30 results about "Finger middle" patented technology

The present application provides a joint module, a finger, a dexterous robot hand, and a robot. The joint module comprises a driving mechanism and a transmission mechanism, wherein an output end of the driving mechanism is connected to an input portion of the transmission mechanism, and an output portion of the transmission mechanism serves as an output portion of the joint module to transmit power. Since each joint module comprises a driving mechanism, the joint movement of each knuckle can be controlled independently to output torque, thereby increasing the response speed, precision, and torque of each joint movement. When multiple joint modules are applied to a finger, the strength of the entire finger and the coordination precision and flexibility of a finger action can be improved, and the wiring between the joint modules and the wiring between the joint modules and a fingertip module in the finger are more convenient.

The full-drive dexterous hand comprises a palm mechanism, a thumb mechanism and a finger mechanism, the thumb mechanism comprises a metacarpal bone, a thumb near knuckle and a thumb far knuckle which are sequentially distributed, the metacarpal bone obtains bending and rolling freedom degrees through gear transmission, and the thumb near knuckle and the thumb far knuckle both obtain bending freedom degrees through motor direct drive; the finger mechanism comprises a finger near knuckle, a finger middle knuckle and a finger far knuckle which are sequentially distributed, the finger near knuckle obtains bending and side-sway freedom degrees through gear transmission, and the finger middle knuckle and the finger far knuckle obtain bending freedom degrees through motor direct drive. A full-drive humanoid manipulator framework is adopted, high-precision motion mapping is achieved through 20 independent controllable degrees of freedom, the bionic core is that the ball joint design is adopted, the composite motion capacity of human fingers is highly simulated, fine actions such as grabbing, kneading and rotating of a human hand can be accurately reproduced, and the flexibility degree of the human hand is deeply restored.

Systems and techniques are described for image processing. For example, a computing device can encode one or more fingers of five fingers of a hand with a code, wherein the code corresponds to a position associated with the one or more fingers making the hand gesture. The computing device can determine a classification for the hand gesture, wherein the classification comprises the code associated with the one or more fingers of the hand.

The utility model relates to the technical field of intelligent door locks, and discloses a fingerprint recognition assembly and an intelligent lock, the fingerprint recognition assembly is provided with a first direction and comprises a contact seat, the contact seat is suitable for being touched by fingers of a user, a groove is formed in the outer side wall of the contact seat, and the groove wall of the groove is arranged to be a curved surface suitable for being matched with the fingers; wherein the groove wall of the groove is sequentially provided with a first recognition area, a second recognition area and a guide area in the first direction, the first recognition area is suitable for being in contact with the finger center area, the second recognition area is suitable for being in contact with the finger edge, and the guide area is suitable for guiding the finger in the direction opposite to the first direction. The method can improve the fitting degree of the recognition area and the finger, and improves the recognition success rate.

The invention provides a dexterous hand finger and a dexterous hand. A near knuckle and a far knuckle in the dexterous hand finger are rotationally connected, one end of a first spring is connected with the far knuckle, and the other end of the first spring is connected with a finger mounting base; one end of each transmission connecting rod in the two transmission connecting rods is hinged to the finger mounting base, and the other end of each transmission connecting rod penetrates through the near knuckle and then is hinged to the far knuckle; one end of the first spring is connected with the far knuckle, and the other end is connected with the finger mounting base; through the arrangement of the first springs, the hinge gaps between the near knuckles and the far knuckles, the gaps between the near knuckles and the finger mounting base, the hinge gaps between the transmission connecting rods and the far knuckles and the hinge gaps between the transmission connecting rods and the finger mounting base can be eliminated; in addition, due to the arrangement position of the first spring, the deformation degree of the first spring can be reduced when the fingers move every time, and the service life of the first spring is further prolonged.

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.

The utility model relates to the technical field of nursing instruments, in particular to a limb exercising device capable of exercising fingers, which comprises a fixed palm plate, an exercising mechanism is arranged on the outer wall of the fixed palm plate, a controller is fixedly connected to the front side of the fixed palm plate, a storage battery is fixedly connected to the outer wall of the fixed palm plate and is close to the controller, and the storage battery is connected with the exercising mechanism. A bandage is installed on the outer wall of the fixed palm plate, and a hook-and-loop fastener is fixedly connected to the outer surface of the bandage; the exercise mechanism comprises a finger root plate fixedly connected to the top of the fixed palm plate, a rotating shaft is fixedly connected to the top of the finger root plate, and a finger middle plate is rotationally connected to the outer wall of the rotating shaft. The problems that an existing limb exerciser is generally designed for the limbs of a patient, and the fingertips of the patient cannot be nursed and exercised are solved.

The present application provides a reconfigurable manipulator, which relates to the field of robotics, and includes: a servo drive module and a pneumatic drive module connected to the servo drive module, and an under-actuated finger arranged on the pneumatic drive module, wherein the under-actuated finger and the pneumatic drive module are rotationally connected; the under-actuated finger at least includes a proximal finger end rotary joint, a finger middle phalanx, a distal finger end rotary joint, and a finger end phalanx connected in sequence, and the pneumatic drive module is connected to the proximal finger end rotary joint; the proximal finger end rotary joint and the distal finger end rotary joint are respectively connected to the pneumatic drive module, and the pneumatic drive module provides positive air pressure to adjust the rotational stiffness of the proximal finger end rotary joint and the distal finger end rotary joint in any direction. Adjusting the rotational stiffness of the distal finger end rotary joint and the proximal finger end rotary joint can achieve under-actuated grasping or decoupling to individually control the position of each rotary joint. The under-actuated adaptive capability and full-drive maneuverability can cope with a variety of general service scenario tasks.

The invention provides a manipulator which comprises a hand part and a driving part, the hand part comprises a plurality of fingers, each finger comprises a plurality of knuckles, and at least two adjacent knuckles in the knuckles are restrained by a rigid rope to form rolling contact. Wherein at least one of the fingers comprises a far knuckle, a middle knuckle and a near knuckle, the middle knuckle is at least connected with a first cable used for controlling the middle knuckle to bend, the far knuckle is at least connected with a second cable used for controlling the far knuckle and the middle knuckle to stretch together, and the near knuckle is at least connected with a third cable and a fourth cable. The driving part comprises a plurality of pneumatic muscles, and the first cable, the second cable, the third cable and the fourth cable are connected with at least one of the pneumatic muscles respectively. By means of the arrangement, the whole mechanical arm is compact and simple in structure, small in occupied size, few in parts and low in manufacturing cost.

An ergonomic hand grip strengthener includes a front operation handle for ergonomic placement of an index finger, a middle finger, a ring finger and a pinky finger of the holding hand of the user, a rear operation handle for abutting against a thumb and a palm of the holding hand of the user, and a strength adjustment assembly for adjusting a resistance applied to approaching movement between the front operation handle and the rear operation handle.

The application provides a mechanical hand, which comprises a hand part and a driving part, the hand part comprises a plurality of fingers, each finger comprises a plurality of knuckles, and at least two adjacent knuckles in the plurality of knuckles are connected through a rigid rope to form a rolling contact. At least one finger in the plurality of fingers comprises a distal knuckle, a middle knuckle and a proximal knuckle, the middle knuckle is connected with at least a first cable for controlling the bending of the middle knuckle, the distal knuckle is connected with at least a second cable for controlling the stretching of the distal knuckle and the middle knuckle together, and the proximal knuckle is connected with at least a third cable and a fourth cable. The driving part comprises a plurality of pneumatic muscles, and the first cable, the second cable, the third cable and the fourth cable are connected with at least one of the plurality of pneumatic muscles respectively. Through the above arrangement, the overall mechanical hand is not only compact and simple in structure, small in occupied volume, and low in manufacturing cost.

A protective glove for a human hand has a metacarpus portion comprising a palm side attached to an opposing dorsal side which together cover the metacarpals of the human hand, and four finger portions attached to the metacarpus portion, each finger portion having a bottom side and a top side which together surround one of the fingers of the human hand. A plurality of rigid pads are attached to the top side of at least one of the finger portions, wherein the rigid pads have end surfaces that abut each other, and are positioned so that the end surfaces are positioned over one of the phalangeal joints while being worn. When the finger portions are straightened, the rigid pads restrict any backward flexion. At least one rigid metacarpus pad is attached to the dorsal side, having a side edge positioned over the metacarpophalangeal joint and formed at an angle to the end surface of the adjacent rigid pads. The angle is between approximately 10-50 degrees, so that limited backward flexion is allowed.

This invention belongs to the field of robot end effector technology. It discloses an adaptive bionic three-finger gripper, comprising a palm, three fingers, two rotary servos, a connecting rod, three bending servos, and three drive lines. Each finger consists of a finger root, a finger root joint, a finger middle joint, and a finger tip joint, hinged sequentially. One finger root is fixed to the palm via the connecting rod, while the other two finger roots are independently driven by two rotary servos to change finger orientation. The bending of each finger is achieved by the corresponding bending servo pulling the finger tip joint via a servo disc and drive lines, forming a tendon-like driven bending. This invention achieves adaptive adjustment of the three-finger layout using only two rotary servos, with a simple drive structure and low control complexity. Simultaneously, each finger joint passively follows the bending motion, resulting in a smooth and conforming gripping action that can adapt to irregular object contours, significantly improving gripping stability and adaptability.

The utility model relates to the field of medical health care equipment, in particular to an auxiliary glove for improving hand movement dysfunction caused by idiopathic tremor, which comprises a glove body, a plurality of first elastic pieces arranged on the back of the glove body and a plurality of second elastic pieces arranged on the back of the glove body. One end of the first elastic piece is connected to the area, corresponding to the middle lower portion of the finger, of the fingerstall part, and the other end of the first elastic piece is connected to the position, corresponding to the hand back, of the glove body. According to the utility model, the connection mode of the first elastic piece is changed, so that the existing problems are effectively solved.

A quick opening / closing system (10) of a glove (A) for sliding out the first three fingers of a hand, comprising a cutting line (2) on the back of the glove from the junction of the third and fourth fingers of the hand (middle finger and ring finger) and extending to below the base of the thumb and above the wrist to define an openable portion (B) of said glove (A) integral with the glove itself.

The invention discloses a pneumatic joint type variable-rigidity bionic soft dexterous finger which comprises a finger cavity, a pneumatic joint type variable-rigidity bionic soft dexterous finger body, a pneumatic joint type variable-rigidity bionic soft dexterous finger body and a pneumatic joint type variable-rigidity bionic soft dexterous finger body. The finger skeleton comprises four finger skeleton parts and three groups of finger joint components; wherein the finger bone parts specifically comprise a distal phalanx part, a middle phalanx part, a proximal phalanx part and a metacarpal bone part; the finger joint assembly specifically comprises a front finger joint assembly, a middle finger joint assembly and a rear finger joint assembly. Through mutual cooperation of the finger cavities and the finger bones, the pneumatic soft dexterous finger is simple in structure, quick in response, adjustable in rigidity and high in control precision during use, and the problems that an existing pneumatic soft finger is insufficient in sensitivity, low in finger loading capacity and high in control precision are solved. The finger stiffness is uncontrollable; and a variable stiffness mechanism is too complex and poor in stability.

The application discloses a dexterous hand finger joint magnetorheological damping passive reset mechanism and belongs to the technical field of robots. The dexterous hand finger joint magnetorheological damping passive reset mechanism comprises a finger posterior segment, the front surface of the finger posterior segment is provided with a groove, a hole block is rotationally connected in the groove, a cross rod is rotationally connected in the hole block, the ends of the cross rod extend to the outside of the hole block, a finger middle segment is arranged on the outer side wall of the hole block, a rotating opening one is arranged on the inner side wall right side of the finger middle segment, the rotating opening one is rotationally connected with the end outer side wall of the cross rod, and a wedge-shaped gear one is fixedly connected to the inner part of the hole block and located on the outer side wall of the cross rod. The dexterous hand finger joint magnetorheological damping passive reset mechanism can effectively improve the stability and controllability of the finger joint reset process and solves the technical pain points of the large reset impact and the unadjustable buffering effect of the traditional reset mechanism.

The present application relates to the field of robotics, and in particular to a dexterous hand finger, a dexterous hand, and a robot, to solve the problem of the large size of the dexterous hand finger. In the dexterous hand finger, the first driving part is capable of moving along a first straight line, the first side wall and the second side wall are arranged relative to each other in a direction perpendicular to the first axis, the first side wall and the second side wall are respectively arranged on both sides of the moved part, and during the rotation of the moved part around the first axis, the first side wall or the second side wall abuts against the moved part, so that the first driving part can move the moved part to rotate around the first axis, and the structure for realizing the rotation of the second finger joint is simple and compact, which is conducive to reducing the size of the dexterous hand finger. In addition, the first slide groove provides a movement space for the rotation of the moved part, so that the first linear drive component can be fixed to the first finger joint without the need for a rotatable connection with the first finger joint, thereby avoiding the first linear drive component taking up more space in the first finger joint.

One example embodiment is a robotic end effector, comprising: (a) a soft gripper and (b) an electro-hydraulic actuator assembly. The soft gripper comprises: a gripper body comprising a finger connecting portion; and at least two fingers connected to the finger connecting portion. The gripper body further comprises a gripper cavity therein. The finger connecting portion and the at least two fingers define a working space therewithin, the working space comprises an opening between proximal ends of the at least two fingers. Each of the at least two fingers further comprises a finger barb substantially extending into the opening to partially close up the opening. The electro-hydraulic actuator assembly comprises: an actuator that is operatively driven by an electric motor; and a chamber that comprises a chamber variable volume controlled by the actuator. The chamber variable volume is in liquid communication with the gripper cavity to form a closed space filled with a liquid. Other example embodiments are described herein. In certain embodiments, the provided soft grippers and robotic end effectors are compact, powerful and is highly suitable for tasks that require fine gripping motion of small objects with diverse range of sizes, shapes, and textures with high precision, such as drug sorting and dispensation.

A finger covering stylus to be worn on at least one of a thumb and a finger of a user, the finger covering stylus including a main body, and a stylus tip disposed on at least a portion of the main body to removably connect to a touchscreen of an external device, such that the stylus tip provides an input on the touchscreen of the external device in response to contacting the touchscreen.

The present invention provides a pneumatic rehabilitation glove, comprising a glove body and a plurality of telescopic parts; the telescopic parts are configured to extend and retract; the glove body includes a finger portion, the finger portion being configured to correspond to each finger of a subject, a portion of the plurality of telescopic parts being disposed on the finger portion, such that at least one telescopic part is disposed corresponding to the distal phalanx of at least one of the subject's fingers; a portion of the plurality of telescopic parts being disposed on at least one of the subject's fingers, and disposed on the remaining portion of the finger excluding the distal phalanx, such that at least two telescopic parts are disposed corresponding to any non-distal phalanx of at least one of the subject's fingers. The pneumatic rehabilitation glove of the present invention achieves the purposes of multi-point expansion and contraction and multi-point fixation through the location of the telescopic parts, can ensure the fit of the glove to the subject's fingers, allows the subject's fingers to have a large flexion angle during training, avoids the occurrence of arching, and ensures the rehabilitation effect.

The invention discloses a finger vein recognition method and device, a storage medium and equipment, and belongs to the field of biological feature recognition. The method comprises the following steps: firstly, carrying out rotation alignment on a finger vein image through a finger center line, obtaining a region of interest, then obtaining an optimal matching region through a sliding window mode based on Gabor binary coding, and finally, carrying out local feature descriptor extraction and matching on the optimal matching region. According to the invention, the finger vein recognition of the local feature point and feature descriptor method is carried out through the finger midline registration and sliding matching strategy, the invalid comparison is greatly reduced, the effective local descriptor is concerned, and the matching efficiency is greatly improved.

The invention relates to the technical field of robot dexterous hands, in particular to an extensible dexterous hand finger based on chain driving, which comprises a knuckle structure and a finger seat movably connected with the knuckle structure, a chain driving structure is assembled and connected on the finger seat, and the knuckle structure is connected with the chain driving structure. And the finger is driven by the chain driving structure to perform forward turning or reverse turning, so that the switching control of the finger between a bending state and a straightening state is realized. According to the extensible dexterous hand finger based on chain driving, the near knuckles, the middle knuckles and the far knuckles of the knuckle structures are each provided with an independent transmission driving structure and are controlled by one chain and two tendon ropes in a matched mode, so that forward turning or reverse turning is conducted, and the overall bending and straightening actions of the finger are achieved; reset does not need to be achieved through a spring structure, on the premise that the automation degree of the fingers can be expanded, the transmission precision is improved, driving control is conducted through the chain and the chain wheel, and the movement precision and accuracy are high.

The application discloses a dexterous hand, comprising a palm, a four-finger module and a thumb module. The four-finger module comprises four single-finger modules with the same structure, each single-finger module comprising a knuckle mechanical structure, a bending power structure and a side swing power structure; the knuckle mechanical structure comprises a four-finger proximal phalanx, a four-finger middle phalanx and a four-finger distal phalanx connected in turn, and adjacent knuckles are coupled and linked through a pull rod; the bending power structure drives the four-finger proximal phalanx to bend and drives the remaining knuckles to link; the side swing power structure drives the finger to swing through differential motion of two power output ends. The thumb module comprises a thumb mechanical structure, a thumb bending structure embedded in the proximal phalanx, a thumb swing structure and a thumb rotating structure. The application has the advantages of compact structure, accurate transmission and strong composite motion capability, and can simulate complex grasping actions of a human hand.

The invention belongs to the technical field of space target capturing manipulators, and particularly relates to an expandable rigid capturing manipulator for a space non-cooperative target. According to the technical scheme, the expandable rigid capturing hand for the space non-cooperative target comprises a center module, four capturing fingers, a center linear driver and finger drivers, and the center module is located in the center of the expandable rigid capturing hand for the space non-cooperative target; the four capturing fingers are connected with the center module in a part sharing mode. The finger drivers are located at the roots of all the capturing fingers, and the capturing fingers are driven to be unfolded through the finger drivers; the central linear driver is arranged between two non-adjacent central L-shaped rib plates of the central module, and the spatial non-cooperative target expandable rigid capturing hand is driven and controlled by the central linear driver to perform capturing action. The expandable rigid capturing hand for the space non-cooperative target is easy to operate, has multiple capturing postures, has good adaptability to the non-cooperative target, can reliably capture a regular-shape target and an irregular-shape target, and is large in capturing range.

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 embodiment of the invention provides a multi-degree-of-freedom manipulator. The multi-degree-of-freedom manipulator comprises a palm part, a thumb part and at least one finger part, the thumb part comprises a thumb proximal section, a thumb middle section and a thumb distal section which are connected in sequence, and the thumb part can realize four-degree-of-freedom actions; the finger component comprises a finger proximal joint, a finger middle joint and a finger distal joint which are connected in sequence, and the finger component can achieve three-degree-of-freedom actions. According to the multi-degree-of-freedom manipulator disclosed by the embodiment of the invention, more multi-degree-of-freedom actions can be realized, and the multi-degree-of-freedom manipulator is more flexible and intelligent and can be suitable for wider application working conditions; the structure is simple and reliable, and production efficiency can be improved.

The invention relates to a measuring device for continuously determining the intra-arterial blood pressure in two fingers of a hand, the measuring device comprising a base part and a cuff part which can be connected to the base part without using tools. A light source (23a, 23b) and a light detector (24a, 24b) for near-infrared light are provided for each of the two fingers, the light source and the light detector being arranged on a common circuit board (4). By means of respective light guides (27) (i.e., light guides not in the form of a fiber bundle), the light source (23a, 23b) and the light detector (24a, 24b) are connected to an associated light-emitting surface (25a, 25b) and an associated light-collecting surface (26a, 26b), respectively, in order to couple the emitted light into the finger tissue or decouple the unabsorbed light from the finger tissue, respectively. At the interface between the cuff part (8) and the base part (18), the cuff part section and the base part section of the light guide (27) are connected to each other by means of separable optical contact points (28). On the base part, a cover glass (29) (e.g., mineral glass or sapphire glass) flush with the housing (2) of the base part (18) and as scratch-resistant as possible is mounted at each contact point.

The application relates to the technical field of mechanical control, and discloses a mechanical arm control method based on a pulse neural network, a mechanical arm and a storage medium. The mechanical arm control method comprises the following steps: obtaining a grabbing instruction for a target object; controlling at least two fingers of the mechanical arm to grab the target object based on the grabbing instruction; determining a target finger in the at least two fingers in a grabbing process; wherein the target finger is a finger that contacts the target object; determining joint angle correction data of the target finger in a pulse neural network based on the grabbing instruction and feedback data of the target finger; and continuing to control the at least two fingers to grab the target object according to the joint angle correction data and the grabbing instruction. Through the above method, the acting force of the mechanical arm when grabbing the target object is improved, the adaptability of the mechanical arm when grabbing the object is improved, and the abrasion of the mechanical arm is reduced.