19 results about "Finger flexion" patented technology

The present application relates to a kind of mechanical dexterous hand fingers and dexterous hand, which includes: palm base;Finger knuckles, which includes sequentially connected finger root knuckles, middle knuckles and distal knuckles;Finger root component, which includes finger root pivot installed on the palm base, spherical bearing is set on the finger root pivot and matches the installation finger root knuckles;Bending transmission mechanism, which includes driving bevel gear, driven bevel gear, finger root transmission member and finger flexion shaft;Side swing transmission mechanism, which includes side swing drive installed on palm base, and side swing transmission shaft is connected with the side swing drive, and the side swing transmission shaft keeps contact with the finger root knuckles in side swing operation.Compared with prior art, the present application can satisfy the side swing of dexterous hand finger joint, bending, while ensuring that it occupies small volume while providing certain gripping force and durability.

The invention provides a medical multifunctional measuring scale which comprises a circular shaft angle measuring module, the circular shaft angle measuring module comprises a transparent shell A, a transparent shell B and a pivot penetrating through the transparent shell A and the transparent shell B, an annular opening is formed in the side wall of the transparent shell A and / or the transparent shell B, and the circular shaft angle measuring module further comprises an angle measuring piece. One end of each angle measuring piece is rotationally arranged on the pivot, the other end of each angle measuring piece penetrates through the annular opening and then is located outside the cavity, and an angle dial is arranged on the outer surface of the circular shaft angle measuring module; the medical multifunctional measuring scale further comprises a measuring tape arranged in the cavity. The medical multifunctional measuring scale provided by the invention adopts a multifunctional integrated design, the measuring efficiency is improved, and the circular shaft angle measuring module and the measuring tape are integrated in the same cavity, so that the integrated measurement of the length and the angle is realized; the problem that in scar contracture assessment, pain points of tools need to be frequently switched (for example, the bending angle and the stretching length of fingers are measured at the same time) is solved, and the operation time is greatly shortened.

The application discloses a multi-degree-of-freedom tendon-driven robot finger, which comprises a palm knuckle, a first knuckle, a second knuckle, a third knuckle, a driving device and a tendon, each knuckle comprises a knuckle body and a tendon guide mechanism; the first interphalangeal joint with three degrees of freedom is formed by connecting the palm knuckle and the first knuckle through a first ligament, the second interphalangeal joint with a single degree of freedom is formed by connecting the first knuckle and the second knuckle through a second ligament, and the third interphalangeal joint with a single degree of freedom is formed by connecting the second knuckle and the third knuckle through a third ligament; the tendon comprises a radial finger flexion tendon, a ulnar finger flexion tendon and a finger extension tendon, the tendon passes through the tendon guide mechanism and is connected with the driving device, the driving device drives the finger to perform extension-flexion movement and abduction-adduction movement through the tendon, and the finger extension tendon comprises a non-elastic main part for realizing extension of the first interphalangeal joint, a first elastic part for realizing extension of the second interphalangeal joint and a second elastic part for realizing extension of the third interphalangeal joint.

The invention relates to a hand exoskeleton robot based on progressive rehabilitation and a method thereof, solves the problems of single rehabilitation mode, insufficient control precision, heavy structure and the like in the prior art, realizes complete-cycle rehabilitation training and provides a personalized rehabilitation scheme. A hand exoskeleton robot based on progressive rehabilitation comprises a driving module, a skeleton mechanism, a sensing module and a control module. The driving module is used for providing linear driving force; the skeleton mechanism comprises a rigid assembly and a flexible connecting structure which can move relatively, and is used for converting the linear driving force into bending movement of fingers; the sensing module comprises a first sensor used for detecting the joint angle and a second sensor used for monitoring output force. And the control module adjusts the output of the driving module through cascade closed-loop control based on feedback signals of the first sensor and the second sensor.

The invention discloses a finger exoskeleton unit and a hand exoskeleton capable of actively driving five fingers to bend, stretch, unfold and fold, and belongs to the field of medical instruments. In order to reduce the transverse envelope volume, an existing hand exoskeleton sacrifices active driving in the unfolding and folding direction and lacks the ability of carrying out active driving training in the direction. The mechanical arm comprises a finger executing mechanism, a transmission mechanism and a driving mechanism, and the driving mechanism can drive the finger executing mechanism to do pitching and / or side-sway movement through the transmission mechanism so that the finger executing mechanism can drive a single finger to do flexion and extension and / or unfolding and folding movement. According to the hand exoskeleton, the five fingers can be actively driven to stretch or retract and bend or stretch, then five-finger coordinated three-dimensional flexible movement is achieved, and compared with an existing exoskeleton which can only achieve five-finger bending and stretching movement or single-finger bending / stretching and stretching movement, the movement flexibility of each finger is guaranteed, and therefore the finger rehabilitation training effect is improved.

This invention discloses a wearable hand function rehabilitation training robot, comprising an upper cover and a lower cover. A glove is mounted on the bottom of the lower cover, and an air pump is fixedly connected to the top of the lower cover. The output end of the air pump is connected via a first shunt pipe to a plastic coupling mechanism and a corrugated pipe to prevent fingers from deviating from their normal position. The upper cover is fixedly connected to the outer side of the top of the lower cover, and a hinged device for fixing the wrist is fixedly connected to the outer side of the lower cover. This invention, with its upper cover, first shunt pipe, plastic coupling mechanism and corrugated pipe to prevent fingers from deviating from their normal position, air pump, lower cover, and hinged device for fixing the wrist, can drive the fingers to flex and extend, thus achieving rehabilitation. Since most commercially available robots combine the main unit and glove separately, this invention combines the two, making it more convenient and easier to use, allowing for training anytime, anywhere. It ensures normal finger flexion and extension, prevents deviation, and also prevents the glove from falling off during training.

The invention belongs to the technical field of brain-computer interfaces, and aims to solve the problems of low normal form stimulation induction effect, poor time sequence design adaptability and low interaction efficiency of a current motor imagery brain-computer interface. The invention provides a motor imagery brain-computer interface normal form design method based on finger flexion. The method comprises the following steps: dividing a single task time flow of a motor imagery normal form based on finger flexion; setting an off-line task or an on-line task of the motion imagination normal form of finger flexion; wherein in the task prompting stage of the offline task, a first finger buckling image is randomly presented, and a unique correct finger buckling key pressing action is correspondingly set based on the first finger buckling image; in the task prompting stage of the online task, the second finger buckling image is randomly presented, and multiple correct finger buckling key pressing actions are correspondingly set based on the second finger buckling image. According to the invention, the reaction effect and concentration degree of the subject on the motor imagery task can be improved, and the practicability of the BCI system in hand refined rehabilitation application is improved.

The application discloses a kind of anthropomorphic dexterous hand based on motor and shape memory alloy cooperative driving in the technical field of robot, including sequentially connected forearm, wrist, palm and finger, the finger includes a first finger piece and four second finger pieces;The motor drive assembly is arranged in the forearm, tendon is arranged on the motor drive assembly, and the memory alloy drive assembly is arranged in the palm;The motor drive module is arranged in the forearm region in the application, and finger flexion and extension movement is realized by tendon transmission, which effectively reduces the hand space occupation, reduces the weight of the dexterous hand end, improves the motion flexibility, integrates the shape memory alloy drive module in the palm region, realizes finger side swing movement by using the characteristics of small volume and light weight, realizes the advantage complementation of different driving modes by simulating the function division of human hand external muscle and internal muscle, improves the system integration while ensuring the output performance.

The utility model provides a kind of finger flexion and extension training rehabilitation device, it is related to finger flexion and extension training device technical field, including: wrist strap, wrist strap top end is fixedly connected with connecting band a, wrist strap one side is fixedly connected with connecting band b, and there is a day-shaped installation buckle in connecting band b.The device is adjusted flexion and extension training mechanism by setting, can according to the physiological characteristics and rehabilitation stage of different fingers of trainer, flexion and extension training stroke is flexibly adjusted, the adaptability and individualized training level of device are improved, and the device is easy to operate, comfortable to use, it is convenient to promote application in a variety of scenarios, with good practicality and clinical application value.

This invention relates to the technical field of device control and provides a method and apparatus for hand function rehabilitation training. The method includes: responding to a user-triggered self-test mode by collecting five-finger flexion data via a flexion sensor and collecting muscle electrical signals via an electromyography (EMG) sensor; the self-test mode is used to perform a maximum grasping motion when the user wears a pneumatic rehabilitation robot glove, where the maximum grasping motion refers to the user's maximum grasping ability; matching a training level based on the EMG signals; matching a tiered training strategy based on the five-finger flexion data and the training level; and controlling a pneumatic structure to perform training operations according to the tiered training strategy. This hand function rehabilitation training method, through intelligent feedback and personalized adjustment, makes rehabilitation training more efficient and precise, and effectively avoids the limitations of traditional methods.

Provided is a wrist-hand orthosis, which relates to the technical field of medical devices. The wrist-hand orthosis comprises a tensioning integrated finger sleeve, a pneumatic artificial muscle, and an inflation component. The tensioning integrated finger sleeve is capable of generating flexion / extension deformation by means of the contraction / extension of an elastic assembly on one side of a finger pulp. The pneumatic artificial muscle is arranged on one side of the finger pulp of the tensioning integrated finger sleeve. The pneumatic artificial muscle is in communication with the inflation component by means of an air guide tube. When a wrist joint performs a back extension action, the inflation component is driven to inflate, and the pneumatic artificial muscle inflates and contracts to drive a tensioning finger joint to flex. When the wrist joint performs a flexion action, the inflation component is driven to deflate, and the pneumatic artificial muscle deflates and extends to drive the tensioning finger joint to extend. The inflation component is suitable for being fixed on the back side of the wrist. The wrist-hand orthosis has the advantages of adjustable muscle strength, good adaptability, high patient activity, and the like. The wrist-hand orthosis has a good clinical effect of bidirectional assistance for finger flexion and extension, and thus is suitable for different stages of rehabilitation training requirements of stroke patients.

The utility model provides a finger separating plate for rehabilitation training, and relates to the technical field of medical apparatus and instruments. Comprising a main body, the main body comprises a bottom plate and a flange, the flange is installed on the bottom plate, and the section of the flange is in an L shape; and the fixing belt is mounted on the bottom plate, so that the hand of the patient better conforms to the rehabilitation functional position. According to the utility model, the problem that the thumb cannot be separated and fixed in a larger range is solved, and further the effects of better solving the problem of finger flexion spasm and improving the hand function of a patient are achieved.

The invention discloses a flexion-extension / contraction-extension rigid-flexible coupling type hand rehabilitation robot which comprises an integral frame, six finger restraining mechanisms, a finger contraction-extension driving mechanism and a finger flexion-extension driving mechanism, the finger restraining mechanisms are all mounted on the integral frame, and the finger flexion-extension driving mechanism is mounted on the integral frame. The finger folding and unfolding driving mechanism and the finger bending and stretching driving mechanism are also installed on the overall frame, the finger folding and unfolding driving mechanism comprises a first power unit and a transmission gear set, and the finger bending and stretching driving mechanism comprises a second power unit; the second power unit can drive the pull wire through the steering engine to pull the finger restraining mechanism to complete finger bending action, and the tension spring is connected with the pull wire to pull the finger restraining mechanism to complete finger stretching action. By means of the mode, folding, unfolding and bending and stretching actions of each finger can be achieved, and the hand function recovery effect of a hand dysfunction patient can be effectively improved.

The invention relates to the technical field of robot bionic actuators, in particular to an under-actuated manipulator with a finger device, which comprises a hand plate structure and the finger device, the finger device comprises a finger bending and stretching mechanism, a side swinging mechanism and a plurality of finger mechanisms, each finger mechanism comprises a finger connecting base and a plurality of finger joints, the finger joints are movably connected, and the finger joints located at the ends are connected to the finger connecting bases; the finger bending and stretching mechanism is arranged on the hand plate structure, the finger bending and stretching mechanism is in transmission connection with the multiple finger joints and used for driving the multiple finger joints to be unfolded or bent, and the side swing mechanism is arranged on the hand plate structure and is in transmission connection with the multiple finger mechanisms. The side swing mechanism is used for driving the multiple finger mechanisms to rotate in the direction close to or away from each other. According to the under-actuated manipulator with the finger device, by arranging the finger bending and stretching mechanism and the side swinging mechanism, the problem that in the prior art, the side swinging function of a manipulator is insufficient or a driving system is complex is solved.

The application discloses a wearable cooperative control system and method of a micro magnetic control soft robot, which comprises a wearable control module and a robot driving module. The wearable control module adopts asymmetric two-hand cooperative design and comprises a right-hand dynamic control unit, a left-hand mode selection unit, a display unit and a central processing unit, which are used for collecting mode switching input information, forearm rotation posture data and finger flexion posture data. The robot driving module comprises a central control unit, an electromagnetic driving unit and a visual feedback unit. The central control unit maps the forearm rotation posture data into a magnetic field rotation axis azimuth control instruction and maps the finger flexion posture data into a magnetic field rotation frequency control instruction. The electromagnetic driving unit generates a rotating magnetic field to drive the robot movement. The visual feedback unit realizes closed-loop control. The application realizes independent adjustment of the movement direction and speed of the robot and can be applied to the fields of biomedical engineering and micro operation.

The invention aims to provide a device for promoting hemiplegic shoulder recovery of a hemiplegic patient, and relates to the technical field of medical instruments, fingers of the patient can be separated through a finger separator on a forearm plate, finger flexion and extension exercise is performed, finger contracture is prevented and corrected, and finger motion function recovery is assisted; a driving assembly is arranged on a supporting strip to control rotation of a big arm plate, a rotating motor is arranged on the big arm plate to drive a forearm plate to rotate, automatic adjustment of the abduction angle of the big arm of a patient and automatic adjustment of the flexion and extension angle of the forearm are achieved, the patient can be assisted to conduct abduction of the big arm and flexion and extension training of the forearm, and the effects of improving blood circulation and improving shoulder recovery are achieved; meanwhile, a sliding motor is arranged on a big arm plate to drive a sliding plate to slide, so that the big arms of the patient can be driven to lift up, and shoulder raising movement is achieved; the massage plate is arranged on the restraint strap for fixing the upper arm and the lower arm of the patient, and the vibration massage pieces on the massage plate can conduct vibration massage on the arms of the patient, so that blood circulation is promoted.

The application relates to the technical field of motion capture, and discloses a finger posture motion capture system fusing visual calculation and a scalable wire module, which comprises a glove body, a fingertip connecting assembly, an integrated control module, a scalable wire module, an electromagnetic coil tension control unit, a monocular vision acquisition module and a main control unit; high-frequency and high-precision measurement of finger flexion and extension actions is realized through the scalable wire module, dynamic adjustment of cable tension is realized through the electromagnetic coil tension control unit, the global pose of a hand is acquired through the monocular vision acquisition module, and precise calculation of the finger posture is realized through a multi-modal fusion algorithm. The application can solve the problems that the existing motion capture scheme has poor anti-shielding capability and is prone to large accumulated drift errors, and simultaneously considers global pose acquisition and force feedback capability, and is suitable for VR / AR interaction, sign language recognition and other scenes.

The utility model relates to the technical field of medical rehabilitation training, in particular to an auxiliary training device for traumatic orthopedic nursing, which comprises a main body plate, an operation port is arranged in the middle of the main body plate, and the main body plate is hollow; a plurality of first mounting holes which are distributed at equal intervals and second mounting holes which are distributed at equal intervals are formed in the main body plate, and the first mounting holes are aligned with the second mounting holes; the training device further comprises a plurality of training mechanisms, the training mechanisms are correspondingly mounted in the first mounting holes and the second mounting holes respectively, and the training mechanisms are used for finger flexion and extension training; by arranging the adjusting screw rod, the extrusion plate, the contact plate, the thrust spring and the sliding sleeve, adjustment of different forces can be achieved only through screwing operation, multi-gear adjustment is facilitated, operation is simple and rapid, progressive rehabilitation training of a patient is facilitated, and practicability is improved.

This utility model discloses a clutch-type finger flexion and extension mechanism, a robotic hand, and a robot, belonging to the field of robotic hand technology. The clutch-type finger flexion and extension mechanism, robotic hand, and robot of this utility model, by rotating a rotating component, allow the driving part to abut against the contact part, thereby driving the first phalanx to rotate. The elastic component undergoes elastic deformation, and under the action of the connecting rod, the second phalanx rotates along with the first phalanx and also rotates relative to the first phalanx, thus enabling the clutch-type finger flexion and extension mechanism to perform a bending action. When the clutch-type finger flexion and extension mechanism switches from a bent state to an extended state, the rotating component rotates in the opposite direction, while the driving part remains abut against the contact part. The clutch-type finger flexion and extension mechanism can perform an extension action and return to its original position under the combined action of the elastic force of the elastic component and the force applied to the contact part by the driving part. When the rotating component is not rotating, the clutch-type finger flexion and extension mechanism can perform a bending action under the action of external force, avoiding collision damage.