499results about "Artificial hands" patented technology

The invention relates to the technical field of exercise rehabilitation, and discloses a percutaneous spinal nerve electrical stimulation system and method, and the system comprises a power module which is used for converting an external alternating current into a stabilized power supply; the MCU module controls the pulse signal generation module; the pulse signal generation module is used for generating an electrical stimulation waveform; the DAC module receives the digital signal; the modulation module is used for receiving analog signals; the amplification module is used for receiving modulation waveforms; the multi-channel gating module is used for distributing stimulation current to a plurality of channels; the current detection module monitors the magnitude of current output by each channel in real time; and the ADC module performs digital conversion on the current analog signal output by the electrical stimulator. According to the invention, multi-channel and real-time modulation electrical stimulation signals can be output through modulation of two paths of stimulation signals, spinal cord sensory nerves are activated through the non-invasive epidermal electrode, amputation hand feeling is induced, the defect that electromyographic signals are interfered by the tail end of a stump in the prior art is improved, and the accuracy of an electromyographic signal decoding algorithm is also improved.

A modular prosthetic system for an upper limb in which the functional commands of the mechanical limb can be generated by exploiting additional input data with respect to the only muscle contractions of the muscles present on the patient's stump, and the patient can receive a sensory feedback, the richer as possible, regarding to the functionality of the mechanical limb.The modularity of the prosthetic system allows the use of a mechanical artificial limb that essentially implements the pure operational and sensory functions, while the control functions by the patient, and the feedback functions provided to the patient, are managed by a subsystem (called control module) distinct and decoupled from the artificial limb, with which it interacts through appropriate interfaces.

The utility model discloses a tactile extremity structure and an artificial limb. The tactile extremity structure comprises a limb back structure; the limb abdomen structure is arranged on the limb back structure; the sensor is located between the limb back structure and the limb abdomen structure; the sensing target is arranged on the limb and abdomen structure; when the limb and abdomen structure deforms in a contact mode, the sensing target is driven to move and is sensed by the sensor. The sensor is located between the limb back structure and the limb belly structure, the sensing target is located on the limb belly structure and corresponds to the sensor in position, when the limb belly structure makes contact with other objects and deforms, the sensing target moves, the back sensor senses the movement, and therefore the limb end structure has touch sense and can sense contact. And the tactile extremity structure has a better simulation effect.

The present invention relates to un system (10) for electrical stimulation of a subject, comprising: a sensing device (1) configured to detect mechanical and thermal information and to transmit them to a control unit (2), such control unit (2) in which a first algorithm associated to a first neurophysiological model capable of reproducing the behaviour of the subject's mechanoreceptors, a second algorithm associated with a second neurophysiological model capable of reproducing the behaviour of the subject's nociceptors, and a third algorithm associated with a third neurophysiological model capable of reproducing the behaviour of the subject's thermoreceptors are stored; the control unit (2) being configured to determine generation frequencies associated to different types of electrical stimulation waves, which relate to the different pieces of information which can be detected by the sensing device (1), and to transmit them to an electrical stimulator (3); such electrical stimulator (3), configured to generate and send the stimulation waves to an electrical stimulation interface (4) configured to deliver them to a subject.

The invention discloses a rigid-flexible hybrid drive robot hand with a palm-finger cooperative movement function, and relates to the technical field of intelligent robots. The five finger assemblies are installed on the palm assembly, the finger assemblies adopt under-actuated fingers in hybrid transmission with connecting rods and tendon rope mechanisms, the palm assembly adopts a modularized rigid-flexible hybrid palm, and a winding motor is fixedly installed in the middle of the inner side of the palm assembly and connected with a transmission winding wheel. The tendon rope leading-out ends of the five finger assemblies are guided and restrained through the tendon rope guiding and limiting mechanism and then fixedly connected with the winding wheel, and the winding wheel rotates and winds so that the bending action of the five finger assemblies and the inward tensioning and gathering of the palm assembly can be achieved at the same time. One winding motor is adopted to control the bending action of the palm assembly and the five finger assemblies at the same time, cooperative movement between the palm and fingers is effectively achieved, the flexible grabbing function is provided, and the mechanical arm has the remarkable advantages in the aspects of simulation degree, comfort, operability and cost effectiveness.

A prosthetic assistive device configured to attach to a distal end of a natural or prosthetic arm or wrist. The device may include a palm portion. A split hook may be coupled to a distal end of the palm portion. The split hook may comprise a first end effector and a second end effector. The prosthetic device may include a third end effector rotatably coupled to the palm portion at a proximal end of the palm portion. The third end effector may rotate about a transverse axis to pinch and unpinch, as well as rotate about a longitudinal axis to adduct and abduct. A rotating member such as a ring may rotate about a plate for adduction / abduction. The prosthetic device may include a drive assembly configured to rotate one or both of the split hook end effectors about two different axes.

The invention relates to an automated hand, such as a prosthetic hand. In one form, the automated hand may be fluid compatible. In one form, the automated hand may comprise features to reduce the risk of harm to motors and / or other sensitive components of the hand when subject to an impact. In one form, the hand may comprise a wrist joint configured to allow the hand to curl and flex and / or to rotate. In one form, one or more digits of the hand may be individually controlled. In one form the hand may include a thumb rotation locking mechanism. In one form the hand may be provided with removable grip plates. In one form, the hand May be configured for use as a training hand.

The present disclosure relates to the field of artificial limbs for amputees and specifically to a passive compliant wrist unit 210 for upper limb prosthesis. The passive compliant can comprise a plurality of fingers controlled by a compliant four bar mechanism. The arm is capable of extension / flexion, radial / ulnar deviation on application of a force on the snap joint. The limb is also capable of pronation / supination actions. By application of a force on an arm snap joint, the flexible wrist 216 can be adapted to perform extension / flexion, radial / ulnar deviation.

A prosthetic digit usable with capacitive panels is provided. The digit includes at least one conductive layer surrounding the body of the digit, and a non-conductive sealing layer around the conductive layer preventing direct external contact of the conductive layer with the capacitive panel. The digit may have a conductive tip pad to create a series capacitive pathway between the conductive layer of the body and the electrodes of the capacitive panel. Using the digit with a capacitive panel does not require a direct conductive pathway, e.g., a pathway between the capacitive panel and the structure of the device, the user's skin, or metallic sink.

The invention relates to the technical field of control engineering, in particular to a touch-based prosthetic hand multifunctional sharing control method, which comprises the following steps of: S1, acquiring a surface electromyogram signal of a user in real time, and identifying a motion intention of the user based on the surface electromyogram signal; s2, a finger needing to move is determined according to the movement intention of the user, the current availability of the finger needing to move is judged through fingertip touch readings, and a movable finger is determined and pre-grabbed; s3, after pre-grabbing is conducted, the movable fingers are controlled to conduct stable grabbing by calculating the grabbing force change rate of each finger at the adjacent moments; and S4, after stable grasping is carried out, the grasping power level is adjusted by executing a target activation gesture, and control over the prosthetic hand is completed. Stable grasping of the prosthetic hand, in-hand operation and one-hand multi-grasping control can be achieved.

The present invention proposes a multi-sensor fusion prosthetic hand gripping force feedback control method, including a multi-sensor fusion and feedback method, a gripping force prediction method and a PD-based CMAC manipulator gripping control method; the multi-sensor fusion and feedback method includes collecting surface electromyographic signals of muscles, collecting the temperature, contact force, sliding state of the object gripped by the prosthetic hand, collecting the joint acceleration and angular velocity corresponding to the gripping action, and collecting the actual gripping force of the prosthetic hand's gripping action; the gripping force prediction method predicts the gripping force of the current gripping action; the multi-sensor fusion and feedback method fuses the data to generate the prosthetic end perception information of the current gripping action; the present invention allows the user to adjust the actual gripping force and gripping action in time to achieve accurate and stable gripping of objects, while detecting the real-time temperature and contact force of the gripped object during the gripping process, and feeding back the tactile information to the user through the vibration and display module.

The invention provides a self-adaptive force feedback control method for a pressure sensing artificial hand. The self-adaptive force feedback control method comprises the following steps: S1, acquiring a pressure signal; s2, pressure signal preprocessing; s3, setting a pressure threshold value; s4, pressure signal contrastive analysis; s5, generating an adaptive force adjusting signal; s6, executing driving force; and S7, acquiring and feeding back a force feedback signal. Through sensing-analysis-adjustment-feedback closed-loop control, self-adaptive grabbing of the artificial hand to different objects is achieved, the core is that the grip strength is dynamically adjusted based on pressure signals, and grabbing stability and object safety are both considered.

A wrist apparatus for a prosthetic hand comprises a base and a hand mount to which a prosthetic hand is mountable. The hand mount is attached to the base and is movable relative to the base between, and releasably retainable in, at least two different positions corresponding to at least two different hand flexion configurations.

A prosthetic finger assembly (100) includes one or more integrated attachment points (117, 119) for a palmar strap (101) to prevent backplate (108) bridging and migration. The palmar strap (101) is integrally fixed to a first anchor (106) of a radial metacarpophalangeal pivot (102), which is configured to connect to the hand of a user, and removably attach to a second anchor (107) of an ulnar metacarpophalangeal pivot (103). The palmar strap (101) is removably attached to the first anchor (106) and integrally fixed to the second anchor (107).

Motorized upper prosthetic limb (A) comprising a hand (1) with fingers (5), a first elastically flexurally deformable element onboard each finger, wherein the first element is elastically flexurally deformable in a transverse direction (X1, X2, X3, Z1) with respect to the extension direction of each finger, a forearm (2) comprising a connection interface (4) that can be releasably attached to a user's body, and a second elastically flexurally deformable element in a transverse direction (X4, Z2) relative to the extension direction of the forearm (2), with the second elastically deformable element being interposed between the hand and the forearm to movably connect the hand to the forearm. The prosthetic limb also includes a plurality of electromechanical rotary actuators arranged on the forearm (2), and a plurality of strings, each having a first end connected to an actuator and a second end, longitudinally opposite to the first, rigidly and individually connected to one of the first or second elastically deformable elements.

The claimed group of inventions relates to a field of anatomical engineering, and it relates to a mechanical finger and an actuator therefor, which may be used in imitators and prostheses of upper limbs. The mechanical finger is a structural element that performs a gripping function, consists of movable phalanxes, elements for modifying their position relative to each other, and a driving rope that is connected to a lead nut that is, in turn, intended to interact with an electromechanical actuator that transmits a force to the mechanical finger. According to the invention, the rope is fixed on the lead nut and divided into two portions which are arranged symmetrically relative to a sagittal plane of the proximal phalanx and laid on the guides. Therewith, cavities are provided in locations of the rope which are configured to receive loops of the rope, and a length of each of them equals to a travel length of the lead nut. The actuator is a power module that is aimed to drive and to control a movement of the mechanical finger. It consists of a motor reducer having a front shaft with a lead screw mounted thereon, the lead screw is configured to be coupled to the lead nut, and an encoder that is configured to enable a connection to the contact board of the artificial wrist, thereby powering the motor reducer and transmitting pulses. The actuator and the mechanical finger are individual modules of the artificial wrist which together form a single module.

A system and method for a prosthetic assembly that includes a first prosthetic component, comprising a prosthetic hand base; a set of second prosthetic components, comprising a set of prosthetic fingers, and a set of actuating systems, wherein one actuating system connects a pair of distinct prosthetic components, enabling actuation of one prosthetic component with respect to the other. Each actuating system, from the set of actuating systems, includes a linkage and a sensored brushless motor; wherein the sensored brushless motor comprises a brushless motor, a field oriented control system, a rotary encoder, and a gearbox.

The invention relates to a 4D printing bionic artificial limb and a preparation method and application thereof, and relates to the technical field of medical rehabilitation instruments, the bionic artificial limb comprises a bionic skeleton and a flexible driving unit; the flexible driving unit is located at a joint moving part of the bionic skeleton and is used for driving the bionic skeleton to move; the bionic artificial limb is integrally formed through 4D printing, the bionic skeleton is made of a shape memory composite material, and the flexible driving unit is made of a hydrogel driving material; the shape memory composite material comprises a shape memory polymer and a reinforcing material in a mass ratio of (80-95%): (5-20%); the hydrogel driving material comprises a thermo-sensitive polymer matrix, a stabilizer and a functional filler in a mass ratio of (50%-80%): (20%-40%): (3%-15%). The 4D printing bionic artificial limb has the dynamic adjusting capacity, and the change requirements of the residual limb under different conditions can be met.

A mobility augmentation system monitors data representative of a user's motor intent and augments the user's mobility based on the monitored motor intent data. A machine-learned model is trained to identify an intended movement based on the monitored motor intent data. The machine-learned model may be trained based on generalized or specific motor intent data (e.g., user-specific motor intent data). A machine-learned model initially trained on generalized motor intent data may be re-trained on user-specific motor intent data such that the machine-learned model is optimized to the movements of the user. The system uses the machine-learned model to identify a difference between the user's monitored movement and target movement signals. Based on the identified difference, the system determines actuation signals to augment the user's movement. The actuation signals determined can be an adjustment to a currently applied actuation such that the system optimizes the actuation strategy during application.

The embodiment of the invention discloses an artificial hand control method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring an electromyographic signal of a muscle on a wearing end of the artificial hand and a pressure signal generated by the muscle due to upheaval, and identifying a first motion intention based on the electromyographic signal and the pressure signal; generating a first control signal based on the first motion intention to control the artificial hand to move based on the first control signal; in the motion process of the artificial hand, acquiring an angle signal of each finger joint on the artificial hand, an inertia signal of the artificial hand and a grasping signal for reflecting grasping force applied by the artificial hand, and identifying a second motion intention based on the angle signal, the inertia signal and the grasping signal; generating a second control signal according to the first motion intention and the second motion intention, and controlling the artificial hand to move based on the second control signal. According to the technical scheme, the stability of artificial hand control can be improved.

The invention relates to the technical field of intelligent prosthetic control, and discloses an intelligent prosthetic hand and a control method thereof.The control method comprises the steps that a grabbing task is started through electromyographic signals, forearm movement postures are obtained in real time through an inertia measurement unit, the movement context is judged, and a gesture prototype is automatically selected based on the context to drive the prosthetic hand to be preformed; the proximity sensor detects a target object and then triggers the finger to close. Through intelligent mapping of the motion context and the gesture prototype, physiological synergy of the grabbing intention and the limb motion is achieved, a user can complete natural and smooth grabbing operation without deliberately planning actions, meanwhile, dynamic adjustment of the motion speed characteristics and the myoelectricity trend intensity is combined, and the user experience is improved. The system can adapt to the speed and force requirements of different scenes, and the operation cognitive load is remarkably reduced.

The application relates to an adaptive control system of a bionic arm modular joint, which is installed between a bionic arm and a human shoulder, and the system comprises a collection module, a processing module, an adaptive controller module and a torque calculator module; the collection module obtains an initial control voltage group; after being processed by the processing module, a load torque, an input current and an input rotating speed are obtained; the load torque, the input current, the input rotating speed and a preset rated rotating speed are input into the adaptive controller module to obtain a first voltage group; after being processed by the processing module, a compensation control voltage of the modular joint is obtained; the compensation control voltage is input into the processing module to obtain an encoding value; and the processing module drives the modular joint according to the encoding value. Compared with the prior art, the adaptive control requirement is realized by obtaining an easily controlled current voltage value, and the application has the advantages of strong real-time performance, accurate control and the like.

A method of monitoring a device that includes a soft pneumatic actuator and a gas pump, the soft pneumatic actuator configured to actuate, assist and / or resist a movement of a body part. The method includes measuring the pressure of a fluid in the internal chamber of the soft pneumatic actuator. The pressure measurement or measurements is / are used to estimate anyone or any combination of: the volume of the internal chamber; the three-dimensional position, shape, and / or displacement of the soft pneumatic actuator; and the force delivered by the soft pneumatic actuator.

A prosthetic hand comprises a palm part; a proximal thumb part coupled to the palm part to form a first joint with a first axis of rotation, wherein the proximal thumb part is configured to rotate about the first axis of rotation; a distal thumb part coupled to the proximal thumb part to form a second joint with a second axis of rotation, wherein the distal thumb part is configured to rotate about the second axis of rotation; a rotary actuator configured to rotate the proximal thumb part and distal thumb part about the first axis of rotation and the second axis of rotation respectively; and a locking mechanism having a first configuration and a second configuration.

Device (1) with a movable transmission element (2) and with an actuator device (300) for specifically influencing the mobility of the transmission element (2). The actuator device (300) comprises a magnetorheological braking device (301) for generating a braking torque acting on the transmission element (2) and a drive device (302) for generating a torque acting on the transmission element (2). The braking device (301) and the drive device (302) are arranged axially adjacent to one another within a common receiving structure (303) between at least two bearing points (315, 325) of a bearing device (305).

Aspects of a multi-modal apparatus are described. For example, the apparatus may comprise a multi-energy sensor mountable in a distal portion of a digit of a terminal unit and a multi-energy haptic generator mountable in a socket of the terminal unit so that the multi-energy haptic generator is maintained against skin of an affected limb when the socket is worn on the affected limb. The multi-energy sensor may be operable with the multi-energy haptic generator to output one or more different types of haptic energy toward the skin responsive to the multi-energy sensor when the distal portion is placed in contact with an object while the socket is worn on the affected limb. Related kits, methods, and systems also are described.

Method for setting up a myoelectric-controlled prosthesis system with a prosthesis shaft (20) and a plurality of pick-up electrodes (10) for detecting electrical muscle activities, said method having the steps of: placing a surface electrode arrangement (200) with a plurality of surface electrodes (100) about the circumference of a limb stump (1), detecting electrical muscle activity at muscles of the limb stump (1) as electromyographic signals through the surface electrodes (100), evaluating the myoelectric signals in terms of their signal differentiation, selecting the control method, by which the prosthesis system is controlled, on the basis of the evaluation of the signal differentiation, and fastening the pick-up electrodes (10) to the prosthesis shaft (20).

A covering (1) for a prosthesis (12) of a given limb (2), the covering comprising at least two zones (5.1, 5.2, 6.1, 6.2) of different flexibilities (3.1, 3.2, 3.3, 9.1, 9.2), the arrangement of said zones in relation to each other corresponding to the arrangement of parts of the given limb having different hardnesses (7, 8). Figure for the abbreviation: Figure 1.

The invention relates to the field of medical instruments, in particular to an intelligent upper limb prosthesis sensing system with a tactile representation function. The touch sensing module is used for collecting touch information when the artificial limb is in contact with an external object; the signal processing module is electrically connected with the tactile sensing module and is used for converting the tactile information into recognizable tactile feature data; the feedback control module is connected with the signal processing module and is used for generating a corresponding feedback control signal according to the tactile feature data in combination with a preset tactile feedback strategy; and the feedback execution module is connected with the feedback control module and is used for executing corresponding actions according to the feedback control signal and providing tactile feedback for the residual limb part of the patient. Tactile information (direct tactile information and indirect tactile information) is collected through the tactile sensing module, so that the perception of a patient when the patient touches an external object through the artificial limb is improved.