WO2022143359A1

WO2022143359A1 - Wearable system

Info

Publication number: WO2022143359A1
Application number: PCT/CN2021/140656
Authority: WO
Inventors: Chi Bun Yip; Pui Yung TSUI; Yong Jian Chen
Original assignee: Rehab-Robotics Company Limited
Priority date: 2020-12-30
Filing date: 2021-12-23
Publication date: 2022-07-07
Also published as: KR20230128044A; JP2024502958A; TW202224964A; CN114681182A

Abstract

An attachment system(100) to facilitate the attachment of an object to a body part of a user includes a magnetic holder(110) adapted to fasten to the object; a fastener(130) for securing to the body part of the user; and a magnetic adaptor(120) rotatably coupled to the fastener(130). When the holder(110) is in use and attached to the object, and the fastener(130) is attached to the body part of a user and in proximity to the holder(110), the magnetic attraction between the holder(110) and the adapter(120) causes the object to attach to the body part, and rotation between the adaptor(120) and the fastener(130) allows the user to use the object comfortably and effectively.

Description

WEARABLE SYSTEM

FIELD OF INVENTION

This invention relates to a wearable system for attaching an object to a body part of a user, and in particular a magnetic wearable device.

BACKGROUND OF INVENTION

Patients with handicap, particularly with their hands and feet have difficulties during normal daily activities.

SUMMARY OF INVENTION

In the light of the foregoing background, in certain embodiments, it is an object to provide a system to assist a user in certain daily physical tasks.

Accordingly, an exemplary embodiment is an attachment system to facilitate the attachment of an object to a body part of a user including (a) a magnetic holder adapted to fasten to the object; (b) a fastener for securing to the body part of the user; and (c) a magnetic adaptor rotatably coupled to the fastener. When the holder is in use and attached to the object, and the fastener is attached to the body part of a user and in proximity to the holder, the magnetic attraction between the holder and the adapter causes the object to attach to the body part, and rotation between the adaptor and the fastener allows the user to use the object comfortably and effectively.

According to another implementation, provided is an attachment system for attaching an object to a hand including (a) a holder adapted to fasten to the object including a housing having a front end and a rear end, the housing has an inner surface; and a first magnet mounted on the housing; (b) an adaptor including a frame having a coupling surface for engaging with the inner surface of the housing; and a second magnet mounted on the frame; (c) a fastener for securing to the hand; and (d) a hinge configured to connect the adaptor to the fastener such that the adaptor and the fastener are rotatably coupled. When the adaptor is in proximity to the holder, the object is attached to the hand through a magnetic force between the first magnet and the second magnet, and rotation between the adaptor and the fastener allows the hand to use the object comfortably and effectively.

In certain exemplary embodiments, the first magnet mounted on the housing defines a first plane. The first magnet further possesses a first magnetic force perpendicular to the first plane. The second magnet mounted on the frame defines a second plane. The second magnet further possesses a second magnetic force perpendicular to the second plane. The holder and adaptor are shaped such that they can reversibly interlock with each other when the first and second magnets are properly aligned whereby inadvertent detachment by sliding between the first plane and second plane is prevented during use.

Other exemplary embodiments will be described herein.

There are various advantages in the various embodiments. For example, in certain embodiments, the attachment system is designed to guide a finger of a user to be properly aligned and attached with a robotic hand for hand rehabilitation of the user. The fastener can be tied to a user’s finger even when his hand is closed, and the user’s finger can be easily attached to the robotic hand by the magnetic attraction between the holder and the adaptor when they are engaged in the right position. The interlocking of the holder and the adaptor ensures tight securing of the finger on the robotic hand during use.

In certain embodiments, the latch of the adaptor facilitates easy detachment of the hand or the body part from the object by applying a releasing force in the right direction.

In certain embodiments, the attachment system can be used to facilitate attachment of a hand of the user to any object, such that the user can use the object effectively and comfortably to perform daily task even if the user is unable to make a usual grip to hold the object by his hand. In certain other embodiments, the attachment system can be used to facilitate attachment of a user’s body part to an object such that the user can more easily attach or detach the object. In some embodiments, the user is unable to independently attach the object without the help of the attachment system. In some embodiments, the object is a knee brace and the user’s body part is a knee.

BRIEF DESCRIPTION OF FIGURES

Fig. 1A, is a perspective view of an attachment system according to an example embodiment.

Fig. 1B and 1C are different perspective views of the same example embodiment as shown in Fig. 1A.

Fig. 2A is a perspective view of an attachment system according to an example embodiment when a holder and an adaptor interlock with each other.

Fig. 2B and 2C are different perspective views of the same example embodiment as shown in Fig. 2A.

Fig. 3A shows an attachment system viewed from a front end of a holder according to an example embodiment when the holder and an adaptor interlock with each other.

Fig. 3B shows a section view of an attachment system across axis A-A as shown in Fig. 3A and close-up section views of each circled part.

Fig. 4A and 4B show an attachment system to facilitate the attachment of a robotic hand to a finger according to an example embodiment.

Fig. 5A shows an attachment system attached to a writing instrument according to an example embodiment.

Fig. 5B shows a receptacle and a holder of the attachment system according to the same example embodiment as shown in Fig. 5A.

Fig. 5C shows the attachment system to facilitate the attachment of a writing instrument to a finger during use according to the same example embodiment as shown in Fig. 5A.

DETAILED DESCRIPTION

As used herein and in the claims, “comprising” means including the following elements but not excluding others.

As used herein and in the claims, “engage” refers to any type of reversible mechanical connection in which cooperating parts engage each other to restrict relative motion of the parts.

As used herein and in the claims, the term “curved” is intended to include any shape with a bending angular portion at an end, for example V-shape, L-shape, U-shape or any other irregular shapes.

As used herein and in the claims, the term “hand” is intended to include any part of a hand, for example a finger, palm, wrist, arm, stub of an arm, etc.

As used herein and in the claims, “tool” refers to anything that a person may need to hold in his hand or other body parts. Examples of a tool include, but are not limited to, kitchen utensils such as cups, bowls, plates and cutlery; tableware such as spoons, forks, chopsticks and knives; stationery, such as papers, notepads, rulers, writing instruments such as pens and pencils; bags, purse, phones, or any other objects.

It is to be understood that terms such as “front” , ” middle” , “rear” , “side” , “length” , “width” , “inner” , “outer” , “interior” , “exterior, ” and the like as may be used herein, merely describe points of reference and do not limit the present invention to any particular orientation or configuration. Further, terms such as “first, ” “second, ” “third, ” etc., merely identify one of a number of portions, components and/or points of reference as disclosed herein, and likewise do not limit the present invention to any particular configuration or orientation.

In some embodiments, provided is an attachment system to facilitate the attachment of an object to a body part of a user. The attachment system includes (a) a magnetic holder adapted to fasten to the object; (b) a fastener for securing to the body part of the user; and (c) a magnetic adaptor rotatably coupled to the fastener. When the holder is in use and attached to the object, and the fastener is attached to the body part of a user and in proximity to the holder, the magnetic attraction between the holder and the adapter causes the object to attach to the body part, and rotation between the adaptor and the fastener allows the user to use the object comfortably and effectively.

In some embodiments, the body part of the user can be any part of a human or animal’s body, for example a hand, an arm, a leg, a neck, a waist, a knee, an ankle; or digits of the limbs such as fingers or toes. In some embodiments, the body part of the user includes an amputated part of a body.

In some embodiments, the attachment system further includes a receptacle mounted on the object adapted to connect the holder and the object.

In some embodiments, the object can be a robotic hand, and the holder may be directly or indirectly fastened to the robotic hand, for example adapted to connect with a receptacle that is mounted on a finger assembly of the robotic hand.

In some embodiments, the object can be a tool and the holder may be directly attached to a receptacle adapted to hold the tool, for example by use of adhesive, glue or by other mechanical means.

In some embodiments, the object is a knee brace and the body part of the user is a knee.

In some embodiments, the holder has a first magnet and the adaptor has a second magnet. The first magnet defines a first plane and further possesses a first magnetic force perpendicular to the first plane. The second magnet defines a second plane and further possesses a second magnetic force perpendicular to the second plane. The adaptor and the holder can reversibly interlock with each other when the first and second magnets are properly aligned, and inadvertent detachment by sliding between the first plane and second plane is prevented during use. In some embodiments, the holder and the adaptor contain engaging structures that are complementarily shaped to facilitate proper alignment and prevent sliding movement when they are engaged and interlock with each other.

In some embodiments, the holder includes an inner surface for engaging the adaptor and a protrusion projected outwardly from the inner surface, and the adaptor comprises a recess configured to receive the protrusion. The holder has a front end and a rear end aligned along a longitudinal axis. The protrusion extends in a lateral axis perpendicular to the longitudinal axis on the inner surface and positioned near the rear end of the holder, and the recess has a shape complementary to the protrusion. When the holder and the adaptor interlock with each other, sliding movement along the longitudinal axis is prevented. In some embodiments, the protrusion can be a ledge.

In some embodiments, the holder has a cavity formed on the inner surface, and the adaptor has a projection extending outwardly from the adaptor configured to mate with the cavity. In some embodiments, the cavity is positioned near the rear end of the holder. The cavity can be a hole, an opening or a notch.

In some embodiments, the holder includes at least one engaging arm at the front end extending outwardly from the inner surface. Each engaging arm includes a curved section at a distal end of the engaging arm bent towards the inner surface. The adaptor includes at least one engaging edge at an end of the adaptor configured to mate with the at least one engaging arm, and the engaging edge is shaped to match the curved section of the engaging arm.

In some embodiment, the attachment system has a hinge configured to connect the adaptor to the fastener to allow rotational movement between the adaptor and the fastener. In some embodiments, the adaptor further includes at least one latch configured to facilitate detachment of the adaptor from the holder upon receiving a releasing force.

It shall be understood by one of skill in the art that the engaging structures such as protrusions, ledges, recesses, notches, slots, holes, grooves, cavity, projection, ribs can come in a variety of shapes and sizes. For example, a ledge can protrude out and a recess can indent inwards, but the opposite could also be true. As long as the two parts are adapted such that they can mate or match with each other, they are included within the scope of this implementation. For the sake of clarity, when one part “mates” or “matches” with another part, the two parts connect in such a way as to secure a position.

In the following description, same numberings are employed to illustrate the same components of different figures.

Referring now to Fig. 1A, 1B and 1C, which show an attachment system 100 in accordance with an example embodiment. The attachment system 100 includes a holder 110, an adaptor 120, a fastener 130 and a hinge 140. In some embodiments, the holder 110 is also called magnetic holder, and the adaptor 120 is also called magnetic adaptor.

The holder 110 includes a housing 1120 having a front end 1123, a rear end 1124 opposite the front end 1123, an inner surface 1121, an outer surface 1122 opposite the inner surface 1121, and two

holder side walls

1125 and 1129, together defining a hollow interior space therein. A length of the inner surface 1121 defines a holder longitudinal axis 1127 (shown in Fig. 1A as dotted line 1127) and the front end 1123 and the rear end 1124 are aligned along the holder longitudinal axis 1127. A width of the inner surface 1121 defines a holder lateral axis 1128 (shown in Fig. 1A as dotted line 1128) perpendicular to the holder longitudinal axis 1127 on the inner surface 1121.

The holder 110 contains a first magnet 1170 mounted on the housing 1120. In this embodiment, the first magnet 1170 is rectangular in shape. A first magnet chamber 1126 (shown in Fig. 1B) is provided in the hollow interior space of the housing 1120 to house the first magnet 1170. The first magnet chamber 1126 is configured in a shape of a rectangular block to accommodate the first magnet 1170 such that it fits securely inside the housing 1120. The first magnet chamber 1126 also divides the hollow interior space into three segments, namely a front hollow segment 1112 near the front end 1123, a middle hollow segment which is the first magnet chamber 1126, and a rear hollow segment 1114 near the rear end 1124. Each hollow segment has an open end on the outer surface 1122. The size and shape of the chambers are only for illustration and can be of any shape and dimension.

The first magnet 1170 mounted on the housing 1120 defines a first plane. The first magnet 1170 further possesses a first magnetic force that is perpendicular to the first plane. In this embodiment, the inner surface 1121 and the outer surface 1122 are parallel to the first plane.

In this embodiment, the holder 110 further contains a protrusion 1130 projecting outwardly and perpendicularly from the inner surface 1121. The protrusion 1130 is positioned near the rear end 1124 of the housing 1120. In this embodiment, the protrusion 1130 is a ledge extending parallel to the holder lateral axis 1128 across the width of the inner surface 1121.

The holder 110 has a cavity 1140 formed on the inner surface 1121. The cavity 1140 can be a hole, a notch, a groove or a pocket. The cavity 1140 is positioned near the rear end 1124 of the housing 1120. The cavity 1140 is arranged juxtapose to the protrusion 1130 and located closer to the rear end 1124 than the protrusion 1130. In this embodiment, the cavity 1140 is a hole configured in a shape of an inverted pyramidal frustum extending through the inner surface 1121, such that its base forms a larger opening on the inner surface 1121 and another end opposite to the base forms a smaller opening connected to the rear hollow segment 1114. In some other embodiments, the cavity 1140 can be configured in other shapes and sizes according to the user’s preference, such as square, rectangular, triangular, oval, semi-oval, and other polygonal shapes and non-polygonal shapes.

In this embodiment, the holder 110 further includes two engaging

arms

1151 and 1152 positioned at the front end 1123 and extending outwardly from the inner surface 1121. Both engaging

arms

1151 and 1152 are identical in shape and are configured in a shape of a hook. Each engaging arm has a distal end away from the inner surface 1121, and includes a curved section at the distal end bent towards the inner surface 1121. In this embodiment, the engaging

arms

1151 and 1152 include

curved sections

1153 and 1154 respectively. Each curved section is generally V-shaped with its two inner side surfaces bent and connected together at a direction towards the front end 1123. A gap 1155 is defined between the engaging arms. The gap 1155 is sized to allow the hinge 140 to move rotatably within the gap (described in detail later) .

The holder 110 is adapted to fasten to an object (not shown) . In this embodiment, the holder 110 has two

side ribs

1160 and 1162 protruding outwardly along the holder lateral axis 1128 from the

holder side walls

1125 and 1129 respectively. The side ribs are positioned at an edge of the holder side walls bordering the outer surface 1122 and extend along the whole length of the holder side walls. The

side ribs

1160 and 1162 serve as a means to facilitate the attachment or fastening of the holder 110 to the object (not shown) . In some embodiments, the holder 110 does not have the side ribs and the holder 110 may be directly or indirectly connected to the object by use of adhesive, glue or other mechanical fastening arrangement by, for example introducing additional shapes in the holder 110 that can mate with complementary shapes in the object that the holder 110 is designed to attach to.

The adaptor 120 includes a frame 1220. The frame 1220 have an engaging end 1223, a detachment end 1224 opposite the engaging end 1223, a coupling surface 1221, a substantially flat adaptor contact surface 1222 (shown in Fig. 2C) opposite the coupling surface 1221, and two

adaptor side walls

1225 and 1229, together defining a hollow room therein. A length of the coupling surface 1221 defines an adaptor longitudinal axis 1227 (shown in Fig. 1B as dotted line 1227) and the engaging end 1223 and the detachment end 1224 are aligned along the adaptor longitudinal axis 1227. A width of the coupling surface 1221 defines an adaptor lateral axis 1228 (shown in Fig. 1B as dotted line 1228) perpendicular to the adaptor longitudinal axis 1227 on the coupling surface 1221. The coupling surface 1221 is provided for engaging with the inner surface 1121 of the housing 1120.

The adaptor 120 contains a second magnet 1270 mounted on the frame 1220. In this embodiment, the second magnet 1270 is rectangular in shape with the same dimension in width and length with the first magnet 1170. A second magnet chamber 1226 (shown in Fig. 1B) is provided in the hollow room of the frame 1220 to house the second magnet 1270. The second magnet chamber 1226 is configured in a shape of a rectangular block to accommodate the second magnet 1270 such that it fits securely inside the frame 1220. The second magnet chamber 1226 also divides the hollow room into three segments, namely a first hollow compartment 1212 near the engaging end 1223, a second hollow compartment which is the second magnet chamber 1226, and a third hollow compartment 1214 near the detachment end 1224. Each hollow compartment has an open end on the coupling surface 1221. As with the configuration of the holder 110, the shape of these compartments described above are for illustration only, and the actual shape of the adapter may be designed according to the need of the user.

The second magnet 1270 mounted on the frame 1220 defines a second plane. The second magnet 1270 further possesses a second magnetic force that is perpendicular to the second plane. In this embodiment, the coupling surface 1221 and the adaptor contact surface are parallel to the second plane.

In this embodiment, the adaptor 120 further contains a recess 1230 configured and shaped to receive the protrusion 1130 of the holder 110 when the holder 110 and the adaptor 120 are properly aligned. The recess 1230 is positioned near the detachment end 1224, corresponding to the position of the protrusion 1130 of the holder 110 when the holder 110 and the adaptor 120 interlock with each other. In this embodiment, the recess 1230 is defined by two notches or

slots

1230A and 1230B formed on the opposite

adaptor side walls

1225 and 1229 respectively.

Notches

1230A and 1230B are aligned along the adaptor lateral axis 1228 and extend perpendicularly from the coupling surface 1221 towards the opposite adaptor contact surface, such that the protrusion 1130 can be fittingly inserted into the recess 1230 when the holder 110 and the adaptor 120 are engaged and properly aligned.

The adaptor 120 has a projection 1240 positioned near the detachment end 1224 of the frame 1220 and configured to mate with the cavity 1140 when the holder 110 and the adaptor 120 interlock with each other. In this embodiment, the projection 1240 extends perpendicularly from an inner side of the adaptor contact surface 1222 towards the direction of the coupling surface 1221. The projection 1240 protrudes out of the open end of the coupling surface 1221 through the third hollow compartment 1214. In some other embodiments, the projection 1240 extends outwardly from the coupling surface 1221. The projection 1240 includes a tip 1242 having a shape and size which substantially conform with the corresponding cavity 1140, such that the projection 1240 can be fittingly inserted into the cavity 1140 when the holder 110 and the adaptor 120 are engaged to facilitate proper alignment.

The adaptor 120 further includes two

engaging edges

1251 and 1252 positioned at the engaging end 1223 and configured to mate with the engaging

arms

1151 and 1152 respectively when the holder 110 and the adaptor 120 are in use. In this embodiment, both engaging

edges

1251 and 1252 are configured in a shape of a ridge. Each ridge is generally V-shaped with its two outer side surfaces bent and connected together at the engaging end 1223. The V-shaped ridge is configured to match the V-shaped curved section of each engaging arm. A groove 1255 is provided at the engaging end 1223 between the two

engaging edges

1251 and 1252 to receive the hinge 140 and to allow the hinge 140 to move rotatably within the groove 1255 (described later) .

In this embodiment, the adaptor 120 has two latches 1260 (shown in Fig. 1A) and 1262 (shown in Fig. 1C) positioned near the detachment end 1224 of the frame 1220. The

latches

1260 and 1262 protrude outwardly along the adaptor lateral axis 1228 from the

adaptor side walls

1225 and 1229 respectively. The latches are disposed at an edge of the side walls bordering the adaptor contact surface 1222 (shown in Fig. 2C) . In some other embodiments, the adaptor 120 can have just one latch positioned on either side of the frame 1220. The latches are configured to facilitate detachment of the adaptor 120 from the holder 110 when they interlock with each other upon receiving a releasing force.

The fastener 130 is provided in the attachment system 100 for securing to a body part of a user. In some embodiment, the fastener 130 can be a harness, a strap, a ring, a strip, or a belt. In this embodiment, the fastener 130 is a finger strap configured to encircle a finger (shown in Fig. 4B and Fig. 5C) of the user. The finger strap has a first strap end 1310 and a second strap end 1320 opposite to the first strap end (shown in Fig. 1A) . A strap contact platform 1332 is disposed in a middle of the finger strap between the first strap end 1310 and the second strap end 1320. The fastener 130 includes two

strap pins

1311 and 1312 positioned at a first strap end 1310. Each strap pin is generally shaped as a rectangular bar with a notch provided in a middle of the bar. The fastener 130 also includes seven strap holes 1321 arranged in parallel to each other from the second strap end 1320 towards the direction of the strap contact platform 1332. Each strap hole 1321 is configured in a shape of a rectangular bar to receive the

strap pin

1311 or 1312 such that the strap pin can be securely inserted into the strap hole, thereby forming a ring-shaped structure of the fastener 130 to encircle the finger. The radial size of the ring-shaped fastener 130 can be adjustable by fitting the strap pins 1311 and 1312 into different strap holes 1321 to fit for various finger size of different users.

The hinge 140 of the attachment system 100 is configured to connect the adaptor 120 to the fastener 130 such that the adaptor 120 and the fastener 130 are rotatably coupled. Referring now to Fig. 1C, the hinge 140 includes an elongated and curved hinge body 1410 having a rotatable end 1412 connected to the engaging end 1223 of the adaptor 120 and an opposite fixed end 1414 connected to the strap contact platform 1332 of the fastener 130. A hinge shaft (not shown) extending along the adaptor lateral axis 1228 (shown in Fig. 1B) is provided to connect the rotatable end 1412 of the hinge body 1410 to the engaging end 1223 of the frame 1220. A pair of hinge shaft holes 1422 formed through the side surfaces of the frame 1220 near the engaging end 1223 is provided to allow the hinge shaft to be inserted into the frame 1220 and pass through the rotatable end 1412 of the hinge body 1410 along the adaptor lateral axis 1228. The hinge shaft defines a rotational axis parallel to the adaptor lateral axis 1228, enabling the hinge body 1410 and the fastener 130 connected to the hinge body 1410 to rotate around the rotational axis. The groove 1255 at the engaging end 1223 provides room to receive the hinge 140 such that the hinge 140 can move rotatably around the rotational axis within the groove 1255. In some other embodiments, the hinge 140 can be a joint or a pivot configured to connect the adaptor 120 and the fastener 130 to enable rotational movements in different manners.

For ease of description, all subsequent figures with the same reference numerals refer to the same parts and will not be repeated in the description for each figure.

Figures 2A, 2B and 2C show the attachment system 100 when the holder 110 and the adaptor 120 are engaged and interlock with each other during use. The magnetic attraction between the first magnetic force and the second magnetic force allows the first magnet 1170 and the second magnet (not shown) to be magnetically attached in a proper alignment and prevents sliding movement between the first plane and the second plane. When the first and second magnets are properly aligned, the holder 110 and the adaptor 120 are shaped such that they can reversibly interlock with each other, and the inner surface (not shown) of the holder 110 and the coupling surface (not shown) of the adaptor 120 are adapted to face each other.

As shown in Fig. 2A to 2C, the protrusion 1130 of the holder 110 is configured to fittingly mate with the recess 1230 of the adaptor 120 when the holder 110 and the adaptor 120 are engaged and properly aligned. The protrusion 1130 and the recess 1230 can also block the holder 110 from magnetically attaching to the adaptor 120 when the holder 110 and the adaptor 120 are not properly aligned. The mating between the protrusion 1130 and the recess 1230 prevents sliding movement along the holder longitudinal axis 1127 when the holder 110 and the adaptor 120 interlock with each other.

As shown in Fig. 2A, the projection 1240 of the adaptor 120 is configured to be fittingly inserted into the cavity 1140 of the holder 110 when the holder 110 and the adaptor 120 are engaged and properly aligned. The tip of the projection 1240 passes through the hole which forms the cavity 1140, thereby securing the relative position of the holder 110 and the adaptor 120 and preventing sliding movement along the holder longitudinal axis 1127 and the holder lateral axis 1128 when the holder 110 and the adaptor 120 interlock with each other. The projection 1240 and the cavity 1140 can also block the holder 110 from magnetically attaching to the adaptor 120 when the holder 110 and the adaptor 120 are not properly aligned, such that there is only one possible position that the adaptor 120 can engage and interlock with the holder 110.

The engaging

edges

1251 and 1252 of the adaptor 120 is configured to mate with the

curved sections

1153 and 1154 of the engaging

arms

1151 and 1152 respectively when the holder 110 and the adaptor 120 are engaged and properly aligned. As described above and shown in Fig. 2A to 2C, each engaging edge is a V-shaped ridge configured to match the V-shaped curved section of each engaging arm. The mating between the engaging edges and the engaging arms guides the proper positioning of the adaptor 120 relative to the holder 110, prevents sliding movement along the holder longitudinal axis 1127 and also prevents inadvertent detachment of the adaptor 120 from the holder 110 in a direction perpendicular to the first and second planes when the holder 110 and the adaptor 120 are properly aligned.

As described previously, the adaptor 120 and the fastener 130 are connected to each other via a hinge 140. The hinge 140 allows uniaxial rotational movements around the rotational axis parallel to the adaptor lateral axis (not shown) such that the fastener 130 can be closed/opened from 0 degrees to 180 degrees or more relative to the adaptor 120. In some embodiments, the fastener 130 can be closed/opened from 0 degrees to 90 degrees relative to the adaptor 120. Fig. 2B shows the adaptor 120 and the fastener 130 in a closed state in which the strap contact platform 1332 is in contact with the adaptor 120. Fig. 2C shows the adaptor 120 and the fastener 130 in an open state in which the strap contact platform 1332 is opened to a certain angle relative to the adaptor 120, and the adaptor contact surface 1222 is not in contact with the strap contact surface 1330. When the holder 110 and the adaptor 120 interlock with each other during use, the gap 1155 between the two engaging

arms

1151 and 1152 provides room to receive the hinge body 1412 and to allow the rotational movement of the hinge 140 around the rotational axis in a direction towards the front end 1123 of the holder 110, thereby enabling the switching of the adaptor 120 and the fastener 130 from the closed state to the open state.

As shown in Fig. 2C, the strap contact platform 1332 is a substantially rectangular enclosure with a flat strap contact surface 1330 that is facing the adaptor contact surface 1222 when the adaptor 120 and the fastener 130 are in contact with each other. The strap contact platform 1332 contains a metal plate 1334 housed in the enclosure. In this embodiment, the metal plate 1334 is rectangular in shape. A light magnetic force exists between the metal plate 1334 and the second magnet 1270 (shown in Fig. 1B) mounted on the frame 1220 when they are in proximity to each other, such that when the fastener 130 is not in use (for example, when the fastener 130 is not tied to the body part of the user) , the strap contact platform 1332 will be magnetically attached to the adaptor 120, thereby maintaining the adaptor 120 and the fastener 130 in the closed state and preventing inadvertent rotational movement of the hinge 140.

The

latches

1260 and 1262 positioned near the detachment end 1224 of the frame 1220 are configured to facilitate detachment of the adaptor 120 from the holder 110 when they interlock with each other upon receiving a releasing force. The releasing force is applied to the latches in a direction away from holder 110 and perpendicular to the first plane and second plane. In some embodiments, the releasing force is the only way to detach the adaptor 120 from the holder 110 as there is no constraint designated at this dimension. In some other embodiments, the holder 110 may not contain latches and the releasing force can be applied directly to the detachment end 1224 in a direction away from holder 110 to detach the adaptor 120 from the holder 110.

Fig. 3A shows the attachment system 100 viewed from the front end 1123 of the holder 110 when the holder 110 and the adaptor 120 are properly aligned and interlock with each other during use. Fig. 3B shows a section view of the attachment system 100 across axis A-A as shown in Fig. 3A. Fig. 3B also shows close-up views of four circled

parts

310, 320, 330 and 340 of the attachment system 100. The circled part 310 shows the mating between the engagement arm 1151 of the holder 110 and the engagement edge 1251 of the adaptor 120. The circled part 320 shows the coupling of the first magnet 1170 and the second magnet 1270 which are magnetically attracted to each other. The circled part 330 shows the mating between the protrusion 1130 of the holder 110 with the recess 1230 of the adaptor 120. The circled part 340 shows the mating between the cavity 1140 of the holder 110 with the projection 1240 of the adaptor 120. The four circled parts demonstrate engaging structures in the attachment system that are designated to limit the movement of the adaptor 120 relative to the holder 110 when they are properly aligned and prevent the inadvertent detachment of the adaptor 120 from the holder 110 by an external force other than the releasing force during use.

Fig. 4A shows the holder 110 of the attachment system that is connected to a finger assembly 411 of a robotic hand 410 according to an example embodiment. In this embodiment, the attachment system further includes a receptacle 420 mounted on the finger assembly 411 of the robotic hand 410. The receptacle 420 is configured to receive the holder 110 and connect the holder 110 to the robotic hand 410.

Fig. 4B shows a close-up view of a circled part 412 of Fig. 4A. The receptacle 420 has an elongated body 4210 shaped to accommodate the holder 110. In this embodiment, the elongated body 4210 is generally rectangular in shape. The elongated body 4210 has a front face 4211, a back face opposite to the front face (not shown) , an open end 4212, a closed end 4213 opposite to the open end 4212, and two

sides

4214 and 4215, together defining a space therein for accommodating the holder 110. The front face 4211 is generally uncovered such that when the holder 110 is placed in the elongated body 4210, the inner surface 1121 of the holder 110 is facing the direction of the front face 4211 and exposed to the outside of the receptacle 420. A pair of slidable rails 4220 is disposed on the inner portion of

sides

4214 and 4215 opposite each other. Only one rail 4220 is shown in Fig. 4B on the inner portion of side 4215 but it is understood that another rail is present on the opposite side of the inner portion of side 4214. The pair of rails 4220 are adapted to slidably receive the holder 110 by inserting the side ribs (not shown in this figure but shown in Fig. 2C) of the holder 110 via the open end 4212 to the pair of rails 4220 so that the holder 110 would slide in to the receptacle 420 and secured to the robotic hand 412. During use, the holder 110 can slide along the length of the pair of rails 4220 to accommodate different finger length of different users. A screw lock 4230 is provided at the open end 4212 of the elongated body 4210 to securely mount the receptacle 420 to the finger assembly 411 of the robotic hand 412 and to prevent the holder 110 from sliding out from the elongated body 4210 via the open end 4212 once it is placed therein.

Fig. 4B also shows the adaptor 120 and the ring-shaped fastener 130 that is tied to a finger 430 of a user. In this embodiment, the fastener 130 is a finger strap with a radial size that can be adjustable by fitting the strap pins (not shown) into different strap holes 1321 to fit for various finger size of different users as aforesaid.

In some embodiments, the robotic hand 410 may be used as a power assistive device for hand rehabilitation for a user. The finger assembly 411 can be a finger exoskeleton that are actuated for flexing and extending a finger of the user to perform different types of training exercises.

In some embodiments, the robotic hand 410 may have five finger assemblies, and each finger assembly is mounted with the receptacle configured to receive the holder 110. Each of the fingers of the user is fastened with the fastener 130 such that each finger can be attached to the corresponding finger assembly of the robotic hand 410 by the interaction between the adaptor 120 and the holder 110.

Now turning to the operation of the attachment system described above by referring to Fig. 4B as well as Fig. 1A, 1B and 1C. During use, the fastener 130 is first tied on to the finger 430 of the user. The user can then move the finger 430 towards the holder 110 secured in the receptacle 420, and insert the

engaging edges

1251 and 1252 of the adaptor 120 into the curved section of the engaging

arms

1151 and 1152 respectively. The mating of the engaging edges and the engaging arms guides the adaptor 120 to be in proximity to the holder 110, and the magnetic force between the first magnet 1170 and the second magnetic 1270 will cause the adaptor 120 to be magnetically attached to the holder 110. The coupling surface 1221 of the adaptor 120 will engage with the inner surface 1121 of the holder 110. As aforesaid, the protrusion 1130, the recess 1230, the projection 1240 and the cavity 1140 will physically block the adaptor 120 and the holder 110 from magnetically attaching to each other when the holder 110 and the adaptor 120 are not properly aligned, and thus eliminating chances of engaging the adaptor 120 and the holder 110 in undesired orientation or position. The only way the adaptor 120 can snap into position is when the holder 110 and the adaptor 120 are perfectly aligned such that they can reversibly interlock with each other. The mating between the protrusion 1130 and the recess 1230, the projection 1240 and the cavity 1140, the engaging edges and the engaging arms, as well as the magnetic attraction between the first magnet 1170 and the second magnet 1270 will prevent sliding movement of the adaptor 120 relative to the holder 110 when they are properly aligned and prevent the inadvertent detachment of the adaptor 120 from the holder 110 by an external force during use. The engagement and interlocking of the holder 110 and the adaptor 120 facilitate the attachment of the robotic hand 410 to the finger 430 of the user. The rotational movement between the adaptor 120 and the fastener 130 facilitated by the hinge 140 eases finger actions when the finger 430 is attached to the robotic hand 410 and allows the robotic hand 410 to cause adduction/abduction motion of the finger comfortably and effectively.

When a user intends to detach the finger 430 from the robotic hand 410, the user can apply a releasing force on one of the

latches

1260 or 1262 of the adaptor 120 in a direction away from holder 110 to detach the adaptor 120 from the holder 110. This will allow the finger 430 to rotate outwards away from the holder 110 and for the adaptor 120 to come out of the curved section of the engaging arms of the holder 110.

The above embodiment is particularly useful for patients with difficulties using their fingers, particularly fingers that are deeply flexed into a fist and unable to extend the fingers on their own, for example, stroke patients.

Fig. 5A, 5B and 5C show an attachment system to facilitate the attachment of a writing instrument 510 to a finger 530 of a user according to another example embodiment. In this embodiment, the writing instrument 510 is a pen. A receptacle 520 is provided to connect the holder 110 to the writing instrument 510. In this embodiment, the receptacle 520 is a cylindrical tube adapted to hold the writing instrument 510. The receptacle 520 includes a disc-shaped pivot 540 disposed on an outer surface of the receptacle. The holder 110 includes a hole 550 positioned near the front end 1123 of the housing 1120. The pivot 540 is configured to mate with the hole 550 to connect the holder 110 to the receptacle 520. The pivot 540 also defines a pivot axis 542 perpendicular to the plane of the inner surface 1121 of the housing 112, enabling the holder 110 connected to the receptacle 520 to rotate around the pivot axis 542.

In another embodiment, the holder 110 is directly attached to the receptacle 520 by adhering the outer surface of the holder 110 to the receptacle 520. The receptacle 520 is aligned along the holder lateral axis of the holder 110.

During use, the writing instrument 510 is first inserted and secured in the receptacle 520. The fastener 130 is tied on to the finger 530 of the user. In this embodiment as shown in Fig. 5C, the fastener 130 is tied on an index finger of the user. The user can then move the finger 530 towards the holder 110 and engage the adaptor 120 to the holder 110 in proper alignment. The engagement and interlocking of the holder 110 and the adaptor 120 facilitate the attachment of the writing instrument 510 to the finger 530 of the user, such that the user can use the writing instrument 510 to perform writing task even if the user cannot make a usual grip. The rotational movement of the holder 110 around the pivot axis 542 allows the user to adjust the orientation of the writing instrument 510 relative to the position of the finger to enable a comfortable and effective use of the writing instrument 510 or to fit for different writing style.

In some other embodiments, the outer surface 1122 of the holder 110 may also be shaped into a cylinder such that the holder 110 itself can be directly attached to the pen. The outer surface 1122 of the holder 110 may also be shaped into any other shapes to interact with other objects that are designed to be attached to the body.

The exemplary embodiments of the present invention are thus fully described. Although the description referred to particular embodiments, it will be clear to one skilled in the art that the present invention may be practiced with variation of these specific details. Hence this invention should not be construed as limited to the embodiments set forth herein.

Claims

An attachment system for attaching an object to a hand, comprising:

(a) a holder adapted to fasten to the object, comprising

a housing having a front end and a rear end, wherein the housing has an inner surface; and

a first magnet mounted on the housing;

(b) an adaptor comprising

a frame having a coupling surface for engaging with the inner surface of the housing; and

a second magnet mounted on the frame;

(c) a fastener for securing to the hand; and

(d) a hinge configured to connect the adaptor to the fastener such that the adaptor and the fastener are rotatably coupled;

whereby when the adaptor is in proximity to the holder, the object is attached to the hand through a magnetic force between the first magnet and the second magnet, and rotation between the adaptor and the fastener allows the hand to use the object comfortably and effectively.
The attachment system of claim 1, wherein the first magnet mounted on the housing defines a first plane; the first magnet further possesses a first magnetic force perpendicular to the first plane; and the second magnet mounted on the frame defines a second plane, the second magnet further possesses a second magnetic force perpendicular to the second plane; wherein the holder and adaptor are shaped such that they can reversibly interlock with each other when the first and second magnets are properly aligned whereby inadvertent detachment by sliding between the first plane and second plane is prevented during use.
The attachment system of claim 1 or 2, wherein

the holder comprises a protrusion projecting outwardly from the inner surface and positioned near the rear end of the housing; and

the adaptor comprises a recess configured (a) to receive the protrusion when the holder and the adaptor are properly aligned; and (b) to block the holder from magnetically attaching to the adaptor when the holder and the adaptor are not properly aligned.
The attachment system of claim 3, wherein the front end and the rear end of the housing are aligned along a longitudinal axis; the protrusion extends along a lateral axis perpendicular to the longitudinal axis on the inner surface; and the recess has a shape complementary to the protrusion; such that when the holder and the adaptor interlock with each other, sliding movement along the longitudinal axis is prevented.
The attachment system of claim 4, wherein the holder comprises a cavity formed on the inner surface and the adaptor comprises a projection extending outwardly from the coupling surface configured to mate with the cavity such that when the holder and the adaptor interlock with each other, sliding movement along the longitudinal axis and the lateral axis is prevented.
The attachment system of claim 5, wherein the cavity is positioned near the rear end on the housing.
The attachment system of any of the preceding claims, wherein the holder comprises at least one engaging arm at the front end extending outwardly from the inner surface, and the adaptor comprises at least one engaging edge at an end of the adaptor configured to mate with the at least one engaging arm.
The attachment system of claim 7, wherein each engaging arm includes a curved section at a distal end of the engaging arm bent towards the inner surface, and the engaging edge is shaped to match the curved section of the engaging arm.
The attachment system of any of the preceding claims, wherein the adaptor further comprises at least one latch disposed on a side of the frame configured to facilitate detachment of the adaptor from the holder upon receiving a releasing force.
An attachment system to facilitate the attachment of an object to a body part of a user comprising:

(a) a magnetic holder adapted to fasten to the object;

(b) a fastener for securing to the body part of the user; and

(c) a magnetic adaptor rotatably coupled to the fastener;

whereby when the holder is in use and attached to the object, and the fastener is attached to the body part of a user and in proximity to the holder, the magnetic attraction between the holder and the adapter causes the object to attach to the body part, and rotation between the adaptor and the fastener allows the user to use the object comfortably and effectively.
The attachment system of claim 10, wherein the holder comprises a first magnet and the adaptor comprises a second magnet; wherein the first magnet defines a first plane and further possesses a first magnetic force perpendicular to the first plane; the second magnet defines a second plane and further possesses a second magnetic force perpendicular to the second plane; wherein the adaptor and the holder can reversibly interlock with each other when the first and second magnets are properly aligned whereby inadvertent detachment by sliding between the first plane and second plane is prevented during use.
The attachment system of claim 10 or 11, comprising a hinge configured to connect the adaptor to the fastener to allow rotational movement between the adaptor and the fastener.
The attachment system of claim 10 or 11, wherein the holder comprises an inner surface for engaging the adaptor and a protrusion projected outwardly from the inner surface, and the adaptor comprises a recess configured to receive the protrusion.
The attachment system of claim 13, wherein the holder has a front end and a rear end aligned along a longitudinal axis; the protrusion extends in a lateral axis perpendicular to the longitudinal axis on the inner surface, and the recess has a shape complementary to the protrusion, such that when the holder and the adaptor interlock with each other, sliding movement along the longitudinal axis is prevented.
The attachment system of claim 14, wherein the protrusion is positioned near the rear end of the holder.
The attachment system of claim 14, wherein the holder comprises a cavity formed on the inner surface, and the adaptor comprises a projection extending outwardly from the adaptor configured to mate with the cavity.
The attachment system of claim 16, wherein the cavity is positioned near the rear end of the holder.
The attachment system of claim 14, wherein the holder comprises at least one engaging arm at the front end extending outwardly from the inner surface, and the adaptor comprises at least one engaging edge at an end of the adaptor configured to mate with the at least one engaging arm.
The attachment system of claim 18, wherein each engaging arm includes a curved section at a distal end of the engaging arm bent towards the inner surface, and the engaging edge is shaped to match the curved section of the engaging arm.
The attachment system of claim 10, wherein the adaptor further comprises at least one latch configured to facilitate detachment of the adaptor from the holder upon receiving a releasing force.
The attachment system of any one of the preceding claims, further comprises a receptacle mounted on the object adapted to connect the holder and the object.
The attachment system of claim 21, wherein the holder comprises at least one rib disposed on a side of the holder, and the receptacle comprises at least one rail to slidably receive the rib of the holder.
The attachment system of claim 21 or 22, wherein the object is a robotic hand and the receptacle is mounted on a finger assembly of the robotic hand.
The attachment system of claim 21, wherein the object is a tool and the receptacle is adapted to hold the tool.