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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.
Thumb independent optimization five-finger manipulator control method based on hierarchical strategy control
ActiveCN119567270AGuaranteed stabilityGuaranteed accuracyProgramme-controlled manipulatorRobot handAlgorithm
The invention relates to the field of robot technology and artificial intelligence, and particularly discloses a thumb independent optimization five-finger manipulator control method based on hierarchical strategy control. The method comprises the following steps: S1, designing a hierarchical strategy control algorithm framework, and obtaining current target object information; s2, dividing a high-level strategy network and a low-level strategy network, wherein the high-level strategy network determines whether to activate the action of a thumb; the low-layer strategy network outputs the action probability of each finger joint based on the decision of the high-layer strategy network; s3, evaluating a strategy optimization effect by using an evaluation module; S4, carrying out training and optimization; s5, repeating the training process in S4; s6, updating the strategy according to the collected experience after the action is executed every time; s7, after training is completed, the model of each finger and strategy parameters learned in the training process are stored; and S8, verifying the performance of the trained model in a simulation environment. According to the invention, the problem of uncoordinated actions caused by excessive coupling between fingers can be effectively solved.
Owner:HEBEI UNIV OF TECH
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
Dexterous hand finger joint angle control method, device and system and medium
InactiveCN119489449Aprecise angle controlImprove stabilityProgramme-controlled manipulatorGripping headsPhysical medicine and rehabilitationDynamic models
The invention provides a dexterous hand finger joint angle control method, device and system and a medium, and relates to the technical field of dexterous hands. The joint angles of the fingers of the dexterous hand comprise the first joint angle and the second joint angle, the first joint angle and the second joint angle belong to active degrees of freedom, and the control method for the joint angles of the fingers of the dexterous hand comprises the steps that a control instruction for the fingers of the dexterous hand is obtained; according to the control instruction, the tracking control law of the first joint angle and the tracking control law of the second joint angle, the first joint angle and the second joint angle are controlled, the tracking control law of the first joint angle and the tracking control law of the second joint angle are determined based on a superspiral sliding mode control algorithm and a dynamic model of the finger. Through the tracking control law designed based on the super-spiral sliding mode control algorithm and the dynamic model, the stability and precision of dexterous hand finger joint angle control are improved.
Owner:HUMANOID ROBOT (SHANGHAI) CO LTD
Finger module, manipulator and robot
ActiveCN119217416Aachieve bendingachieve stretchProgramme-controlled manipulatorGripping headsRobot handControl engineering
The invention discloses a finger module, a manipulator and a robot. The finger module comprises a finger base, and a knuckle assembly is rotationally connected with the finger base; the driving assembly comprises a driving component, a worm and a worm gear, the driving component is arranged on the finger base, the worm is arranged in the finger base and connected with an output shaft of the driving component, and the worm gear is connected with the worm in an engaged mode. The other end of the connecting rod component is in transmission connection with the knuckle assembly; the driving component is configured to drive the worm to rotate and drive the connecting rod component to rotate through the worm gear so as to drive the knuckle assembly to rotate relative to the finger base. By means of the large transmission ratio characteristic of worm gear and worm transmission, the original relatively small torque of the driving component is amplified, strong driving force is provided for rotation of the knuckle assemblies, the knuckle assemblies rotate relative to the finger base, bending and stretching movement of human finger joints is simulated, the finger module achieves actions such as bending and stretching, and therefore the flexibility of the finger module is improved. Therefore, various grabbing and operation tasks can be completed.
Owner:ZHEJIANG BRAIN ENHANCE TECH CO LTD +1
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
Hand-imitated two-finger grabbing multi-mode mechanism for multi-mode movement of grabbed object
The invention belongs to the field of humanoid robots, and discloses a humanoid hand two-finger grabbing multi-mode mechanism for multi-mode movement of a grabbed object, which comprises a humanoid palm base frame, a first finger kinematic chain and a second finger kinematic chain, the first finger kinematic chain comprises a plurality of first finger joint rotating pairs, and the second finger kinematic chain comprises a plurality of second finger joint rotating pairs; the first finger kinematic chain comprises a plurality of first finger joint rotating pairs, the rotating axes of the first finger joint rotating pairs have at least two different extending directions, the second finger kinematic chain comprises a plurality of second finger joint rotating pairs, and the rotating axes of the second finger joint rotating pairs have at least two different extending directions. A first finger kinematic chain and a second finger kinematic chain which clamp a predetermined object are used as a multi-mode switchable connecting rod mechanism, and a transition mode posture and three pinching motion modes of a plane 4R mechanism, an orthogonal Bricard mechanism and a plane symmetry 6R mechanism are formed through motion of a plurality of mechanism rotation pairs. A clamped object achieves 4R connecting rod curve track movement, orthogonal Bricard mechanism space connecting rod curve track movement and plane symmetry 6R mechanism connecting rod curve track movement, and all modes can be switched through transition modes.
Owner:SHANGHAI UNIV OF ENG SCI
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
Methods and systems for determining finger joint angles
PendingUS20250123686A1Input/output for user-computer interactionStrain gaugeFinger jointComputer vision
Embodiments of the present disclosure provide a method and a system for determining a finger joint angle. The method includes obtaining first sensor data relating to at least two target finger joints of a user, the first sensor data is obtained using at least two strain sensors, each of the strain sensors is arranged in a glove body worn by the user and located at one target finger joints, and the at least two target finger joints include at least two adjacent metacarpophalangeal joints of the user; obtaining a first mapping relationship, wherein the first mapping relationship reflects a relationship between sensor data corresponding to the at least two target finger joints and joint angles of the at least two target finger joints; and determining a first joint angle of each of the at least two target finger joints based on the first sensor data and the first mapping relationship.
Owner:SHENZHEN SHOKZ 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
Finger exoskeleton mechanism and hand exoskeleton mechanism driven by elastic components
ActiveCN119501905AImprove compatibilityachieve bendingProgramme-controlled manipulatorElastic componentFinger joint
The invention relates to the technical field of finger exoskeletons, and discloses a finger exoskeleton mechanism and a hand exoskeleton mechanism driven by an elastic component, and the finger exoskeleton mechanism comprises the elastic driving component which is arranged on one side close to the hand back and can stretch and retract; one ends of the connecting rods and the finger joints or the palm form a hand fixing pair, and the other ends of the connecting rods and the end part of the elastic driving component form an elastic driving component fixing pair and the non-end part of the elastic driving component form a composite motion pair; wherein the elastic driving component has the following working states: a bending working state: when the elastic driving component extends, the elastic driving component bends towards the direction of the palm; in the stretching movement working state, when the elastic driving component retracts, the elastic driving component stretches in the direction away from the palm. The finger exoskeleton mechanism can independently drive a plurality of finger joints to bend, and has the advantages of being good in finger protection performance, high in hand size compatibility, multiple in freedom degree and the like.
Owner:NANCHANG UNIV +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
Angle measurement data glove
PendingCN119344714ASensorsDiagnostic recording/measuringPhysical medicine and rehabilitationHand parts
The invention provides an angle measurement data glove which comprises a glove body and a plurality of angle measurement devices, the glove body is worn on a hand and acts along with the hand, and the angle measurement devices are arranged on the glove body and correspond to the positions of fingers; the angle measuring device comprises a base and a measuring unit, the base is connected with the glove body and moves along with the glove body, the measuring unit is arranged on the base and corresponds to the phalanx and the knuckle, and when the base moves along with the glove body, the measuring unit on the base is used for measuring the bending angle of each part of the base or the included angle between the bases. According to the angle measurement data glove, measurement is accurate and comprehensive, wearing is comfortable, the angle measurement data glove can serve as a rehabilitation glove to be applied to mirror image training, the training effect is effectively improved, and precise rehabilitation is achieved.
Owner:HEFEI UNIV OF TECH +1
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 based on speed reducer and difference mechanism
The embodiment of the invention relates to the technical field of robots, and discloses a dexterous hand based on a speed reducer and a difference mechanism. A plurality of motor-speed reducer combinations are reasonably distributed, two motor-speed reducer combinations are combined with a difference mechanism to achieve the pitching degree of freedom and the yawing degree of freedom of the finger root joint, one motor-speed reducer combination is used for driving the bending and stretching degree of freedom of the middle-end joint, and therefore the degree of freedom is high while the degree of freedom is achieved. And the number of driving devices is obviously reduced. And moreover, the fingers are driven by a motor-speed reducer combination, the speed reducer of a duplex planetary gear structure is adopted, and the design of specific tooth number is combined, so that torque output is effectively optimized, and the compact structure is realized on the premise of ensuring high gripping power of the dexterous hand.
Owner:江淮前沿技术协同创新中心
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
Hand electronic skin based on ultrasonic transducer and three-dimensional gesture reconstruction method thereof
ActiveCN119536522ASimple structural designLow manufacturing process costInput/output for user-computer interactionGraph readingHand partsComposite electrode
The invention discloses a hand electronic skin based on an ultrasonic transducer and a three-dimensional gesture reconstruction method thereof, and relates to the technical field of man-machine interaction. The hand electronic skin comprises a viscous layer, a flexible strain sensor layer, a flexible electrode, a composite electrode, a surface packaging layer and an ultrasonic transducer which are arranged on the surface of the hand skin; the flexible strain sensor layer comprises a plurality of flexible strain sensors, and each finger joint is provided with a flexible strain sensor used for independently measuring the bending angle of the finger joint. The ultrasonic transducer is partially embedded in the surface packaging layer and used for emitting ultrasonic waves. The electronic skin is mainly composed of a flexible stretchable strain sensor and a piezoelectric micromechanical ultrasonic transducer, and is simple and reliable in structure, low in manufacturing cost, free of interference of ambient light, low in time drift rate and convenient and comfortable to wear. The hand electronic skin is suitable for the fields of virtual reality, robot control, medical rehabilitation and the like, and the interaction experience and operation convenience of the user can be remarkably improved.
Owner:ZHEJIANG UNIV