268 results about "Finger movement" patented technology

The disclosure presents a humanoid robot with an upper region (head, torso, arms with forearm assemblies, end effectors), lower region (legs), and connecting central region. Each end effector features index, middle, ring, little finger, and thumb assemblies attached to a housing of said end effector. The housing includes interior wall extents creating spaces for tendon routing, where the first distance between first and second wall extents is less than 45% of the second distance between third and fourth wall extents. Tendons controlling finger movements pass between these wall extents. The robot incorporates a wrist assembly connecting the housing of the end effector to the forearm, actuators housed in the forearm that control the tendons, and a carpal tunnel-like structure that guides tendons from forearm to base of the housing, enabling precise hand movements without requiring actuators in the hand itself.

The invention discloses a method and system for remotely operating a humanoid robot through a tracker and a data glove, and the method comprises the following steps: capturing the position and posture of a hand in a three-dimensional space based on the tracker, and taking the posture information of the tracker as the expected posture of the tail end of the humanoid robot; each joint angle of the mechanical arm is solved based on a Cartesian motion control inverse kinematics method, and the humanoid robot mechanical arm is controlled to move to the expected position and posture; the motion of the fingers is captured based on the data glove, the finger joint bending angle captured by the data glove is mapped to the manipulator joint of the humanoid robot, the joint angle of the manipulator is obtained, and the fingers of the manipulator of the humanoid robot are controlled to move to the specified angle position based on the joint angle of the manipulator. The posture of the hand and the movement of the fingers are mapped to the real humanoid robot on the basis of the tracker and the data glove, the flexible operation task of the two hands is completed, the intuition of remote operation is improved, and meanwhile the burden of a user is reduced.

The invention discloses an intelligent ring with a physiological feature detection function and a physiological feature detection method. The smart ring comprises a pressure detector and an arithmetic processor. The pressure detector is used for detecting the value of pressure applied to the smart ring by the target object. The arithmetic processor is electrically connected with the pressure detector and used for comparing the pressure value with a preset condition and judging the behavior of the target object according to the comparison result of the pressure value and the preset condition so as to generate a corresponding operation instruction. The smart ring not only can utilize the pressure detector to correct the detection result of the light volume change tracing detector, but also can utilize the pressure detector to detect the degree of tightness, gestures or finger actions when a user wears the smart ring, and has diversified application changes.

The embodiment of the invention provides a dynamic tactile rendering method based on a two-dimensional image and a finger motion track. The method comprises the following steps: acquiring an original two-dimensional image; converting a target object in the original two-dimensional image into a three-dimensional structure point cloud; respectively mapping the three-dimensional structure point cloud and the predicted complete trajectory to a unified coordinate system to obtain a corresponding point cloud data point set and a trajectory data point set; performing interpolation smoothing on the matching point set to construct a continuous geometric profile curve; calculating a first-order derivative of each section point in the geometric profile curve, and taking the first-order derivative as a stimulation value of the virtual tactile sense; converting the stimulation value into a driving voltage signal, and controlling the operation of the electrostatic adhesion tactile feedback device through the driving voltage signal; according to the dynamic tactile rendering generation method based on the two-dimensional image and the finger motion trail, the limitation that traditional tactile feedback depends on a static template and special sampling data is broken through, and automatic modeling and real-time response from two-dimensional visual input to physical tactile output are achieved.

The invention discloses an interactive garden design method and system based on landscape garden simulation, and the method comprises the steps: an obtaining module collects the longitude and latitude data of a target region, obtains the annual average illumination intensity data, extracts the contents of nitrogen, phosphorus and potassium to generate geographical environment characteristic parameters, captures the finger movement track of a user through a gesture recognition module, and obtains a gesture recognition module; judging a terrain lifting instruction or a vegetation density adjusting instruction according to the finger closing degree and the moving direction, constructing a three-dimensional terrain grid based on the geographical environment characteristic parameters, calculating vegetation distribution coordinates in combination with a plant growth fitness function, and when the distance between the newly-added vegetation coordinates and the existing vegetation is smaller than a first preset threshold value, determining that the newly-added vegetation coordinates are not larger than the first preset threshold value. And triggering a space optimization algorithm to rearrange vegetation coordinates to generate an interactively adjustable three-dimensional garden model, which comprises a geographic data acquisition module, a gesture recognition module, a dynamic modeling engine and a collision detection unit. Therefore, dynamic adaptation of geographic parameters, accurate recognition of three-dimensional gestures, intelligent optimization of vegetation distribution and dynamic loading of the model can be realized.

The invention discloses a dexterous hand environment article sensing and modeling algorithm based on body sensing. The algorithm comprises the steps that a mechanical arm drives a dexterous hand to approach an object; tactile-spatial data acquisition: a three-axis force sensor is arranged at the tail end of each finger of the dexterous hand, and the system is in contact with an object through multiple fingers of the dexterous hand to acquire multi-dimensional information of the appearance, surface characteristics and local topology of the object; active exploration sampling, multi-finger movement of the mechanical arm and the dexterous hand, and active penetration of unknown object surface and enhanced sampling of local features through the dexterous hand by the system; the method comprises the following steps: modeling an object attribute, analyzing a mechanical response sequence obtained by tactile-spatial data acquisition and active exploration sampling, modeling a target object in three dimensions of elasticity, hardness and local geometric morphology, and realizing accurate identification and modeling of an unknown object appearance form and an object attribute in an environment. The distribution uniformity of the tactile point cloud and the model integrity are improved, the hardware dependency is reduced, and the environmental adaptability is enhanced.

According to the three-degree-of-freedom humanoid finger structure, a first servo electric cylinder, a second servo electric cylinder and a third servo electric cylinder are hinged to a base, a rocker arm is hinged to the upper portion of the base, and meanwhile the rear end of a first knuckle left side connecting rod and the rear end of a first knuckle right side connecting rod are hinged to the rocker arm in a bilateral symmetry mode; the three servo electric cylinders are arranged on the base, abrasion to a circuit caused by knuckle movement is avoided, the integration level is high, finger movement does not depend on external structural parts, the multi-finger clamping jaw can be combined at will, the fingers can be integrally changed after being damaged, the on-site maintenance difficulty is reduced, the machining technology is simple, and the multi-finger clamping jaw is suitable for mass production.

To provide an operation input system allowing an operator to perform input operation accurately by a finger.SOLUTION: An operation input system according to the present invention includes: a first sensor device which has an annular base body being wearable to a first finger of an operator, and outputs a first signal according to a motion of the first finger; a second sensor device which has an annular base body being wearable to a second finger different from the first finger and outputs a second signal according to a motion of the second finger; and a control device which determines a relative finger motion of the first finger and the second finger on the basis of the first signal and the second signal.SELECTED DRAWING: Figure 1

The invention relates to the technical field of non-human primate experimental animal upper limb movement ability evaluation and analysis, in particular to a non-human primate experimental animal upper limb movement ability comprehensive evaluation, data acquisition and analysis method. The comprehensive evaluation comprises the steps that upper limb comprehensive exercise ability evaluation is carried out by adopting an upper limb comprehensive exercise ability evaluation scale on the basis of upper limb feeding operation; and the upper limb coarse movement and the finger fine movement can be quantitatively evaluated. The data acquisition and analysis method comprises the following steps: S1, acquiring comprehensive movement time of upper limbs; s2, coordinate values of all key points of the upper limbs on a two-dimensional plane are obtained; s3, acquiring a 3D motion space trajectory; s4, analyzing the movement speed of the upper limb marked key points; s5, the joint angle of the elbow joint and the movement range of the palm, the elbow and the shoulder are obtained; and S6, analyzing to obtain finger key point distance change data. According to the invention, comprehensive objective evaluation and analysis of upper limb coarse movement and finger fine movement of non-human primate experimental animals can be realized.

An electronic device, in response to detecting an input that includes a combination of eye movement and finger movement: processes the input with a first gesture recognizer for an operating system application; and processes the input with a second gesture recognizer for a first software application, distinct from the operating system application. If the first gesture recognizer recognizes the input, based on the combination of eye movement and finger movement, the electronic device performs an operation defined by the operating system application and transitions the second gesture recognizer into an event impossible state. If the second gesture recognizer recognizes the input, the electronic device delays performance of an operation defined by the first software application for the input until the first gesture recognizer indicates that the input does not match the gesture definition of the first gesture recognizer.

A silencer mechanism for attachment to a Picatinny rail of a gun is provided. The fast tool apparatus has a locking spring and a lever arm which releases the lock with a finger movement, the gapless fixation of said apparatus and its removal from the picatinny rail in a single movement being provided by the fixing apparatus. The inner compartment parts allow the pressure from the gun barrel to be directed in a spiral loop by increasing the loop of the silencer internal compartment parts, to be drawn by the handle inner compartment parts and to be silently discharged through the second drain hole.

The invention discloses a memory alloy driving glove for hand rehabilitation. The memory alloy driving glove comprises a glove body, a forearm base and a traction mechanism, the glove body comprises an elastic iron sheet located on the palm side, the elastic iron sheet extends to the fingertip of each finger from the palm center and is fixed to each finger through a finger ring, and guide grooves are formed in the elastic iron sheet and the finger ring. The front arm base is fixed on the front and back surfaces of the front arm; the traction mechanism comprises memory alloy arrays and traction lines, the memory alloy arrays are arranged on the front face and the back face of the forearm base correspondingly, and the glove body is pulled by penetrating the traction lines through the guide grooves; the device further comprises a bending angle sensor and a memory alloy driver, the bending angle sensor is attached to the back face of the finger, and the memory alloy driver is used for conducting pulse heating on the memory alloy array so as to drive the finger to move. According to the invention, overshoot is suppressed while the response speed is ensured, the steady-state error is reduced, and the follow-up flexibility is improved.

A head-wearable apparatus improves user interactions with virtual interface elements in augmented reality (AR) environments. The apparatus tracks hand movements in 3D space, calculating velocity vectors and positions of fingers. For each virtual interface element, it determines a UI-to-finger vector and calculates alignment with the finger's velocity vector. Interaction zones are dynamically adjusted based on this alignment and velocity magnitude. The system evaluates consistency between finger movement and element locations to predict intended targets. Interactions are triggered when fingers enter adjusted zones of predicted targets. This approach reduces erroneous selections and improves interaction accuracy, even for closely-spaced elements. The invention applies to various AR scenarios, enhancing user experiences in applications like gaming and education.

The invention relates to a traditional Chinese medicine pulse diagnosis teaching and evaluation device and system. A traditional Chinese medicine pulse diagnosis teaching and evaluation device is composed of an upper computer, a pulse condition playback device, a pulse condition collecting hand, a slidable hand pillow and a control module. The pulse condition playback device is composed of a lower computer main control module, a pulse fluctuation generation device, a simulated hand and cun-guan-chi pressure detection module, a liquid path pipeline pressure detection and feedback control module and a simulated blood storage device. The pulse fluctuation generation device, the simulated hand, the cun-guan-chi pressure detection module and the liquid path pipeline pressure detection and feedback control module are connected through simulated blood vessels, and all the modules, the pulse condition collection hand, the slidable hand pillow and the control module are electrically connected with the lower computer main control module at the same time; the lower computer master control module is in communication connection with the upper computer, and pulse diagnosis teaching and evaluation system software based on digital twinborn is arranged in an upper computer system. According to the invention, the blank of finger movement manipulation simulation training commonly used in pulse diagnosis is filled up, and the traditional Chinese medicine pulse diagnosis teaching and evaluation modes are enriched.

Provided is a communication system including a controller installed on a hand of a user, an operation target remotely operated by the controller, and a relay apparatus that performs relaying between the controller and the operation target, in which the controller includes a first detection section that detects a motion of fingers of the user, a stimulus providing section that provides an external stimulus to the fingers of the user, and a control section that controls the stimulus providing section, the operation target includes a driving section that performs an action in reference to action information received, and a second detection section that detects the external stimulus to the operation target, and the relay apparatus transmits, to the operation target, the action information based on a detection result from the first detection section, and in reference to a detection result from the second detection section, transmits, to the controller, stimulus provision information for controlling the stimulus providing section to provide an external stimulus to the user.

The invention provides a rehabilitation glove based on an HASEL driver and a control method of the rehabilitation glove. The rehabilitation glove comprises a wearing assembly, a driving assembly and a control assembly, wherein the wearing assembly can be attached to the hand of a user; the driving assembly is connected with the wearing assembly, the driving assembly comprises at least one HASEL lamination driver, and the HASEL lamination drivers are arranged at the positions corresponding to finger joints when the wearing assembly is attached to the hand of a user; the control power supply module is connected with the driving assembly and comprises a control circuit and a power supply unit, and the control circuit is used for outputting control signals of different modes so as to control the power supply unit to apply driving voltage to the HASEL laminated driver through the control signals and drive the HASEL laminated driver to generate deformation; and the wearable component generates an action corresponding to the control signal. The problem that other soft manipulator driving devices are huge and cumbersome is solved. Finger movement can be controlled by controlling the power supply module to provide voltage, and the portability and the use convenience of the device are improved.

The invention provides an upper limb multi-joint trauma rehabilitation condition diagnosis device, and belongs to the technical field of medical instruments, the upper limb multi-joint trauma rehabilitation condition diagnosis device comprises a supporting part, two sides of the supporting part are rotatably connected with turntables, one side of the supporting part is fixedly provided with a pointer A, and the pointer A points to a scale line located outside the turntable on one side; a driving switching assembly is arranged on the outer side of the rotary disc on the other side, and connecting frames are fixed to the front ends of the rotary discs. Through cooperation of the big arm groove, the rotating disc, the pointer A, the connecting frame and the driving switching assembly, the rehabilitation degree of the elbow joint can be judged through autonomous or electric flexion and extension, training is assisted, the wrist is fixed through the clamping assembly, the forward and backward rotation rehabilitation condition of the forearm can be diagnosed in combination with the torsion diagnosis mechanism and the locking clamping belt, multi-angle rehabilitation diagnosis of the elbow is achieved, and the rehabilitation effect is good. The inflatable assembly is matched with display cloth, an elastic rope and the like, wrist flexion and extension and finger movement conditions can be trained and diagnosed, upper limb multi-joint collaborative or independent diagnosis is achieved, and the rehabilitation training function is achieved when the device is matched with multi-joint trauma rehabilitation diagnosis.

The application discloses a duck web type pneumatic glove and a hand mirror image control method thereof, and steps of the method comprise the following steps: 1, initialization of the duck web type pneumatic glove; 2, selection and preparation of an active hand and a passive hand; 3, collection of a finger motion track and a joint bending angle of the active hand by a binocular camera; 4, visualization of the finger motion track of the active hand; 5, three-dimensional modeling and mirror image processing of the finger motion track of the active hand; 6, acquisition of a finger motion track and a fingertip pressure of the passive hand by the duck web type pneumatic glove; 7, comparison of the finger motion tracks of the active hand and the passive hand to obtain actual errors of the two; and 8, control of joint angles of the duck web type pneumatic glove according to the actual errors of the two to achieve mirror image motion tracks of the active hand. The application can more accurately and reliably realize hand mirror image by collecting motion tracks of the active hand and the passive hand by the binocular camera and the duck web type pneumatic glove respectively, and controlling fingers of the duck web type pneumatic glove to spread, open and close.

A head-wearable apparatus improves user interactions with virtual interface elements in augmented reality (AR) environments. The apparatus tracks hand movements in 3D space, calculating velocity vectors and positions of fingers. For each virtual interface element, it determines a UI-to-finger vector and calculates alignment with the finger's velocity vector. Interaction zones are dynamically adjusted based on this alignment and velocity magnitude. The system evaluates consistency between finger movement and element locations to predict intended targets. Interactions are triggered when fingers enter adjusted zones of predicted targets. This approach reduces erroneous selections and improves interaction accuracy, even for closely-spaced elements. The invention applies to various AR scenarios, enhancing user experiences in applications like gaming and education.

According to a first aspect of the present invention, it may be provided a method for controlling a computer device. The computer device may comprise a touchless gesture input system. The computer device may comprise a touch-sensitive control surface. The method may comprise in a touch input mode, generating at least one control command configured to manipulate content displayed on a display associated with the computer device based on touch input on the touch-sensitive control surface. It may be provided determining presence of a gesture mode activation trigger. The gesture mode activation trigger may include a touch input on the touch-sensitive control surface comprising two or more touchpoints. The method may further comprise switching from the touch mode to a touchless gesture input mode in response to the determining. In the touchless gesture input mode, the method may comprise generating at least one control command configured to manipulate content displayed on the display based on a free-space finger movement determined by the touchless gesture input system.

The application discloses a three-dimensional target selection method based on finger motion as a ray mapping basis, and belongs to the technical field of human-computer interaction. The method comprises the following steps: (1) capturing hand state information, switching the mapping subject of ray tracking according to the stretching and bending degree of fingers and the motion speed of fingers, and determining the mapping subject; the mapping subject comprises the whole hand and each finger; (2) determining the information type number of mapping, the mapping scale, the projection mode of mapping according to the current mapping subject, and selecting the target in the three-dimensional space by using the mapped ray. The application switches the current mapping subject, improves the selection efficiency of the target in the three-dimensional scene, and reduces the fatigue of hands and arms; different mapping information type numbers, projection modes and projection scales are flexibly used, so that the limitations of different finger types are compensated, and the mapped ray can have a larger selection range in the virtual three-dimensional scene.

To provide an input terminal device that, when detecting the position of a finger in a non-contact manner to perform an input operation, correctly executes processing according to an intended input operation without reacting to an invalid motion of the movement of the finger.SOLUTION: An input terminal device inputting a user's operation through a position input object PS comprises: a position detection unit that detects the position of the position input object operated by the user in a non-contact manner; a display unit that displays a cursor on the basis of the position detected by the position detection unit; and an operation processing control unit that causes corresponding operation processing to be executed on the basis of the position detected by the position detection unit. The operation processing control unit has a plurality of operation modes related to the execution of the operation processing, and one of the operation modes includes a state M0 in which any types of operation processing are not executed other than moving the cursor according to the position of the position input object. The operation processing control unit is configured to switch between the plurality of operation modes when the user performs a specific operation through the position input object.SELECTED DRAWING: Figure 5

The utility model discloses a multifunctional restraining glove which comprises a glove body, a restraining belt, a grip ball and a tightening device, the glove body is integrally connected with finger separating sleeves of four fingers, a hole is formed in the position, corresponding to the ring finger, of the glove body, the end of each finger separating sleeve is open, and a groove is formed in the position, corresponding to the hand back, of the glove body. A grip ball is sewn and connected to the position, corresponding to the palm center, of the glove body, and an elastic rope is sewn between the side, facing the grip ball, of each finger separating sleeve and the grip ball. A finger ring is fixedly arranged at the end of each finger separating sleeve in a sleeved mode, a guide pipe is fixed to the bottom of the grip ball, four pulling ropes with different lengths penetrate through the guide pipe, one end of each pulling rope is fixed to one finger ring, the other ends of the four pulling ropes are movably fixed to a tightening device, and the tightening device is fixed to a binding belt. The glove has the advantages that the elastic rope of the glove body limits the moving space from fingers to the grip ball, so that the fingers are prevented from moving randomly while moving and exercising of the fingers are facilitated, and an infusion tube is prevented from being struggled off.

The invention provides an image-based finger trajectory processing method, an edge computing device and a medium. The method comprises the following steps: determining a finger tracking position of a finger at each moment according to images of the finger at different moments; determining a finger motion parameter at the current moment based on the finger tracking position at each moment; based on the finger motion parameters at the current moment, determining the validity of the finger tracking position at the current moment; and determining a corresponding finger motion track based on the effective finger tracking position. According to the method and the device, invalid track points which are irrelevant to finger control or have overlarge finger tracking errors in the finger motion track can be comprehensively eliminated, accurate display of the finger motion track is ensured, and the effective reliability of the finger motion track is improved.

Disclosed is a touchless user interface control method for a data processing apparatus, wherein the data processing apparatus comprises and / or is communicatively coupled to display means, the method comprising: providing a plurality of touchless pointer operating modes including at least a first pointer operating mode and a second pointer operating mode, wherein each touchless pointer operating mode determines one or more pointer movement settings; detecting a free-space finger movement of at least one finger of a user's hand; generating at least one control command to cause a pointer movement of a pointer displayed on the display means based on the finger movement, wherein a relationship between the finger movement and the pointer movement is determined by a current touchless pointer operating mode of the plurality of touchless pointer operating modes; determining that at least a portion of the user's hand performing the free-space finger movement is in physical contact with a surface associated with the display means, such as a base portion of the data processing apparatus being a laptop device and / or a surface on which the display means is arranged, e.g., a tabletop; and switching, in response to the determining, from the first pointer operating mode to the second pointer operating mode.

The invention relates to the technical field of simulation, in particular to a finger motion trail simulation method and device, equipment, a medium and a program product, and the method comprises the steps: obtaining a hand skeleton image and a hand motion video of a detected target; constructing a three-dimensional hand simulation model according to the hand skeleton image; extracting a plurality of video frames from the hand action video, extracting a two-dimensional coordinate of at least one position point from each of the plurality of video frames, converting the hand action video into a three-dimensional coordinate based on a pre-established coordinate mapping relationship, and forming time sequence data according to the position point of the three-dimensional coordinate; and driving the three-dimensional hand simulation model to execute a simulation action by using the time sequence data, and generating a finger motion track of the tested target according to an execution result of the simulation action. Therefore, the problems of high acquisition cost, poor universality and the like of the finger motion trail in the prior art are solved.

The application discloses a hand exoskeleton for capturing finger movement and a finger configuration reconstruction method, and can realize full-space precise movement capturing of human fingers and reconstruction of finger configurations. The hand exoskeleton is composed of a plurality of serial kinematic chains and a common base, each serial kinematic chain comprises one active joint and five passive joints, and a magnetic rotation angle sensor is arranged on the joint to realize movement capturing of the end of the serial kinematic chain. The serial kinematic chain forms a parallel structure with a human finger to realize six-degree-of-freedom precise movement capturing of the end of the human finger. Captured human finger tip movement is reconstructed through a circular arc fitting algorithm, and the finger movement configuration can be displayed in real time in a three-dimensional visual simulation environment. According to different requirements, the number of serial kinematic chains on the base can be increased or reduced, and hand movement can be reproduced in real time in a three-dimensional simulation environment, and experience is improved.

The invention discloses a finger motor imagery decoding method based on a channel adaptive convolution kernel and an information fusion network. A channel adaptive kernel module CAK is introduced to deal with the channel difference problem of a convolution kernel, and two branches are adopted to solve the difference problem between different electrode channels, one branch is an EEG-CAK branch taking an original EEG signal as input, and the other branch is a COV-CAK branch taking a covariance matrix as input. The feature vectors output by the EEG-CAK branch and the COV-CAK branch are spliced into one feature vector; the feature vector passes through two full-connection layers, and the number of neurons in the second layer is equal to the number of categories of finger motor imagery. The CAK module skillfully determines effective convolution kernels for all channels at the same time in a CNN frame, and fuses the extracted information. In addition, the CAK is a general module and can be applied to other EEG tasks. According to the decoding scheme of the finger motor imagery disclosed by the invention, the optimal decoding accuracy at present is obtained.

A multi-finger dexterous clamp at the end of a robotic arm relates to the field of clamps. The multi-finger dexterous clamp at the end of a robotic arm comprises a base and a plurality of clamp fingers arranged at intervals along the circumference of the center of the base, and the clamp fingers comprise a finger-end clamping rod, a finger moving assembly for driving the finger-end clamping rod to move axially, a finger rotating assembly for driving the finger-end clamping rod to rotate around the axial direction, and a finger angle adjustment assembly for driving the finger-end clamping rod to rotate along a vertical plane toward or away from the center of the base. The multi-finger dexterous clamp at the end of a robotic arm provided in the present application can quickly and efficiently realize multi-angle and multi-functional grasping and releasing of objects through the mutual coordination and adjustment of the finger-end clamping rods of each clamp finger, thereby improving production efficiency.

The utility model relates to a pair of restraining gloves, belongs to the technical field of medical instruments, and solves the problem of unsmooth blood circulation caused by the fact that the hands of a patient are not easy to move due to the restraining gloves in the prior art. The device comprises an auxiliary movement mechanism used for finger movement, the auxiliary movement mechanism comprises an arc-shaped elastic metal sheet and a bending control assembly, and the bending control assembly is used for controlling bending or unbending of the arc-shaped elastic metal sheet; the bending control assembly comprises a flexible inserting sleeve and a rigid inserting strip, the flexible inserting sleeve is arranged on one side of the arc-shaped elastic metal sheet, the rigid inserting strip can be inserted into the flexible inserting sleeve to straighten the arc-shaped elastic metal sheet, the arc-shaped elastic metal sheet comprises a fixed section and a movable section, and after the rigid inserting strip is pulled out of the flexible inserting sleeve, the movable section can be bent towards the palm center. After the rigid insertion strip is drawn out of the flexible insertion sleeve, the movable section loses constraint, fingers of a patient are pushed to bend under the action of bending force of the movable section, and hand movement of the patient can be assisted without taking down the constraint glove.