77 results about "Hand palms" patented technology

The invention relates to the technical field of robot end executors, in particular to a bionic flexible self-adaptive dexterous hand and a control method.The dexterous hand comprises a palm, bionic fingers, a driving assembly, a reset assembly and a sensing system, the bionic fingers comprise knuckles connected in series through joint mechanisms, and the bionic fingers are movably connected with the palm through finger root joints; a non-Newtonian fluid core-shell structure is arranged on the finger pulp side and comprises a flexible sealing shell and a non-Newtonian fluid inner core filled in the flexible sealing shell, the driving assembly drives the fingers to bend through tendon rope retracting and releasing, the reset assembly enables the fingers to recover stretching after driving force is relieved, and the sensing system integrates a flexible sensor to feed back the grabbing state in real time. The non-Newtonian fluid slowly flows under pressure, so that the flexible shell perfectly fits the outline of an object, the contact area and friction force are greatly increased, creep deformation is resisted due to high internal energy consumption, and the irregular and smooth object is stably grabbed.

The invention belongs to the field of rehabilitation medical instruments, and particularly relates to a finger rehabilitation robot based on rope driving and a control method.The finger rehabilitation robot mainly comprises a base, a thumb assembly and a four-finger assembly, the thumb assembly is installed on the base through a torsional spring installation shaft, and the four-finger assembly is installed on the base through a rotating support and a switching hinge; the hand back is fixed to the base through the palm supporting strip, the fingers are worn in the four-finger assembly and the thumb assembly respectively, multi-dimensional driving modes such as a motor, an electric cylinder and a Bowden cable are fused, all the freedom degrees of motion of the fingers are covered, and multiple humanoid actions such as five-finger bending and stretching and finger adduction and abduction can be completed; multi-degree-of-freedom rehabilitation training aiming at fingers is accurately realized, and sufficient rehabilitation treatment is provided; meanwhile, a limiting block is arranged on the metacarpophalangeal joint support, so that injury caused by excessive bending or reverse bending of fingers in the rehabilitation process is avoided, and the safety of rehabilitation training is guaranteed.

The invention belongs to the field of robots, and particularly relates to a three-degree-of-freedom rigid-flexible coupling dexterous finger and a dexterous hand, and the dexterous finger comprises a finger knuckle module, a double-end spherical hinge connecting rod, a palm inner finger driving module, a driving transmission mechanism and an arm inner finger driving module. By fusing a rigid space connecting rod mechanism and a flexible driving transmission mechanism, the contradiction that a traditional rigid structure lacks flexibility and a flexible structure is insufficient in rigidity is ingeniously solved. Two degrees of freedom of flexion and extension and adduction and abduction of fingers at metacarpophalangeal joints are realized by utilizing a spatial connecting rod mechanism formed by a knuckle supporting frame, a proximal phalanx, a deflection transverse shaft and a double-end spherical hinge connecting rod; meanwhile, the power of the finger driving module in the arm is efficiently transmitted to the interphalangeal joints through the driving transmission mechanism, the middle joint and the distal phalanx are driven to achieve coupling or self-adaptive buckling, and therefore the third degree of freedom is obtained, and the problem that the contradiction exists between insufficient flexibility of a traditional rigid structure and insufficient rigidity of a flexible structure is solved.

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.

A multi-degree-of-freedom bionic dexterous hand, comprising a palm structure (1), a bionic thumb (2), a multifunctional bionic finger (3) and a dexterous bionic finger (4). The bionic thumb (2) comprises a first phalanx structure (21) and a rotary table (22), wherein the rotary table (22) is rotatably arranged on the palm structure (1), and the first phalanx structure (21) is hinged to the rotary table (22), the rotation axis of the rotary table (22) not being parallel to that of the first phalanx structure (21). The multifunctional bionic finger (3) comprises a second phalanx structure (31), wherein the second phalanx structure (31) is universally hinged to the palm structure (1), and the second phalanx structure (31) can perform flexion-extension movement and swinging movement. The dexterous bionic finger (4) comprises a third phalanx structure (41), wherein the third phalanx structure (41) is hinged to the palm structure (1), and the third phalanx structure (41) can perform flexion-extension movement.

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.

The application discloses a bionic artificial hand, which comprises a palm part, a thumb part, four finger parts and a pneumatic control system. The thumb part comprises a thumb metacarpal and a thumb, the thumb metacarpal is hinged to the palm part through a first hinge shaft and is driven to rotate by a first pneumatic device, and the thumb is internally provided with a first cavity unit in series; the thumb is hinged to the thumb metacarpal through a second hinge shaft and is driven to swing by a second pneumatic device. Each finger of the four finger parts is internally provided with a second cavity unit in series, and each finger is hinged to the palm part through a third hinge shaft and is driven to independently swing by a third pneumatic device. The pneumatic control system is arranged in the artificial hand and is used for controlling the air intake and exhaust of each cavity unit and pneumatic device. The bionic artificial hand adopts a two-degree-of-freedom design of thumb metacarpal rotation and thumb swinging, combines with pneumatic device driving, realizes flexible movement of the thumb, and improves the coordination and fine operation ability of the artificial hand.

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.

Positioning device for upper limb operation, including fixed plate, the front of fixed plate is equipped with lower concave part which is suitable for palm, the lower concave part includes finger lower concave part which corresponds to five fingers respectively and palm center lower concave part which corresponds to palm center.The front of fixed plate of the present application is equipped with lower concave part which is suitable for palm, and the palm can be positioned more effectively.

A bionic thumb, comprising a thumb body (10) and a root movable structure (20), wherein the thumb body (10) comprises first linear extension and flexion members (2), and a plurality of phalanges (1) which are rotatably connected in sequence, wherein each first linear extension and flexion member (2) drives the phalanges (1), which are connected at two ends thereof, to rotate relative to each other; the root movable structure (20) comprises a second linear extension and flexion member (3) and a swing assembly (4), the swing assembly (4) comprises a third linear extension and flexion member (41) and a swing plate (42), the swing plate (42) is configured to be rotatably arranged on a palm structure (30), and the proximal phalanx (1) of the thumb body (10) is rotatably connected to the swing plate (42); the second linear extension and flexion member (3) is hinged to the swing plate (42) at a first end, and is hinged to the phalanx (1) at a second end; and the third linear extension and flexion member (41) is configured to be hinged to the palm structure (30) at a first end, and is hinged to the swing plate (42) at a second end, and the rotation axis α of the swing plate (42) is not parallel to the rotation axis β of the proximal phalanx (1).

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.

The invention relates to an orthosis adapted to be worn on a human forearm and hand for immobilizing the wrist joint, comprising a stiff body, wherein the stiff body comprises (i) a metacarpal section, a. having a ring-shaped or ring-segment-shaped thumb holding section adapted to receive the thumb of the human hand, b. having a palmar section adapted to be brought into engagement with the palm of the human hand, and c. having an ulnar section adapted to wrap around the human hand from the volar to the dorsal side, (ii) an elongated middle section adapted to be brought into engagement with the human forearm, and, optionally, wrist, on their medial or lateral side, and (iii) a forearm section adapted to wrap around the human forearm from its ventral to its dorsal side; wherein the ulnar section comprises a hinge section comprising at least one film hinge. The invention also relates to a method for the production of the orthosis.

The utility model relates to an anti-collision motorcycle glove which comprises a glove body, and the glove body is provided with a palm part, a finger part arranged above the palm part and a wrist part arranged below the palm part. The finger part comprises a finger part body and an elastic sleeve, the finger part body wraps the proximal phalanx and the middle phalanx, the elastic sleeve is connected to the tail end of the finger part body and can wrap the distal phalanx, the elastic sleeve is cylindrical, and the free end of the elastic sleeve is folded towards the back of the hand and is detachably fixed to the finger part body through a connecting piece. The flexibility of fingers is guaranteed, and a half-finger stall can be converted into a full-finger stall when needed.

The invention discloses a mobile equipment bionic holding handle for multi-finger operation. The handle comprises at least one holding body, and a bionics outline is constructed on the held surface of the holding body. The contour includes: at least one recessed structure configured to receive and guide at least one finger of a user in an extended state in the multi-finger operation posture; the raised structure is arranged at the lower part of the holding body and is configured to be supported in a metacarpal bone area of a palm of a user; the raised structure is deflected to the center of the mobile device by an angle of 0 to 70 degrees, preferably 35 degrees, to adjust the wrist posture, directing the gravity of the device to the forearm bone load. Through the scientific bionic design and the split type structure, the pressure of the palm center is effectively dispersed, the multi-finger operation comfort degree is greatly improved, and an external heat dissipation device and a wireless device receiver are perfectly compatible.

The utility model discloses a pneumatic hand for hand muscle spasm resistance, which is characterized in that flexible telescopic tubes are arranged on the backs of five fingers of a glove body, fingers and finger pulps at the palm and proximal phalanx are exposed, a first connecting block is arranged on one side of the palm end of the glove body, and a second connecting block is arranged on the other side of the palm end of the glove body. A hand muscle spasm detection module is arranged in the interphalangeal joints of the five fingers of the glove body. According to the utility model, the hand muscle spasm detection module is added to help treatment personnel to timely discover increase of hand muscle tension of a patient, a program is set in advance through the module or the treatment personnel manually controls the program to enable the pneumatic hand to drive fingers to stretch so as to achieve the effect of simulating BOBATH bare-handed treatment spasm resistance, and the gloves are improved. The latest BOBATH, posture control and motion control concepts are adopted, more palm center and finger pulp areas are exposed, proprioceptive input is increased, and recovery of the hand motion function of a patient is better facilitated.

The utility model relates to the technical field of gloves, in particular to a tactical glove which comprises a glove body of a palm portion and a hand back portion, anti-collision structures are arranged on the hand back portion and located at four metacarpophalangeal joints, each anti-collision structure comprises a rubber inner layer and a hard shell, the rubber inner layers and the hand back portion are sewn and fixed, and the hard shells are arranged on the rubber inner layers. The shape of the rubber inner layer is matched with the bent shape of four metacarpophalangeal joints on the hand back during half-clenching, a plurality of transverse grooves and vertical grooves are formed in the outer surface of the rubber inner layer, and the hard shell is arranged on the portion, not provided with the transverse grooves and the vertical grooves, of the outer surface of the rubber inner layer. The rubber inner layer is combined with the hard shell, so that external impact can be effectively resisted, and the rubber inner layer can be used as a striking tool when necessary to enhance the deterrence effect on lawbreakers.

The invention discloses a movable anthropomorphic palm device, which comprises a palm part and five fingers, the five fingers are respectively a thumb, an index finger, a middle finger, a ring finger and a little finger, each finger comprises a first knuckle and a second knuckle, and one end of each first knuckle is rotatably connected to the palm part and is driven by a driving mechanism; the second knuckles are rotationally connected to the ends, away from the palm part, of the first knuckles, the first knuckles and the second knuckles are in linkage through linkage mechanisms, and the second knuckles can deflect along with the first knuckles. According to the scheme, the palm device is composed of the palm part and the five movable fingers, each finger is provided with a driving motor and an encoder, and the rotation angle of the finger can be independently controlled. Wherein the thumb is provided with two phalanges, and a two-stage planet synchronous belt transmission mechanism is adopted. Each of the other four fingers is provided with three phalanges, and a three-stage planetary synchronous belt transmission mechanism is adopted.

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 invention provides an under-actuated dexterous hand and a robot. The under-actuated dexterous hand comprises a driving assembly and a driving transmission assembly, and the driving assembly is arranged on a palm; each finger comprises a proximal finger section, a middle finger section and a distal finger section, and the proximal end of the proximal finger section is connected with the driving assembly so that the proximal finger section can rotate relative to the palm; the far end of the near knuckle finger section is rotationally connected with a middle knuckle finger section and a far knuckle finger section in sequence; the driving transmission assembly is arranged on the near knuckle finger section, and at least part of the driving transmission assembly extends to the middle knuckle finger section so that the middle knuckle finger section can rotate relative to the near knuckle finger section, and meanwhile the far knuckle finger section can rotate relative to the middle knuckle finger section. The driving assembly is arranged in the palm to drive the near knuckle finger section to rotate relative to the palm, meanwhile, the driving transmission assembly is arranged in the finger to drive the middle knuckle finger section and the far knuckle finger section to rotate in the same direction, and then the finger is switched between the bending state and the stretching state. A traditional rotating motor driving system is replaced, the overall structure is simplified, the size of the dexterous hand is greatly reduced, and meanwhile the integration cost is reduced.

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.