment according to the
present invention.
Figure 2 is a view belonging to one of the fingers of the hybrid hand embodiment according
to the present invention, wherein said fingers comprise flexor and extensor tendon.

Description of the Part References

1. DC Motors
2. Extensor-actuator SMA
3. Flexor-actuator SMA
4. Phalanges springs
5. Flexor tendon
6. Extensor tendon

SMA: Shaped Memory Alloy

DC: Direct Current
The drawings do not necessarily need to be scaled and the details which are not necessary
to understand the present invention may have been ignored. Apart from that, the elements
or process steps which are identical to a great extent or which have at least identical
functions to a great extent are shown with the same reference numbers.

Detailed Description of the Invention

In the hybrid prosthetic hand embodiment according to the present invention, different than
the prior embodiments, all the fingers of the prosthetic hand are moved by means of a hybrid
structure instead of only one single actuator (only DC motor or only SMA).

As the tendon-effect actuator of the two fingers (Little and Ring Fingers) which are a part of
the developed hybrid hand, SMA (2,3) is used. As the other three fingers have more
functions compared to the other two, they are moved by means of brushless DC motor (1).

The hybrid hand according to the present invention has been developed so that it can fulfill
the daily-life activities and be used in a lighter and more effective manner. Therefore the
actuators (2,3) have been selected in a way that they can meet necessary power and speed
requirements so as to fulfill these conditions and the drivers are developed accordingly. The
drivers which are constituted with power electronics elements are current control driver
circuits working with pulse width modulation (PWM).

The actuator used for the flexion movement (closing) of the hand is the flexor-actuator SMA
(3) . Following the flexion movement of the hand, the grasping function takes place.

The extension movement (opening) of the hand is provided by means phalanges springs (4)
in the fingers (thumb, index and middle) that are moved with DC motor, and by means of
SMA extensor tendon (6) in the fingers (ring and little) which are moved with SMA.

In the current embodiments, there is a flexor tendon (5) available which helps the closing
movement of the hand. However, in the hybrid prosthetic hand embodiment according to the
present invention, as different than the other prosthetic hand embodiments, a channel is
created on the outer part of the fingers moved with extensor-actuator SMA (2) and flexor-
actuator SMA (3). In this channel, extensor tendon (6) is located as a second tendon.
Thanks to this second tendon, a help is provided to the spring system (phalanges springs
(4) ) for the extension (opening) movement of the fingers.
The SMA used as the extensor tendon (6) has the same technical characteristics with the
SMA used as flexor tendon (5). Therefore a natural hand behavior is observed.

In the hybrid prosthetic hand embodiment, by making use of actuator SMAs (2,3), the factors

such as low weight, natural view, noise-free working and low energy-consumption which are
necessary for a prosthetic hand performance are fulfilled. By making use of DC motor (1),
high grasping speed and power is obtained.

In this detailed description, the preferred embodiments of the hybrid prosthetic hand which
is embodied simultaneously with the SMA and DC actuators according to the present
invention are described only for the subject to be understood better.
 CLAIMS

1. A bionic hybrid prosthetic hand embodiment comprising phalanges springs (4)

providing fingers to return back following grasping; so as to provide a hybrid
embodiment by using the shape memory alloy (SMA) and DC motors (1) at the same
time, characterized in further comprising;
- Flexor tendon (5) facilitating closing movement of the fingers;
- Extensor tendon (6) which is located at back part of fingers, not in alignment
with palm, and which helps said phalanges springs (4) for extension
(opening) movement of the fingers;
- Flexor-actuator SMA (3) which provides hand to close and grasp and which is
connected with the flexor tendon (5);
- Extensor-actuator SMA (2) which facilitates returning movement of the fingers
by making an extension movement following the grasping and which is
connected with the extensor tendon (6).

2. A bionic hybrid prosthetic hand embodiment according to Claim 1 , characterized in

that each of ring and/or little fingers comprises flexor tendon (5).

3. A bionic hybrid prosthetic hand embodiment according to Claim 2 , characterized in

comprising flexor-actuator SMA (3) connected with said flexor tendons (5) available in
ring and little fingers.

4. A bionic hybrid prosthetic hand embodiment according to Claim 1, characterized in

that each of the ring and/or little fingers comprises extensor tendon (6).

5. A bionic hybrid prosthetic hand embodiment according to Claim 4 , characterized in

comprising extensor-actuator SMA (2) connected with said extensor tendons (6)
available in ring and little fingers.

6. A bionic hybrid prosthetic hand embodiment according to Claim 1, characterized in

that each of the thumb, index and middle fingers comprises at least one DC motor (1).

7. A bionic hybrid prosthetic hand embodiment according to Claim 1 , characterized in

comprising electromyography (EMG) signals taken on front arm which enable said
prosthetic hand to work.
A . CLASSIFICATION O F SUBJECT MATTER
INV. A61F2/58 A61F2/68
ADD.

According to International Patent Classification (IPC) o r t o both national classification and IPC

B . FIELDS SEARCHED
Minimum documentation searched (classification system followed b y classification symbols)
A61F

Documentation searched other than minimum documentation to the extent that such documents are included in the fields searched

Electronic data base consulted during the international search (name of data base and, where practicable, search terms used)

EPO-Internal , WPI Data

C . DOCUMENTS CONSIDERED T O B E RELEVANT

Category* Citation o f document, with indication, where appropriate, of the relevant passages Relevant to claim No.

US 6 379 393 Bl (MAVROIDIS CONSTANTINOS 1-7

[US] ET AL) 30 Apri l 2002 (2002-04-30)
c i ted i n the appl i cati on
Fi g s . 25-36 / / col umn 16, l i ne 57 t o
col umn 18 l i ne 6

0 2013/038143 Al (TOUCH EMAS LTD [GB] ; 1-7

GI LL HUGH [GB] ) 2 1 March 2013 (2013-03-21)
Fi g . 1 / / page 12 , f i rst paragraph

W0 2013/076683 Al (UNIV CAPE TOWN [ZA] ) 1-7

30 May 2013 (2013-05-30)
the whol e document

□ Further documents are listed in the continuation of Box C . See patent family annex.

* Special categories of cited documents :

"T" later document published after the international filing date o r priority
date and not in conflict with the application but cited to understand
"A" document defining the general state of the art which is not considered
the principle o r theory underlying the invention
to b e of particular relevance
"E" earlier application o r patent but published o n o r after the international
"X" document of particular relevance; the claimed invention cannot b e
filing date considered novel o r cannot b e considered to involve a n inventive
"L" documentwhich may throw doubts o n priority claim(s) orwhich is step when the document is taken alone
cited to establish the publication date of another citation o r other
"Y" document of particular relevance; the claimed invention cannot b e
special reason (as specified)
considered to involve a n inventive step when the document is
"O" document referring to a n oral disclosure, use, exhibition o r other combined with one o r more other such documents, such combination
means being obvious to a person skilled in the art
"P" document published prior to the international filing date but later than
the priority date claimed "&" document member of the same patent family

Date of the actual completion of the international search Date of mailing of the international search report

8 May 2014 14/05/2014

Name and mailing address of the ISA/ Authorized officer
European Patent Office, P.B. 5818 Patentlaan 2
N L - 2280 HV Rijswijk
Tel. (+31-70) 340-2040,
Fax: (+31-70) 340-3016
Foged, S0ren
 Patent document Publication Patent family Publication
cited in search report date member(s) date

US 6379393 Bl 30-04-2002 AU 6043099 A 03-04-2000

US 6379393 B l 30-04-2002
O 0015157 A l 23-03-2000

O 2013038143 Al 21-03-2013 NONE

WO 2013076683 Al 30-05-2013 NONE