232results about "Artificial hands" patented technology

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 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.

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.

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).

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.

Adjustment and metrology systems include a first securing component configured to hold a first region of the medical device. A second securing component is configured to hold a second region of the medical device, the first securing component and the second securing component being spaced apart in a Z-direction. A plurality of positioning mechanisms is coupled to at least one of the first securing component or the second securing component, the plurality of positioning mechanisms being configured to provide a combined total of at least six degrees of freedom between the first securing component and the second securing component, wherein the degrees of freedom comprise translational movement in an X-direction, a Y-direction, and the Z- direction and rotational movement about an X-axis, a Y-axis, and a Z-axis. A heater is positioned between the first securing component and the second securing component.

According to an aspect, there is provided a prosthetic hand comprising: a wrist attachment part configured for connecting to a wrist connector; a palm part, the palm part and wrist attachment part being rotatably coupled together to form at least part of a wrist joint; and at least one locking member configured to selectively engage a corresponding engagement part coupled to the palm part, wherein the locking member is movable between an unlocked position, in which the locking member and engagement part are disengaged and the palm part is free to rotate relative to the wrist attachment part, and a locked position, in which the locking member and engagement part are lockingly engaged and the palm part is rotatably locked relative to the wrist attachment part, wherein an end face of the locking member is configured to be flush with an end face of the wrist attachment part when the locking member is in the locked position and the end face of the locking member is configured to be proud of the end face of the wrist attachment part when the locking member is in the unlocked position.

The invention provides a wearable myoelectric prosthesis control method, a terminal, a storage medium and a system, and the method comprises the steps: carrying out the wavelet packet decomposition of a surface electromyogram signal for the surface electromyogram signal of each preset muscle position of a target body, and obtaining a plurality of sub-bands and the decomposition coefficients thereof; variational mode decomposition is carried out on the surface electromyogram signals to obtain a plurality of intrinsic mode functions; extracting a first feature corresponding to each sub-band based on the decomposition coefficient; extracting a second feature of each intrinsic mode function; extracting time domain features of the surface electromyogram signals; inputting the first feature, the second feature and the time domain feature into a TabPFN model to obtain an action classification result of the target body; and controlling the myoelectric prosthesis based on the action classification result. According to the method, the wavelet packet decomposition method and the variation mode decomposition method are fused for feature extraction, and the TabPFN model is combined, so that a signal complex mode can be learned more accurately when the high-dimensional nonlinear electromyographic signals are processed, and the action recognition accuracy is improved.

The present application belongs to the technical fields of artificial limb manufacturing, and discloses a multi-air chamber human-like joint type soft thumb, which comprises a soft shell, a silica gel tube, a bellows and an interface, wherein the silica gel tube comprises an inner silica gel tube, the inner silica gel tube comprises an upper tube and a lower tube connected in sequence, the upper end of the upper tube is sealed, the lower tube comprises a main branch pipe and two auxiliary branch pipes, the main branch pipe is through the upper tube, and the outer portions of the upper tube, the main branch pipe and the two auxiliary branch pipes are all wound with fiber lines in a symmetrical double helix form; the soft shell is arranged at the periphery of the upper tube, the bellows is arranged at the periphery of the lower tube, the upper portion of the bellows is connected with the lower portion of the soft shell, the lower portion of the bellows is connected with the interface, three openings are arranged on the interface and connected with the main branch pipe and the two auxiliary branch pipes respectively. The present application overcomes the characteristics of single function, insufficient output and poor human-likeness of the existing mechanical thumb.

The application provides an upper limb prosthesis shoulder joint assembly and an upper limb prosthesis, which comprise a U-shaped shoulder joint connecting piece, a first steering wheel, a plurality of long studs, an upper bearing stop ring, a lower bearing stop ring and a bearing; the U-shaped shoulder joint connecting piece has a first section, a second section and a third section, and a second steering wheel accommodating area is formed in the middle; the first steering wheel is fixedly installed between the first section and the third section, the bearing is installed between the upper bearing stop ring and the lower bearing stop ring, and the bearing is fixedly connected with an output shaft of the first steering wheel; the long stud has a threaded section in the lower section, penetrates the first section and the third section, and fixes the upper bearing stop ring and the lower bearing stop ring with the third section; the position, where the long stud contacts the third section, has a stage, which abuts against the third section; an upper arm bearing installation shaft is installed with an inner ring of the bearing and is coaxially fixedly connected with an output shaft of the second steering wheel. The application takes into account the load bearing and the lightness of the prosthesis body.

This utility model relates to a hand with a gripping thumb, aiming to solve the problems of existing prosthetic hands, such as limited functionality, complex structure, difficult maintenance, non-removable components, and excessive weight. The hand with a gripping thumb includes a palm shell, a thumb mechanism, a return spring, and a control cable. The palm shell is a hollow structure with an internal hinge seat and a long slot. The thumb mechanism consists of a thumb head, a hinge shaft, and a drive arm, and is installed inside the palm shell. The return spring connects the drive arm and the fixed seat, and the control cable connects to the drive arm and extends from the wrist, achieving the swinging gripping of the thumb head through its reaction with the return spring. This utility model has a simple structure, few parts, low cost, and is easy to maintain. The palm cover of the palm shell is removable, facilitating repair and replacement, and reducing maintenance costs. The overall design is lightweight, reducing the burden on patients and providing a practical, economical, and reliable solution for amputees, meeting their diverse daily needs.

A uni-body terminal device (100) for a upper limb myoelectric prosthesis (200) that withstands impact upon accidental drop on the ground without sustaining damage, includes a wrist portion (102) configured for being implanted on the upper limb myoelectric prosthesis (200) of the user; at least one first compliant finger (104); two or more second compliant 5 fingers (106-A, 106-B); one or more myoelectric sensors (108); at least one servo motor (110) configured within the wrist portion (102) to rotate upon actuation for enabling movement of the at least one first compliant finger (104) and the two or more second compliant fingers (106-A, 106-B). The at least first compliant finger (104) and two or more second compliant fingers (300) are configured for establishing firm gripping conforming to 0 the shape of the object (300) being held there within.

The application relates to an intelligent artificial limb system for identity authentication and myoelectric text conversion and belongs to the technical field of robots; the intelligent artificial limb system solves the problem that the intelligent artificial limb system in the prior art cannot realize the functions of myoelectric activation, text conversion and identity authentication; the intelligent artificial limb system comprises, which are electrically connected in sequence, a myoelectric signal detection sensor, a myoelectric signal recognition control module, a motor driving device and a bionic hand device; wherein the myoelectric signal detection sensor is used for detecting myoelectric signals and sending the myoelectric signals to the myoelectric signal recognition control module; the myoelectric signal recognition control module is used for recognizing and processing the received myoelectric signals, and mode conversion is carried out according to the myoelectric signal recognition result, so as to realize identity authentication, daily action control and conversion of myoelectric signals into texts; the motor driving device is used for controlling the bionic hand device to make actions corresponding to the myoelectric signals based on the recognition result of the myoelectric signal recognition control module, so as to realize daily action control.

A method for designing a functional prosthesis of customized hand, for patients amputated at trans-radial level, implemented with additive manufacturing technology. The method flow for designing and developing the devices consists of the following steps: i) kinematic analysis and 3D scan of the limb contralateral to the amputated one; ii) kinematic synthesis of the planar mechanism at one active degree of freedom (GdL), modular for each finger, and optimization of the same through a global performance index (GPI); iii) prototyping of the assembly of five fingers.

Provided is an electronic prosthetic hand that detects and operates hand movements. The electronic prosthetic hand may include a prosthetic hand including a finger unit capable of joint movement and a control unit that controls the finger unit, a first sensor module positioned on a user's finger, a second sensor module positioned on the back of the user's hand, and a gyro sensor provided in each of the first and second sensor modules to measure displacement according to a change in the positions of the first and second sensor modules. The electronic prosthetic hand can be used more precisely because the first and second sensor modules detect the movements of the user's finger and back of the hand, respectively, and implement joint movements of the finger unit based on the displacement difference values according to the movements of the finger and back of the hand.

The application discloses a bionic artificial hand, which comprises a palm part, a thumb part, four finger parts and a pneumatic control system. The thumb part comprises a thumb metacarpal and a thumb, the thumb metacarpal is hinged to the palm part through a first hinge shaft and is driven to rotate by a first pneumatic device, and the thumb is internally provided with a first cavity unit in series; the thumb is hinged to the thumb metacarpal through a second hinge shaft and is driven to swing by a second pneumatic device. Each finger of the four finger parts is internally provided with a second cavity unit in series, and each finger is hinged to the palm part through a third hinge shaft and is driven to independently swing by a third pneumatic device. The pneumatic control system is arranged in the artificial hand and is used for controlling the air intake and exhaust of each cavity unit and pneumatic device. The bionic artificial hand adopts a two-degree-of-freedom design of thumb metacarpal rotation and thumb swinging, combines with pneumatic device driving, realizes flexible movement of the thumb, and improves the coordination and fine operation ability of the artificial hand.

A prosthetic hand 10 comprising a palm part 20 and a thumb 30. The thumb has a proximal thumb part 100 coupled to the palm part configured to rotate about a first axis of rotation 110 and a distal th

A robotic lower arm assembly includes a forearm member, a hand member including a plurality of appendage members, a plurality of control cables coupled with the forearm member at first ends thereof and coupled with the plurality of appendage members at second ends thereof, a control cable of the plurality of control cables configured to apply a force to an appendage member of the plurality of appendage members to actuate the appendage member, and a wrist joint pivotably coupled with the forearm member and the hand member. The plurality of control cables is arranged in a first configuration at a forearm side of the wrist joint and is arranged in a second configuration different from the first configuration at a hand side of the wrist joint opposite the forearm side.

Methods, devices, systems, and apparatus, including computer programs encoded on a computer storage medium, for brain-controlled body movement assistance devices. In one aspect, a device includes a brain-controlled body movement assistance device with a brain-computer interface (BCI) component adapted to be mounted to a user, a body movement assistance component operably connected to the BCI component and adapted to be worn by the user, and a feedback mechanism provided in connection with at least one of the BCI component and the body movement assistance component, the feedback mechanism being configured to output information relating to a usage session of the brain-controlled body movement assistance device.

Described is an exoskeleton device for assisted movement of a body member. The exoskeleton is for assisted movement of a member comprising a plurality of joints. The exoskeleton includes a first rigid section and a second rigid section positioned at respectively opposite ends of the member and an intermediate rigid section between the first and second rigid sections and positioned between the joints in the member. The exoskeleton also includes a repeating M structure comprising a plurality of length segments, each length segment extending between a respective pair of said rigid sections, and a drive spring extending at least from the first rigid section to the second rigid section, along an external region of the repeating M-structure, the drive spring between extendable and retractable to actuate the exoskeleton. A stiffness of each length segment is selected based on an amount of force to be applied to the member.

The invention provides an artificial hand slippage sensing and self-adaptive control method based on deep learning. The method comprises the following steps: S1, acquiring data of a multi-source sensor; s2, preprocessing off-line data; s3, constructing and training a deep learning slip perception model; s4, collecting real-time data in the artificial hand grabbing process; s5, carrying out real-time data preprocessing; s6, real-time slip sensing based on a deep learning model; s7, generating a self-adaptive control decision; s8, executing the control instruction; and S9, slip state feedback verification and closed-loop adjustment are carried out. Through the design of off-line training, real-time reasoning and closed-loop feedback, the problems that a traditional artificial hand is poor in adaptability to complex scenes and not timely in sliding response are effectively solved, the method can be widely applied to the fields of artificial limbs, industrial grabbing robots and the like, and more stable and natural grabbing experience is provided for users.

In accordance with at least one aspect of this disclosure, a prosthetic includes a first portion extending along an axis configured to receive and partially surround a residual limb of a user. A second portion is moveably connected to the first portion, wherein the first portion and the second portion come together to define an interior space for supporting the prosthetic appendance on the residual limb of the user. A sensor is disposed on an inner surface of the first portion and within the interior space. A controller is operatively connected to the sensor to receive a first pressure signal from the sensor indicative of a pressure of the residual limb on the inner surface of the first portion. The controller is configured to adjust the second portion relative to the first portion based on the pressure signal received from the sensor to expand or retract a volume of the interior space of the first portion to accommodate radial growth and shrinkage of the residual limb relative to the axis.

Anthropomorphic robotic hand comprising a frame (00); four aligned fingers and a relative actuation mechanism to make them rotate with respect to said frame (00); a metacarpus (10), fastened to said frame (00) so to be able to rotate and translate along the axis (180) of a cylindrical joint; a thumb (11) fastened to said metacarpus (10) so to be able to rotate along the axis (140) of a rotoidal joint; an actuation mechanism of said thumb (11) and said metacarpus (10), characterized in that the actuation mechanism of said thumb and said metacarpus comprises : a first sub-mechanism activated by a first motor (M2) integral to said thumb (11) and configured to move, by means of a worm screw (R2), a ring gear (T2) fastened so to mesh with respective teeth provided on said metacarpus (10), so that a rotation of said proximal phalanx to said metacarpus corresponds to a rotation of said ring (T2), a second sub- mechanism actuated by a second motor (M3), integral to said frame (00) and configured to move, by means of a worm screw (R3), a ring (T3) that is configured to make said metacarpus (10) rotate to said axis (180) of said cylindrical joint, by means of a clutch (C1 ).