Patents
Literature
355 results about "Finger joint" patented technology
Efficacy Topic
Property
Owner
Technical Advancement
Application Domain
Technology Topic
Technology Field Word
Patent Country/Region
Patent Type
Patent Status
Application Year
Inventor
A finger joint, also known as a comb joint, is a woodworking joint made by cutting a set of complementary, interlocking profiles in two pieces of wood, which are then glued. The cross-section of the joint resembles the interlocking of fingers between two hands, hence the name "finger joint". The sides of each profile increases the surface area for gluing, resulting in a strong bond, stronger than a butt joint but not very visually appealing. Finger joints are regularly confused with box joints, which are used for corners of boxes or box-like constructions.
Rotary joint, finger joint, humanoid robot finger and humanoid robot
PendingCN120038784AProgramme-controlled manipulatorJointsHumanoid robot naoPhysical medicine and rehabilitation
The invention discloses a rotary joint, a finger joint, a humanoid robot finger and a humanoid robot, which can reduce the use of connecting pieces and the occupation of space by integrating a plurality of components into a whole, so that the finger joint has the characteristics of small size and light weight, and can meet more application scenes. A first-stage planetary reduction mechanism, a second-stage planetary reduction mechanism and a miniature frameless motor are arranged in a modularized mode, the miniature frameless motor is installed in a joint shell, a magnetic encoder is connected with the miniature frameless motor, the first-stage planetary reduction mechanism is connected with the joint shell, the output end of the miniature frameless motor is connected with the first-stage planetary reduction mechanism, and the output end of the miniature frameless motor is connected with the second-stage planetary reduction mechanism. The first-stage planetary speed reducing mechanism is connected with the second-stage planetary speed reducing mechanism, limiting gaskets are arranged between the first-stage planetary speed reducing mechanism and the joint and between the first-stage planetary speed reducing mechanism and the second-stage planetary speed reducing mechanism, and the second-stage planetary speed reducing mechanism is connected with the output planet carrier.
Owner:SHENZHEN ZHONGQING ROBOT TECH CO LTD
Dexterous hand
The invention provides a dexterous hand which comprises a palm structure, a plurality of first joint modules and a second joint module, each first joint module comprises a first side swing assembly and a first finger structure, and each first finger structure comprises a plurality of first finger shells and a plurality of first knuckle steering engines arranged in the first finger shells; the first knuckle steering engines drive the first finger shells to rotate in a one-to-one correspondence mode, the second joint module comprises a second side swing assembly and a second finger structure, and the second finger structure comprises a plurality of thumb knuckle shells and a plurality of thumb knuckle steering engines arranged in the thumb knuckle shells. The thumb knuckle steering engines drive the thumb knuckle shells to rotate in a one-to-one correspondence mode. The dexterous hand provided by the invention has more active degrees of freedom, can more accurately simulate the movement of a human hand, and is longer in service life and lower in control difficulty. In addition, the first joint module and the second joint module are both independent modules, so that maintenance and replacement are convenient.
Owner:UBTECH ROBOTICS CORP LTD
Finger mechanism and robot
The utility model discloses a finger mechanism and a robot, relates to the technical field of robots, and solves the technical problems that in the prior art, a finger mechanism hinders bending of a palm of a mechanical arm, and the palm is difficult to be matched with the finger mechanism to grasp the finger mechanism, the finger mechanism comprises a rigid driving assembly, a connecting rod assembly and a knuckle assembly, the connecting rod assembly is connected with the rigid driving assembly and the knuckle assembly, the rigid driving assembly is driven to drive the knuckle assembly to grab an object to be grabbed through the connecting rod assembly, and the rigid driving assembly, the connecting rod assembly and the knuckle assembly are arranged in the first direction and in the second direction. The connecting position of the connecting rod assembly and the rigid driving assembly is higher than the connecting position of the connecting rod assembly and the knuckle assembly so that the rigid driving assembly can be driven to deviate relative to the knuckle assembly in the second direction, the second direction is the direction away from the knuckle assembly, and an included angle is formed between the first direction and the second direction.
Owner:BEIJING GALBOT AI CO LTD
Novel humanoid dexterous hand
ActiveCN223029716UProgramme-controlled manipulatorGripping headsClassical mechanicsElectric machinery
The utility model relates to the technical field of robots, and provides a novel humanoid dexterous hand which comprises a base, an outer covering plastic shell and a metal framework arranged on one side of the base. By starting a first linear motor, a second linear motor and a third linear motor, the first linear motor contracts and drives a motor connecting piece to conduct hinge joint, meanwhile, a first cross connecting rod is linked to conduct hinge joint, knuckles are bent and used for taking objects, and the second linear motor contracts and drives a head connecting piece to conduct hinge joint. During hinging, the position of the fingertip knuckles of the thumb can be adjusted according to the requirement for object taking so as to assist in object taking, meanwhile, a third linear motor is contracted so that a third cross connecting rod and a fourth cross connecting rod can be hinged, meanwhile, the fingertip knuckles of the thumb can be bent, and object taking can be assisted; therefore, the purpose of flexibly adjusting the dexterous hand is achieved, the dexterous hand is suitable for taking objects in different shapes, and meanwhile the dexterous fingers can move independently.
Owner:WUXI QIANYE TECHNOLOGY CO LTD
Multi-dimensional scoring auxiliary system and method in piano teaching
The invention relates to the technical field of piano teaching and computers, discloses a multi-dimensional scoring auxiliary system and method in piano teaching, and aims to solve the problems that existing piano teaching is single in evaluation dimension, one-sided in data acquisition and lagged in feedback. According to the method, a five-dimensional scoring model covering rhythm, strength, timbre, posture and fingering is constructed by synchronously collecting a key triggering time sequence, an audio frequency spectrum, limb posture and finger joint tracks, and quantitative scores are output through time alignment, feature extraction and neural network fusion calculation. The system comprises a key sensing module, an audio acquisition module, a posture capture module, a score calculation module and an AR visual feedback module, and supports teaching suggestion generation, historical trend analysis, difficulty self-adaption and multi-person comparison functions. Through multi-modal data closed-loop evaluation and intelligent intervention, the teaching accuracy and individuation level are remarkably improved, and scientific quantification and efficient improvement of the piano playing ability are achieved.
Owner:JILIN NORMAL UNIV
Dexterous hand perception control method, device and equipment and storage medium
The invention discloses a dexterous hand perception control method and device, equipment and a storage medium, and relates to the technical field of artificial intelligence. The method comprises the steps that under the condition that a target multi-fingered dexterous hand grabs a target object is recognized through a pressure sensor array, pressure collection data are obtained from a pressure sensor array, and current joint data of all finger joints of the target multi-fingered dexterous hand are obtained from an encoder; according to the pressure collection data and the current joint data, the current grabbing state of the target multi-fingered dexterous hand is determined; when it is recognized that the current grabbing state does not meet the safe grabbing condition, dexterous hand pose data of the target multi-fingered dexterous hand are obtained from an inertial sensor, and a target grabbing mode of the target multi-fingered dexterous hand is determined according to the current space pose data, the pressure collection data, the current joint data and the dexterous hand pose data; and the target multi-fingered dexterous hand is controlled to grab in a target grabbing mode. According to the scheme, the sensing grabbing efficiency and accuracy of the dexterous hand are improved.
Owner:KAILONG HIGH TECH CO LTD +2
Two-degree-of-freedom finger mechanism of five-finger manipulator
The two-degree-of-freedom finger mechanism of the five-finger manipulator is suitable for five-finger manipulator equipment of a humanoid robot and serves as a ring finger and little finger module. The robot consists of two parts, namely a finger bending assembly and a finger swinging assembly. The finger bending assembly drives a ball screw nut pair through a driving motor to convert rotary motion into linear motion, and then a ball nut drives an elastic connecting rod and finger joints to achieve bending motion of fingers. The finger swinging assembly drives a bevel gear set through a driving motor, and after the direction of rotating motion is changed, a connecting rod and finger joints are driven through a universal joint to achieve the swinging action of fingers. According to the two-degree-of-freedom mechanical finger, the two assemblies are ingeniously combined to one finger, and the overall size of the mechanical finger is reduced while two-degree-of-freedom movement is achieved. And in combination with the use of the elastic connecting rod, the driving motor is protected, and the action area of the manipulator and the grabbed object is increased.
Owner:BEIJING INST OF CONTROL ENG
Method for quickly positioning instant center of finger joint and rehabilitation glove following instant center
The invention provides a method for quickly positioning the instant center of a finger joint and a rehabilitation glove following the instant center, the method for quickly positioning the instant center of the finger joint comprises the following steps: A, keeping a finger in a half-bending state, and making a straight line collinear with the outer contour of each knuckle of the finger; b, folding lines of all joints are made through straight lines and finger knuckles, and geometric center lines of the fingers are made through the folding lines; c, making a positioning circle tangent to the fold lines of the joints and the geometric center line of the finger in an acute angle space formed by the fold lines of the joints and the geometric center line of the finger; d, the positioning circle radius R1 at the metacarpophalangeal joint of the finger is larger than or equal to 1 mm and smaller than or equal to 2.5 mm, and the positioning circle radius R2 of the near-end interphalangeal joint and the far-end interphalangeal joint of the finger is larger than or equal to 0.5 mm and smaller than or equal to 2 mm; e, in engineering application, the equivalent instantaneous center of the metacarpophalangeal joint varies within the range of a positioning circle with the radius being R1, and the equivalent instantaneous centers of the near-end interphalangeal joint and the far-end interphalangeal joint varies within the range of a positioning circle with the radius being R2.
Owner:于金须
Knuckle module and dexterous hand
The invention provides a knuckle module and a dexterous hand. The knuckle module comprises a first knuckle section, a motor, a control circuit board, a reversing mechanism and a speed reducer, wherein the motor and the control circuit board are arranged in the first knuckle section, and the reversing mechanism and the speed reducer are arranged in the end portion of one end of the first knuckle section. The direction of an output shaft of the motor is parallel to the length direction of the first knuckle section, the direction of an output shaft of the speed reducer is perpendicular to the direction of the output shaft of the motor, and the reversing mechanism is arranged between the motor and the speed reducer and used for converting rotation of the output shaft of the motor into rotation of an input shaft of the speed reducer. The control circuit board is arranged at the end, away from the reversing mechanism, of the motor and electrically connected with the motor. According to the knuckle module provided by the invention, the use requirements of light weight and miniaturization of finger joints can be met, the motion control precision of the finger joints is greatly improved, meanwhile, modularization is realized, a plurality of knuckle modules can be stacked to be connected into a finger, and the knuckle module is convenient to disassemble and assemble and easy to maintain.
Owner:SHENZHEN LIKUN INTELLIGENT TECHNOLOGY CO LTD
Exoskeleton manipulator control method
The invention discloses an exoskeleton manipulator control method which comprises the following steps: constructing a hand biomechanical model, defining the degree of freedom of finger joints, and carrying out joint division modeling based on a drive kinetic equation of a Bowden cable; deploying a high-density sensor on the hand; s3, a hand specificity Bouc-Wen model is improved, an inter-finger coupling term is introduced to correct a lag state equation, and micro-lag parameters are identified through a hierarchical identification algorithm; s4, designing a self-adaptive cooperative control strategy, realizing fuzzy mapping from the electromyographic signals to the joint torque, and optimizing a cooperative tracking error through a multi-joint parameter coupling self-adaptive law; s5, dynamically compensating the mechanical resistance of the hand by adopting the corrected double-Kalman filter; and S6, optimizing closed-loop execution and a security policy. According to the exoskeleton manipulator control method, through the improved Bouc-Wen model and the self-adaptive cooperative control strategy, the mapping relation between the electromyographic signal and the action of the manipulator can be effectively processed, and the exoskeleton manipulator control method adapts to different operation environments.
Owner:ZHEJIANG UNIV OF TECH
Direct-drive high-torque small and special direct-current brushless coreless cup motor for dexterous hand of robot
The invention discloses a finger joint driving device which is used for being directly connected with finger joints of a robot dexterous hand and driving the finger joints to act. The working voltage of the finger joint driving device is smaller than or equal to 12V, and the rotating speed is smaller than 30000 rpm. The motor comprises a housing, a stator and a rotor. The stator is fixedly arranged in the machine shell, and the stator and the machine shell are coaxially arranged. The rotor penetrates through the stator, and the rotor and the stator are coaxially arranged; the stator comprises a winding and an iron core, the winding is cylindrical, the iron core is completely cylindrical, the winding is fixed on the inner wall of the iron core, the iron core is fixed with the casing, two axial end surfaces of the winding are respectively flush with two axial end surfaces of the iron core, and the ratio of the wall thickness of the winding to the wall thickness of the iron core is 3.3: 1; the rotor comprises magnetic steel and a rotating shaft, the rotating shaft penetrates through the magnetic steel and is fixed with the magnetic steel, and the ratio of the number of the magnetic steel to the number of virtual slots of the stator is 2: 3. Compared with the prior art, under the limitation that the working voltage is smaller than or equal to 12 V and the target rotating speed is smaller than 30000 rpm, the torque of 5.2 mN * m is output, and fingers of the dexterous hand can be directly driven.
Owner:HU NAN YI MI SEN KE JI YOU XIAN GONG SI
Multi-degree-of-freedom full-drive dexterous hand and robot
PendingCN120245034AProgramme-controlled manipulatorGripping headsPhysical medicine and rehabilitationProximal phalanx
The invention discloses a multi-degree-of-freedom full-drive dexterous hand and a robot, the multi-degree-of-freedom full-drive dexterous hand comprises a palm and a plurality of fingers, the plurality of fingers are arranged on the palm at intervals, and the fingers comprise a proximal knuckle finger, a middle knuckle finger, a distal knuckle finger, a first motor, a second motor, a third motor and a fourth motor; wherein each of the first motor, the second motor, the third motor and the fourth motor is a frameless torque motor and is used for driving the fingers to bend or stretch so as to grab or release an object. By means of the direct driving mode, the movement of the finger joints is more direct and sensitive, finer and more complex actions can be achieved, and the flexibility of the fingers is greatly improved. Meanwhile, the space occupied by the driving structure is reduced, so that the internal structure of the bionic hand is simpler, more space is provided for layout of all parts of the fingers, and improvement of the overall compactness and miniaturization degree of the bionic hand is facilitated.
Owner:TIANGONG LINGZHISHOU (BEIJING) TECHNOLOGY CO LTD
Cold and hot type portable glove with adjustable joint motion range
The invention discloses a cold and hot type portable glove with adjustable joint motion range, which belongs to the technical field of medical instruments and structurally comprises a glove body, a double-layer elastic body and a heat insulation coating layer are arranged on the surface of the hand back side of the glove body, and a thermoelectric material layer and a heat transfer coating layer are arranged on the surface of the palm side of the glove body; a temperature sensor which can be in direct contact with a hand is arranged in the glove body; the double-layer elastomers are arranged at finger joints and wrist joints and comprise a lower-layer non-phase-change elastomer and an upper-layer liquid-gas phase-change elastomer, a temperature-controllable resistance wire is embedded in the liquid-gas phase-change elastomer, the resistance wire is heated to enable the liquid-gas phase-change elastomer to generate shape change and the double-layer elastomers to generate bending deformation, and the motion range of the joints is adjusted; the thermoelectric material layers are arranged at non-finger joints and non-wrist joints, and the thermoelectric material layers achieve refrigeration or heating based on the Peltier effect. The cold and hot type portable glove is high in integration level, good in portability and wide in application prospect.
Owner:NINGBO REHABILITATION HOSPITAL (NINGBO REHABILITATION CENT FOR DISABLED PERSONS NINGBO REHABILITATION CENT FOR DEAF CHILDREN) +1
Human-computer interaction method and device based on gesture recognition
The invention discloses a man-machine interaction method and device based on gesture recognition, and relates to the technical field of artificial intelligence. Comprising the steps that standard gesture actions that the thumb pinches different knuckle areas of the palm are bound with input operation instructions, each finger is divided into a fingertip area, a finger pulp area and a finger section area, and the gesture actions that the thumb pinches nine knuckle areas of three fingers are respectively input to the finger section area; the trigger module is used for triggering nine input character keys in the virtual input panel; in the process that the current user operates the virtual input panel, real-time electromyographic signals generated when the hand of the current user is kneaded are collected through an electromyographic sensor, and a first gesture action corresponding to hand kneading of the current user is recognized based on knuckle kneading signal features of the real-time electromyographic signals; and executing an input operation instruction bound with the first gesture action. According to the application, the use limitation of the gesture recognition scheme can be reduced, and the applicable crowd range is expanded.
Owner:李永浩
Labor protection glove defect detection equipment
ActiveCN120948202AMaterial strength using tensile/compressive forcesEducational modelsFinger jointMechanical engineering
Owner:NANTONG BAIYING LABOR PROTECTION PROD CO LTD
Flexible three-finger paw
The utility model belongs to the technical field of robots, and particularly relates to a flexible three-finger paw which comprises three finger modules, the three finger modules are distributed and installed on the upper plane of a paw base according to the 120-degree circumference, and each finger module comprises a finger base, a first finger joint, a second finger joint, a three-joint connecting crank and a third finger joint. And the finger base is mounted on the upper plane of the paw base. Each finger in the device is composed of a plurality of independent flexible modules, the modules are connected with one another through connecting mechanisms, and the angles of the fingers can be changed, so that the device adapts to objects of different shapes and sizes.
Owner:TIANJIN SINO GERMAN VOCATIONAL TECHNICAL COLLEGE
Multi-degree-of-freedom finger module, manipulator and robot
The invention discloses a multi-degree-of-freedom finger module, a manipulator and a robot. The multi-degree-of-freedom finger module comprises a base which comprises a fixed seat and a rotating seat rotatably mounted on the fixed seat; the finger part comprises finger joints and fingertips, one ends of the finger joints are rotationally mounted on the rotating seat, and one ends of the fingertips are rotationally mounted at the other ends of the finger joints; the first transmission assembly comprises a first driving piece and a first linkage piece which are connected with each other, the first driving piece is arranged in the base, the first linkage piece is arranged in the finger part, and the first driving piece is used for driving the first linkage piece to move so as to link the finger part to conduct bending grabbing movement; and the second transmission assembly is arranged in the fixed seat and connected with the rotating seat, and the second transmission assembly is used for driving the rotating seat to rotate so as to link the finger part to rotate. The structure and the transmission layout of the finger module are optimally designed, and high degree of freedom and strong grabbing force of the finger module are considered.
Owner:SHENZHEN LINGQIAO DRIVE & CONTROL TECHNOLOGY CO LTD +1
Inner and outer layer pressure sensing system and method for firefighter gloves
PendingCN119915420AForce measurement using piezo-electric devicesApparatus for force/torque/work measurementEvaluation resultTransceiver
The invention relates to the field of intelligent wearable equipment, and discloses an inner and outer layer pressure sensing system and method of a fireman glove, and the system comprises an inner layer thin film pressure sensor array glove which comprises an inner layer glove and a plurality of thin film pressure sensors, a plurality of thin film pressure sensors are arranged on the inner and outer sides of fingertips, finger prominences, palm centers, first web, hand backs, finger seams, wrists and finger joints of the fingers of the inner layer glove, and are used for measuring the contact pressure between the hand and the glove in real time; the outer-layer film pressure sensor array glove comprises an outer-layer glove and a plurality of film pressure sensors, and the film pressure sensors are arranged on the hand back, the wrist and the fingertips of the outer-layer glove and used for measuring the contact pressure between the glove and the external environment; the thin film pressure sensors on the inner layer glove and the outer layer glove are connected to a transceiver in a wired manner for data acquisition; the data collected by the transceiver is transmitted to the cloud platform through wireless communication; and finally, performing performance evaluation according to the data in the cloud platform, and outputting an evaluation result.
Owner:TIANJIN FIRE SCI & TECH RES INST OF MEM
Dexterous hand capable of teaching
The invention discloses a dexterous hand capable of demonstrating. The dexterous hand comprises a plurality of fingers, a palm skeleton, a connecting bracket, a demonstrator and an electric push rod box, the fingers are connected with the palm framework, the palm framework is connected with one side of the connecting support, and the other side of the connecting support is connected with the demonstrator and the electric push rod box. The demonstrator is provided with a plurality of pull rings, a plurality of finger rotating potentiometers and a handle, the pull rings are connected with finger joints through tendon ropes, the tendon ropes drive fingers to bend the freedom degree direction, the finger rotating potentiometers are used for controlling swing of the fingers, and the handle is used for driving and controlling the action of the thumb; a plurality of electric push rods are arranged in the electric push rod box and connected with finger joints through tendon ropes, and fingers are driven to bend in the freedom degree direction through the tendon ropes. Demonstration of freedom degrees in the swinging direction and the grabbing direction is completed through the demonstrator, double-channel tendon rope driving is achieved, the pulling force of the pull ring can be controlled, and therefore the grabbing force of fingers can be controlled, and grabbing force demonstration is achieved.
Owner:SOUTH CHINA UNIV OF TECH
Dexterous hand finger, dexterous hand and robot
The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and solves the problem that the dexterous hand finger in the related technology cannot have high degree of freedom, small size and low cost at the same time. The dexterous hand finger comprises a mounting assembly, a side swing base, a first knuckle, an interphalangeal knuckle assembly, a first tendon rope, a second tendon rope and a third tendon rope. According to the dexterous hand finger, the first knuckle is pulled through the first tendon rope and the second tendon rope, so that the first knuckle is bent or swings laterally, the interphalangeal knuckle assembly is pulled through the third tendon rope, so that the interphalangeal knuckles are bent, and therefore three degrees of freedom of the dexterous hand finger are achieved, and the dexterous hand finger has the high degree of freedom. In addition, the three degrees of freedom of the dexterous hand finger are all driven by the tendon rope, so that the dexterous hand finger is simple and compact in structure, small in size and low in cost.
Owner:SHANGHAI CRITICAL POINT INNOVATION INTELLIGENT TECHNOLOGY CO LTD
Dexterous hand finger, dexterous hand and robot
The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot to solve the problem that the size of the dexterous hand finger is large. According to the dexterous hand finger, a first driving part can move along a first straight line, a first side wall and a second side wall are oppositely arranged in the direction perpendicular to a first axis, the first side wall and the second side wall are arranged on the two sides of a poked part respectively, and in the rotating process of the poked part around the first axis, the first side wall or the second side wall abuts against the poked part; the first driving part can stir the stirred part to rotate around the first axis, the rotating structure of the second knuckles is simple and compact, and the size of the fingers of the dexterous hand can be reduced. Moreover, the first sliding groove provides a motion space for rotation of the poked part, so that the first linear driving assembly can be fixed to the first knuckle and does not need to be rotationally connected with the first knuckle, and the situation that the first linear driving assembly occupies more space of the first knuckle is avoided.
Owner:SHANGHAI CRITICAL POINT INNOVATION INTELLIGENT TECHNOLOGY CO LTD
Knuckle, finger, dexterous hand and robot
The invention provides a knuckle, a finger, a dexterous hand and a robot, and relates to the field of robotics.The knuckle comprises a bottom wall, a top wall and a side wall, the side wall is connected with the bottom wall and the top wall, a wiring channel is formed in the top wall and penetrates through the two opposite ends of the top wall, and two rows of guide columns are arranged in the wiring channel; a limiting gap for a tendon rope to penetrate through is formed between the two rows of guide columns, and receding notches used for receding the tendon rope are formed in the two opposite ends of the top wall.
Owner:SHENZHEN SYBORG ROBOT CO LTD
Gesture interaction method and device in XR environment, electronic equipment and product
The invention discloses a gesture interaction method and device in an XR environment, electronic equipment and a product, and relates to the technical field of gesture recognition. Determining a first distance between a fingertip joint of a thumb and a fingertip joint of an index finger and a moving direction of the index finger based on the spatial position information of the finger joints; based on the spatial position information of the palm center and the finger joints of all the fingers, second distances between the fingertip joints of the other fingers except the thumb and the palm center are determined; judging whether a finger is in a kneading state or not based on the first distance, the palm center orientation and the palm center constraint direction during kneading, judging whether the finger is in a holding state or not based on the second distance and the posture information of each finger, and judging whether the finger is in a poked state or not based on the index finger moving direction and the index finger orientation in the posture information; and if the virtual operation object is in one of the states at present and the virtual operation object conforms to the view limitation, generating a corresponding interaction instruction. According to the invention, the detection precision of kneading, holding and poking gestures can be improved, and the use experience and immersion are improved.
Owner:CARBON SILK ROAD CULTURE COMM (CHENGDU) CO LTD
Dexterous hand fingers, dexterous hand, and robot
The application relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and solves the problems of complex structure and poor reliability of a dexterous hand finger which can realize motion decoupling between two degrees of freedom of bending and side swing of the dexterous hand finger. The dexterous hand finger comprises a side swing assembly, a first finger joint, a first connecting rod assembly, a second connecting rod assembly, a first driving assembly and a second driving assembly. The side swing assembly, the first finger joint, the first connecting rod assembly, the second connecting rod assembly and the first driving assembly form a spatial crank slider mechanism to drive the finger joint to rotate around a second axis, realizing bending of the first finger joint. The finger joint can rotate around a first axis under the driving of the second driving assembly, realizing side swing of the first finger joint. The first end of the second connecting rod assembly and the second end of the first connecting rod assembly form a spherical pair, realizing motion decoupling between the two degrees of freedom of bending and side swing, and the structure is simple, and the reliability of the dexterous hand finger is improved.
Owner:SHANGHAI CRITICAL POINT INNOVATION INTELLIGENT TECHNOLOGY CO LTD
Method and system for determining finger joint angle
PendingCN120153220AStrain gaugeElectrical/magnetic solid deformation measurementFinger jointComputer vision
The embodiment of the invention provides a method and system for determining the angle of a finger joint, and the method comprises the steps: obtaining first sensor data related to at least two target finger joints of a user, and enabling the first sensor data to be collected through at least two strain sensors, each strain sensor is arranged in the glove body worn by the user and located at one of at least two target finger joints, and the at least two target finger joints comprise at least two adjacent metacarpophalangeal joints of the user; obtaining a first mapping relation, wherein the first mapping relation reflects the relation between the sensor data corresponding to the at least two target finger joints and the joint angles; and determining a first joint angle of each target finger joint based on the first sensor data and the first mapping relation.
Owner:SHENZHEN SHOKZ CO LTD
Tendon rope driving type famous high-quality tea picking machine
The invention discloses a tendon rope driving type famous high-quality tea picking machine. The tendon rope driving type famous high-quality tea picking machine comprises a picking end effector and a mechanical arm moving mechanism. The picking end effector is composed of a bionic finger bending mechanism, a palm supporting mechanism and a wrist rotating mechanism. The bionic finger bending mechanism realizes far, middle and near joint coupling through a miniature bearing and a movable pin shaft, and is fixedly connected with the bionic palm supporting mechanism through a fixed knuckle; a tension tendon rope of the bionic palm supporting mechanism drives finger joints through a fixed pulley, the wrist rotating mechanism is connected with the bionic palm through a thin-wall bearing and fixed to the movable platform through a dovetail groove and a hexagon bolt, and the picking mechanical arm moving mechanism drives the picking end effector to efficiently and rapidly pick tea tender shoots. According to the design, through multi-degree-of-freedom bionic cooperation, the problems of high damage rate, low adaptability and poor efficiency of a traditional picking machine are solved while the biomechanical characteristics of the tea leaves are kept, and the picking efficiency of famous and high-quality tea is remarkably improved.
Owner:QINGDAO UNIV OF SCI & TECH
A finger joint angle detection mechanism and a three-dimensional model construction method
This invention discloses a finger joint angle detection mechanism and a method for constructing a 3D model of an object; belonging to the field of exoskeletons for human finger joints, it consists of a fabric substrate, a data storage module, a displacement sensor, and a transmission mechanism, including five sets of three-segment skeletons. The thumb skeleton includes a fingertip joint rod, a root joint rod, a back-of-hand rod, and a wrist rod; the other finger skeletons include a fingertip joint rod, a middle joint rod, a root joint rod, and a back-of-hand rod. Each pair of skeleton segments is connected by a transmission mechanism and a cylindrical pin. The glove does not affect the natural movement of the human hand, and when collecting finger joint data through grasping or other methods, it ensures flexible hand movement, and the range of joint bending angles is unrestricted. When the human hand wears the glove to grasp an object, the bending angles of each finger joint are collected and converted into bending angle images. A convolutional neural network is used to fuse the bending angle images with multi-angle captured object images to achieve accurate 3D reconstruction of the object.
Owner:NANJING UNIV OF INFORMATION SCI & TECH
RF energy generator for finger joint
The present invention relates to an RF energy generator for a finger joint, the RF energy generator comprising: a hand-worn unit worn on a hand of a user; an RF electrode unit which is positioned on one of the palm side or the back side of the hand-worn unit and comes into contact with and transmits RF energy to the user's skin; a ground electrode unit positioned on the other of the palm side or the back side of the hand-worn unit; and an electrode operation control unit which is electrically connected to the RF electrode unit and the ground electrode unit and applies electric power to the RF electrode unit, thereby controlling the operation of the RF electrode unit. The RF energy generator transmits RF energy efficiently to the finger joint, thereby shortening the time of treatment of the finger joint using RF energy and increasing the treatment effect.
Owner:LEE KWANG SE
Ip derivative jewelry with rotating shaft structure
The utility model relates to the technical field of ornaments, and discloses an ip derivative jewelry with a rotating shaft structure, which comprises a proximal ring connected with an IP helmet part. The middle section finger ring is connected with the face and the head of the ip; the near-section finger ring and the middle-section finger ring are rotationally connected through the shaft nail, the helmet part of the IP is arranged on one side of the outer wall of the near-section finger ring and used for rotating along with movement of the near-section finger ring, and the face part and the head part of the IP are arranged on one side of the outer wall of the middle-section finger ring and used for rotating along with movement of the middle-section finger ring. According to the finger ring, the upper ring body and the lower ring body can turn along with the bending movement of the knuckle, the ip image characteristic of a helmet or a mask with a rotary opening and closing function is combined with the structural characteristic of the knuckle ring, the proximal phalanx ring body is converted into the shape of the helmet or the mask, the middle phalanx ring body is converted into the shape of an ip figure, and the finger ring can more vividly reflect the IP image characteristic.
Owner:BEIJING POP MART CULTURAL & CREATIVE CO LTD
A mechanical dexterous hand finger and dexterous hand
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.
Owner:SHANGHAI CRITICAL POINT INNOVATION INTELLIGENT TECHNOLOGY CO LTD