MOVING DEVICE FOR MOVING A HUMAN THUMB, HAND-EXOSKELETON AND METHOD OF GRASPING

The invention concerns a moving device (1) for moving a human thumb (112), in particular for moving the thumb (112) between a resting position and a grasping position, comprising a thumb bending means (10) adapted to at least partially move the thumb (112) between a flexed position and an extended position. The thumb bending means (10) comprises a gear unit (11) for transforming a rotation of a rotation element (12), which is rotatably mounted to a housing (14), into an essentially linear movement between a translation element (16) and the housing (14). The thumb bending means (10) further comprises a first flexion spring element (40) mechanically connected to the translation element (16) and adapted to be fixed with a first proximal end (41) of the first flexion spring element (40) relative to a human thumb (112) at a position in a proximal distance to the metacarpophalangeal joint (MCP), in particular at a position between the metacarpophalangeal joint (MCP) and the carpometacarpal joint (CPC). The thumb bending means (10) furthermore comprises a second flexion spring element (50) mechanically connected to the housing (14) and adapted to be fixed with a second distal end of the second flexion spring element (50) to the human thumb (112) at a position in a distal distance to the metacarpophalangeal joint (MCP), in particular at the distal phalanx (DP) and/ or the proximal phalanx (PP) of the thumb (112). Therefore, by operating the gear unit (11) a relative translational movement (21) between the translation element (16) and the housing (14) is realized that causes a bending of at least one of the flexion spring elements (40,50) and as a result at least a partial bending of the thumb (112).The invention also concerns a hand-exoskeleton (100) for moving at least one finger of a human hand (110) and a method of grasping an object.