232 results about "Hand arm" patented technology

A multi-degree-of-freedom bionic arm of a humanoid robot belongs to the technical field of robots, and seven degrees of freedom of the robot arm are formed by a shoulder swing arm rotating mechanism, a shoulder left-right swing arm rotating mechanism, a big arm axial rotating mechanism, an elbow rotating mechanism, a small arm axial rotating mechanism, a wrist rotating mechanism and a wrist inner drive rotating mechanism. Holes and grooves are formed in the elbow part for laying cables, the cables are not exposed, and the shell size of the elbow joint is reduced. And the cable does not run about when the elbow moves in a large range, so that interference with other parts is avoided. A connecting rod mechanism composed of a first output disc, two connecting rods and a second output disc is arranged on the side face, the load inertia of a forearm joint, a whole arm force arm and the tail end is reduced, and the arm load capacity and motion performance are improved; the wrist drives the front-back and left-right freedom degree axes of the hand to coincide at one point, and the flexibility of the wrist is improved. Due to seven degrees of freedom, the robot is more bionic, the degrees of freedom are also on the same straight line after the arms of a person are straightened laterally, and the movement offset is small.

The invention provides a multi-source heterogeneous data synchronous mechanical arm bionic control method and device and electronic equipment, and relates to the technical field of robot control, and the method comprises the following steps: decoding hand joint angle data and a synchronization timestamp thereof, wrist pose data and a synchronization timestamp thereof, and arm pose data and a synchronization timestamp thereof, and obtaining a decoding result; the decoded hand joint angle data, the decoded wrist pose data and the decoded arm pose data are transmitted to a mechanical arm controller through a low-delay network; and the mechanical arm controller executes dynamic remapping based on the decoded hand joint angle data, the decoded wrist pose data and the decoded arm pose data, and simulation control of the mechanical arm is achieved. According to the method, the arm pose data participates in dynamic correction of the base coordinate system, space positioning deviation is eliminated, and the mechanical arm reproduces actions; timing sequence block optimization considers fine grabbing and long track actions, and action restoration authenticity is improved.

The invention relates to the technical field of robot grabbing control, and discloses an anti-loosening grabbing control method and system for a mechanical arm of a robot, and differential adjustment is performed on the output force of each clamping finger of a clamping jaw through an independent clamping finger driving mechanism. The differential adjustment is one of the core innovation points of the application, and breaks through the limitation of traditional fixed clamping force or overall clamping force adjustment. For example, when it is detected that a certain part of the workpiece tends to slide, the system can specifically increase the output force of the clamping fingers corresponding to the part and correspondingly adjust the output force of the clamping fingers of other parts so as to restrain sliding, and meanwhile the situation that the overall clamping force is too large is avoided. The refined force control can effectively restrain various linear and rotating direction separation trends generated in the high-speed movement and posture change process of the workpiece, and the grabbing stability is remarkably improved.

The invention provides a rigid-flexible coupling wrist rehabilitation robot which comprises an arm supporting unit and a wrist supporting unit, the arm supporting unit is matched with the forearm of a patient, the wrist supporting unit is matched with the palm of the patient, and an upper / lower elastic rope support and a left / right elastic rope support are installed on a connecting plate of the forearm supporting unit. An elastic rope connecting anchor point at the front end of the upper elastic rope support and an elastic rope connecting anchor point at the front end of the lower elastic rope support are connected with corresponding anchor points of the wrist supporting unit through three elastic ropes to form an integral tensioning structure, and four driving flexible ropes penetrate through Bowden wire pipes installed in the elastic rope supports to be connected to the corresponding anchor points of the wrist supporting unit. And the flexion / extension and radial deflection / ulnar deflection of the wrist joint are realized by traction and driving of the flexible cable. The open type wearable structure is convenient for a patient to wear, and the problems that a rigid wrist rehabilitation robot is not matched with the instant movement center when the wrist of the patient moves and the joint torque of a flexible wrist rehabilitation robot is insufficient are solved, so that the treatment effect of rehabilitation training on the patient is improved.

The utility model discloses a hybrid-driven five-finger dexterous hand which comprises a palm module, a wrist module and an arm module which are sequentially connected. A finger driving module is arranged on the arm module, and a wrist driving module is arranged below the wrist module; the finger driving module consists of a plurality of groups of tendon rope driving modules; the wrist driving module is driven by a linear module. The tendon rope driving module is adopted to accurately control and adjust multiple degrees of freedom of different joints of multiple fingers on the palm, and the wrist module achieves pitching, swinging and other actions on the wrist through the linear module. Different driving modes are combined, reasonable layout of different driving mechanisms can be achieved in a limited space, and due to the fact that the accuracy requirements of finger and wrist control are different, the mixed driving mode is higher in pertinence.

The utility model relates to an arm strength exerciser which comprises a spring tube and two grab handles. The bourdon tube is a cylindrical spiral bourdon tube with a certain length and comprises a middle main body part with a larger diameter and two end parts which are positioned at two ends of the middle main body part and have smaller diameters; and the two grab handles are respectively and fixedly sleeved on the two end parts. The main body is the cylindrical spiral bourdon tube, the grab handles are arranged at the two ends of the cylindrical spiral bourdon tube respectively, the two hands grasp the grab handles to elastically bend the bourdon tube during exercise, so that the muscle strength of the arms is exercised, and the bourdon tube has the advantages of being simple in structure and convenient to use.

According to the various features, characteristics and embodiments of the present invention which will become apparent as the description thereof proceeds, the present invention provides reusable grip enhancing tubular members for the arm area, in particular sports sleeves for the arm and forearm, and reusable grip enhancing tubular members for the hand, in particular sports finger cots for the hand, and the uses thereof, and methods thereof, intended to increase the performance in arm and / or hand task activities.

The present invention is directed toward an exercise machine and climbing simulator that enables its users to initiate the climbing or crawling motion whilst being rotated at different angles. This invention includes a rotatable framework and a plurality of foot spines and arm spines that are configured to support the feet and arms of a user. As the framework rotates, the user incurs exercise in maintaining contact with the plurality of foot and hand spines. Each of the foot and hand spines is decoupled from each other, that is, each of the foot and hand spines is configured with independent rotational and lateral movement. By changing the angles of rotation and the positions of the foot and hand spines, gravity is applied in different ways and therefore different muscle groups are targeted. Thus, this invention assists users in acquiring varying degrees of physical fitness and mountain climbing preparation.

[Problem] During a lowering exercise according to the prior art, changes in upper-limb (forearm, elbow joint, and shoulder joint) movement are such that, since the rotation axis of a grip part is fixed in the vertical direction, the hand rotates around the vertical axis together with the grip part as the lowering exercise is executed, and the shoulder joint continues to internally rotate. As a result, the forearm keeps inclining forward, thereby restricting subsequent extension acceleration slightly rearward of the body. [Solution] Provided is a training machine with which training is performed by moving an arm unit against the weight of a back weight, the arm unit being connected to at least one back weight via a cable and vertically movable along a guide column. A grip part of the arm unit is configured to rotate around an axis substantially orthogonal to the guide column axis. A training machine can thus be provided which can accommodate changes in the inclination angle of the hand and does not restrict extension movement when the upper limb is extended while being lowered.

The present invention is a biarticular forearm support brace comprising a hand wrap, an arm wrap, vibrational motors, and EMG sensors. In the preferred embodiment of the present invention, the present invention further comprises medical-grade materials with elastic properties and a plurality of straps. The present invention takes the tension off the extensor muscles in the forearm by pulling the hand towards the elbow, replacing muscle function and allowing the extensor muscles in the forearm to be shortened while not being contracted.

The invention relates to a variable impedance control method for a wrist joint rehabilitation training robot, and the method comprises the steps: constructing a self-adaptive reference stiffness correction model, inputting the rehabilitation score of a patient and the real-time muscular tension of each motion dimension of a wrist joint, and outputting the self-adaptive reference stiffness of each motion dimension; constructing a composite cost function which comprises a contact force safety threshold penalty term model and an impedance parameter change rate penalty term model; and constructing an uncertainty weighted correction model, inputting the composite cost value, the state prediction result and the patient rehabilitation score, and outputting the weighted instantaneous cost. Through the composite cost function and the dynamic impedance adjustment strategy, the impedance adjustment characteristic of the human arm is simulated, high-rigidity rapid approaching in the non-contact stage, low-rigidity high-damping buffering in the contact stage and low-rigidity low-damping compliant control in the stable stage are achieved, and the training comfort and safety are improved. According to limb impedance characteristics, rehabilitation stages and training tasks of patients, personalized requirements and dynamic rehabilitation scenes of different patients can be adapted.

A device for supporting at least one arm of a user, wherein: the device has at least one arm-supporting element comprising an arm shell for placing on the arm, at least one passive actuator which is configured to apply a force to the at least one arm-supporting element, and at least one counter bearing for the force to be applied, with at least one force transmission element and a counter bearing element; the arm-supporting element is connected to the force transmission element via an articulation so as to be pivotable about at least one pivot axis; the device additionally has at least one restraining element which limits a movement of the arm shell along the arm towards the hand when the device is worn, but does not affect a movement of the arm shell in the opposite direction; and the at least one restraining element is designed to be flexible but inelastic, and / or has at least one portion which extends in an axillary manner.

1. Name of the design product: wrist of master hand of surgical robot. 2. Use of the design product: used for remote control operation of surgical instruments in cooperation with master hand arm. 3. Design points of the design product: in shape. 4. Picture or photo best indicating the design points: perspective view 1.

1. Name of the product in this design: Integrated Hand Support (STM). 2. Purpose of this product design: To be placed under the wrist and forearm to protect the wrist and forearm and improve comfort. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

A device for relieving the right shoulder muscles of a right-handed player when playing a stringed instrument, while simultaneously utilizing the resulting free fall force of the right arm to stabilize the instrument. The device consists of a body support that connects the upper bout of the instrument to the player's torso and an armrest that attaches to the rib of the upward-facing lower bout of the instrument, allowing the right upper arm to rest comfortably. When playing a stringed instrument, the right arm must be constantly held in a forward-raised and laterally abducted position due to the instrument's size, using muscle strength to prevent its weight from altering the instrument's playing position. The armrest allows the upper arm to rest comfortably, thus completely relieving the right shoulder muscles. The body support prevents the upper bow of the instrument from being levered forward and upward when the right arm, with its falling force, acts backward and downward on the lower bow. The device causes the force of fall released by the relaxation of the right shoulder muscles to clamp and fix the instrument between the arm, the leg on which it stands, the body support and the contact point between the base of the instrument and the upper body of the player.

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.

This application discloses a three-dimensional posture corrector with wrist support function, belonging to the field of posture correction technology. In the embodiments of this application, by setting a transition surface or support part, it can be used to rest the wrist and / or elbow, providing sufficient support for the user's arm to improve the situation where the wrist and / or elbow are suspended or pressed against the side of the writing board, guiding the user's wrist to exert force correctly, thereby improving the comfort of using the writing board and improving the user's posture correction effect.

To provide an arm correction wearing tool and arm correction wear which can support the supination movement of the arm and easily correct the twisting of the arm. [Solution] The arm corrective wearing device 10 comprises an arm covering part 11 that covers at least from the shoulder to the elbow on one side, and an arm belt 12 that is disposed on the arm covering part 11 and extends from the shoulder to the front, passing through the muscle belly of the biceps brachii muscle and around the inside of the arm, passing through the muscle belly of the triceps brachii muscle and around the outside of the arm from the humerus side of the olecranon, and then extending along the proximal part of the radius of the forearm. The arm belt 12 supports the supination movement of the arm and supports part of the forearm while imitating the tendon of the biceps brachii muscle.

The elbow joint rehabilitation exoskeleton comprises the forearm and the big arm, one end of the forearm is rotationally connected with one end of the big arm, a first telescopic bandage is arranged on the forearm, a first adjusting assembly used for adjusting the position of the first telescopic bandage is arranged on the forearm, and a second telescopic bandage is arranged on the big arm. A second adjusting assembly used for driving the position of the second telescopic bandage to be adjusted is arranged on the large arm. The position of the first telescopic bandage on the forearm can be adjusted through the first adjusting assembly, the position of the second telescopic bandage on the large arm can be adjusted through the second adjusting assembly, the positions of the two telescopic bandages are adjusted according to the length of the arm of a patient, and the rotating connection point of the large arm and the forearm is attached to the elbow joint of the arm of the patient. In this way, the position of the rotating connecting point of the elbow joints of the large arm and the small arm can be adjusted according to the arm of a patient, and the rotating connecting point of the large arm and the small arm can be attached to each elbow joint through adjustment.

The application discloses a novel human-simulating flexible parallel wrist joint with redundant driving, and has the characteristics that the joint comprises a moving platform (1), an intermediate branch chain (2), a first driving branch chain (3-1), a second driving branch chain (3-2), a third driving branch chain (3-2) and a base (4). The application is based on bionics and bionically designs the bony structure and muscle system of a human wrist joint, adopts a rope driving mode, has a high stiffness bearing ratio, is driven redundantly and has good human-machine interaction performance. The joint can be pulled by three motors through external ropes, converts the rotation of the motors into the movement of the ropes through a movable pulley, realizes 2-DOF (degree of freedom) movement, and is suitable for occasions such as the end wrist joint of an industrial robot, a human-simulating arm wrist joint and an intelligent prosthesis.

The utility model is applicable to the technical field of rehabilitation equipment, and provides upper limb exoskeleton rehabilitation training equipment which comprises a movable support, a bearing is arranged on a bearing support frame, a gear ring is fixedly mounted on the front side of an inner ring of the bearing, a mounting seat is arranged on the gear ring, a manipulator extending forwards is arranged on the mounting seat, and the upper limb exoskeleton rehabilitation training equipment is arranged on the manipulator. And the manipulator is used for driving finger joints to move. According to the upper limb exoskeleton rehabilitation training equipment, the palm of a patient is fixed to the mechanical arm, the mechanical arm drives the hand to conduct grabbing, bending and stretching exercise, the gear ring rotates to drive the wrist to conduct internal and external rotation exercise, the moving plate drives the whole to slide front and back, bending and stretching actions of the whole arm are simulated, and different action exercises are conducted on the palm, the wrist and multiple parts of the arm; rehabilitation exercise actions of the whole upper limbs can be achieved on one device, one or two exercise functions can be selected to be used, different devices do not need to be replaced for exercise and training, the functions are more complete, and use is more convenient.

The invention provides a parallel bionic dexterous wrist structure and a bionic robot, the wrist structure comprises an arm end unit, a palm end unit, a constant velocity universal joint and a parallel joint driving unit, and the arm end unit is used for connecting a forearm of the bionic robot; the palm end unit is used for connecting a palm of the bionic robot; the constant velocity universal joint is connected between the arm end unit and the palm end unit; one end of the parallel joint driving unit is connected to the arm end unit, the other end of the parallel joint driving unit is connected to the palm end unit, and the parallel joint driving unit is used for driving the palm end unit to bend, stretch and deviate from the ulnar radius relative to the arm end unit, so that flexible posture adjustment of the palm is achieved. The flexible movement functionality of the wrist structure is considered, the reliability of the transmission process and the stability of the driving operation process are enhanced, the flexible movement of a human hand can be accurately simulated by the dexterous wrist structure, and therefore the performance of a robot mechanical arm is greatly improved.

Provided is a biometric information measurement device that can detect a change in the biometric information of a wearer (a movement of a finger, the bending and stretching of an arm or foot, a posture change during sitting, a change in length of the body surface due to respiration, and a change in surface moisture amount).

The present invention relates to a mannequin comprising a central piece (100) which reproduces a person's waist; a first rod (1) and a second rod (2) which reproduce contour lines of the legs; a third rod (3) which reproduces the perimeter of a body from the waist to the neck without the arms; a fourth rod (4) and a fifth rod (5) which reproduce a contour of the arms and which are joined to the third rod (3) in the area corresponding to the shoulders; and a sixth rod (6) and a seventh rod (7) which reproduce a contour of a person's abdomen, chest and shoulder. According to the invention, the first rod (1) and the second rod (2) are joined to the central piece (100) on one side of the central piece (100), and the third rod (3), the fourth rod (4) and the fifth rod (5) are joined to the central piece (100) on the other side.

An embodiment of the present invention relates to a haptic device which is capable of transmitting torque to the wrist, has a compact structure to be easily and rapidly worn in various places desired by a user, and can generate torque on the wrist from various directions so as to improve the immersive feeling of the user. To this end, the embodiment of the present invention provides the haptic device which is capable of transmitting torque to the wrist and comprises: a handle; a controller which is detachably fixed to the handle so that the user can grasp; an arm band provided to be wound around an arm of the user; a plurality of wires connected from multiple sides of the handle's boundary to corresponding multiple sides of the arm band in one-to-one correspondence and being individually adjustable in length; a plurality of wire drivers which are provided on the arm band so as to wind or unwind the sides of the plurality of wires and adjust the length of each wire between the handle and the arm band, thereby providing the torque to the wrist of the user; a gap adjusting band which connects one side of the handle to one side of the arm band so that a certain distance can be maintained between the handle and the arm band; and a controller controlling operations of the plurality of wire drivers.

To provide a rational wrist supporter that reduces the burden on the body without relying on muscle strength for the various roles of the hand, such as lifting, carrying, and grasping, although wrist supporters have been commercially available in a wide variety of forms up until now. [Solution] The belt supporter of the present invention fixes the palm and wrist on the palm side with a fixing plate, and further supports the ulnar head of the wrist on the back side of the hand at the ankle opening.By wrapping these together crosswise, the wrist is stabilized and firmly fixed, and by controlling unnecessary movement, a stabilizing function is created, preventing unnecessary muscle strain, allowing for lighter loads to be carried, and reducing the strain on the arms and hands.

The present invention discloses a three-dimensional human body modeling and motion acquisition method based on multi-view synchronous shooting. A tracking video of a person shot synchronously from multiple perspectives is obtained, and two-dimensional human body key points and two-dimensional hand key points are extracted from each frame; then, the arm parameters of the human body parametric model are optimized using the two-dimensional human body key points. Afterwards, the parameters of the hand model are optimized based on the two-dimensional hand key points; according to the wrist position, the arm position is corrected to obtain the arm parameters of the human body parametric model. By arranging the hand model point cloud and the human body parametric model point cloud, an index of points and triangular facets is established to obtain a fusion model, and the parameters of the human body parametric model and the hand model are imported into the fusion model to obtain the result of human body reconstruction. The present invention can use multi-view images to perform human body modeling and motion acquisition including hands, and does not require a sophisticated multi-camera configuration and motion capture clothing.

1. Name of the product in this design: Arm support assist device (G1). 2. Purpose of this design: It is mainly used to provide support and assistance to people who need to support their arms for a long time, and to reduce the burden on the arm muscles. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

An orthopedic elbow brace having a forearm strut hinged to an upper arm strut, with two cuffs that are attached and slidable to the forearm strut, and a third cuff attached to the upper arm strut. First and second rotatable spools are positioned at the strut pivot. A lace, cable or wire interconnects the forearm and / or upper arm struts to the first spool, and another lace, cable or wire interconnects the forearm and / or upper arm struts to the second spool. Rotating the first and second spools tensions the laces, cables or wires to set an angular position between the forearm and upper arm struts corresponding to range of motion (ROM) limits for the brace. Attachment straps further secure the cuffs and the brace to the wearer's arm.