DESC:FIELD OF THE INVENTION:
The present invention relates to a prosthetic device. More specifically, the present invention is directed to a wearable rotational degree of freedom sensor as well as wearable shoulder movement driven sensor operated device for actuating prosthetic device including hand prosthetic with single degree of freedom so that prosthetic hand can grasp the objects based on the amputee’s rotation of the stump.

BACKGROUND OF THE INVENTION:
Wireless sensory operable prosthetic devices are created for users in case of loss of their original limbs using signals from their residual limbs. These prosthetic devices are manufactured using different types of sensor and materials such as metals, plastic etc.

J.R. Binda [BINDA, J.R. Multiple degrees of freedom wrist prostheses (Master Thesis) Delft University of Technology, Delft, Holanda 2018] mentions the ability of a Trans radial amputee to rotate its residual limb at various degrees of amputation but this paper does not take that as input for a sensor.

Craig L. Taylor [Taylor CL. The biomechanics of control in upper extremity prostheses. Artif Limbs 1955; 2: 4–25] mentions the biomechanics of the upper extremity. It also mentions Bi scapular Abduction, Arm flexion and extension for harness control of mechanical prosthesis. But nowhere it is mentioned to use these shoulder movements as an input signal for a sensor.

US patent 11,000,082 describe about an electronic assistive glove for covering an artificial hand, the glove comprising: a base layer formed to fit on the artificial hand; a plurality of sensors carried by the base layer; conductive traces carried by the base layer and interconnecting the sensors, the conductive traces comprising individual trace patterns having serpentine shapes; and an encapsulation layer that conceals the base layer and the conductive traces, the encapsulation layer being formed of a material that mimics human skin.

US Patent 10,973,660 describes a prosthetic thumb to provide for rotation about the lateral axis.

US Patent 10959863 discloses a multi-dimensional surface electromyogram signal prosthetic hand control method based on principal component analysis. The method comprises the following steps. Wear an armlet provided with a 24-channel array electromyography sensor to a front arm of a subject, and respectively wear five finger joint attitude sensors at a distal phalanx of a thumb and at middle phalanxes of remaining fingers of the subject.

US patent 10,940,026 describes 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.

US patent 10,758,379 states about a system and method for fine motor control of fingers on a prosthetic hand. In particular, the present disclosure describes a system and method for controlling the flexion or extension of one or more fingers of a prosthetic hand to reproduce a natural stroke such as for, e.g., writing, painting, brushing teeth, or eating.

US Patent 10,369,024 states about Systems and methods for prosthetic wrist rotation.

CN105943206A describes a prosthetic hand control method based on an MYO armlet.

CN101156811A describes relates to the control device of a kind of apery type multiple freedom degrees hand-prosthesis for disabled persons, particularly a kind of communication mode of the speech control system of doing evil through another person based on bluetooth wireless communication belongs to robot and electromechanical integration technology area.

US7168748B2 describes a robotic device as having a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network.

It is observed based on prior arts that the following drawbacks are required to be addressed:

1. Use of EMG sensors may require training and EMG sensors can only be used by transradial amputees (below elbow amputation). For above elbow amputation there is still not any effective actuation device available.
2. Sweat & Dirt causes the hindrance in EMG sensors.
3. Shoulder movement is not considered for input signal
4. Rotational degree of freedom is not considered.

OBJECTIVES OF THE INVENTION:
It is thus the basic objective of the present invention is to develop hand prosthetic actuating device such as a wearable rotational degree of freedom sensor operated prosthetic hand controller which would be adapted to use rotational degree of freedom of remaining stump of the amputee as an input for the sensor to signal the prosthetic hand to actuate.

Another objective of the present invention is to develop a wearable rotational degree of freedom sensor operated prosthetic hand which would be adapted to attach over the remaining stump of the amputee and use shoulder movement as an input signal for the prosthetic hand actuation.

Further objective of the invention is to develop a wearable rotational degree of freedom sensor operated prosthetic hand which would include low cost wireless operated flexible grasping feature, cosmetic look with single grip patterns with the use of only one actuator in order to perform important tasks in daily life and which achieves significant grip force.

SUMMARY OF THE INVENTION:

Thus according to the basic aspect of the present invention there is provided a wearable hand prosthetic actuating device comprising

at least one rotational sensor controller for attaching on remaining stump of amputee;

sensor in said rotational sensor controller including tactile switches configured for detecting rotational freedom of residual limb and accordingly actuating a connected prosthetic hand including movement of fingers of said prosthetic hand for performing opening and closing operation.

In the present wearable hand prosthetic actuating device, the rotational sensor controller comprises

a microcontroller; and

sensor having

a switchboard containing the tactile switches at its base,

a grooved rod operatively connected with the switchboard base, and

a flexible liner operatively attached with the grooved rod and enabling the amputee to wear the flexible liner over the residual stump.

In the present wearable hand prosthetic actuating device, the sensors fixed on the user stump through the flexible liner captures the stump movement whereby, the grooved rod is rotated according to the movement and simultaneously press the tactile switches; and

wherein said tactile switches provides a movement indicating signal to the micro-controller through PCB and the micro-controller accordingly send controlling signal to connected prosthetic hand for actuation and performing action like opening and closing movement and wrist rotation with freedom of any degree with position control.

In the present wearable hand prosthetic actuating device, the flexible liner is attached to a snap fit male part by two split rivets and said snap fit male part is retractably meshes with a corresponding snap fit female part, whereby the snap fit female part is fixed inside the grooved rod.

In the present wearable hand prosthetic actuating device, the grooved rod is cut out according to the length of the individual user’s stump length and includes a protruded shaft which meshes inside cavity of rotatable switch fitted inside the switchboard base such as to press the tactile switches either side located inside the switchboard base.

In the present wearable hand prosthetic actuating device, the grooved rod shaft is arrested between two links which are connected with an extension spring via threaded shafts.

In the present wearable hand prosthetic actuating device, the rotational force from rotation of the stump by the amputee is transmitted to the rotatable switch via the to the grooved rod and the protruded shaft, enabling the rotatable switch to press the tact switches on either side of the rotation, whereby pressing of the tact switches gives the stump movement signal to the micro-controller.

In the present wearable hand prosthetic actuating device, the switchboard and the PCB is housed inside a Wrist rotation cover.

The present wearable hand prosthetic actuating device comprises a wireless shoulder driven remote control unit including a harness buckle attached with a tact switch in such a way that when force is applied on the shoulder by the user, the buckle will be pulled out which in turn push the tact switch for sending signal to the PCB to give further wireless signal to the micro-controller for opening or closing of the hand.

In the above wearable hand prosthetic actuating device, the PCB is powered by a battery and includes a slide switch to on and off the device over remote cover;

said PCB battery assembly rests on the base and a cover encloses the whole assembly.

BRIEF DESCRIPTION OF THE NON-LIMITING ACCOMPANYING DRAWINGS:

FIG. 1 shows block representation of the present wearable rotational degree of freedom sensor operated prosthetic device embodiment.

FIG. 1A shows ARSC (Adjustable Rotational Sensor Controller) &ATRIEX (Electromechanical Hand) full assembly unit in accordance with the present wearable rotational degree of freedom sensor operated prosthetic hand device embodiment.

FIG. 2 shows ARSC and ATRIEX exploded view.

FIG. 3 shows the Exploded view of ARSC sensor with its subcomponent.

FIG. 4 shows Exploded view of wireless shoulder driven remote unit.

FIG. 5 shows front, side and back view of wireless remote device.

FIG. 6 shows Side view of ATRIEX with its linkages, gears and motor arrangement both open and close orientation.

FIG. 7 shows an exploded view of ATRIEX with all its subcomponents.

DETAILED DESCRIPTION OF THE INVENTION WITH REFERENCE TO THE ACCOMPANYING DRAWING:
Thepresent invention provides first of its kind prosthetic hand actuating device including adjustable rotational sensor controller (ARSC) which is configured to be attached over the remaining stump of the amputee and takes its input from rotational freedom of the residual limb after amputation. The adjustable rotational sensor controller includes Electro-mechanical sensor with tactile switches therein to provide input signal from amputated parts for the corresponding connected prosthetic hand to actuate including linear control of opening and closing movement with freedom of any degree with position control. This shoulder movement based prosthetic hand control is advantageous compared to other approaches which are still using costly EMG sensors and precision sensors which require machine learning algorithms to assess signals from the residual stumps of a transradial amputee.
In the present invention, the shoulder switch is wirelessly connected to the prosthetic arm which is useful for people who have weak muscle signals and shoulder disarticulation. In the present invention, the adjustable rotational sensor controller and wireless shoulder switch enables the user to use the prosthetic arm without much effort.

The ARSC includes a battery (Lithium polymer) operated microcontroller. The enclosure of the device is made of plastic. In this hand actuating unit ARSC sensor is used as an input device, which is basically divided in three parts, switchboard base, grooved rod and flexible liner, there are 2 tact switches which are fixed in switch board base and its sensing input of the microcontroller for the ARSC sensor movement of the user stump. The grooved rod is joined to the switch board with the help of spring loaded connectors which fit into grooves of the grooved rod. The grooved rod is attached with the flexible liner with the help of a retractable snap fit mechanism. The amputee can wear the flexible liner over the residual stump.

First of all, the ARSC sensor will be fixed with the user stump. Once the movement will be captured by ARSC sensor from the user stump, the connector will be rotate according to the movement and press the tactile switch at that time, tact switch provides input to the microcontroller and according to input, microcontroller send the data to main unit through the wire for perform the action like opening and closing movement and wrist rotation with freedom of any degree with position control.

Wireless shoulder driven remote unit is battery (lithium polymer) operated microcontroller based device. The enclosure of the device is made of plastic and designed in square ergonomic shape with harness buckles. So harness buckle is designed with pullback mechanism and internally connected with tact switch which is sensing input of the microcontroller for the movement of the user shoulders, it’s an embedded system base design with double layer PCB inside and micro USB connecter is available for charging the device.

First of all, User needs to wear this harness attached to the remote device. Once the force is applied on the shoulder by the user, the buckle will be pulled out and at that time the tact switch will be pressed. Tact switch provides input to the microcontroller and captures the event, according to input, the microcontroller sends the data to the main unit through the Bluetooth for a degree of movement like opening and closing of the prosthetic hand. Also we can control the holding position of the Prosthetic hand at any particular degree of the position.

The prosthetic arm (Atriex) is a single motor actuated hand. Its motor is bi directional self locking clutch motor. This prosthetic hand has a unique linkage and gear arrangement which due to its kinematic motion provides a closing action when a torque is applied at the input gear . The gear shaft of the motor is engaged with the bigger spur gear part of a compound gear. Next the smaller spur gear part of the compound gear is meshes with the segment gear attached between index and middle finger. The Index and middle finger is connected with the thumb finger with a linkage in an inverse four bar arrangement where the chassis of the body acts as the fixed link, index finger as a crank, connecting linkage as a coupler & thumb finger follower linkage. Thus when the gear shaft of the motor provides the input torque, that torque is transferred to the pivot of the index finger through two stage gear reduction. Thus the pivot of the index finger rotates clockwise and anticlockwise opposite to the input motion of the motor gear shaft. Middle, ring and the little finger have the same pivot as the index finger and are constrained to move with the index finger with the help of u shaped sheet metal connectors. The connecting linkage transfers index finger motion to the thumb finger via a connecting link such that the thumb rotates in opposite direction at its pivot to that of index finger. Thus opening and closing action of the prosthetic hand is achieved.

Use of a rotational degree of freedom as an input for the sensor to signal the prosthetic hand to actuate is indeed a novel idea. while other inventions are still using EMG sensors which are way too costly and precision sensors which require machine learning Algorithms to assess signals from the residual stumps of a trans radial amputee.

Use of shoulder movement as an input signal for the sensor to signal the prosthetic hand to actuate is indeed a novel idea. While other inventions are still using EMG sensors which are way too costly and precision sensors which require machine learning. Also this remote provides wireless connectivity with the prosthetic arm. It can also be useful for people who have weak muscle signals and shoulder disarticulation.

An amputee has to undergo a brief period of training to master the EMG sensors to actuate the hand whereas he will be able to use ARSC and wireless shoulder switch without much effort.

In hand prosthesis the important characteristics that directly affect hand performance are the ability to grasp various types of objects, grasping force that provides stability for holding objects, and cosmetic appearance that resembles the human hand. ATRIEX has a single power grip pattern with the use of only one actuator in order to perform important tasks in daily life and which achieves significant grip force. A.R.S.C sensor uses the rotational degree of freedom from the remaining stump of a Trans radial amputee. The elbow of the amputee is arrested by a supra condylar socket which leaves the ability of rotational freedom of the remaining stump, inside the socket. The clockwise and anticlockwise rotation of the ARSC sensor attached with the stump signals opening and closing of the hand.

Wireless shoulder driven remote unit which provides an open and close function to hand. It has a switch, which is driven by the shoulder with the help of a harness. When the switch is pulled, the hand performs an open/close action. User needs to wear this harness attached with the remote device. Once the force is applied on the shoulder by the user, the buckle will be pulled out and at that time the tact switch will be pressed. Tact switch provides input to the microcontroller and captures the event, according to input, the microcontroller sends the data to the main unit through the Bluetooth for a degree of movement like opening and closing of the prosthetic hand. Also unser can control the holding position of the Prosthetic hand at any particular degree of the position.

A single motor actuated hand which has a unique linkage arrangement which due to its kinematic motion provides a closing action when a torque is applied at its input gear. The Index, middle, ring and little finger are connected and share the same pivot to rotate while the thumb is connected via a connecting link. The Index and middle finger is connected with the thumb finger with a linkage in an inverse four bar arrangement where the chassis of the body acts as the fixed link, index finger as a crank, connecting linkage as a coupler & thumb finger follower linkage. Thus when the gear shaft of the motor provides the input torque, that torque is transferred to the pivot of the index finger through two stage gear reduction. Thus the pivot of the index finger rotates clockwise and anticlockwise opposite to the input motion of the motor gear shaft. Middle, ring and the little finger have the same pivot as the index finger and are constrained to move with the index finger with the help of u shaped sheet metal connectors. The connecting linkage transfers index finger motion to the thumb finger via a connecting link such that the thumb rotates in opposite direction at its pivot to that of index finger. Thus opening and closing action of the prosthetic hand is achieved.

FIG. 1 shows block representation of the present wearable rotational degree of freedom sensor and wireless shoulder switch operated prosthetic device embodiment.

Fig 1A shows the ATRIEX system and ARSC sensor assembly. The ATRIEX consists of cases, linkages, compound and segment gears, PCB and microcontroller. Wires from the PCB and microcontroller connect with the ARSC sensor via wrist unit. Remaining portion of the stump of the amputee is arrested by the flexible liner 21 of ARSC sensor, Such that when rotated in either direction - clockwise or anti- clockwise, the tact switches inside the ARSC sensors are pressed , which signals the PCB and microcontrollers inside the EFLEX hand . Now accordingly the microcontroller sends the signal to the motor to rotate. Since the shaft of the motor is connected with the gear and linkages, which due to its kinematic motion opens and closes the hand. Wrist rotation module will be attached over the socket via screws. The wrist rotation module helps rotate the hand and lock the hand. Since the motor used has a special self locking clutch mechanism inside, thus the hand can retain its position at any gripping position while there is no current flowing through the motor.

Similarly in Fig 2 ARSC and ATRIEX has been shown with an exploded view. An amputee can insert his/her remaining stump inside flexible liner 21. The flexible liner 21 takes the shape of the residual limb. After that, rotational motion from the residual limb can be transferred to the grooved rod 20, and from grooved rod 20 to the switch board.

Fig 3 shows the exploded view of the ARSC sensor with all its subcomponents. The flexible liner 21 is attached to the male part of the snap fit 37 with the help of 2 split rivets 18 & 39. The male part of the snap fit 37 meshes with the female part of the snap fit 36.These two parts are retractable . The female part of the snap fit 36 is fixed inside the grooved rod 20. Thus the user can wear flexible liner 21 and can attach or detach with the flexible rod 21 part of the ARSC according to his will. The protruded shaft 35 which fits inside the grooved rod 20, meshes inside the cavity of rotatable switch 34. The rotatable switch 34 fits inside switch base 32 and can press tactile switches 40 and 41 either side located inside the switch base 32.The grooved shaft 21 is arrested between the two links 14 & 19. The links 14 and 19 are connected with an extension spring 16 via threaded shafts 15 & 17 respectively. The grooved shaft 20 can be cut out according to the length of the individual user’s stump length. The switchboard 32 and P.C.B 31 is housed inside the P.C.B cover 13.

So when the amputee rotates his stump, then the rotational force willbe transmitted to grooved rod 20 to the protruded shaft 35 to switch 34. Now the switch 34 will press the tact switches 40 & 41 36 on either side of the rotation. When the tact switch 40 & 41 is pressed it gives the signal the microcontroller, which will send the data to the main unit. Both sides of the tact switch 40 & 41 signals clockwise and anticlockwise rotation of the motor in Atriflex providing opening and closing of the hand.

Fig 4 shows the exploded view of the wireless shoulder driven remote unit. It has a harness buckle 42 which is attached with a tact switch 45 in such a way that when pulled, it switches the tact switch 45 which again sends the signal to the PCB 50 which gives the wireless signal to the microcontroller attached with the hand , which in turn open or closes the hand . This PCB 50 is powered by a battery . There is a slide switch 54 to on and off the device over remote cover 49. The PCB battery assembly rests on the base 48. The cover 49 encloses the whole assembly. This device will be attached with the remote device. Once the force is applied on the shoulder by the user, the buckle 42 will be pulled out. Which in turn will push the tact switch 45. The tact switch provides input to the microcontroller which performs opening and closing of the hand.

Fig 5 shows the front, side and back view of the wireless shoulder switch. The covers 49 & 48 will be connected by the screws 55 & 56.

Fig 6 shows the open and closed orientation of the ATRIEX hand. The gear shaft of the motor 24 meshes with the bigger spur gear of the compound gear 28. The smaller spur gear of the compound gear 28 again meshes with the segment gear 26. The segment gear 24 and Index finger 6 have the same pivot A and are connected. Thus when the motor 24 rotates in anticlockwise rotation, the compound gear 28 rotates in the clockwise direction and the segment gear 26 rotates in the anti clockwise direction about the pivot A. since the Index finger 6 is connected with the segment gear 26, the Index finger 6 rotates in the anti clockwise direction about the same pivot A. The thumb finger 30 and the Index finger 6 are connected via connecting linkage 9. Thus the chassis 11, Index finger 6, connecting linkage 9 and thumb finger 30 constitutes an inverse four bar mechanism where chassis 11 acts as fixed link, index finger 6 as crack, connecting link 9 as coupler and thumb finger 30 as follower. Thus the thumb 30 rotates in the opposite direction of that of index finger 6 about the pivot B. So when the ATRIEX is in the closed position and gear shaft of the motor rotates 24 in the anticlockwise direction , the Index finger 6 rotates in the anticlockwise direction about the Pivot A while the thumb finger rotates in the clockwise direction about the pivot B. Thus the ATRIEX hand opens. Similarly when the gear shaft of the motor 24 rotates in the clockwise direction the ATRIEX hand closes.

Fig 7 shows the isometric exploded view of the ATRIEX hand. The index finger 6, middle finger 5 and the segment gear 26 are connected via spacer 25. The ring finger 8 is connected to the middle finger 5 with the help of a first U shaped finger connector 22. Similarly the little finger 57 is connected to ring finger 8 with the help of a second U shaped connector 23. Thus the Middle finger 5 , ring finger 8 & the little finger 57 are constrained to move in the same direction as the Index finger 6 about the pivot A. The segment gear 26 has the cover 27 to protect the gloves. All the gears, spacers and fingers are housed between two sheet metal chassis 7 & 11, and specially designed vmc part 12.The wrist rotation cover 13, plastic spacer 71, wrist rotation plate 72 & wrist rotation part 12 constitute the wrist rotation module. The wrist rotation cover 13 and plastic spacer 71 is sandwiched between the plate 72 and part 12 tightly with the help of three co axial screws 73, thus the wrist rotation cover 13 can rotate about its axis. The user can rotate the Atriex (Electromechanical hand) manually about its axis with the help of the wrist rotation module. Another function of the Wrist rotation module is to house the P.C.B 31.

In a preferred embodiment, there are two circuits in the P.C.B (Printed Circuit Board) 31. One is for wireless shoulder circuit, one is for ARSC & for palm unit. Both the device's palm unit and shoulder switch have wireless controllers built-in. When the devices are switched on, the controller on the wireless shoulder unit gets connected to the controller in the palm unit. When a shoulder movement happens in the remote unit, the tactile switch 45 gets pressed. The tactile switch 45 eventually triggers the Wireless Controller to send a command to the palm unit. The palm unit gets the command of shoulder movement from the remote switch. According to the command, it drives the motor 24 to open or close the hand. Similarly, for ARSC when the wrist rotation movement happens it presses one of the tact switches 40 & 41 on the either side. This gives a command to the palm unit to drive the motor 24 to open or close the hand.

A tactile switch as used in the present invention is a type of switch which behaves as a short circuit when it is pressed. In these two mechanisms (shoulder switch and ARSC), the switches are digital sensors to the controller. The switch is short when there is a mechanical force due to shoulder movement in wireless shoulder switch or wrist rotation movement for ARSC , the controller then senses a voltage at the other end of the switch terminal. When there is no movement, the switch behaves as an open circuit. So there will be no voltage at the other end. The controller then detects no movement.

The ARSC and the wireless shoulder driven remote unit includes different operational components for the same operation. Any one of them can provide a workable embodiment of the present invention.

The details of all the sub-components of the ARSC and ATRIEX as shown in the accompanying figures specifically in Fig 2, 3, 4, 6 and 7 are summarized hereunder:

Fig No.- 2,3,4,6 & 7
Component indicating Reference Numerals Component Name Function
1 Little finger cover It Covers the little finger 57 and provides thickness to it.
2 Ring finger cover It Covers the Ring finger 8 and provides thickness to it.
3 Middle finger cover It covers the middle finger 5 and provides thickness to it.
4 Index finger cover It covers the index finger 6 and provides thickness to it.
5 Middle finger It acts as middle finger of the Atriex
6 Index finger It acts as index finger of the Atriex
7 Sheet metal chassis It provides the pivot for index 9 and thumb finger 30 to rotate and houses bush 65 & 66
8 Ring finger It acts as the ring finger of the Atriex
9 Connecting linkage It transfer the constraint motion from the Index finger 6 to the Thumb finger 30
10 Thumb finger cover It covers the thumb finger 30 and add thickness to it.
11 Bend metal chassis It provides the pivot for Index 9 and thumb finger to rotate .
12 Wrist rotation part It connects with the sheet metal chassis 7 & 11 also it connects with wrist rotation cover.
13 Wrist rotation cover It provides rotational motion about its axis and it also house palm p.c.b 31.
14 link It fits inside the groove of the grooved shaft 20
15 Threaded shaft It is mounted on the link 14 it connects with extension spring 16
16 Extension spring It ensures the gripping of the grooved shaft 20 between the links 14 & 19
17 Threaded shaft It is mounted over the link 19 and it connects with extension spring 16
18 split rivet It connects the flexible liner 21 with the male snap fit part 37
19 link It fits inside the groove of the grooved shaft 20
20 Grooved shaft It transfer rotary motion from the flexible liner 21 to protruded shaft 35
21 Flexible liner It encompasses over the remaining stump of the amputee and transfer the rotary motion from the residual stump to the grooved shaft 20
22 Finger connector It connects middle finger 5 with the ring finger 8
23 Finger connector It connects Ring finger 8 with the little finger 57
24 Motor It drives the whole system
25 Spacer It joins the index finger 6, middle finger 5, connecting link 9 and segment gear 26.
26 Segment gear It provides the gear reduction and also transfer the motion from compound gear 28 to index finger 6
27 Cover It protects the segment gear of penetrating anything
28 Compound gear It provides the gear reduction and also transfer the motion from motor gerashaft 24 to segment gear 26
29 Circlip shaft It connects the connecting link 9 with the thumb 30.
30 Thumb finger It acts as the thumb finger og the Atriex
31 P.C.B It control the electronic actions of the Atriex
32 Switchboard It houses the tact switches 40 and 41 and also rotatable switch 34 in the ARSC
33 Nylon nut It connects rotatable switch 34 with the switch board 32
34 Rotatable switch It can rotate about its axis and can press tact switches 40 and 41 in the either direction of rotation
35 Protruded shaft It transfers motion from grooved shaft 20 to rotatable switch 34
36 Female Snap fit part It connects grooved shaft 20 with male snap fit part 37
37 Male snap fit part It connects female snap fit part 36 with the flexible liner
38 Bolt It connects links 14 & 19 with the switchboard 32
39 Split rivet It connects flexible liner 21 with the male snap fit part 37
40 Tact switch Upon being pressed it sends signal to the microcontroller
41 Tact switch Upon being pressed it sends signal to the microcontroller
42 Harness buckle Being pulled it help in pressing the tact switch
43 Compression spring It helps in retraction of the harness buckle 42
44 Compression spring It helps in retraction of the harness buckle 42
45 Tact switch Upon being pressed it sends signal to the microcontroller
46 Switch press part It helps in pressing the tact switch 45
47 Axle It connects harness buckle 42 with switch press part 46
48 Base It houses the shoulder buckle 42, compression springs 42 & 43, switch press part, axle 47, tactile switch 45 & p.c.b 50
49 Cover It covers the base 48
50 Shoulder switch P.C.B It controls the electronic actions of the Wireless shoulder switch
51 Charger Grommet It protects the charging cavity from the dust and water spalsh
52 Bolt It connects P.C.B 50 with the base 48.
53 Bolt Grommet It ensures the splash and dust proofing on the hole for the bolt 55
54 Slide switch Its sliding provides power on/off feature in the shoulder switch
55 Bolt It connects base 48 with cover 49
56 Bolt It connects base 48 with cover 49
57 Little finger It acts as the little finger of the Atriex
58 Nylon nut It connects index finger with the threaded shaft 59
59 Threaded shaft It connects index finger, 6 ,segment gear 26 & middle finger 5, with spacer 25
60 Spacer It ensures the adequate space between thumb finger 30 & bend chassis 11
61 Threaded sleeve It acts axle to rotate for the thumb finger 30
62 Plastic spacer It removes the friction between thumb finger 30 & bend chassis 11
63 Plastic Spacer It removes the friction between thumb finger 30 & bend chassis 11
64 Spacer It ensures the adequate space between
65 Bush It guides the motor gearshft
66 Bush It guides the Compong gear
67 Threaded Sleeve It acts as axle for rotation for Ring finger 8 and little finger
68 Retaining ring It fits into groove of the circlip shaft 29 and ensures its tightness
69 Spacer It ensures the adequate space between middle finger 5 and ring finger 8.
70 Spacer It ensures the adequate space between ring finger 8 and little finger 57.
71 Wrist rotation plastic It removes the friction between wrist rotation paet 12 and wrist rotation cover 13
72 Wrist rotation plate It helps in sandwiching the wrist rotation cover 13 with the wrist rotation part 12.
73 Bolt it connects wrist rotation plate 72 with wrist rotation part 12
74 Bolt It connects sheet metal chassis 7 with the wrist rotation part 12
75 Bolt It connects sheet metal chassis 7 with the Index finger 6.
76 Bolt It connects sheetmeal chassis 7 with the thumb 30
77 Bolt It connects sheet metal chassis 7 with the wrist rotation part 12
78 Bolt It connects sheet metal chassis 11 with the wrist rotation part 12
79 Bolt It connects sheet metal chassis 11 with the wrist rotation part 12
80 Bolt It connects sheetmeal chassis 11 with the thumb 30
81 Nylon nut It connects the middle finger 5 with spacer 25.

,CLAIMS:1. A wearable hand prosthetic actuating device comprising

at least one rotational sensor controller for attaching on remaining stump of amputee;

sensor in said rotational sensor controller including tactile switches configured for detecting rotational freedom of residual limb and accordingly actuating a connected prosthetic hand including movement of fingers of said prosthetic hand for performing opening and closing operation.

2. The wearable hand prosthetic actuating device as claimed in claim 1, wherein the rotational sensor controller comprises

a microcontroller; and

sensor having

a switchboard containing the tactile switches at its base,

a grooved rod operatively connected with the switchboard base, and

a flexible liner operatively attached with the grooved rod and enabling the amputee to wear the flexible liner over the residual stump.

3. The wearable hand prosthetic actuating device as claimed in claim 1 or 2, wherein the sensors fixed on the user stump through the flexible liner captures the stump movement whereby, the grooved rod is rotated according to the movement and simultaneously press the tactile switches; and

wherein said tactile switches provides a movement indicating signal to the micro-controller through PCB and the micro-controller accordingly send controlling signal to connected prosthetic hand for actuation and performing action like opening and closing movement and wrist rotation with freedom of any degree with position control.

4. The wearable hand prosthetic actuating device as claimed in anyone of claims 1 to 3, wherein the flexible liner is attached to a snap fit male part by two split rivets and said snap fit male part is retractably meshes with a corresponding snap fit female part, whereby the snap fit female part is fixed inside the grooved rod.

5. The wearable hand prosthetic actuating device as claimed in anyone of claims 1 to 4, wherein the grooved rod is cut out according to the length of the individual user’s stump length and includes a protruded shaft which meshes inside cavity of rotatable switch fitted inside the switchboard base such as to press the tactile switches either side located inside the switchboard base.

6. The wearable hand prosthetic actuating device as claimed in anyone of claims 1 to 5, wherein the grooved rod shaft is arrested between two links which are connected with an extension spring via threaded shafts.

7. The wearable hand prosthetic actuating device as claimed in anyone of claims 1 to 6, wherein the rotational force from rotation of the stump by the amputee is transmitted to the rotatable switch via the to the grooved rod and the protruded shaft, enabling the rotatable switch to press the tact switches on either side of the rotation, whereby pressing of the tact switches gives the stump movement signal to the micro-controller.

8. The wearable hand prosthetic actuating device as claimed in anyone of claims 1 to 7, wherein the switchboard and the PCB is housed inside a Wrist rotation cover.

9. The wearable hand prosthetic actuating device as claimed in anyone of claims 1 to 8, comprises a wireless shoulder driven remote control unit including a harness buckle attached with a tact switch in such a way that when force is applied on the shoulder by the user, the buckle will be pulled out which in turn push the tact switch for sending signal to the PCB to give further wireless signal to the micro-controller for opening or closing of the hand.

10. The wearable hand prosthetic actuating device as claimed in claim 9, wherein the PCB is powered by a battery and includes a slide switch to on and off the device over remote cover;

said PCB battery assembly rests on the base and a cover encloses the whole assembly.