121 results about "All fingers" patented technology

An anthropomorphic artificial hand having a mechanical system that allows for the digits to be compliant to pressure that tends to flex the digits, and provides for the digits to be self biasing to conform to the shape of the object being grasped. The hand comprises one to four fingers, with the fingers having up to three joints each. The hand may also comprise a thumb that can be rotated into and out of opposition of the fingers. The joints of the thumb are also self biasing to allow conformance to the object being grasped. The hand is of the voluntary closing operation, with all digits being self extending. This allows the hand to use two cables to operate if body powered (one for the fingers, one for the thumb). The hand may also be electronically powered using two channels for operating the fingers and thumb simultaneously.

The invention discloses a hand exoskeleton device for rehabilitation training. The hand exoskeleton device comprises an opisthenar mechanism, a power source, an index finger exoskeleton, a middle finger exoskeleton, a ring finger exoskeleton, a little finger exoskeleton and a thumb exoskeleton. The opisthenar mechanism comprises an opisthenar platform, a motor support and a screw support. The power source comprises an index finger part, a middle finger part, a ring finger part and a little finger part. The index finger exoskeleton, the middle finger exoskeleton, the ring finger exoskeleton and the little finger exoskeleton each comprise a connecting rod, a far knuckle support, a transition connecting rod, a middle knuckle support, a transmission connecting rod, a driving connecting rod and a near knuckle support. The thumb exoskeleton comprises a thumb driving rod, a thumb transmission rod, a thumb connecting rod, a thumb near knuckle support, a thumb far knuckle support, a thumb motor, a thumb screw rod, a thumb sliding block, a thumb screw rod support, a thumb sliding block connecting rod, a thumb motor support and a thumb back platform. The whole device is light, low in cost and easy to assemble, and solves the problems that in an existing hand rehabilitation device, all fingers are not independent from one another, the bending angle is limited, fine actions are difficult to achieve, and cost is high.

The invention relates to a handle-type manipulator, which comprises finger joints, drivers for driving the finger joints, a plurality of fingers of connecting bars supported at the finger joints and driven by the driving the force of the drivers, a motion control portion for respectively controlling the drivers of the fingers, a position detector for checking the positions of the finger joints of relative fingers, and a plurality of strain detectors on all finger devices for detecting the strain on the connecting bars caused by the force on the fingers. The motion controller according to the positions of the finger joints detected by the position detectors and the strains on the connecting bars detected by the strain detectors controls the drivers of relative fingers and adjust the handle force of the fingers. The invention can further comprise a contact position calculator and a load calculator for calculating out the contact positions between the fingers and the handled object according to the position of the finger joints detected by the position detector and the strain of the connecting bars detected by the strain detectors.

The invention discloses a multi-joint linked multi-finger dexterous hand which comprises a palm part and a plurality of finger parts used for grasping articles, wherein one end of each finger part ispivotally connected with the palm part; each finger part comprises a plurality of finger rods which are pivotally connected to form a whole body in sequence, and a transmission device is arranged among all finger rods and connected with a driving device arranged in the palm part. The dexterous hand can be driven only by one motor and also enable each finger part to be driven by an independent motor, and ensures that the control structure is relatively simple. The dexterous hand can envelope and grasp articles like a human hand while grasping the articles and improves the grasping stability.

The invention discloses a method for testing the heart rate of a user. The method includes enabling a camera of a mobile terminal to photograph finger pads of the user at a frequency lower that each heartbeat duration, and storing all finger pad photos; computing an average value of red pixel values in a RGB (red, green and blue) color model of all pixels in each finger pad photo and recording the average values; computing differences among the average values of the red pixel values in the RGB color models of all the pixels of each two adjacent finger pad photos to obtain a difference array; normalizing the difference arrays to obtain a second array; presetting a threshold value and judging to determine that the heart of the user beats once when a value in the second array is higher than the threshold value; and computing the heartbeat frequency within a minute to obtain the heart rate of the user. According to the technical scheme, the method has the advantage that the heart rate testing accuracy and the use interest of the user are improved.

A wearable computer system that provides for convenient and efficient use of all fingers while the user is standing, reclining or using hands intermittently for other tasks. The central unit hangs from a neck strap and communicates with a head mounted display. The central unit's front surface has keys, accessible from opposite edges by each hand. Typing is similar to the traditional, but rotated 90 degrees on each side. Keys are individually assignable to any letter, symbol, musical note, color, action, or macro. Back panels have thumb keys and controls, and can be modified to accept alternate thumb controls and additional hardware, such as sensors, circuits, cameras, and auxiliary connectors for specific tasks such as musical instrument performance or augmented reality game play. Smartphones, can be incorporated within or connected to the central unit. Desktop use can be accomplished by unfolding the panels of one embodiment.

A design structure for a circuit providing the same trigger voltage across the multiple fingers is provided, which comprises a data representing an external current injection source connected to individual fingers of a multi-finger semiconductor device. For example, the external injection current is supplied to the body of a MOSFET or the gate of a thyristor. The magnitude of the supplied current from each external current injection source is adjusted so that each finger has the same trigger voltage. The external current supply circuit may comprise diodes or an RC triggered MOSFET. The components of the external current supply circuit may be tuned to achieve a desired predetermined trigger voltage across all fingers of the multi-finger semiconductor device.

The invention discloses a method for locating fingertips of a person through video with a Kinect as a camera shooting tool. The method includes the following steps that (1) a color image and a depth image are obtained from a camera, (2) a hand of the person is partitioned, (3) three-view projection is carried out on the hand, (4) fingers are located, and (5) the fingertips are located. Values of included angles of all finger candidate points and the forearm point at the center of the fist portion are calculated, candidate points with the included angles smaller than 90 degrees are eliminated, and the point, farthest from the center of the fist portion, of the rest of candidate points is selected as the fingertip point. The method has the advantages that large expansion space is provided, the method is suitable for auxiliary identification of universal objects under a depth camera, subsequent calculation quantity is saved, and the final accuracy rate is improved.

A design structure for a circuit providing the same trigger voltage across the multiple fingers is provided, which comprises a data representing an external current injection source connected to individual fingers of a multi-finger semiconductor device. For example, the external injection current is supplied to the body of a MOSFET or the gate of a thyristor. The magnitude of the supplied current from each external current injection source is adjusted so that each finger has the same trigger voltage. The external current supply circuit may comprise diodes or an RC triggered MOSFET. The components of the external current supply circuit may be tuned to achieve a desired predetermined trigger voltage across all fingers of the multi-finger semiconductor device.

A finger vein image recognition method based on improved LGS weighted coding comprises the steps of: performing ROI extraction and normalization on all finger vein images; filtering the finger vein ROI images by a k-channel Gabor filter; for the filtered enhanced images, proposing a symmetric cross-weighted local graph structure coding algorithm; extracting the feature coding map of the corresponding channel filter image by different directional feature codes, and selecting the maximum value of the feature coding value as the final feature coding value. On this basis, a scheme is proposed to obtain the final feature coding image through the steps including dividing the coding image into non-overlapping sub-blocks uniformly, calculating gray histograms of all sub-blocks, and performing similarity matching in series. The invention has the advantages of fully expressing local spatial gradient information between neighborhoods, making the feature expression more stable by extracting feature coding information in multiple directions, and greatly improving the recognition performance by being successfully applied to vein image recognition.

The invention provides a finger vein image recognition method, which comprises the steps of: dividing finger vein ROI images into training and testing samples; normalizing image sizes to 46*102 pixels; utilizing a Gabor filter for enhancement; subjecting each pixel point to comparison and selection to obtain an ROI enhanced image; adopting a PCA for reducing dimensionality of the ROI enhanced image; subjecting the ROI enhanced image after dimensionality reduction to hyperspherical granulation to obtain a new granular set; and calculating distance between each large hypersphere in each finger vein ROI image of the testing samples and the new granular set for carrying out steps such as recognition. The finger vein image recognition method adopts the PCA and hyperspherical granulation combined method for granulating and fusing all finger vein ROI images belonging to the same individual into a large hypersphere, and better describes the generality of samples of the same individual acquired at different time. During recognition, the samples to be tested are processed into a hypersphere, and then subjected to distance comparison with the fused large hypersphere.

Disclosed are an apparatus for forward beamforming using a terminal feedback and a method thereof. The base station estimates an angle of arrival (AOA) range of a user signal from reverse link received data and calculates a plurality of beamforming weights steering the estimated AOA range. Then, the base station transmits a user pilot signal by sequentially using the plurality of beamforming weights at different time areas through a control channel to estimate a forward channel conditions. A terminal calculates the user pilot signal power for all fingers at the respective time areas and feeds a time area number corresponding to the greatest power back to the base station. The base station transmits a data channel signal using a beamforming weight corresponding to the time area number fed back from the terminal.

The invention relates to a coupling underactuated integrated bionic hand device, belonging to the technology field of humanoid robots; the bionic hand device comprises a thumb, a forefinger, a middle finger, a third finger, a little finger and a palm. The device comprises five individually controlled fingers and fifteen joint freedom degrees and is driven by six motors, and the device realizes the functions of highly simulating the appearance of a human hand and grabbing action and is suitable for the humanoid robot. The forefinger, the middle finger, the third finger, and the little finger adopt modular structures, and the commonality of parts is strong. All fingers utilize a connecting rod and a spring piece to form a coupling driving mechanism and an underactuated driving mechanism which are integrated, thereby comprehensively realizing special effect of integrating the coupling and underactuated self-adaption grabbing process. In the grabbing process, the device is turned by a coupling mode before an object is touched, the object is grabbed in a turning way by adopting an underactuated self-adaption mode after the object is touched, and the device can be automatically adaptive to the size and shape of the object. The output power of the bionic hand device is strong, the grabbing action is stable, the range of the grabbed objects is wide, the requirement to a control system is low, the structure is simple and the coupling underactuated integrated bionic hand device is suitable for long-time usage.

The invention relates to a tendon rope transmission coupling self-adaption three-finger differential motion robot hand paw device, and belongs to the technical field of robots. The tendon rope transmission coupling self-adaption three-finger differential motion robot hand paw device comprises a hand paw base, three double tendon rope tandem type coupling self-adaption fingers, a hand paw transmission mechanism, a driver, a single-input three-output differential mechanism and the like. By means of the device, the robot finger coupling quick folding grabbing and self-adaption grabbing functionsand the overall hand paw self-adaption grabbing function are achieved. The device can drive all fingers to achieve quick coupling rotation to achieve self-adaption clamping of objects according to thedifferent shapes and positions of the objects, the remaining fingers / finger can be continuously driven to continuously move when any one or two of the fingers are blocked until the objects are stablyclamped, and the aim of self-adaption wrapping of the objects in different shapes and sizes through all fingers and the overall hand paw is achieved; the grabbing scope is large, and grabbing is stable and reliable; one driver is used for driving the three fingers; and the device has the high adaptability and large grabbing force and is stable and reliable to grab and suitable for various robots.

The invention relates to a glove type input device and an input method thereof. The input device comprises a left glove and a right glove, wherein finger tip input keys are arranged at the finger pulps of all fingers except the thumbs, and finger side input keys are arranged on the outer side faces of the finger tips of the thumbs. Knuckle bending detection units are arranged at the second joints of all the fingers except the thumbs and are used for detecting the bending angles of the fingers. Finger side opening degree detection units are arranged at the joints of the finger roots of the index fingers and the middle fingers and at the joints of the finger roots of the little fingers and the ring fingers and used for detecting the opening angles of the index fingers and the middle fingers and the opening angles of the little fingers and the ring fingers. A central processing unit collects information of the detection units and the keys, calculates key values and transmits clicking key values to an external upper computer through a wireless communication module. The glove mode is adopted for the input device, and the input device is small in size and easy to carry, the input habits of an operator do not need to be changed, power energy consumption can be effectively lowered, and long-time endurance is ensured.

The invention relates to a flexible manipulator based on sensing of a bionic strain sensor array. A liquid crystal elastic body (1) has a hand-shaped structure, and an elastic insulating bottom plate(4) is positioned at the position of a palm, is embedded in the liquid crystal elastic body (1) and can deform when pressure is applied to the elastic insulating bottom plate (4); an array formed by bionic strain sensors (2) adheres to the elastic insulating bottom plate (4); the bionic strain sensors (2) are connected with power supply portions (5), the power supply portions (5) are Wheatstone electric brides, and the inside of each electric bridge is connected with the corresponding bionic strain sensor (2); each power supply portion (5) is connected with a control module (7) through an amplifying circuit module (6); flexible circuit polyimide films are separately embedded at positions of first interphalangeal joints, second interphalangeal joints and metacarpophalangeal joints of all fingers of the liquid crystal elastic body (1), and can bent along with bending of the liquid crystal elastic body (1); and each polyimide film heater (3) is connected with the corresponding control module (7). The flexible manipulator based on sensing of the bionic strain sensor array is suitable for objects which are small in mass, small in size and difficult to grab comparatively.

The invention relates to a system and method for controlling actions of a robot. The system comprises a wearable glove, a first angle detecting device, a mechanical arm and a controller. The wearable glove comprises a glove palm part and glove finger parts which are connected to the glove palm part and used for generating bending actions along with actions of the hand of a human body. The first angle detecting device is arranged on the glove finger parts and used for detecting the bending angles of all finger joints of the glove finger parts. The mechanical arm comprises a mechanical arm palm part, mechanical arm finger parts connected to the mechanical arm palm part, and a driving mechanism driving the mechanical arm finger parts to act. The controller is connected with the first angle detecting device and the driving mechanism through signals and used for controlling the driving mechanism to drive the mechanical arm finger parts to bend by corresponding angles according to the signals detected by the first angle detecting device. By means of the system and method for controlling the actions of the robot, it is achieved that the mechanical arm can simulate various actions of the hand of the human body, various actions can be simulated by the mechanical arm, and the mechanical arm can the applied to the occasions where execution actions are complex.

The invention provides intelligent power assisting rehabilitation gloves including a glove body, a protecting arm, bending sensors, opening angle sensors, single-point pressure sensors, an electronic control unit, artificial muscle, and an auxiliary power box. The bending sensors are used to detect angle bending changes of all finger joints. The opening angle sensors are used to detect the opening degree between two adjacent fingers. The single-point pressure sensors are used to detect the pressure changes of all finger pulps and inner side parts of other knuckles. The electronic control unit is used to receive the angle, tension force and pressure changes output by each sensor, controls the auxiliary power box with a specific algorithm according to a signal, and pulls the artificial muscle to control the movement of the fingers to achieve intelligent power assisting functions.

The invention designs a knuckle movement module of a five-finger dextrous hand based on the structural features and kinetic characteristics of a worm wheel and worm mechanism. Movement functions of all fingers are satisfied, additionally, the space structure of knuckles can be optimized to the maximum, the used worm wheel and worm mechanism has a self-locking function, and therefore, the designed knuckle movement module of the five-finger dextrous hand can achieve the poweroff self-locking function, so that the grasping ability of the dextrous hand is increased, and the movement and grasping requirements of the five-finger dextrous hand are satisfied. A worm wheel and worm speed reducer which is used as a driving unit of the knuckle module is mainly composed of a worm wheel, a worm, a gear, a shaft, a bearing, a box body and accessories and can be divided into three basic structures including the box body, a worm wheel and worm gear set and the combination of the bearing and the shaft, wherein the box body is a base of all parts in the worm wheel and worm mechanism and is an important part for supporting and fixing shaft components, guaranteeing correct positions of all transmission parts and supporting loads which act on the speed reducer; the worm wheel and worm gear set is used for transferring output power of a motor and changing the direction of the output power; the combination of the bearing and the shaft is mainly used for transferring power, supporting operation and improving the efficiency.

The invention belongs to the field of epidermal electronics, and discloses a large-area grid type epidermal electronic system for closed-loop man-machine interaction. The large-area grid type epidermal electronic system comprises epidermal myoelectricity electrode arrays, a joint rotation angle sensor array, an electric touch sensation sensor array, connecting structures and a circuit compensation structure, wherein the epidermal myoelectricity electrode arrays are used for collecting myoelectricity signals of the internal muscles and the external muscles of all fingers and the muscles of a wrist; the joint rotation angle sensor array is used for collecting the rotation angles of finger joints and the wrist; the electric touch sensation sensor array is used for stimulating fingertips through an electric current and a voltage; the circuit compensation structure is used for eliminating excess myoelectricity signals introduced by each epidermal myoelectricity electrode connecting structure, so that the accuracy of obtained signals of man-machine interaction equipment is guaranteed. Each sensor of the system is very light, thin and small, has stretchability and conforms with the mechanical property of skin, and at the same time, the problem that heat dissipation and perspiration can not normally proceed due to large-area covering is solved.

This invention relates to a static discharge protection element structure, in which, a N trap ring is plugged between a Nch Buffer transistor and a guard-ring controlled by the trap to increase the volume resistance of all the transistors, when EDS happens, it is easy for them to enter into an breakdown and conduction state, and all finger transistors can act uniformly and enter into a protection state so as to get a strong protection result quickly.

The invention discloses a simulation keyboard for man-machine interaction of a computer, a cell phone or other digital equipment. Used key orders are set into a plane-array layout form. Various keys are expressed or pre-defined by suspension and touch, extension, contraction, and a combination of original states (namely, hand shapes) of fingers. Extension, contraction and touch states of all fingers of an operator, or detection of touch types (extension touch, contraction touch, and original state touch) of all fingers are detected, and the detection value is matched with hand shape codes so as to identify the key orders to be input, and therefore the function of a keyboard is realized. When the number of keys is large, the keys are classified according to modes (setting the hand shapes to conduct shift of various modes) so as to enable the same hand shape to stand for different keys in different modes; or a key array is spread in lines or rows so that the same touch stands for keys in different lines or rows. A sensor is arranged on a mouse, or a mouse detection component is arranged on hand so as to realize integration of the simulation keyboard and the mouse.

The invention designs a finger side swinging and opposing mechanism of a five-finger dextrous hand based on a screw linkage mechanism. Dextrous movement of all fingers are satisfied, and additionally, the finger side swinging and opposing mechanism has the poweroff self-locking pose keeping ability, so that the grasping function of the five-finger dextrous hand is obviously increased, and different requirements of the five-finger dextrous hand for reliably grasping different articles are satisfied. The side swinging and opposing mechanism which is designed by using the screw linkage mechanism as a core component is mainly composed of an N20 screw gear motor as a power component, sliding blocks, a linkage pair, a palm mainboard, a thumb D shaft fixed frame, hinges and accessories, wherein the thumb D shaft fixed frame is used for fixing a D shaft of a thumb root joint; the palm mainboard is a base on which the screw gear motor, fingers, an opposing small plate and the hinges are connected; linkages are movement transmission components for connecting the sliding blocks with finger roots and the palm mainboard with the opposing small plate and the palm mainboard with the thumb D shaft fixed frame; the hinges are used for connecting the opposing small plate with a rack, and a bearing and a shaft are mainly used in the side swinging driving aspect of the fingers, so that the rotating efficiency and the movement flexibility can be increased.

The invention relates to a technique for manufacturing a glove by taking ultra-strong polyethylene fibers as a base material; when weaving is carried out, the ultra-strong polyethylene fibers are adopted to weave all fingers and the first half part of the palm of the glove; the ultra-strong polyethylene fibers and urethane elastic fibers are adopted to weave the second half part of the palm in a blended way. Then surface chemical treatment is adopted to the glove to improve the wetting quality and the adhering property of the glove. Modified polyurethane resin coating and hot shaping are carried out to the fingers and the palm part of the glove. The technique of the invention has simple process, can realize large-scale automatic production and can effectively manufacture light and convenient and flexible soft anti-cut gloves that can prevent from cutting, stabbing, tearing and abrading.

A Wire Bonder has a downholder for pressing the fingers of a system carrier onto a heating plate. The downholder can be raised and lowered. A downholder in accordance with the invention contains four guide elements for bearing a holding plate, whereby each guide element has a supporting surface and a bolt that can be moved by means of a drive. In the raised condition of the downholder, the holding plate rests on the supporting surfaces of the four guide elements. In the lowered condition of the downholder, the bolts of the four guide elements press the holding plate against the fingers of the system carrier presented on the heating plate. At least one of the four bolts can be moved separately so that the holding plate can temporarily anchor the system carrier without already pressing all fingers against the heating plate.

A method and apparatus for identifying fingers in contact with a touch screen is provided herein. During operation, a device will attempt to identify a particular finger pattern in contact with the touch screen by identifying fingers in contact with a touch screen. The fingers in contact with the touch screen are preferably identified by determining a fingerprint for each finger in contact with the touch screen. When a fingerprint for all fingers cannot be identified, a fingerprint map will be used to determine those fingers most likely in contact with the touch screen.