665results 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.

An automated hand having an arrangement for mounting a digit connector such that the connector can rotate when a force is applied to a digit. The arrangement can include a rigid mount and a resiliently deformable sleeve, with the connector within the sleeve. The automated hand can be compatible with a touchscreen. The automated hand can have a worm drive for rotating a digit, the worm drive including a bearing configured to resist axial loads in both directions. The automated hand can have a thumb with an auxiliary support. A catch can be provided to restrict pivoting of a digit under load. A wrist can be clamped to the hand, can be releasably electrically coupled to the hand, can be locked against rotation, and can include resiliently deformable pieces. A cover can also be provided for an automated hand. The cover can include a knitted body and a structural brace.

Universal switch modules, universal switches, and methods of using the same are disclosed, including haptic confirmation of commands generated by the user, methods of preparing an individual to interface with an electronic device or software.

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.

In a joint movement device (100) for selective flexion and extension of a joint (20), a tendon (120) is disposed adjacent to the first and second joint members. A tendon securing device (112) is secured to the second joint member (12), the tendon (120) being secured to the tendon securing device (112). At least one phalange ring (110) is secured to a joint member and includes a tending routing mechanism (113) configured to route the tendon through the phalange ring (110). An actuator (140) is coupled to the tendon (120) and pulls the tendon (120) inwardly to cause the joint (20) to flex. An elastic member (130) is coupled to the phalange ring (110) and tendon securing device (112) and applies an extension force thereto, thereby causing the joint (20) to extend when the actuator (140) releases the tendon (120).

Universal switch modules, universal switches, and methods of using the same are disclosed, including haptic confirmation of commands generated by the user, methods of preparing an individual to interface with an electronic device or software.

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 Peltier effect is combined with the shape memory material and the thermal expansion and cold contraction phenomenon, the bionic muscle is provided, the bionic muscle can move according to the command of an electric signal, the length of the bionic muscle can be stretched and contracted under the control of the electric signal, so that thrust or tension is provided for a moving part, the size can be infinitely small, and the bionic muscle is suitable for being used in the field of medical instruments. Movement is free of noise, control is flexible, convenience is provided for miniaturization, intellectualization and sensitization of equipment, the robot can act more naturally and smoothly, expressions are richer and more colorful, infinite possibility is provided for the broken limb reconstruction technology, and the robot can serve as a power element and can be used for bionic manufacturing, mechanical manufacturing and the like. The method is applied to the fields of intelligent manufacturing, high-end equipment manufacturing, robot expression muscle manufacturing, broken limb reconstruction and the like.

The invention discloses a flexible grasping control method based on myoelectricity decoding grasping force and rigidity, and aims to solve the problems that a traditional prosthetic hand only considers the grasping force, the prosthetic hand applies the grasping force in a fixed and rigid movement mode, and an object is easily damaged. According to the method, the gripping force of the human hand is estimated by adopting a biological muscle model, meanwhile, the muscle stiffness of the human hand is estimated in combination with the contraction characteristics of the muscles, and the mapping relation between the muscle stiffness of the human hand and the stiffness parameter of the prosthetic hand controller is established according to the characteristics when the human hand grips an object; and the flexible grasping control of the prosthetic hand on different objects is realized. According to the artificial limb hand, the hand gripping force can be obtained, the muscle rigidity of the hand in the object gripping process can be further obtained, the object is gripped according to the expected gripping force and gripping rigidity, compared with a transmission method, the natural control feeling more similar to that of an original limb can be provided, and the use experience of the artificial limb hand is improved.

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 present invention discloses a self-driven modular semi-palm artificial hand, including a finger module, a self-locking module, a finger joint unit, a finger sleeve, an orthosis, a guide unit, and a transmission rope. The self-locking module is placed inside the finger module, the self-locking module is connected to the finger module, the finger joint unit is connected to the finger module, the other end of the finger sleeve is nested on the finger joint unit, the guide unit includes a finger guide block and a palm fixing block respectively fixed on the finger sleeve and the orthosis, and the transmission rope includes an elastic rope and a tension line respectively wound on the upper and lower sides of the finger module. The present invention also provides another semi-palm artificial hand with a palm module. The present invention improves the practicality of the artificial hand, improves the comfort of the patient wearing it, and improves the utilization rate of the artificial finger.

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.

The invention relates to a modular gripping finger system for a robot, the gripping finger system comprising at least one universal actuator module type and different kinematic element types for assembling finger modules (104), wherein actuator modules (102) of the at least one universal actuator module type can be coupled to finger modules (104) assembled from kinematic elements (106, 108, 110, 112), to form complete actuated gripping fingers (100). The invention also relates to a gripping finger (100) for a robot, to a modular gripping system for a robot, and to a gripper for a robot.

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.

The invention relates to a prosthetic finger which is associated with a motor drive (5) by means of which the prosthetic finger (101) can pivoted relative to a chassis (100) about a first pivot axis (2), the prosthetic finger having a finger element (3) which is pivotably mounted on the chassis (100) about the first pivot axis (2) and which is coupled to a support (19), the support (19) is coupled to a drive element (17) which can be coupled to the motor drive (5) and which is torque-transmittingly coupled to the support (19), wherein the drive element (17) is torque-transmittingly coupled to the support (19) via a coupling element (18), wherein the coupling element (18) is axially displaceably mounted on the support (19) and resiliently preloaded in the direction of the drive element (17).

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.