140 results about "Hand functions" patented technology

A robot is obtained having various functions that are demanded for planetary landing vehicles, extreme operations robots or the like, in particular to provide a leg structure for a robot that is capable of getting up itself when overturned, facilitating take-off and landing on uneven ground, and that has a walking function and that has a hand function capable of three-dimensional operation. A robot comprises a main robot body and at least three legs mounted on this main body for enabling three-dimensional movement of the main robot body such as a self-erecting action or walking action; each leg is constituted by a multi-joint arm having a plurality of said offset rotary joints linked together and has a ground-engaging member mounted at the leading end of the arm, so that each leg is capable of independently controlled three-dimensional movement and drive.

The invention discloses a multi-mode fusion hand function rehabilitation training and intelligent evaluation system, which comprises a rehabilitation training mechanism, a sensor data collecting device, a rehabilitation evaluation system and a scene interaction game system, wherein the rehabilitation training mechanism is used for performing rehabilitation training on the fingers and the wrist; the sensor data collecting device is used for collecting one or various kinds of signals from a surface electromyographic signal, a force signal and a posture signal in real time; the rehabilitation evaluation system performs quantitative evaluation on the rehabilitation training condition of a patient according to a multi-mode signal collected by the sensor data collecting device; and the scene interaction game system is used for providing information feedback such as rehabilitation training, effect evaluation and vision for the patient. The multi-mode fusion hand function rehabilitation training and intelligent evaluation system disclosed by the invention has the advantages that by aiming at the rehabilitation training of a cerebral stroke patient, real-time feedback regulation and control, quantitative evaluation and game feedback can be performed in the rehabilitation training process; the training enthusiasm of the patient is effectively aroused; and the rehabilitation training effect is enhanced.

The invention provides an exoskeleton-type hand function rehabilitation robot, relates to medical instruments applied in injured finger rehabilitation, and aims to solve the problems that according to an existing hand function optimizing and recovering manner, hand rehabilitation is difficult, the rehabilitation period after treatment is long and hand functions are influenced. The exoskeleton-type hand function rehabilitation robot comprises an exoskeleton finger drive mechanism, a self-adaptive dorsal metacarpal adjusting platform and a rear artificial muscle module. The exoskeleton finger drive mechanism comprises an exoskeleton thumb, an exoskeleton index finger, an exoskeleton middle finger, an exoskeleton ring finger and an exoskeleton little finger. Proximal interphalangeal exoskeleton joints are arranged between metacarpophalangeal exoskeleton joints and distal interphalangeal exoskeleton joints, and the proximal interphalangeal exoskeleton, the metacarpophalangeal exoskeleton joints and the distal interphalangeal exoskeleton joints are in slidable connections detachably. The self-adaptive dorsal metacarpal adjusting platform covers the upper surface of the exoskeleton finger drive mechanism, and the self-adaptive dorsal metacarpal adjusting platform and the exoskeleton finger drive mechanism are in slidable connections detachably. The exoskeleton-type hand function rehabilitation robot is applied in injured finger rehabilitation.

The invention discloses a wearable brain-control intelligent prosthesis, comprising a wearable type brain-electric signal detection sensor device, skin dry electrodes distributed on the head of a person, a wearable type brain-electric signal acquisition and amplification device, a wearable type brain-electric signal identification device, a wearable type intelligent prosthesis driving control device and an intelligent prosthesis sensing device. In the wearable brain-control intelligent prosthesis, the wearable type detection and calculation of brain-electric detection and identification is realized, and precise and self-adaptive intelligent control on the prosthesis is realized by combination with the intelligent sensing technology; and the wearable brain-control intelligent prosthesis can be worn on the human body directly, so that the defects of myoelectric control is avoided, the efficiency and the precision of the prosthesis action are improved and the human-hand function is realized in a more ideal manner. The wearable brain-control intelligent prosthesis can be applicable to the driving control of the nerve artificial limb hand used by the person with the disabled upper arms.

The invention discloses a human-computer interaction control system, embedded in an Android mobile terminal and FPGA, of a hand function rehabilitation robot and relates to the technical field of human-computer interaction control of robots. The human-computer interaction control system, embedded in the Android mobile terminal and FPGA, of the hand function rehabilitation robot solves the problems that an existing hand function rehabilitation robot system is poor in human-computer interaction capacity, poor in openness and not portable. According to the human-computer interaction control system, embedded in the Android mobile terminal and FPGA, of the hand function rehabilitation robot, a data acquisition module receives information of pressure, applied to finger tips of exoskeleton mechanical arms from human finger tips, acquired by a pressure sensor and rotating angle information, acquired by an angle sensor, of the exoskeleton mechanical arms, the data acquisition module then processes the information and transmits the information to an FPGA single-chip system for data processing to obtain data information and then transmits the data information to the Android mobile terminal in a wireless mode for simulation, and the data information is converted into data files by the Android mobile terminal and then is sent to a PC through the Internet. The human-computer interaction control system, embedded in the Android mobile terminal and FPGA, of the hand function rehabilitation robot is suitable for hand rehabilitation training.

The invention discloses an exoskeleton type biofeedback hand function training device. The exoskeleton type biofeedback hand function training device comprises a hand back adhering face plate, driving mechanisms for five fingers and a motor transmission mechanism; the hand back adhering face plate is worn on a hand of a patient; the driving mechanisms for the five fingers are connected with the hand back adhering face plate; the motor transmission mechanism is connected with the hand back adhering face plate; the motor transmission mechanism comprises a linear motor transmission mechanism which drives the driving mechanism for the thumb and a mini-sized continuous current motor transmission mechanism which drives the driving mechanisms for the other four fingers. The exoskeleton type biofeedback hand function training device aims at the unsolved efficient hand dysfunction rehabilitation training machinery in the domestic clinical rehabilitation treatment.

The invention discloses a hand function rehabilitation training device and method. The device comprises a controller, a gas drive module, a myoelectricity collection module, an electrical stimulationmodule, soft gloves connected with the gas drive module, and an electrode slice group I connected with the electrical stimulation module, wherein the gas drive module, the myoelectricity collection module and the electrical stimulation module are connected with the controller; the soft gloves are provided with pneumatic telescoping assemblies; the controller calculates a hand movement posture of ahealthy side by collecting a hand muscle electric signal of the healthy side, so that the electrical stimulation module and the gas drive module are controlled to achieve mirror image training of thefingers and the wrist of an affected side, and comprehensive recovery of the hand function of the affected side is accelerated; a five-position electromagnetic switch valve group is adopted in the gas drive module, so that the fingers of the affected side are in different stretching and bending states in one training action, and different training requirements of patients are met; and a gas pressure sensor is adopted in the gas drive module to detect the gas pressure intensity changes in the pneumatic telescoping assemblies, and a movement intention of the fingers is recognized based on an ideal gas principle, so that power-assisted training of the hand is achieved.

The invention belongs to the medical rehabilitation equipment field, and relates to a digitlization simulation mirror image training system comprising a trainee interaction display, a trainee control platform, a host computer, a camera, sound equipment, digit mirror image training box hardware, a specially compiled space imagination training module, a basic motion training module, and a functional motion training module program system; the camera can film hand motion images; digitalized image mirror image equipment is formed by mirror image processing technology; the standard digitlization simulation mirror image treatment training system is provided; visual illusion and visual sense imagination can activate the cerebrum motion sense cortex zone, thus promoting limb motion functions and sense function recovery; optics imaging is converted into digit display, thus increasing mirror image treatment controllability and operationality, improving patient compliance, enriching mirror image training contents, regulating the training scheme enforcement procedure, and obtaining the optimized training effect; the digitlization simulation mirror image training system is suitable for rehabilitation training of hand function obstacles caused by brain damages, and finger cutting, affected limb aches, hand perception deletion or obstacles of hand operation patients.

The invention discloses a hand function rehabilitation robot with a compact rigid-flexible coupling structure for stroke patients. The robot comprises a hand back support mechanism, five finger bending and extending driving mechanisms, a five-finger closing and splaying driving mechanism, a control processor, a sensing sensor and a power supply assembly, wherein the five finger bending and stretching driving mechanisms are same in structure, and each finger bending and stretching driving mechanism consists of a linear motor, a sliding rod, a metacarpal segment block, a driving spring steel sheet, a proximal segment block, a middle segment block, a distal segment block, a proximal segment block strap, a middle segment block strap, a distal segment block strap, three connecting spring steelsheets, three sliding connecting spring steel sheets and two sliding blocks; and the five-finger closing and splaying driving mechanism consists of a direct current motor, a pull rope, a first torsionspring, a second torsion spring and a third torsion spring. The robot can realize independent bending and stretching movement training of five fingers, and can also realize closing and splaying movement training of the five fingers.

The embodiment of the invention relates to the field of communication, in particular relates to an antenna control system and method and a mobile terminal. The system comprises an antenna and a control module, wherein the antenna comprises a first antenna part and a second antenna part which are symmetrically distributed, the first antenna part and the second antenna part respectively has various working states corresponding to various working resonant frequencies, the control module comprises an antenna working state acquisition sub-module and a control sub-module, the antenna working state acquisition sub-module is used for acquiring a first working state of the first antenna part, the control sub-module is used for adjusting a second working state of the second antenna part according to the first working state, so that the difference value between the working resonant frequency of the first antenna part and the working resonant frequency of the second antenna part is smaller than a set threshold value, antenna energy is more uniformly distributed at two sides of the antenna, left/right antenna switching is not needed to be performed according to an actual application scene of the mobile terminal, and the technical effect of balancing a left head and hand function and a right head and hand function of the antenna is achieved.

The invention discloses an exoskeleton mechanical auxiliary hand. The exoskeleton mechanical auxiliary hand comprises a mechanical structure part and a power part, wherein the mechanical structure part comprises a plastic wrist sleeve, a palm profiling plastic housing, finger joint plastic finger sleeves and linkage structures, the palm profiling plastic housing and the finger joint plastic fingersleeves are arranged by profiling one complete palm, the linkage structures are arranged on the back surfaces of the palm profiling plastic housing and the finger joint plastic finger sleeves; the plastic wrist sleeve is connected with the palm profiling plastic housing; the power part comprises a steering engine and pressure sensors; the steering engine is arranged on the back surface of the palm profiling plastic housing and is connected with the linkage structures; the pressure sensors are arranged at the fingertip parts of the finger joint plastic finger sleeves; and the steering engine and the pressure sensors are electrically connected to a single chip microcomputer control system. The exoskeleton mechanical auxiliary hand is light and easy to carry, and can meet the requirements ofdaily auxiliary training of a large number of patients with impaired hand functions.

The invention discloses an intelligent flexible hand function rehabilitation glove based on a shape memory alloy. The glove comprises a flexible glove structure, a finger state monitoring system basedon a Hall sensor and a shape memory alloy driving system, and the flexible glove structure comprises an arm base, a support rod, a palm protection sleeve and finger sleeves; the finger state monitoring system based on the Hall sensor comprises the Hall sensor, magnetic steel and a feedback circuit. The shape memory alloy driving system comprises a shape memory alloy spring, a pull wire and a control unit. The monitoring system based on the Hall sensor is placed on each finger sleeve of the flexible glove structure and is fixedly connected through bonding, and the shape memory alloy driving system is located on the arm base of the flexible glove structure and is fixedly connected with the arm base through screws. The intelligent flexible hand function rehabilitation glove has the advantages of being high in flexibility, high in intelligent degree, light, easy to carry and the like, daily life of a patient suffering from hand dysfunction can be effectively assisted, and the hand function rehabilitation effect of the patient is improved.

The invention provides a sub-site hand function rehabilitation evaluation method and device. The evaluation device comprises a multi-mode data acquisition module, a multi-mode data preprocessing module, a hand function evaluation index extraction and display module and a feedback module, the multi-mode data acquisition module comprises a pressure, tactile sense and sliding signal acquisition module and an inertia sensing data acquisition module, the multi-mode data preprocessing module comprises a pressure, tactile sense and sliding signal preprocessing module and an inertia sensing data preprocessing module, pressure, tactile sense and sliding signals are acquired by a sensor made of novel piezoelectric materials, sensor piezoelectric coefficients are measured, so that standards can be quantized, hand monition information is acquired by an inertia sensor, monition information of parts of portions of a hand can be quantized by the inertia sensor, the hand function evaluation index extraction and display module is used for extracting quantitative indexes for reach-to-grasp movement data according to a normal group, giving weight to comprehensive analysis indexes and making a rehabilitation evaluation scoring mechanism, and the feedback module is used for feeding back evaluation results.

The invention relates to a hand exoskeleton device having a modular nature. The device is designed to be wearable, portable and light in weight, and comprises from one to ten modules each having an actuating mechanism such as a linear actuator coupled with an artificial tendon having a flexible cable or shaft encased into a sheath and an elastic, stretchable portion on its distal end. The exoskeleton allows controlling flexion-extension of the fingers, while keeping natural somatosensorial interactions with the environment surrounding the users. The device is useful to e.g. assist and restore hand functions of users with motor disabilities both during activities of daily living and in neurorehabilitative scenarios, as well in other scenarios such as virtual reality.

The invention discloses rehabilitation gloves based on bidirectional drivers of honeycomb-like structures. The rehabilitation gloves comprise five bidirectional drivers of honeycomb-like structures and cotton gloves, wherein the bidirectional drivers are fixed on the backs of the gloves through magic ribbons; each bidirectional driver comprises three parts, namely a hollow buckling air bag, a middle guide layer and a hollow stretching air bag; the buckling air bag is in a continuous bending state; the middle guide layer is also in a continuous bending state; the buckling air bag and the middle guide layer are symmetrically arranged; and the stretching air bag is arranged below the middle guide layer in a straightening state. The invention provides a novel bidirectional driver of a honeycomb-like structure, rehabilitation training of two degrees of freedom, namely buckling and stretching, can be provided for a patient, a control algorithm of the bidirectional driver is provided, force control output is performed on the driver, and the patient can be well helped to recover the hand function as soon as possible.

The invention relates to a hand functional disorder virtual rehabilitation system based on hand-object natural interaction, and belongs to the technical field of virtual reality services. The hand functional disorder virtual rehabilitation system based on hand-object natural interaction comprises a processor module, a hand rehabilitation instrument box, a signal acquisition device, a hand-object interaction motion recognition module, a virtual rehabilitation training scene display and feedback module, and an evaluation module, wherein the processor module is used for establishing and displaying a virtual rehabilitation training scene and completing preprocessing, analysis and recognition of skeleton data, image information and myoelectricity signals. According to the rehabilitation system,daily hand actions, rehabilitation instruments and virtual scenes of a patient are combined innovatively, multi-element feature extraction and multi-rule learning are carried out on the skeleton, theimage and the electromyogram signals, the hand-object interaction action recognition is realized, the completion condition of the operation training task is judged, and the purpose of accurate rehabilitation of the hand function is achieved.

The invention relates to the field of hand rehabilitation robot research, and particularly relates to a novel hand exoskeleton rehabilitation mechanical arm which has flexible transmission and can beused for hand passive rehabilitation training. The device mainly comprises a palm part, a finger part, a control device and a detection device. The finger part and the palm part form a mechanical structure part of the whole device, a screw rod can be driven to rotate forwards and backwards through forward and backward rotation of a motor so as to control a spring to be disengaged from and insertedinto the screw rod, and therefore bending and straightening of fingers are achieved. The fingers can be bent and straightened fast many times through motor driving and spring piece bending, a plurality of training modes can be achieved, and the treatment effect is improved. Due to the fact that the soft spring piece structure is adopted, the device can conduct auxiliary movement with natural joint rotation of the fingers of a person as the constraint, and the device can adapt to the sizes of hands of different persons. The mechanical arm is provided with a pressure detection device and an angle detection device, and the safety of the whole device is improved. The novel hand exoskeleton rehabilitation device is portable, small in size, low in weight and high in cost performance, the application range of the device is widened, and the use burden on a patient is reduced. The novel hand exoskeleton rehabilitation device has important application value in the field of hand function recovery of stroke patients and high-strength continuous rehabilitation training.

The invention provides a hand function training device. The device comprises a glove worn on the hand, finger cots worn on the fingers, and a connecting mechanism used or connecting the glove and thefinger cots, wherein the connecting mechanism applies resistance impeding the movement of the finger cots to the finger cots when the finger cots move relative to the glove. The hand function trainingdevice provided by the invention comprises the glove worn on the hand, the finger cots worn on the fingers, and the connecting mechanism used for connecting the glove and the finger cots. During use,the glove is worn on the hand, the finger cots sleeve the fingers, when the fingers drive the finger cots to move, the connecting mechanism applies resistance to the fingers, and thus the effect of training the hand is achieved. The hand function training device is simple in structure, adopts few parts, is small in weight, and is convenient to use.

The invention discloses an open type vacuum conveying belt for an intelligent robot tooling and a using method. The open type vacuum conveying belt comprises a conveying belt body, wherein an open type air channel is formed in the outer surface of the conveying belt body; a vacuum connector of the open type air channel is connected with a vacuum generating device through a pipeline; and the open type air channel makes contact with the product adsorption surface to form a vacuum adsorption cavity. In addition, the invention further discloses the corresponding using method. The open type vacuumconveying belt can be combined with the robot tooling to replace the human hand function to achieve the automatic and intelligent production process of medicinal rubber covers, the vacuum adsorption force and the adsorption range of the conveying belt can be improved, adsorption grabbing of products in different shapes can be completed, and therefore the stripping process of a preformed rubber sheet and an isolating membrane and the demolding process of a vulcanized rubber sheet and a vulcanized mold are achieved.

The invention discloses rehabilitation gloves and hand function rehabilitation equipment. Each rehabilitation glove comprises a glove body, circulating air channels and pressure sensors; the glove body comprises a palm part and a plurality of finger parts connected with the palm part, and multiple circulating air channels are arranged on the glove body and correspond to the finger parts; each circulating air channel comprises a hand back section, a palm section and a connecting section connecting the hand back section with the palm section, a control valve is arranged in the connecting section, and multiple pressure sensors are arranged in the extension direction of the circulating air channels in the circulating air channels. In the technical scheme, the hand function rehabilitation equipment can perform passive finger rehabilitation exercises with different strength and different treatment time on multiple fingers and different joints simultaneously under the guide of medical, mechanical and rehabilitation treatment and corresponding theories and assist a patient in performing active finger rehabilitation exercises.

The invention relates to the field of wearable intelligent substitutes for human limbs, and medical equipment, and in particular to a multi-sensor closed-chain cascade-type hand prosthesis based on myoelectric control. The hand prosthesis comprises a four-finger mechanism, a thumb mechanism, a hand back plate, a motor support plate, motors and an electrical part, wherein the four-finger mechanismcomprises a fake finger group, a rocker group and a connecting rod group, the thumb mechanism comprises a thumb false finger group, a thumb rocker group and a thumb connecting rod group, the electrical part comprises a sensor group, an electric control group, a display and an electromyography acquisition module, the sensor group comprises a variety of sensor modules, the sensor group is embedded in far finger sections of fake fingers, the electrical control group comprises a core PCB board, a motor drive module and a battery, and the electromyography acquisition module is embedded in a contactposition between the inner side of the motor support plate and a forearm, and fits with the extensor digitorum and flexor digitorum superficialis of the forearm. The hand prosthesis adopts myoelectric control, motor drive, closed-chain cascade-type structure transmission, and multi-sensor feedback control, can be modularly disassembled to adapt to different hand signs, and reproduces and enrichesoriginal hand functions.

The invention provides a magnetic assistive device for hand function rehabilitation of children. The device comprises a hand assistive device, the hand assistive device comprises magnetic mud, a magnet and a latex glove, the magnetic mud is bonded on the inner side wall of the latex glove, and the magnet is arranged on the magnetic mud; the magnetic assistive device also comprises a toy assistivedevice, the toy assistive device comprises a magnetic plate and an iron ball, and the magnetic plate is provided with a groove for placing the iron ball. The toy assistive device has interestingness,can stimulate the enthusiasm of children patients to actively participate in treatment and is suitable for children patients with different grabbing capacities; meanwhile, compared with a hand function rehabilitation exercise instrument for children patients, the hand assistive device and the toy assistive device are much lower in production cost, and the requirements of families with poor economic conditions are met.