66 results about "Finger middle" patented technology

The invention provides a bionic three-finger manipulator. The bionic three-finger manipulator comprises three joints of finger roots, finger middles and finger tips to form fingers; three fingers are provided; the finger tips are hinged with the finger middles through first rotating shafts; the finger middles are hinged with the finger roots through second rotating shafts; and a finger driving device drives a push rod driving mechanism to link the finger middles with the finger tips. The bionic three-finger manipulator further comprises a cylindrical skeleton for mounting the fingers, a palm control device for controlling the fingers to rotate in the horizontal direction, and a palm mounted between the finger roots and the cylindrical skeleton. The bionic three-finger manipulator adopts a new transmission mode of the finger driving device and the palm control device, and uses a localized motor for realizing low-cost design and high-precision control demands; the finger tip control realizes fixed-ratio swing of the finger middles and the finger tips by a parallelogram push rod driving mechanism; and the design is high in transfer efficiency and transmission precision, and cannot generate transmission errors caused by slip.

The invention relates to a robot end executor for clamping an irregular workpiece. The robot end executor comprises a clamping positioning mechanism, a transmission mechanism, a driving mechanism and a flange connecting piece connected with a robot end flange; the driving mechanism is connected with the flange connecting piece, the motion end of the driving mechanism is connected with the transmission mechanism, and the transmission mechanism and the clamping positioning mechanism are connected; the robot end executor is characterized in that the clamping positioning mechanism comprises a two-finger type finger and auxiliary positioning spring fingers, two finger bodies in the two-finger type finger are oppositely arranged, a clamping station is arranged between the two finger bodies, and the two auxiliary positioning spring fingers are oppositely arranged and are located on the two sides of the clamping station correspondingly; and a positioning clamping plate used for clamping the irregular workpiece is installed on a working face of the two-finger type finger, and auxiliary positioning springs are installed on working faces of the auxiliary positioning spring fingers. By means of the robot end executor, the irregular workpiece clamping and positioning accuracy is high.

Systems, devices, and methods for stimulating peripheral nerves in the fingers or hand to treat tremor are described. For example, a wearable ring device for delivering electrical stimulation to sensory nerves in a patient's finger can include an annular ring having a plurality of electrodes and a detachable unit having a power source and a pulse generator.

The invention discloses a flexible mechanical hand claw capable of achieving passive enveloping. The flexible mechanical hand claw comprises a driving platform, a driven platform and three identical passive fingers. The three passive fingers are evenly distributed at included angles of 120 degrees. Each passive finger is formed by a flexible contour, rigid rods and a rotating pair. A plurality of rigid rods are positioned in the flexible contour, the two ends of the rigid rods are connected with the flexible contour through the rotating pair. A finger root part of each passive finger is connected to the driven platform through a first driven platform rotating pair, a finger middle part is connected to the driving platform through a first driving platform rotating pair, and a fingertip part extends to the outer portion of the driving platform. The flexible mechanical hand claw capable of achieving passive enveloping is simple in structure, only needs single driving, is high in application flexibility, can achieve passive flexible enveloping of an article with the complex shape, is convenient to control and design and can be widely applied to the occasions of mechanical manufacturing, light industry and medical treatment where the passive flexible enveloping of articles that are complex in shape and fragile is required.

The invention discloses a wrist joint function orthotic instrument and belongs to a rehabilitation instrument. The wrist joint function orthotic instrument structurally comprises an orthotic instrument body, wherein the orthotic instrument body comprises a left orthotic instrument body and a right orthotic instrument body. The left orthotic instrument body and the right orthotic instrument body respectively comprises a bending portion and a horizontal portion and respectively have elasticity, the upper-middle portions of the bending portions of the left orthotic instrument body and the right orthotic instrument body are respectively provided with finger middle joint elastic fixing bands, the finger middle joint elastic fixing bands respectively comprise thumb middle joint elastic fixing bands, index finger middle joint elastic fixing bands, middle finger middle joint elastic fixing bands, ring finger middle joint elastic fixing bands and little finger middle joint elastic fixing bands which are arranged in sequence, and the upper portions of the horizontal portions are respectively provided with wrist joint front arm elastic fixing bands. The wrist joint function orthotic instrument has the advantages of being used for separating and stretching the fingers, keeping the fingers to be located at correct positions and the like.

The invention discloses a pneumatic finger with a replaceable contact. The pneumatic finger comprises a base framework, a supporting elastic sheet, an outer side driving assembly and the detachable contact, the supporting elastic sheet is arranged in the base framework, the outer side driving assembly comprises a base sheet and further comprises a finger root driving cavity, a finger middle driving cavity and a finger tip driving cavity which are sequentially arranged from top to bottom, the base sheet is detachably fixed to one side of the base framework, and the finger root driving cavity, the finger middle driving cavity and the finger tip driving cavity are each provided with an air pipe communicating to respective cavities; and the finger root driving cavity, the finger middle drivingcavity and the finger tip driving cavity generate deformation after inflation of gas to drive upper, middle and lower parts of the base framework to bend to the other side. The pneumatic finger is ingenious in structure, the outer side driving assembly adopts three-section type independent ventilation drive, the base framework grabbing motion range is increased, motion is more flexible, local motion of a finger tip and a finger middle can be achieved, the motion efficiency is improved, and energy consumption is reduced.

The invention relates to a humanoid five-finger manipulator. The manipulator has twelve degrees of freedom, and is suitable for achieving the effect of simulating a human hand when the grabbing work of a multi-finger hand of a humanoid robot is carried out. The humanoid five-finger manipulator comprises a base, a palm, five fingers connected to the palm and a connecting rod mechanism inside the palm, each finger is provided with a plurality of joints, the finger root joints and the finger middle joints are driven by built-in motors in an active mode, joint position transmission mechanisms driven by the motors are driven by worm gears and worms, power-off self-locking can be achieved, the fingertip joints are driven by connecting rods in a driven mode so as to rotate along with the rotationof finger middles. The fingers can be bent and straightened and can be unfolded and folded, and unfolding and folding are realized through the connecting rod mechanism in the palm.

The invention provides a nimble finger mechanism, a manipulator and a control method. The nimble finger mechanism comprises a matrix, a finger of which one end is hinged to the matrix, a pressure sensor arranged at the other end of the finger and a driving device for driving the finger to swing, wherein the driving device comprises a sliding rod which can move in the axial direction, a connectingrod of which one end is hinged to the middle part of the finger, and the other end is hinged to the sliding rod, and a power assembly for driving the sliding rod to move in the axial direction. The manipulator comprises the nimble finger mechanism. The control method comprises the following steps of A, after receiving a pressure exerting command, according to a preset spring deformation capacity-pressure value curve, determining target deformation capacity corresponding to target pressure; B, according to the target deformation capacity, controlling a push rod to move; and C, according to themeasured pressure value, adjusting the position of the push rod, so that the pressure value is within the tolerance range of the target pressure. Through the adoption of the nimble finger mechanism, the manipulator and the control method disclosed by the invention, the pressure data exerted on an object can be collected in real time, so that improving the force application degree control accuracyis facilitated.

The invention provides a bionic three-finger manipulator. The bionic three-finger manipulator comprises three joints of finger roots, finger middles and finger tips to form fingers; three fingers are provided; the finger tips are hinged with the finger middles through first rotating shafts; the finger middles are hinged with the finger roots through second rotating shafts; and a finger driving device drives a push rod driving mechanism to link the finger middles with the finger tips. The bionic three-finger manipulator further comprises a cylindrical skeleton for mounting the fingers, a palm control device for controlling the fingers to rotate in the horizontal direction, and a palm mounted between the finger roots and the cylindrical skeleton. The bionic three-finger manipulator adopts a new transmission mode of the finger driving device and the palm control device, and uses a localized motor for realizing low-cost design and high-precision control demands; the finger tip control realizes fixed-ratio swing of the finger middles and the finger tips by a parallelogram push rod driving mechanism; and the design is high in transfer efficiency and transmission precision, and cannot generate transmission errors caused by slip.

A multi-degree-of-freedom position-adjustable pulse diagnosis manipulator device comprises a mechanical wrist, a mechanical palm and three mechanical fingers which are connected in sequence, the three mechanical fingers are identical in structure and serve as an index finger, a middle finger and a ring finger respectively, and each mechanical finger comprises a finger tail section, a finger middle section, a finger proximal section and a finger telescopic mechanism which are connected in sequence. According to the device, a telescopic motion freedom degree is arranged on each mechanical finger, two mechanical finger translational motion freedom degrees and three mechanical finger rotational motion freedom degrees are arranged in the mechanical palm, and a vertical motion freedom degree is arranged in the mechanical wrist, so that the whole device has nine motion freedom degrees; the position adjusting function of the pulse diagnosis manipulator is greatly increased, and the adaptability of the pulse diagnosis manipulator to individual pulse diagnosis position differences of different crowds is enhanced; in addition, the small modular design is adopted, the mechanism design and assembly difficulty are simplified, and the device has the advantages of being light in weight, small in size and convenient to move.

A hand rehabilitation device (100) comprises: at least one first support (124) configured to support the thumb of a hand, wherein said at least one first support (124) is designed to perform a flexion / extension movement for rehabilitating said thumb, said flexion / extension movement being actioned by a first transmission mechanism to which the at least one first support (124) is connected; at leastone second support (120, 121, 120B) configured to support the index finger of said hand, wherein said at least one second support (120, 121, 120B) is designed to perform a flexion / extension movementfor rehabilitating said index finger, said flexion / extension movement being actioned by a second transmission mechanism to which the at least one second support (120, 121, 120B) is connected; at leastone third support (122, 123, 122B) configured to support the three remaining fingers-middle ring, and little fingers of said hand, wherein said at least one third support (122, 123, 122B) is designedto perform a flexion / extension movement for rehabilitating said three remaining fingers, said flexion / extension movement being actioned by a third transmission mechanism to which the at least one third support (122, 123, 122B) is connected. The first, second and third transmission mechanisms are actuated by at least one motor, and the three flexion / extension movements of said at least one first support (124), said at least one second support (120, 121) and said at least one third support (122, 123) are independent from each other.

The invention discloses an underactuated robot finger device based on rope winding. The problem that in the prior art, an anthropomorphic robot finger still needs to be improved is solved. The underactuated robot finger device comprises a base outer shell, a first finger middle shell, a second finger middle shell and a finger tail shell which are hinged in sequence, and loosening reset springs arearranged at hinged positions; one end of the base outer shell is connected with a mechanical arm, and the other end of the base outer shell is provided with a gripping control motor, a first universal joint, a gripping adjustment driving wheel, a gripping adjustment spring, a pull rope, a pull rope winding device, a pull rope straight sleeve and an arc-shaped pull rope positioning sleeve; a second universal joint and a first gripping adjustment driven wheel are arranged at the hinged position of the first finger middle shell and the second finger middle shell; and a third universal joint anda second gripping adjustment driven wheel are arranged at the hinged position of the second finger middle shell and the finger tail shell. According to the technology, the effect of muscle stretchingis simulated by producing tensile force by winding two pull ropes to shorten the length in a vertical direction.

The invention provides a pneumatic rehabilitation glove which comprises a glove body and a plurality of telescopic parts. The telescopic part is used for stretching; the glove main body comprises finger parts, the finger parts are used for being correspondingly worn on the fingers of a subject, a part of the telescopic parts are arranged on the finger parts, and at least one telescopic part is arranged corresponding to the distal phalanx of at least one finger in the fingers of the subject; one part of the plurality of telescopic parts is arranged on at least one of the fingers of the subject, and is arranged on the other part of the finger except the distal phalanx, so that the at least two telescopic parts are arranged corresponding to any phalanx of the at least one finger of the subject, which is not the distal phalanx. According to the pneumatic rehabilitation glove, the purposes of multi-point stretching and multi-point fixing are achieved through the arrangement position of the stretching part, the fitting degree of the glove and fingers of a subject can be guaranteed, the bending angle of the fingers of the subject is large during training, the arching phenomenon is avoided, and the rehabilitation effect is guaranteed.