45 results about "Hand palms" patented technology

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.

An exercise grip is disclosed. The exercise grip includes a protective portion and a wrist strap connected to a wrist end of the protective portion. The protective portion has a finger end in which three or four finger holes are defined. The protective portion also has a palm portion that extends from the finger holes to the wrist end. The protective portion varies in width from the wrist end to the finger end. The protective portion can be formed to cover an ulnar portion of a wrist when placed on a hand.

Disclosed is a hand-and-wrist accessory device formed by an elasticated glove, wherein the ends of the fingers and the end of the wrist comprise an internal elasticated silicone layer that acts as a mechanical securing element for securing to the skin, these securing elements being connected to rigid structures connected to elastic elements, transmitting elastic energy from the wrist to a central floating piece on the dorsal carpus, where it is distributed to each finger terminal, the elastic elements being guided by rigid pieces disposed in the paths extending from the central piece to the finger terminals, to ensure the correct alignment thereof. These external elements have reciprocal securing elements to generate continuity from the wrist terminal to the finger or digit terminals. Cushioned elements are disposed on the palm to redistribute pressure in the wrist areas.

The application belongs to the technical field of humanoid robots, and discloses a modular mechanical thumb finger with the motion characteristics of a human thumb, which comprises a base module, a metacarpal module, a proximal phalanx and a distal phalanx. The base module provides a connecting interface with a palm or an arm robot. The metacarpal module has three active degrees of freedom and is driven by a screw block mechanism to accurately realize opposition, abduction and dumping motions. The proximal phalanx realizes bending motion. The distal phalanx is coupled with the proximal phalanx through a four-bar linkage mechanism and is decoupled through a rocker block mechanism, and has passive adaptive capability. The application highly imitates the motion function of a human thumb, has compact structure, efficient driving, and can stably complete fine opposition and gripping operations. Meanwhile, the modular design facilitates integration, and improves the operability, adaptability and intelligent level of the humanoid dexterous hand.

This invention relates to a multi-degree-of-freedom thumb structure and a multi-degree-of-freedom bionic hand. The multi-degree-of-freedom simulated hand includes a palm portion; the multi-degree-of-freedom thumb structure includes a first housing, a thumb assembly, and a lateral swing drive assembly; the first housing is mounted on the palm portion; the thumb assembly includes a proximal thumb joint, a mid-thumb joint, and a distal thumb joint connected in sequence; one end of the proximal thumb joint is connected to the palm portion via a first ball hinge structure, and the other end is connected to the mid-thumb joint via a second ball hinge structure; the power output end of the lateral swing drive assembly is connected to the proximal thumb joint and also to the mid-thumb joint, so that when it drives the thumb assembly to move closer to or away from the palm portion, it synchronously drives the mid-thumb joint to swing relative to the proximal thumb joint around the center of the second ball hinge structure, which has the advantage of high flexibility.

A brace for treating / preventing carpal tunnel injury including a body having a proximal end and a distal end defining s longitudinal direction, the body including a forearm support at the body proximal end, a wrist support coupled to the forearm support by a neck portion, the wrist support comprising a first palmar strap support, a first member and a second member extending from the wrist support in the longitudinal direction towards the distal end, a distal palmar support, a proximal palmar aperture, a palm band having a second palmar strap support, and a palmar strap, extending between a proximal end attached to the first palmar strap support to a distal end, the palmar strap configured to extend across a portion of the back of the hand and over a purlicue of the hand, the distal end of the palmar strap configured to removably attach to the distal palmar support.

A robot hand module includes a palm part and a thumb module coupled to the palm part, wherein the thumb module includes a thumb phalangeal part movably coupled to the palm part, a thumb cable part having a first side connected to the thumb phalangeal part, and a thumb driving part connected to a second side of the thumb cable part and configured to operate the thumb phalangeal part by extending the thumb cable part to the outside or retracting the thumb cable part, and wherein the thumb phalangeal part includes a thumb pre-tensioner configured to pull the thumb cable part, a first side of the thumb pre-tensioner being fixed relative to the thumb phalangeal part, and a second side of the thumb pre-tensioner being fixed to the thumb cable part.

A robotic appendage includes: a forearm body; a palm body movably coupled to the forearm body; a finger assembly coupled to the palm body, the finger assembly including a phalanx; a tensile member coupled to the phalanx and extending through the palm body; and an actuator coupled to the forearm body and the tensile member and configured to tension the tensile member to reposition the phalanx relative to the palm body.

The invention discloses a data glove for hand high-dimensional feature representation and a dynamic sign language recognition system. The data glove comprises a glove body, a plurality of sensors integrated on the glove body and a total collection device. The plurality of sensors are connected with the total acquisition device, are arranged on the glove and are used for detecting bending angles of all finger joints, side-sway angles of metacarpophalangeal joints and palm movement data; the dynamic sign language recognition system carries out advanced feature processing on sensor data through wavelet transform, extracted time-frequency features flow into a CNN module to carry out deep spatial feature extraction, and finally a time sequence change rule of dynamic sign languages is learned through an LSTM module. The dynamic sign language recognition system can extract the time-frequency characteristics of the dynamic sign language and learn the time sequence change rule of the dynamic sign language.

The invention relates to the technical field of manipulators, and discloses a bionic dexterous hand. The bionic dexterous hand comprises a palm mechanism, a thumb mechanism and at least one finger mechanism, the rotary driving assembly is used for driving the first side-sway driving assembly to rotate around a first axis, the first side-sway driving assembly is used for driving the first near knuckle to perform side-sway motion around a second axis, and the first driving part is in driving connection with the first near knuckle and is used for driving the first middle knuckle assembly to perform flexion and extension motion; the second driving part is in driving connection with the first far knuckle assembly and is used for driving the first far knuckle assembly to bend and stretch; the first far knuckle assembly is used for driving the first fingertip to bend and stretch; the second side-sway driving assembly is used for driving the second near knuckle assembly to make side-sway motion around a sixth axis, and the second near knuckle assembly is used for driving the second middle knuckle assembly to make flexion and extension motion; the second middle knuckle assembly is used for driving the second far knuckle assembly to bend and stretch, and the second far knuckle assembly is used for driving the second fingertip to bend and stretch.

A hand covering with a mitten shell, a thumb portion extending laterally from the mitten shell, and abbreviated index, middle, ring, and pinkie finger fingertip segments configured to receive only the distal phalanx portions of the index, middle, ring, and pinkie fingers of the hand, respectively. Each fingertip segment has a distal end portion and a tubular peripheral wall that define an inner volume configured to receive only the distal phalanx portion the respective finger up to the distal interphalangeal joint. The inner volumes of the fingertip segments have lengths comprising a distance DD that are at least 20% but not more than 35% of a distance DT for the respective fingertip segment wherein the distance DT for each fingertip segment extends from the distal end of the inner volume to a line traveling laterally across the hand covering crossing a junction where the thumb portion meets the mitten shell.

This application discloses a biological dual-motion total wrist joint prosthesis, relating to the field of prosthesis structure technology. This biological dual-motion total wrist joint prosthesis achieves effective replacement of the wrist joint by incorporating a medullary rod and metacarpal fixation structure. In particular, the configuration of the palm fixation rod and rotation ball allows the prosthesis to function effectively at the wrist joint, replacing the damaged original joint and thus ensuring wrist rotation function. This structure not only effectively fixes the metacarpal bones but also improves the prosthesis's rotation angle and range of motion, avoiding the drawbacks of traditional prostheses that lack sufficient mobility to meet the patient's flexible movement needs. Wrist flexion, extension, and displacement movements are smoothly completed, significantly improving the prosthesis's performance.

A thumb brace for a person's hand includes a sheath for partially encircling a back of the hand, a thumb, and a front portion of a palm. The sheath includes two opposing lateral edges, a front edge, and a rear edge. A thumb retaining portion of the sheath has an open distal end adapted to receive the thumb therethrough. A retention mechanism is adapted to pull the two opposing lateral edges of the sheath towards each other to secure the sheath on to the hand. The thumb brace further includes a strap fixed at a first end thereof with the sheath, extending over the first web space of the hand, and fixable with an outside surface of the sheath. The strap and thumb retaining portion of the sheath together limit a range of motion of the thumb and the CMC joint.

This invention provides a gesture recognition method and interactive training platform based on an ADAS intelligent simulation training cockpit. The method includes: detecting hands based on continuous video frames to obtain hand structure information; filtering hands located within a preset driver's seat operating area based on the hand structure information and palm orientation to obtain target hands; determining gesture morphological features based on the first coordinate difference in the vertical direction between the first spatial key point coordinates of each fingertip and the second spatial key point coordinates of the corresponding metacarpophalangeal joint in the target hand; if a gesture morphological template matching the gesture morphological features exists, comparing the gesture morphological features with those of the previous video frame to obtain the number of consecutively occurring frames; if the number of consecutively occurring frames reaches a preset continuous detection threshold, controlling the vehicle's actuators to perform the corresponding operation based on the operation command corresponding to the gesture morphological features. This invention improves driving safety and system reliability.

The application discloses a self-locking double-acting full-wrist joint prosthesis, relates to the technical field of prosthesis structures, and realizes effective replacement of a wrist joint through the arrangement of a stem and a first locking screw. In particular, the arrangement of the palm fixing rod of the stem and the rotating ball part enables the prosthesis to play a role at the position of the wrist joint, replaces the damaged original joint, and thus guarantees the rotating function of the wrist. The structure not only can effectively fix the metacarpal bone, but also improves the rotating angle and the activity range of the prosthesis, avoids the defects that the traditional prosthesis cannot meet the flexible movement requirements of patients due to insufficient activity, and enables the flexion and extension and the deviation movement of the wrist to be smoothly completed, and thus the use performance of the prosthesis is remarkably improved.

The utility model discloses a multi-degree-of-freedom all-drive dexterous hand and robot, the multi-degree-of-freedom all-drive dexterous hand comprises a palm and a plurality of fingers, the plurality of fingers are arranged on the palm at intervals, the fingers comprise a proximal knuckle finger, a middle knuckle finger, a distal knuckle finger, a first motor, a second motor, a third motor and a fourth motor, wherein each of the first motor, the second motor, the third motor and the fourth motor is a frameless torque motor and is used for driving the fingers to bend or stretch so as to grab or release an object. By means of the direct driving mode, finger joints can move more directly and sensitively, finer and more complex actions can be achieved, and flexibility of fingers is greatly enhanced. Meanwhile, the space occupied by the driving structure is reduced, so that the internal structure of the bionic hand is simpler, more space is provided for layout of all parts of the fingers, and improvement of the overall compactness and miniaturization degree of the bionic hand is facilitated.

The utility model discloses a finger structure and a dexterous hand, and relates to the technical field of dexterous hands, the finger structure comprises a first driving device and a linkage finger, the first driving device comprises a first driving piece and a transmission mechanism which are arranged on a palm part, and the transmission mechanism comprises a first transmission piece and a second transmission piece which are matched with each other; the first transmission part is arranged on an output rotating shaft of the first driving part, and the second transmission part is driven by the first transmission part to rotate around a first axis; the linkage finger comprises a phalanx part and a linkage piece, the phalanx part at least comprises a first phalanx part and a second phalanx part, the first phalanx part is fixedly arranged on the second transmission piece, and the second phalanx part is rotationally connected to the end, away from the first driving device, of the first phalanx part and can be driven by the linkage piece to rotate around a second axis; the first axis and the second axis are arranged in parallel. According to the technical scheme, the overturning range of the finger structure can be enlarged when the finger structure is overturned relative to the palm.

The invention provides a rehabilitation glove and a design method thereof. The rehabilitation glove comprises a finger module, a palm module and a power module. The finger modules are arranged in parallel and comprise a first plate spring and a second plate spring of which the far ends are fixed, the palm module is used for supporting the palm of a user and is fixed to the near end of the first plate spring, and the power module is used for driving the second plate spring to move, so that the two plate springs interact to drive the fingers of the user to bend and stretch; a first included angle is formed between the first plate spring and the second plate spring and used for enabling the ratio of the bending angle of a near interphalangeal joint to the bending angle of a far interphalangeal joint of the finger to be not smaller than 2 when the power module drives the finger of a user to bend and stretch through the finger module, and therefore eagle claw-shaped deformity caused by excessive bending of the far-end joint is avoided. The motion trail of the fingers is more fit with the physiological characteristic of natural flexion and extension of the human hand, extra compression on soft tissues and joints of the fingers is remarkably reduced, and the wearing comfort and the safety of rehabilitation training are improved.

A glove, in particular a work glove, having a palm section covering the palm of the hand, a back section covering the back of the hand and a trigger device. The trigger device is provided at the point on the glove which, when the glove is being worn, rests against the radial side of the metacarpophalangeal joint of the index finger of a user's hand. The glove has a band-like base body, which includes the palm section and the back section, wherein the trigger device is, at least for the most part, provided on a tongue of the base body, which protrudes on the finger side beyond at least one of the finger-side edge of the palm section and an imaginary extension of the finger-side edge of the palm section.

The utility model relates to the field of warm -keeping technology, concretely is a kind of heating gloves based on ergonomics, including glove lining, the heating wire is fixedly connected with in the palm side of glove lining, the heating wire includes by the distribution of large metacarpal segment in the inside of large metacarpal from the rima glottidis, the beneficial effect of the present device is: utilize the concave structure of human palm, distribute in palm concave place by hypothenar segment, large metacarpal segment and phalangeal joint avoidance section, avoid electric heating wire compression muscle and metacarpal joint while ensuring heating and keeping warm;By metacarpal joint avoidance return section and metacarpal joint avoidance section, avoid the joint protrusion of second metacarpal to fifth metacarpal and proximal phalanx;Again by phalangeal joint avoidance section along the joint of proximal phalanx and middle phalanx distribution, utilize the concave wiring formed by finger natural bending, avoid heating wire compression joint and muscle, finally realize finger heating while improving comfort.

The application discloses a big thumb of a dexterous hand and the dexterous hand, relates to the technical field of dexterous hand, and relates to the technical field of dexterous hand, a mounting seat is arranged on a palm portion and rotates around a first axis, the mounting seat has a mounting cavity, a first wire hole and a first mounting port which are communicated with the mounting cavity; a driving unit comprises a rotating shaft which is arranged in the mounting cavity and rotates around a second axis, the rotating shaft is provided with a first threading channel, the first threading channel penetrates through two opposite ends of the rotating shaft along the second axis, and is communicated with the first wire hole and the mounting cavity; the first wire hole is coaxially arranged with the first threading channel, and the second axis intersects with the first axis; a metacarpophalangeal joint is arranged in the mounting cavity through the first mounting port, and is connected to one end of the rotating shaft; the metacarpophalangeal joint is provided with a second threading channel which is communicated with the first threading channel.The technical scheme provided by the application reduces fatigue damage of the electric wire bundle caused by repeated bending, twisting or winding during the self-rotation of the big thumb, and improves the reliability of the electric connection.

The utility model discloses a direct drive type finger and a full direct drive type dexterous hand, and relates to the technical field of dexterous hands, and the finger comprises a first mounting seat connected with a palm part, and a first joint, a first phalanx, a second joint and a second phalanx which are sequentially connected outwards from the palm part; the first joint comprises a first driving unit, the first driving unit comprises a first shell, a first motor and a first rotating shaft mounted on the first shell, the first phalanx is fixedly arranged on the first shell, the first shell is connected with the first mounting seat through the first rotating shaft, and the first motor drives the first shell through the first rotating shaft; the first shell is turned over around the axis of the first rotating shaft relative to the first mounting seat, and fingers can be turned over towards the palm inner surface; the second joint can drive the second phalanx so that the fingers can bend towards the metacarpal inner face. According to the technical scheme provided by the utility model, the problem that fingers cannot turn over to the maximum extent can be solved.

This application belongs to the field of robotics technology, and the embodiments provide a dexterous hand and a robot. The dexterous hand includes: a palm base plate; a thumb detachably connected to the palm base plate, the thumb including a thumb drive assembly for driving flexion-extension and lateral movements, the thumb drive assembly being located within the thumb; and multiple phalanges, each phalanx including a first drive assembly, a second drive assembly, and a metacarpal bone, the first and second drive assemblies being configured to drive the phalanges to perform flexion-extension and lateral movements; wherein the first and second drive assemblies independently include a power module and a transmission module, the power module being integrated within the palm base plate, and the transmission module being integrated within the metacarpal bones. This dexterous hand has a compact structure, is lightweight, and more closely resembles the shape and size of a human hand; the five fingers adopt a modular design, allowing for individual disassembly and control, greatly facilitating installation, debugging, and maintenance, and reducing usage costs.

The utility model relates to the field of medical instruments, in particular to a phalanx fixing brace which comprises a fixing sleeve, a metacarpophalangeal joint fixing plate, an interphalangeal joint fixing plate, a first dorsal bent plate and a second dorsal bent plate, and the fixing sleeve fixes the metacarpophalangeal joint fixing plate to the inner side of a palm through a first adhesive tape and a second adhesive tape; the fixing sleeve fixes the interphalangeal joint fixing plate to the inner side of a finger through a first adhesive tape and a second adhesive tape, a containing groove is formed in the interphalangeal joint fixing plate, and the end, close to the interphalangeal joint fixing plate, of the metacarpophalangeal joint fixing plate is inserted into the containing groove; the first back side bent plate is installed on the fixing sleeve in a sliding mode, and the first back side bent plate is used for fixing the palm and the fingers. The second back side bent plate is mounted on the fixing sleeve in a sliding manner and is used for fixing the finger space on the same finger; the first back side bent plate and the second back side bent plate are detachably connected with the interphalangeal joint fixing plate through limiting assemblies. The method has the effect of reducing the possibility that the joint function is limited.

This application relates to the field of robotic hand technology, disclosing a robotic finger and a robotic hand. The robotic finger includes: a distal phalanx; a proximal phalanx, drivenly connected to the distal phalanx; and a driving connection portion disposed at the connection between the root of the proximal phalanx and the palm base, for forming the metacarpophalangeal joint of the robotic finger. The driving connection portion includes an avoidance connection mechanism and a driving device unit, the driving device unit being drivenly connected to the proximal phalanx via the avoidance connection mechanism. The driving device unit enables the metacarpophalangeal joint to perform multi-degree-of-freedom movements within its normal range of motion, thereby realizing the swinging and flexion / extension movements of the robotic finger. Furthermore, when the metacarpophalangeal joint exceeds its normal range of motion due to overextension or external force, the avoidance connection mechanism absorbs part of the impact force and allows the proximal phalanx to move an additional distance.

The invention relates to the technical field of mechanical bionics, and discloses an under-actuated finger unit and an under-actuated dexterous hand, the under-actuated finger unit comprises a fixed end, a first phalanx, a second phalanx, a first joint, a second joint, a first rope and a driving rope; the fixed end, the first phalanx and the second phalanx are sequentially pivoted through the first joint and the second joint; one end of the first rope is fixed in the fixed end, firstly bypasses a first joint on the outer side surface of the back of the hand and then penetrates into the first phalanx, penetrates out of the first phalanx, firstly bypasses a second joint on the inner side surface of the palm and then penetrates into the second phalanx and is fixed; one end of the driving rope is connected with the palm inner side face of the first phalanx, and the other end is in transmission connection with the first power assembly and used for pulling the first phalanx to rotate around the first joint towards the palm inner side face under pulling of the first power assembly. A friction driving mode in a traditional under-actuated finger unit is abandoned, the pulling force of the driving rope drives the joints to extrude the rope to generate pulling force, friction force transmission is replaced with pulling force transmission, and accurate grabbing is achieved.

The invention discloses a motion compatible thumb exoskeleton with a finger aligning function and a use method thereof, and belongs to the technical field of biological mechanical engineering.The motion compatible thumb exoskeleton comprises a palm fixing part arranged on the back of a hand, the palm fixing part is provided with a carpal joint motion module, and the output end of the carpal joint motion module is provided with a carpal joint phalanx connecting piece; the carpometacarpal joint phalanx connecting piece is arranged outside the thumb metacarpal bone, the carpometacarpal joint movement module can drive the carpometacarpal joint phalanx connecting piece to move close to or away from the palm, the carpometacarpal joint phalanx connecting piece is provided with the interphalangeal metacarpal joint movement module, and the output end of the interphalangeal metacarpal joint movement module is arranged on the thumb distal phalanx. The thumb can be driven by the interphalangeal joint movement module to be close to or away from the index finger. According to the motion compatible thumb exoskeleton with the finger aligning function and the using method thereof, accurate, in-place and multi-angle personalized rehabilitation training aiming at thumb finger aligning motion can be achieved.

The utility model relates to a protective tool, in particular to a protective tool for radial styloid process stenosing tenosynovitis, which comprises a wrist guard (1), a placing bag (2) and a fixed supporting piece (5), the placing bag (2) is arranged on the wrist guard (1) and horizontally extends to the third metacarpal bone basal part of the hand back part from the middle part of the big thenar muscle of the palm surface; and the fixing and supporting piece (5) is inserted into the placing bag (2) and is used for fixing the dead point of the extensor major hallux and the dead point of the extensor minor hallux. Compared with the prior art, the utility model solves the problem in the prior art that the normal hand action of a patient is limited due to the influence on the actions of other fingers and wrists when the protector limits the thumb. According to the scheme, by changing the placement position of the fixing supporting piece, the effect on movement of the thumb and the wrist joint of a patient is small while the hallux short stretching tendon and the hallux long stretching tendon are fixed.

The invention provides a dexterous hand and a using method thereof, and belongs to the field of bionic manipulators, the dexterous hand comprises a palm, two collaborative fingers, a holding thumb and a physiotherapy functional assembly; the cooperative fingers are arranged at the far end of the palm through a first driving mechanism, and the opposite-holding thumb is arranged on the radial side of the palm through a second driving mechanism and achieves opposite-holding bending relative to the palm. The cooperative fingers comprise the near cooperative knuckles and the far cooperative knuckles, the near cooperative knuckles and the far cooperative knuckles are matched with the first linkage mechanism through the first driving mechanism, actions such as kneading, squeezing and pressing and top pressing are achieved, the cooperation with the physiotherapy function assembly is applied to the field of traditional Chinese medicine massage at low cost, and the intelligent traditional Chinese medicine massage technology is popularized.

A robot hand module includes a finger phalangeal part movably coupled to a palm part, a finger cable part having a first side connected to the finger phalangeal part, and a finger driving part connected to a second side of the finger cable part for operating the finger phalangeal part by extending the finger cable part to the outside or retracting the finger cable part, wherein the finger phalangeal part includes finger link pails including a plurality of link members and a finger link driving part for transmitting power to the finger link parts in a rectilinear direction, and wherein when the finger link pails receive the power from the finger link driving part in the rectilinear direction, some of the link members rotate relative to remaining ones of the link members, such that the finger phalangeal part rotates relative to the palm part.