15 results about "Distal phalange" patented technology

The application belongs to the technical field of robots, and discloses a motion decoupling double-path rope-driven bionic thumb device, which comprises a distal phalanx, a proximal phalanx, a metacarpal bone, a thumb base, IP joints, MCP joints and CMC joints for connecting the phalanges; the distal phalanx, the proximal phalanx, the metacarpal bone and the thumb base are connected through tendon rope transmission. The rope path for driving the IP joint does not pass through the MCP joint, and the part of the rope path across the MCP joint is wrapped by a Bowden tube assembly, so that the length of the rope path remains constant when the MCP joint moves, and the motion decoupling of the MCP joint and the IP joint is realized; the rope path for driving the MCP joint is also wrapped by a Bowden tube assembly outside, so that the length of the rope path remains constant when the CMC joint moves, and the motion decoupling of the MCP joint and the CMC joint is realized. The application has the advantages of compact structure, joint motion decoupling, precise force control, strong bearing capacity and the like.

The application provides a mechanical finger, a dexterous hand and a robot, and relates to the technical field of robots.The mechanical finger comprises at least one first phalanx, each first phalanx comprising a first phalanx body and a second phalanx body, the first phalanx body of each first phalanx being provided with a first clamping part, the second phalanx body of each first phalanx being provided with a second clamping part, and the first clamping part being clamped with the second clamping part.In this way, the assembly process of each first phalanx does not need to use screws and additional tools, which not only helps to simplify the assembly process of the mechanical finger and improve the production efficiency of the dexterous hand, but also helps to reduce the weight of the dexterous hand.

The application discloses a mechanical finger, a control method, device and equipment of the mechanical finger and a medium, and relates to the field of robots.The mechanical finger 100 comprises a proximal phalanx 10, a distal phalanx 20 and a base 30; the bottom of the proximal phalanx 10 is movably connected with the top of the base 30, and the bottom of the distal phalanx 20 is movably sleeved on the top of the proximal phalanx 10; a proximal phalanx motor 11 and a distal phalanx motor 21 are fixedly arranged in the base 30, the proximal phalanx 10 is in transmission connection with the proximal phalanx motor 11, and the distal phalanx 20 is in transmission connection with the distal phalanx motor 21.In this embodiment, the proximal phalanx motor 11 and the distal phalanx motor 21 are arranged in the base 30, so that the sizes of the proximal phalanx 10 and the distal phalanx 20 tend to the actual sizes of a human hand, and thus the precise control of the mechanical finger 100 is realized.

The present invention relates to a finger rehabilitation exercise apparatus comprising: a proximal bracket for supporting the proximal phalange of a finger; a linear actuating module which has a proximal end hinge-coupled to the proximal bracket, and which can extend and contract in the longitudinal direction of the proximal bracket; a first scissor linkage assembly which is folded or unfolded in a scissor linkage form and which has proximal ends hinge-coupled to two points of the distal end of the proximal bracket and the distal end of the linear actuating module so as to be bent and unfolded toward the palm when the linear actuating module extends and to be folded toward the front of the proximal bracket when the linear actuating module contracts; a middle phalange bracket which supports the middle phalange of the finger and which has a proximal end to which each of both sides of the distal side of the first scissor linkage assembly is hinge-coupled, so as to rotate toward the palm when the first scissor linkage assembly is unfolded and to rotate toward the front of the proximal bracket when the first scissor linkage assembly is folded; a second scissor linkage assembly which is folded or unfolded in a scissor linkage form, and which is hinge-coupled to each of both sides of the distal side of the middle phalange bracket so as to be symmetrical to the first scissor linkage assembly with the middle phalange bracket therebetween; a gear assembly provided on the middle phalange bracket so as to transmit, as the folding or unfolding motion of the second scissor linkage assembly, the folding or unfolding motion of the first scissor linkage assembly; and a distal bracket provided at the distal end of the second scissor linkage assembly so as to support the distal phalange of the finger. Therefore, independent rehabilitation exercises for each individual finger, that is, the index finger, the middle finger, the ring finger, the little finger, and the thumb are possible.

The application provides a pneumatic skeleton flexible perception ecological manipulator and a preparation and application method, and the manipulator comprises a manipulator kit, a flexible pneumatic muscle module, an embedded ecological skeleton module, a flexible self-powered pressure sensing module, a flexible self-powered curvature sensing module and a mounting flange module; the flexible pneumatic muscle module is used for simulating three-degree-of-freedom grabbing motion of a human finger and driving the embedded ecological skeleton module; the embedded ecological skeleton module is embedded in the flexible pneumatic muscle module and simulates a human finger bone; the flexible self-powered pressure sensing module is integrated on the middle phalanx and the distal phalanx of the mechanical finger and is used for sensing the force of a grabbed object; the flexible self-powered curvature sensing module is integrated at a joint of the mechanical finger and is used for monitoring the bending angle of the joint of the mechanical finger; and the mounting flange module is used for mounting and fixing the pneumatic skeleton flexible perception ecological manipulator. The application solves the problem that the manipulator in the prior art cannot accurately perceive the pressure of a grabbed object in the grabbing process.

The application discloses a dexterous hand finger structure and a dexterous hand, wherein the dexterous hand finger structure comprises a base, a proximal phalanx, a middle phalanx, a distal phalanx, a first driving assembly and a second driving assembly. The proximal phalanx is hinged to the base through a first joint shaft, and the middle phalanx and the distal phalanx are sequentially hinged. The first driving assembly drives the proximal phalanx to bend through a first tendon. The second driving assembly drives the middle phalanx and the distal phalanx to bend through a second tendon. The first joint shaft is fixed to the base, and a side wall of the first joint shaft is provided with a through hole. The transmission path of the second tendon is configured as follows: the second tendon is led out from a second driver, sequentially passes through the through hole on the base and the first joint shaft, and is fixed to the distal phalanx after passing around the second joint shaft and the third joint shaft. The design makes the tendon path for driving the middle phalanx and the distal phalanx pass through the fixed joint shaft center, effectively blocks the path length interference of the tendon for the middle phalanx and the distal phalanx caused by the movement of the proximal phalanx, realizes the complete decoupling and independent precise control of the movement of each joint, and is simple and reliable in structure and suitable for precise operation scenes.

A kind of double-degree-of-freedom underactuated robot thumb based on linear slide rod mechanism relates to intelligent robot technical field.Base joint frame, proximal phalanx frame and distal phalanx frame are connected by metacarpophalangeal joint and interphalangeal joint to form base structure, two drivers are connected transmission screw lever at bottom, transmission link is Y-shaped structural member, two branch arms of which are hinged to the bottom end of distal phalanx frame, the main arm is provided with slide hole and slide rod to form sliding pair, the bottom end is supported by spring, the bottom end of slide rod is hinged to metacarpophalangeal joint, screw nut and screw lever are arranged on the both sides of the bottom end of transmission link to form ball screw pair, position sensor collects distal phalanx frame position signal, and magnet steel and hall sensor measure proximal phalanx frame position signal.Two degrees of freedom motion is realized by using parallel structure, stable and flexible adaptive enveloping grasping of object is realized, the overall structure is simple and efficient, and has the advantages of high integration, high power density, fast response speed and accurate measurement.

This application relates to the field of robotic hand technology, disclosing a robotic finger and a robotic hand. The robotic finger includes: a distal phalanx; a proximal phalanx, drivenly connected to the distal phalanx; and a driving connection portion disposed at the connection between the root of the proximal phalanx and the palm base, for forming the metacarpophalangeal joint of the robotic finger. The driving connection portion includes an avoidance connection mechanism and a driving device unit, the driving device unit being drivenly connected to the proximal phalanx via the avoidance connection mechanism. The driving device unit enables the metacarpophalangeal joint to perform multi-degree-of-freedom movements within its normal range of motion, thereby realizing the swinging and flexion / extension movements of the robotic finger. Furthermore, when the metacarpophalangeal joint exceeds its normal range of motion due to overextension or external force, the avoidance connection mechanism absorbs part of the impact force and allows the proximal phalanx to move an additional distance.

The application provides an anthropomorphic dexterous hand, a rubber finger sleeve is arranged at a fingertip position of a distal phalanx of a finger, and a finger pulp at the fingertip position is designed as a hollow structure. Since the hollow structure at the finger pulp of the rubber finger sleeve has a large deformation space, the finger can be fully contacted with a grasped object, the contact area of the finger and the object is increased, and therefore the anthropomorphic dexterous hand has good self-adaptability, so that the anthropomorphic dexterous hand can more firmly grasp the object.

A kind of belt drive multi-degree-of-freedom mechanical finger and mechanical hand, belong to dexterous hand technical field, finger includes distal phalanx, 0 or multiple intermediate phalanges, root phalanx, the distal phalanx with intermediate phalanges, between intermediate phalanges, between intermediate phalanges and root phalanx are hinged respectively through multi-degree-of-freedom articulated shaft, the root phalanx is equipped with tension adjusting mechanism, distal phalanx is equipped with fixed shaft, the fixed shaft, several multi-degree-of-freedom articulated shaft, tension adjusting mechanism are sequentially connected through transmission belt transmission, the end of the transmission belt away from fixed shaft is connected with driving mechanism, between the back of adjacent distal phalanx and intermediate phalanges, between the back of adjacent intermediate phalanges, between the back of adjacent intermediate phalanges and root phalanx are connected with reset spring.The present application can realize the multi-degree-of-freedom swing of intermediate phalanges and distal phalanx, adjust the clamping force of finger automatically simultaneously, can adapt to the flexible gripping of irregular object in automated production.

The present application relates to a kind of three degrees of freedom dexterous hand finger compliance control method, comprising the following steps: establishing three degrees of freedom finger structure model;Passive joint constraint model and finger end kinematics model are constructed;In cartesian space, the compliance control model is constructed, and the end desired position offset is generated;Compliance control model is discretized;Lightweight kinematics inverse solution strategy is used, and only two active joints of third phalanx, second phalanx are solved, and the end desired position offset is mapped into the expected angle of active joint;According to the expected angle of active joint, motor control instruction is generated, third phalanx, second phalanx are driven to move, and first phalanx is driven to move by mechanical linkage, and end compliance interaction is realized;Contact force acquisition, compliance calculation, kinematics inverse solution and joint control step are cyclically executed, and real-time closed-loop control is completed.The method realizes the accurate mapping of end force, end position and active joint angle, and has good adaptability, real-time and compliance.

The application discloses a modular rope-driven anthropomorphic dexterous hand with joint motion decoupling structure, which comprises a palm and five fingers, each finger being an independent modular structure and comprising a distal phalanx, a middle phalanx, a proximal phalanx and a metacarpal bone, and DIP, PIP and MCP joints connecting the phalanges. A key guide point of a driving rope path of the DIP joint is arranged at a center position of a rolling surface of the MCP joint, so that the length of the driving rope path of the DIP joint is not affected when the MCP joint moves, and complete decoupling of the MCP joint movement and the DIP joint driving is realized. A single finger has four degrees of freedom, i.e. three flexing and one side swinging, and the five fingers have a total of 20 degrees of freedom. The application realizes complete decoupling of joint movement, adopts a modular design, has a compact structure, is convenient to maintain and expand functions, and realizes natural flexing movement and passive recovery of anthropomorphism through coupling of a rope path and a recovery rope path, so that the control precision and movement stability are improved.

This invention provides a controllable variable stiffness hybrid-driven adaptive dexterous hand and its driving method, comprising: a biomimetic connecting component, a variable stiffness finger component, and a thumb component. The variable stiffness finger component includes an assembly frame, a variable stiffness component, a first driving mechanism, a proximal phalanx component, a middle phalanx component, and a first fingertip component. The thumb component includes a mounting base, a rotation driving mechanism, a second driving mechanism, a thumb phalanx component, and a second fingertip component. This application overcomes the contradiction between fine manipulation and flexibility in traditional dexterous hands, significantly improving their grasping adaptability and operational reliability. Specifically, the variable stiffness finger component, through magnetorheological control technology, adjusts the stiffness of each finger in real time according to the characteristics of the grasped object, solving the pain point of lacking controllable stiffness in dexterous hands. The thumb component can be independently bent and rotated, further expanding the hand's freedom of movement and operational flexibility, enabling it to meet the multi-functional and highly adaptable needs of dexterous hands in various fields.

The utility model belongs to humanoid robot technical field, especially relates to a finger joint subassembly, deft hand and humanoid robot. Among them, the proximal phalanx module (10) is thicker, the distal phalanx module (20) is thinner, and in the projection plane perpendicular to the output shaft, the projection of first support (1) and second support (3) are all in the outer contour range of the projection of proximal phalanx module (10), and the projection of distal phalanx module (20) is in the outer contour range of the projection of second support (3). Thus setting, it is easier to realize the drive connection between proximal phalanx module (10) and distal phalanx module (20) in the narrow finger space.

The invention provides a dexterous hand finger which comprises a first knuckle and a second knuckle which are hinged to each other, a hollow circular truncated cone portion at the end of the second knuckle is rotationally installed at the position, close to the end, in the first knuckle, a notch is formed in the side wall, facing the interior of the first knuckle, of the circular truncated cone portion, and a rotating shaft is coaxially fixed to the circular truncated cone portion. A plurality of fan-shaped plates are annularly arrayed on the end face of one end in the cylindrical cavity, the fan-shaped plates are slidably installed in the radial direction of the cylindrical cavity, plane threads are arranged on the surfaces of the fan-shaped plates, and all the fan-shaped plates are in meshing transmission with the adjusting disc through the plane threads; the outer sides of the fan-shaped plates and the outer sides of the moving wheels are wound with transmission belts, the moving wheels are slidably installed in the horizontal direction, and when all the fan-shaped plates are away from one another, the transmission belts are expanded outwards, so that the moving wheels are close to the circular truncated cone part; and a driving wheel which is in transmission installation with the transmission belt is arranged above the transmission belt, and the driving wheel tensions the transmission belt and drives the transmission belt to move. Fine adjustment of the fingers can be achieved.