24 results about "Hand manipulation" patented technology

The utility model provides a robot hand and a robot system including the same. The robot hand includes: a plurality of robot fingers; and a robot palm configured to be operatively connected with the plurality of robot fingers, where an individual robot finger includes: a first phalanx; a second phalanx; and a first hydraulic actuator configured to operatively connect the first phalanx with the second phalanx, where the first hydraulic actuator includes a soft bellows-shaped deformable body such that, when in operation, the first and second phalanx are deformed by the flexible bellows-shaped deformable body, the flexible bellows-shaped deformable body is deformed by the flexible bellows-shaped deformable body. The first hydraulic actuator is switchable at least between a compressed state and an extended state in response to an external force and / or hydraulic pressure applied thereto. Other example embodiments are described herein. In certain embodiments, the present disclosure provides robotic hands and robotic systems including the same that exhibit high compliance, adaptability, and precise control to robotic applications, and address the challenges to achieve fine in-hand manipulation of the robot.

The invention discloses a privacy protection type service behavior monitoring method and system based on event-driven vision. The method comprises the following steps: collecting light intensity change in a service scene through an event-driven asynchronous visual sensor, and generating event stream data without texture information; a neural network model is utilized to extract desensitized structured action features from the event stream, and the features comprise a whole body posture, hand operation and a multi-granularity key point skeleton of a face area and do not contain any identifiable identity information; and performing behavior semantic analysis such as fall detection, service action compliance verification, people flow statistics and the like based on the features, and outputting a visual result for service quality supervision, risk early warning or responsibility tracing. On the premise of not obtaining, storing or transmitting any image frame, non-intrusive and high-precision monitoring of service behaviors in high-privacy sensitive scenes such as home door-to-door service, old-age nursing and medical rehabilitation is achieved, and privacy protection and intelligent supervision requirements are effectively balanced.

The application relates to the field of video applications, and provides a video desensitization method and device, electronic equipment and a computer program product. The method comprises the following steps: acquiring video data, identifying a human hand region based on the video data, obtaining N gesture recognition results and M hand contact article recognition results, determining a sensitive region and a target sensitive level according to the N gesture recognition results and the M hand contact article recognition results, and performing desensitization processing on the video data according to the sensitive region and the target sensitive level. The video desensitization method provided in the embodiment of the application can solve the technical problem that a hand contact article or hand operation of a photographed person cannot be desensitized, personal information of the photographed person is easily leaked, and the personal information safety of the photographed person is improved.

The application discloses an optimization method for generating robust and physically feasible grasping poses for a robot dexterous hand, belonging to the field of robot control. The method comprises the following steps: step 1, predicting the 3D affordance of an object using a conditional variational autoencoder model, learning the geometric properties of the object in the data set, taking the point cloud of the object as the input, and outputting a 3D affordance region map related to hand operation; step 2, the dexterous hand follows the 3D affordance region map, based on the synergistic effect of the fingers and the palm, and generates a grasping pose by optimizing the total energy function containing a self-conflict optimization term between the fingers and a support optimization term, and the optimal grasping pose of the robot dexterous hand is obtained after optimization. The method uses a conditional variational autoencoder model to predict a high-precision operation region, and introduces a self-conflict optimization term between the fingers and a support optimization term between the palm and the object to optimize the generation of the grasping pose, realizes multi-finger coordination and grasping stability, and has robustness.

The application discloses a wearable human-machine operation data acquisition system and method based on relative visual inertial measurement, which is used for robot imitation learning. The system comprises a chest reference node and a hand operation node, each node comprising a camera and an inertial measurement unit, and the poses of the trunk and the hand in a global coordinate system are obtained through a visual inertial odometer respectively. A central processing unit calculates the relative pose of the hand relative to the chest in real time, effectively decouples the overall movement of the human body and the fine action of the hand, and introduces a rotation compensation mechanism based on the angular velocity of the chest reference node, so as to eliminate the false displacement caused by body rotation. The system outputs a strictly time-synchronized, standardized format relative pose sequence, multi-view images and inertial data, which can be directly used for imitation learning algorithm training. The application solves the problems of poor mobility, motion coupling and complex deployment of the traditional teaching system, and realizes high-precision and high-robustness data acquisition in a free-moving scene.

The invention belongs to the technical field of teaching evaluation, and particularly relates to an intelligent evaluation method and system for common car teaching based on an AI large model. The method comprises the following steps: acquiring student general car practical operation data, inputting the practical operation data into an intelligent evaluation model, and outputting scores and a total score corresponding to each score composition model by the intelligent evaluation model according to pre-defined score composition modules and corresponding weights. Wherein the intelligent evaluation model comprises a target detection model and an AI large model, and the target detection model is used for identifying lathe parts and student hand operations in the video data; the AI large model is used for outputting scores corresponding to the score composition models according to the sensor data, each frame of lathe part and student hand operation, a hand operation action sequence formed by each frame of student hand operation and a lathe part action sequence formed by each frame of lathe part, so that the score composition is quickly and accurately analyzed, and the score composition is analyzed. Therefore, the evaluation dimension is more comprehensive, the evaluation in all aspects during practical training can be known, and the practical operation subdivision problem can be known.

Soft inflatable pouch robots with many independent degrees of freedom are created from multiple layers of thin thermoplastic films. The method uses inkjet-printed solvent ink or laser printer toner to pattern pouch layers, enabling the integration of pouch actuators, structures, channels, and pneumatic ports within one process. A fluid manifold allows addressable and controlled inflation of the inflatable features of the device. A 4-finger 8-independent-DoF pouch hand performing in-hand manipulation, and a 10-independent-DoF continuum manipulator performing planar pick-and-place illustrate the design functionalities.

The invention relates to a robot teleoperation method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring hand posture data of key points of a hand of a human body; performing pose calculation on the hand pose data to obtain a hand joint angle of the robot; performing pose conversion on the wrist pose data of the hand pose data to obtain wrist joint pose data of the hand of the robot; resolving the wrist joint pose data according to a preset inverse kinematics model to obtain a two-arm joint angle of the robot; and performing teleoperation on the robot according to the hand joint angle and the double-arm joint angle to obtain a hand operation result of the robot. By means of the method, the joint angles of the hands and the two arms of the robot can be calculated in real time at the plate end of the robot to achieve teleoperation, and balance of precision, usability and cost is achieved.

A pen format liquid collection device includes an elongate generally tubular housing (12, 112, 212, 312) able to be held by hand and having an opening at one end, and at least one liquid take-up element (30, 130, 230, 330) mounted in the housing so as to be positioned or positionable to project at the opening, the at least one liquid take-up element then further postionable by hand manipulation of the housing to contact a volume of liquid to thereby take-up a sample of the liquid to be analysed. At least one retention element (230a, 330a) is supported in the housing. The at least one liquid take-up element and the at least one retention element are arranged whereby they are relatively movable into contact, and the at least one retention element is adapted on contact to in turn take-up the sample and retain the sample or a component thereof for in situ analysis or later recovery while protected within the housing. The liquid take-up element is preferably a capillary.

In one aspect, a robotic hand is provided, the robotic hand comprising: a plurality of robotic fingers; and a robot palm configured to be operatively connected with the plurality of robot fingers, where an individual robot finger includes: a first phalanx; a second phalanx; and a first hydraulic actuator configured to operatively connect the first phalanx with the second phalanx, where the first hydraulic actuator includes a soft bellows-shaped deformable body such that, when in operation, the first and second phalanx are deformed by the flexible bellows-shaped deformable body, the flexible bellows-shaped deformable body is deformed by the flexible bellows-shaped deformable body. The first hydraulic actuator is switchable at least between a compressed state and an extended state in response to an external force and / or hydraulic pressure applied thereto. Other example embodiments are described herein. In certain embodiments, the present disclosure provides robotic hands and systems that exhibit high compliance, adaptability, and precise control to robotic applications, and address the challenges to achieve fine in-hand manipulation of the robot.

The invention discloses a dynamic airtight operation sleevelet system of a negative pressure isolation sickbed and a using method of the dynamic airtight operation sleevelet system, and relates to the technical field of medical isolation protection equipment.The dynamic airtight operation sleevelet system comprises a flexible sleevelet body connected to an isolation bulkhead, and the flexible sleevelet body comprises an arm sleeve section and a hand operation section which are sequentially connected; the dynamic airtight module is arranged on the hand back part of the hand operation section; the inflation expansion cavity is formed in the hand operation section; the sensing unit is arranged on the hand back part of the hand operation section and used for detecting the extraction state of the limbs of the user; the control unit is in signal connection with the sensing unit; inflation expansion is automatically triggered by sensing limb extraction actions, a dynamic sliding sealing interface is formed between an arm and the inner wall of the sleeve, a traditional static sealing mode depending on friction force is changed, the air tightness is guaranteed, meanwhile, the wearing and taking-off resistance is reduced, and operation is smooth and rapid.

In one aspect, provided is a robotic hand, comprising a plurality of robotic fingers; and a robotic palm, configured to operatively connect with the plurality of robotic fingers, wherein individual robotic finger comprises: a first phalanx; a second phalanx; and a first hydraulic actuator, configured to operatively connect the first phalanx with the second phalanx, wherein the first hydraulic actuator comprises a soft, bellows-type deformable body, such that when in operation, the first hydraulic actuator is switchable between at least a compression status and an extension status, in response to external force and / or hydraulic pressure applied thereto. Other example embodiments are described herein. In certain embodiments, the disclosure provides robotic hands and systems that showed high degrees of compliance, adaptability, and precise control for robotic applications and addressed the challenge of achieving robotic fine in-hand manipulation.

The utility model provides a kind of hand operation device and surgical robot, wherein hand operation device includes: far end deflection joint, for doing deflection motion in horizontal plane;Far end pitch joint is connected with far end deflection joint, and far end pitch joint is used to do pitch motion;Translation joint is connected with far end pitch joint, and translation joint is used to do translation motion;Far end roll joint is connected with translation joint, and far end roll joint is used to do roll motion;Near end pitch joint is connected with far end roll joint, and near end pitch joint is used to do pitch motion;Near end deflection joint is connected with near end pitch joint, and near end deflection joint is used to do deflection motion;Near end roll joint is connected with near end deflection joint, and near end roll joint is used to do roll motion.By adopting the above technical scheme, the operation precision of surgery is significantly improved, the motion range is expanded, the stability is enhanced, the operation comfort and the sense of presence of surgery are improved.

The invention discloses an optimization method for generating a steady and physically feasible grabbing posture for a robot dexterous hand, and belongs to the field of robot control. The method comprises the following steps of: 1, predicting 3DAfordance of an object by using a conditional variation auto-encoder model, learning geometric attributes of the object in a data set, and outputting a 3DAfordance area chart related to hand operation by taking object point cloud as input; and step 2, the dexterous hand optimizes and generates a grabbing posture by optimizing a total energy function comprising a self-conflict optimization item and a support optimization item among fingers based on the synergistic effect of the fingers and the palm according to the 3DAfordance area graph, and the optimal grabbing posture of the robot dexterous hand is obtained after optimization. According to the method, a condition variation self-encoder model is used for predicting a high-precision operation area, a self-conflict optimization item between fingers and a support optimization item between a palm and an object are introduced to optimize and generate a grabbing posture, multi-finger coordination is achieved, grabbing is stable, and robustness is achieved.

Robot control device (10), comprising: a process time prediction unit (11) for predicting a robot process time (T1), which is a time required by a robot (30) to cause a hand (31) of the robot (30) to reach a target position (P) get ) achieved, and a manual operation time (T gsp ), where this is a time from the time at which an action of the hand (31) is commanded until the time at which the hand (31) carries out an action of grasping an object at the target position (P get ) finished, acts; and a hand operation start instruction unit (13) for issuing an instruction to start an operation of the hand (31) at a time determined based on the predicted robot operation time (T1) and the predicted hand operation time (T gsp ) is determined, whereby the process time prediction unit (11) predicts the robot process time (T1) by calculation, which integrates the robot control system information, which includes a control parameter to determine the responsiveness of a control system of the robot (30).

The utility model discloses a manual control rolling tool and a manual control mechanism. The manual control rolling tool comprises a fixing plate, a manual control assembly and a rolling assembly. The manual control assembly is arranged on the control surface of the fixing plate; the rolling assembly is arranged on the rolling face of the fixing plate. The rolling assembly comprises an automatic control mechanism; the automatic control mechanism is connected with the signal end of the manual control assembly. The control end of the manual control assembly is used for generating a control signal, so that the automatic control mechanism controls the rolling assembly to conduct clamping or releasing. The manual control assembly is arranged on the control face of the fixing plate, the rolling assembly is arranged on the rolling face of the fixing plate, the rolling assembly comprises the automatic control mechanism, and the signal end of the manual control assembly is connected with the automatic control mechanism, so that the control end of the manual control assembly serves as a control switch; the automatic control mechanism is used for controlling the rolling assembly to conduct clamping or releasing, the whole control process can be achieved only through hand operation, operation is more convenient, and the rolling efficiency is higher.

The utility model discloses a biosafety experiment cabinet capable of switching a hand operation position. A biosafety experiment cabinet capable of switching hand operation positions comprises a biosafety cabinet main body, the biosafety cabinet main body comprises a cabinet body and a transparent partition plate which is slidably arranged at the front part of the cabinet body, the biosafety experiment cabinet is characterized in that two operation ports which are arranged left and right are formed in the transparent partition plate, and a mounting flange plate is fixed on the outer side of each operation port; the mounting flange plate is detachably connected with a transparent window or a glove operation window; the glove operation window comprises a glove and a glove fixing flange plate used for fixing a glove opening of the glove, and the glove fixing flange plate is detachably connected with the mounting flange plate; when the mounting flange plate is connected with the transparent window, a gap area between the operation table and the transparent partition plate is a first hand operation space; and when the mounting flange plate is connected with the glove operation window, the glove operation window is a second hand operation space. According to the utility model, the space for hand experiment operation is reserved under the condition of different opening degrees of the transparent partition plate.

The invention discloses a gesture control system and method for a functional sofa, the functional sofa and a gesture control system.The gesture control system for the functional sofa comprises a scanning recognition module used for scanning hand operation of a user to obtain gesture pressure data; the main control module is used for integrating the gesture pressure data sent by the scanning recognition module to obtain gesture integrated pressure data; the data analysis module is used for analyzing the gesture integration pressure data sent by the main control module to obtain a gesture result and sending the gesture result to the main control module; and the driving module is used for controlling the functional sofa according to the control instruction which is sent by the main control module and corresponds to the gesture result. The operation modes of the functional sofa are enriched, and the reliability of the functional sofa is improved by reducing the physical wear and contact fault risk of the keys or the sliding structure while the use convenience is improved.

This invention discloses a method for repairing myofascia using foot-controlled current and manual therapy. This invention relates to the field of bioelectric rehabilitation therapy technology, and includes steps S1 (preoperative circuit construction), S2 (full-area fascial palpation), S3 (multi-source data acquisition), S4 (transfer processing), S5 (data comprehensive calculation and analysis), and S6 (foot-controlled dynamic current synergistic manual repair). This invention uses foot-controlled current throughout the entire process, eliminating the need for hand operation. It simultaneously diagnoses and repairs myofascia through manual touch. A multi-parameter quantitative system is constructed through a fascial adhesion unit, making adhesion assessment objective and reproducible. The dynamic management unit integrates scoring and individual parameters to output the optimal current, incorporating conduction gain and resistance difference compensation. The foot-controlled adjustment unit outputs personalized pressure ranges, including manipulation rate compensation and habit adaptation, solving the problems of traditional assessments relying on experience and using coarse parameters.

The utility model discloses a kind of digestive endoscope operation auxiliary operation systems, including external structure and internal structure, external structure includes base, column and shell fixed on base, workstation support fixed on column top, workstation top set on workstation support and liquid crystal screen set on workstation top, internal structure includes lower bottom plate, lower L connecting piece, electrical box, upper mainboard, main hand operating device, driving device, main connection vertical frame and the sub-connection frame fixed together with main connection vertical frame, two connecting frames are used to connect upper and lower two structure.The utility model is divided into upper and lower structure, compact structure, the height of overall structure is set to 1.2m, meet the hand operation habit and height of general height personnel, easy to operate, and use performance is more stable.

A tool for one-handed operation includes an open-ended cylinder having two half-cylinders coupled at first circumferential ends thereof. A retainer, coupled to the open-ended cylinder, has a spring-bias to automatically couple the half-cylinders when second circumferential ends of the half-cylinders are in contact with one another. The retainer is operable by a single finger of a user's hand to overcome the spring-bias such that the half-cylinders may move relative to one another. A first axial end of the open-ended cylinder slidingly receives an open-ended sleeve, and a second axial end of the open-ended cylinder has an internal annular ledge that provides an annular seat for the open-ended sleeve. A set of apertures extend through radial walls of the open-ended cylinder with each aperture including a portion located a distance from the annular ledge that is greater than an axial length of the open-ended sleeve.

The invention relates to the technical field of virtual shooting equipment design, and discloses an ergonomic virtual shooting handle design method. The method comprises the following steps: acquiring hand operation data of a target user through a multi-source sensor, wherein the hand operation data comprises time sequence posture data, space pressure data and dynamic motion data; performing fusion preprocessing on the hand operation data to generate a standardized hand data set; extracting multi-dimensional features from the standardized hand data set, wherein the multi-dimensional features cover a posture stability index, a pressure distribution mode and a motion fluency coefficient; mode mining is carried out on the multi-dimensional features, and a typical operation mode of the target user is identified; according to the typical operation mode, a preset handle design knowledge base is retrieved, and a basic design parameter set is obtained; iteratively correcting the basic design parameter set to generate an optimized design parameter set; and controlling the three-dimensional modeling tool to generate a digital model of the virtual shooting handle based on the optimization design parameter set.

This utility model provides a ski land simulator, belonging to the field of ski simulation technology. It includes a frame, with a ski slide mechanism on the upper surface of the frame. Two vertical fixed cylinders are symmetrically fixed at one end of the frame. Movable rods are elastically inserted into the top of the fixed cylinders. A horizontal handrail is fixed between the tops of the two movable rods. Positioning pins are inserted into the top side of the fixed cylinders, and positioning holes for the positioning pins are opened on the side of the movable rods. Two ski tubes are slidably sleeved on the handrail. Ski pole handles are suspended from the lower end of the ski tubes. Movable plates are elastically installed on the top of the inner wall of the ski tubes. Vertical fastening bolts are rotatably installed on the upper end of the movable plates, with the tops of the fastening bolts located outside the upper end of the ski tubes and secured with nuts. This utility model is suitable for people of different heights and improves hand operation in ski simulation, resulting in a good overall user experience.