142 results about "Hand movements" 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 relates to the technical field of medical hygiene, and particularly discloses a hygiene visual intelligent monitoring and guiding system suitable for surgical hand disinfection, hand motion data is collected by fusing a multi-modal motion capture module with a depth camera and an inertial sensor, and a high-risk area identification module analyzes the risk of microbial residues in finger seams and fingernail edges. The three-dimensional motion modeling module constructs a biomechanical model to calculate a trajectory, the dynamic compliance guiding module marks deviation in real time through optical projection, the multi-source data fusion module integrates a risk value and a spectral data evaluation effect, and the intelligent decision engine module outputs an operation matching degree and a correction instruction based on a neural network. Omnibearing monitoring, accurate risk assessment, real-time action guidance and quantitative effect evaluation of the hand disinfection process of an operator are realized, the standardization and effectiveness of surgical hand disinfection operation are finally improved, and the infection risk of a surgical site is reduced.

The invention provides a system for controlling a manipulator in real time through hand electromyographic signals, which comprises a data acquisition unit, a terminal equipment unit and a tail end execution unit which are in communication connection through serial ports. The data acquisition unit comprises a data acquisition device and a signal acquisition module, and is configured to acquire a multi-channel electromyographic signal of a hand of a user in real time and perform signal conditioning and digitization so as to obtain a digital signal sequence representing a muscle activity intention of the user; the terminal equipment unit comprises a data preprocessing module, a model training module, a gesture recognition module and an instruction generation module; the tail end execution unit comprises a manipulator control unit which is in communication connection with the control output module and is configured to be used for receiving the manipulator control instruction and driving a manipulator to execute corresponding actions; in combination with a control method, the problems of insufficient real-time performance, poor hand action recognition precision and robustness, unstable control instruction, poor user adaptability and the like in the prior art are solved, and the man-machine interaction performance is improved.

The invention relates to the technical field of fingertip recognition, and discloses a fingertip recognition method and device for hand contour area judgment. The method comprises the following steps: acquiring a hand image and extracting a hand contour point sequence; calculating a local shape dimension value based on the hand contour point sequence, and recognizing fingertip candidate region data in combination with a local curvature value and a convexity metric value; creating a fingertip form descriptor according to the fingertip candidate region data, and determining a fingertip candidate point set by calculating a fingertip-recess association degree value and a hand contour sector area ratio; performing multi-feature fusion judgment on the fingertip candidate point set to obtain a real fingertip point set; and establishing a nonlinear mapping relation between a physical coordinate system and an image coordinate system in the real fingertip point set, and outputting a steady-state locked accurate fingertip position. According to the invention, accurate positioning and smooth tracking of the fingertip position are realized, shaking and jumping phenomena during rapid movement of the hand are effectively eliminated, and stable and continuous fingertip trajectory output is provided.

The invention belongs to the technical field related to medical robots, and discloses a rigid-flexible coupling pneumatic humanoid dexterous finger and a dexterous hand. The dexterous finger comprises a sectional corrugated pipe actuator, a rigid cover plate, a rigid bottom plate, a flexible finger pulp patch and a one-way stretchable fabric; a cooperative structure of rigid supporting, flexible driving and contact adaptation is formed through a preset assembly relation; by designing the wave number of the corrugated pipe at each joint of the pneumatic dexterous finger, the bending proportion of each joint is ensured to accord with the human hand movement rule; the one-way stretchable fabric can restrain ineffective upheaval at the joints, and the energy conversion efficiency is improved. The dexterous hand can integrate five anthropomorphic-size dexterous fingers, and the palm notch angle, the thumb turning direction angle and the flexible palm patch are all engraved with the physiological characteristics and structure of the hand of the human body. According to the pneumatic dexterous hand, personification of the pneumatic dexterous hand in appearance and movement modes is achieved, flexibility and bearing stability are both considered, and the pneumatic dexterous hand can meet the requirements of multiple scenes such as medical care and industrial assembly.

A method including acquiring a hand movement video obtained by capturing images during a process in which a target user rotates a wrist joint from a first angle to a second angle while maintaining a hand posture with five fingers naturally extended, so that the hand movement video comprises a plurality of image content frames captured during a rotation process of the hand from a front / side view to a side / front view; acquiring curvature information of the fingers and / or nails from the plurality of image content frames acquired during the rotation process; and creating a 3D hand model of the target user based on the hand movement video, and optimizing key point parameters of the fingers and / or nails in the 3D hand model based on the curvature information of the fingers and / or nails. The present disclosure enables digital reconstruction of the hand and improve the reconstruction accuracy of the hand.

The invention provides a three-dimensional hand reconstruction method and device based on multi-view feature interaction, and the method comprises the following steps: obtaining hand images corresponding to the same hand under at least three views, inputting each preprocessed hand image into a pre-trained hand feature reconstruction network, and obtaining a vertex offset matrix, and performing reconstruction based on the vertex offset matrix and a preset standard hand grid to obtain a three-dimensional hand reconstruction result. According to the scheme, in the feature fusion stage, geometric features and key information are extracted at the same time through the dynamic feature fusion module and the multi-view feature fusion module, and in the decoding stage, the interaction relation between joints and vertexes and the physical characteristics of hand movement are deeply excavated, so that accurate three-dimensional reconstruction is completed.

The invention relates to the technical field of rehabilitation medical treatment, in particular to a hand rehabilitation training system based on virtual reality and gesture interaction, and the system comprises a gesture sensing module which collects a hand movement track, a muscle electric signal, grip pressure and a joint movement angle; the VR rehabilitation scene construction module constructs a rehabilitation training virtual scene, simulates a hand interaction behavior and a force feedback effect through an adaptive physical engine and a neural action mapping algorithm, and outputs simulation data; the intelligent evaluation center evaluates the action standard degree and the muscle activation efficiency based on an improved CNN-GRU model, identifies an action compensation mode and abnormal force generation, and outputs an evaluation report; the interactive training unit renders a motion state and a training process in real time, and generates personalized training guidance in combination with voice, visual and tactile prompts; and the personalized regulation and control unit predicts a rehabilitation trend and a stage target through a reinforcement learning algorithm, and dynamically adjusts training parameters and scene difficulty. Therefore, the problems of low interaction precision, incapability of sharing and the like in the prior art are solved.

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 discloses a non-active finger exoskeleton and a non-active hand exoskeleton. The finger exoskeleton comprises a fixed seat, an upper pull rod, a lower pull rod and knuckles. And the far end of the upper pull rod is connected with the middle ends of the knuckles and the near end of the central pull rod. The near end of the lower pull rod is connected with the fixed seat, and the far end is connected with the knuckle near end. A unique ergonomic design is adopted, a user is allowed to control the exoskeleton through simple hand actions without depending on external power, complex holding and operation tasks are completed, and the life self-care ability of a person with finger amputation or insufficiency is remarkably improved.

The utility model discloses a hand rehabilitation training exoskeleton, and relates to the technical field of exoskeletons. According to the hand rehabilitation training exoskeleton, the ends of the palm shells are connected with the joints in a supporting mode through supporting sleeves, and the supporting sleeves are connected with an air conveying device in a communicating mode. The carpal joint is connected with the palm shell through a supporting sleeve, the other end of the carpal joint is connected with the metacarpal joint or the finger joint through the supporting sleeve, and the other end of the metacarpal joint is connected with the finger joint through the supporting sleeve. The problems that in the prior art, the size is large, flexibility is poor, operation is complex and the like are solved, and the requirements for precise assistance and natural training are difficult to meet. According to the hand rehabilitation training exoskeleton, the exoskeleton and the pneumatic technology design are combined, the lightweight design and the intelligent control technology are combined, the hand rehabilitation training exoskeleton aims at assisting a hand dysfunction patient in scientific rehabilitation training, and the hand rehabilitation training exoskeleton is suitable for stroke, brain injury, joint diseases or postoperative hand function recovery. Natural assistance and scientific rehabilitation of hand movement are achieved, and an efficient and safe hand function recovery means is provided for a patient.

This invention discloses a finger joint angle detection mechanism and a method for constructing a 3D model of an object; belonging to the field of exoskeletons for human finger joints, it consists of a fabric substrate, a data storage module, a displacement sensor, and a transmission mechanism, including five sets of three-segment skeletons. The thumb skeleton includes a fingertip joint rod, a root joint rod, a back-of-hand rod, and a wrist rod; the other finger skeletons include a fingertip joint rod, a middle joint rod, a root joint rod, and a back-of-hand rod. Each pair of skeleton segments is connected by a transmission mechanism and a cylindrical pin. The glove does not affect the natural movement of the human hand, and when collecting finger joint data through grasping or other methods, it ensures flexible hand movement, and the range of joint bending angles is unrestricted. When the human hand wears the glove to grasp an object, the bending angles of each finger joint are collected and converted into bending angle images. A convolutional neural network is used to fuse the bending angle images with multi-angle captured object images to achieve accurate 3D reconstruction of the object.

This invention relates to the field of medical and nursing device technology, and in particular to a restraint-type distance-sensing anti-extubation alarm glove and its method of use. The glove includes a restraint glove with a fixing strap on one side of its surface. A magnet is fixedly connected to the top of the fixing strap, and a magnet is disposed within the inner cavity of the magnet. This invention combines physical restraint with intelligent early warning, catheter positioning, and catheter angle adjustment. Through a specially designed enclosed space on the right side of the restraint glove's inner cavity, the range of motion of the patient's ring and little fingers is physically restricted, effectively preventing the patient from pulling the tube by clenching their fist. Simultaneously, a distance monitoring system is constructed using positioning chips one, two, and three. When hand movements pose a risk, multiple alerts are provided through different colored lights, alarm sounds, and vibrations, offering comprehensive warnings to the patient and medical staff from auditory, visual, and tactile dimensions, allowing for timely measures to prevent extubation.

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.

Flexible nanocomposite-based piezoelectric glove system for recognizing hand gestures and wirelessly controlling the movement of a trolley, comprising a flexible glove adapted to be worn on a user's hand; a plurality of piezoelectric nanocomposite sensors attached to the glove at the wrist or finger joints, the sensors configured to generate voltage signals in response to mechanical deformation caused by wrist or hand movements; a microcontroller unit integrated into the glove, configured to receive and process the voltage signals from the sensors to classify specific hand gestures based on signal patterns; a wireless communication module operatively coupled to the microcontroller unit and configured to transmit gesture-based control signals to a remote receiver; a receiver module integrated into a remote movable device, the receiver configured to receive the transmitted control signals and generate corresponding motion control commands for the movable device; wherein the system (100) is configured to enable wireless real-time control of the movable device by user hand gestures without requiring external power for gesture sensing.

A method and system for continuous aerial handwriting stroke recognition in extended reality includes: sampling over time to acquire the three-dimensional position sequence of key finger points during user writing and the 6-DOF pose information of an XR computing device at the sampling time; constructing and training a lightweight neural network model, the model flow of which is as follows: preprocessing the input data and constructing kinematic features, then passing the kinematic features through a deep separable temporal convolutional network to output the writing probability and boundary probability at each sampling time, with the boundary probability used for auxiliary supervision during training; passing the sampled data through the trained lightweight neural network model to infer and output the writing probability at the sampling time, and extracting connected segments according to a threshold to recover the stroke segment set, thereby achieving visual interaction with the user. This invention relates to the field of information technology and can automatically identify the position of writing strokes and their boundaries from continuous hand movements without relying on virtual plane constraints or excessive reliance on explicit switching actions.

The invention provides a controllable variable-stiffness hybrid-driven self-adaptive dexterous hand and a driving method thereof, the controllable variable-stiffness hybrid-driven self-adaptive dexterous hand comprises a bionic connecting assembly, a variable-stiffness finger assembly and a thumb assembly, and the variable-stiffness finger assembly comprises an assembly frame, a variable-stiffness assembly, a first driving mechanism, a near knuckle assembly, a middle knuckle assembly and a first fingertip assembly; the thumb assembly comprises a mounting base, a rotary driving mechanism, a second driving mechanism, a thumb knuckle assembly and a second fingertip assembly. The contradiction between fine operation and flexibility of a traditional dexterous hand is broken through, and the grabbing adaptability and operation reliability of the dexterous hand are remarkably improved. According to the variable-rigidity finger assembly, the rigidity of each finger of the variable-rigidity finger assembly is adjusted in real time according to the characteristics of a grabbed object through the magneto-rheological regulation and control technology, and the problem that the dexterous hand lacks rigidity controllability is solved. The thumb assembly can be independently bent, regulated and rotationally adjusted, the hand movement freedom degree and operation flexibility are further expanded, and the requirements of multiple fields for multiple functions and high adaptability of the dexterous hand are met.

The invention relates to a variable resistance force feedback hand exoskeleton system and a control method thereof. The system comprises a thumb base which comprises a thumb fixing support used for fixing the thumb, a plurality of shaft rod fixing bases rigidly connected with the thumb fixing support and a posture sensor used for obtaining the overall relative posture of the hand. The system further comprises a plurality of finger tip moving resistance mechanisms, and each finger tip moving resistance mechanism comprises a shaft rod, a finger tip moving resistance mechanism, a finger tip moving resistance mechanism, a finger tip moving resistance mechanism and a finger tip moving resistance mechanism, wherein the lower end of the shaft rod is rotationally hinged to a corresponding shaft rod fixing base on the thumb base; the finger tip main body is arranged on the shaft rod in a sliding manner; the finger fixing ring is fixed on the finger tip main body and is used for fixing fingertips of an index finger, a middle finger, a ring finger or a little finger; the variable resistance assembly is arranged on the finger tip main body and is used for extruding the shaft rod to generate variable resistance; the position sensor is fixed to the finger tip body and used for detecting the position of the finger tip body relative to the shaft rod in real time. According to the technical scheme, the hand motion freedom degree and the resistance feedback authenticity in virtual reality interaction can be improved.

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 an intelligent control auxiliary finger device for fine finger exercise training, and relates to the technical field of hand exercise training, the intelligent control auxiliary finger device comprises a base and a wrist frame fixedly arranged on the base, and an auxiliary assembly for multi-mode cooperative composite training is arranged in the wrist frame; a supporting frame used for supporting the wrist of a user is arranged at the movable end of the auxiliary assembly, a frame plate is arranged on the supporting frame, a training assembly is arranged in the frame plate, the movable end of the training assembly is provided with four first fingerstalls and a second fingerstall which are used for being arranged on the four fingers and the thumb in a sleeving mode, and a sponge ball used for hot compress of the palm of the patient is arranged on the frame plate. At least one pressing plate which is pushed by a user to trigger the training assembly is arranged in the auxiliary assembly, three training modes are integrated, three-dimensional space composite training of wrist rotation, palm pitching and finger grabbing is combined, the training is directly benchmarked with complex actions in daily life, and the functional value of rehabilitation is improved.

The invention relates to the use of a marking instrument (10; 10a), such as a ruler, set square, or protractor, to refine hand movements and increase the confidence and comfort of individuals who have difficulty automating hand gestures in time and space. The instrument comprises a main body (12) with one or more lateral marking elements (22), with one or more sliding systems (14, 15) and one or more gripping systems (16), and is constructed in several blocks. The main body (12) associated with the gripping system(s) (16) and the lateral marking elements (22) associated with the sliding system(s) (14, 15) are separate blocks, and the main body is actuated by pressure to perform a gripping action. Figure for the abstract: Fig. 14

The invention belongs to the technical field of orthopedic lazy arm traction, and particularly relates to an orthopedic lazy arm traction device which comprises a base, a support is fixedly mounted on the base, a support is fixedly mounted on the support, a traction frame is mounted at the top of the support through an adjusting assembly, and the adjusting assembly is used for adjusting the height of the end, away from the support, of the traction frame; and a lifting rope is arranged in the traction frame. The holding ball is arranged on the holding ball, so that a patient can completely hold the holding ball through a palm and can also hook the holding ball through fingers for traction training, different hand movement states of the patient are adapted, and the application range of the device is expanded; by arranging the counterweight assembly at the bottom of the support, the gravity of the device body can be increased, the placement stability of the device is effectively improved, the device is prevented from toppling over in the traction process, graded adjustment of the traction force of the lifting rope can be achieved by increasing or decreasing the counterweight, the stress requirements of patients in different rehabilitation stages can be met, and the rehabilitation treatment effect is improved.

The invention provides a brain function rehabilitation training and myoelectricity feedback hand movement auxiliary device, and relates to the technical field of rehabilitation equipment. Comprising a hand wearing piece and a control piece, and the hand wearing piece is electrically connected with the control piece; the hand wearing piece comprises a palm sleeve, a contact piece is arranged at the palm center of the palm sleeve, and an auxiliary finger sleeve is arranged on the palm sleeve; a capacitive sensing piece is arranged on the contact piece, and a finger hole matched with the capacitive sensing piece is formed in the auxiliary fingerstall; a bending mechanism is arranged on the back of the auxiliary fingerstall; compared with the prior art, the hand rehabilitation training device is simple in structure, convenient to use and capable of effectively achieving hand rehabilitation training of a patient.

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.

The invention relates to the technical field of arthritis treatment jackets, in particular to a rheumatoid arthritis hand auxiliary treatment jacket which comprises a glove, the glove is divided into a palm face and a hand back face, a wrist is constructed on one side of the glove, and a pressure control piece is arranged on the glove; the pressure control part comprises a cavity constructed in the glove, the cavity divides the glove into an outer layer and an inner layer, the outer layer is made of a heat preservation material, and the inner layer is made of an elastic material; a water injection valve communicated with the cavity is arranged on the glove, and liquid is allowed to enter and exit from the cavity by opening and closing the water injection valve; the three pressure control modes of wrist air bag pressurization and hand movement dynamic pressurization are adjusted through the liquid medicine injection amount, a patient can autonomously select pressure gears according to the illness state and the scene, low-gear mild pressurization is conducted during daily office mild movement, slight aching pain is relieved, operation is not affected, middle-gear moderate pressurization is conducted when joint swelling pain is aggravated, and therefore the patient can feel more comfortable. During night rest, middle and low gears can be flexibly selected, and morning stiffness is relieved while constraint feeling is avoided.

The application provides a Parkinson's disease intelligent screening and evaluation system based on multi-data driving, belongs to the technical field of artificial intelligence, collects hand movement data of a patient based on a multi-modal sensor glove, pre-processes the collected hand movement data to obtain a feature vector corresponding to the corresponding sensor, converts a UPDRS scale evaluation result into numerical data, matches the numerical data with the feature vector to obtain a four-dimension evaluation vector of the patient, trains and tests the four-dimension evaluation vector by using a multi-source heterogeneous evaluation algorithm to obtain a clustering evaluation model, and outputs an evaluation score according to the input four-dimension evaluation vector to obtain a comprehensive disease classification of the patient. The Parkinson's disease intelligent screening and evaluation method and system based on multi-data driving can timely find the disease level of the patient, improve the objectivity and accuracy of the evaluation, and overcome the subjectivity, fuzziness and incoherence of the traditional evaluation scale.

The embodiment of this specification provides a method for recognizing gesture commands by combining brain and muscle. The method collects EEG signals, EMG signals and images of healthy hand movements in a synchronous free state, determines whether the healthy hand movements meet preset conditions based on the gestures, and stores the signals if they meet the conditions. The display device plays the gestures and limits the state of the healthy hand. The EEG signals and EMG signals in the restricted state are synchronously collected and stored in a storage medium after being timestamped. The EEG signals and EMG signals in the restricted and free states are used to train a gesture prediction model. The EEG signals and EMG signals of stroke patients are collected and the hand movements are predicted using the gesture prediction model. By combining the EEG signals and EMG signals in the restricted and free states, the EEG signals and EMG signals in the idle state are taken into account, and the gesture commands of the patient can be effectively predicted, thereby improving effectiveness.

Provided is an electronic prosthetic hand that detects and operates hand movements. The electronic prosthetic hand may include a prosthetic hand including a finger unit capable of joint movement and a control unit that controls the finger unit, a first sensor module positioned on a user's finger, a second sensor module positioned on the back of the user's hand, and a gyro sensor provided in each of the first and second sensor modules to measure displacement according to a change in the positions of the first and second sensor modules. The electronic prosthetic hand can be used more precisely because the first and second sensor modules detect the movements of the user's finger and back of the hand, respectively, and implement joint movements of the finger unit based on the displacement difference values according to the movements of the finger and back of the hand.

Described is a touchless plumbing fixture system utilizing object tracking technology to allow a user's hand movement(s), gesture(s), or poses in three dimensional sensory space to control water flow rate, water temperature, and the enabling and disabling of water flow without physical contact or manual manipulation of the system or its parts.

The invention provides a disposable detachable disinfection operating forceps training and checking system and method for the obstetrics and gynecology department. The method comprises the steps that force sense data of hands of a target student in the operation process of virtual operating forceps are collected; determining a plurality of abnormal actions of the hand of the target student in the process of operating the virtual operating forceps according to the force sense data; determining the fluctuation range of the force sense of the target student in the process of operating the virtual operating forceps through all the abnormal actions of the hand and the difference characteristics of the grip strength, and determining the cooperative deviation between the hand actions of the target student and the instrument conversion state of the virtual operating forceps according to the fluctuation range of the force sense; determining an operation energy efficiency value when the target student operates the virtual operating forceps according to the operation time and the cooperative deviation of each operation step when the target student operates the virtual operating forceps; and examining the operation of the target student on the virtual operating forceps based on the operation energy efficiency value. By adopting the scheme of the invention, the action collaboration can be fused to evaluate the action of operating the operating forceps by the target student.