120 results about "Hand palms" patented technology

The invention provides a rigid-flexible coupling humanoid manipulator which comprises a humanoid rigid-flexible coupling manipulator mechanical body, a wrist tube connected with a hand body and a driving control system and a hand body driving control system, a thumb and palm connecting piece drives a thumb to do palm-facing movement, and a steering engine module is in transmission connection with fingers and the thumb through a plurality of driving ropes. The fingers and the thumb can do flexion or abduction movement, and the fingers can do lateral deviation abduction movement; and elastic ligaments are connected to joints of the fingers and the thumb. Through the autonomous variable-stiffness metacarpophalangeal joints, the bionic interphalangeal joint system and the hand-simulated hand movement system of the elastic envelope structure, dexterous movement and contact compliance of the manipulator in a complex operation task are achieved, and the dynamic balance requirement of the manipulator between dexterous operation and rigid maintenance is met; the invention has the advantages of excellent movement performance, strong environmental adaptability, low manufacturing cost and the like.

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and aims to solve the problem that the size of the dexterous hand finger with three active degrees of freedom is large. According to the dexterous hand finger, the first knuckle can have the functions of laterally swinging and rotating towards the palm side or the hand back side through the first linear driving assembly and the second linear driving assembly which are connected in parallel, and the knuckle assembly has the function of rotating towards the palm side or the hand back side through the third linear driving assembly. Due to the fact that the third straight line can be parallel to the palm base plate, on the plane perpendicular to the second axis, the distance between the orthographic projection of the third straight line and the orthographic projection of the first straight line in the extending direction of the first axis is gradually reduced in the direction from the third straight line to the first knuckle. The circumferential size of the end, away from the knuckle assembly, of the first knuckle is small, and the space occupied by the three linear driving assemblies in the palm is close to the shape of the palm of a person.

A multi-degree-of-freedom bionic dexterous hand includes a palm structure, a bionic thumb, a multifunctional bionic finger, and a dexterous bionic finger. The bionic thumb includes a first phalanx structure and a rotary disk, the rotary disk is configured to rotate on the palm structure, the first phalanx structure is hinged to the rotary disk, and the rotation axis of the rotary disk is not parallel to the rotation axis of the first phalanx structure. The multifunctional bionic finger includes a second phalanx structure, the second phalanx structure is universally hinged to the palm structure, and the second phalanx structure can perform the flexion-extension movement and the swinging movement. The dexterous bionic finger includes a third phalanx structure, the third phalanx structure is hinged to the palm structure, and the third phalanx structure can perform the flexion-extension movement.

The invention discloses an under-drive-all-drive dual-mode robot multi-fingered dexterous hand, and belongs to the technical field of robots. The dexterous hand comprises a palm and a plurality of fingers; each finger is provided with a tendon rope transmission system, a second driving assembly, a third driving assembly, a fourth driving assembly and a fifth driving assembly; each finger comprises a base, a base joint, a near-end knuckle, a middle knuckle and a far-end knuckle which are connected in sequence; the base is fixed on a palm; a two-degree-of-freedom finger base joint and a face gear-based mode switching mechanism are designed, so that the dexterous hand can be allowed to work in a full-drive mode or an under-drive mode, and the control complexity of dual-mode coupling is reduced through a mechanical structure. The double modes of the rigid dexterous hand are proposed and realized for the first time, the humanoid dexterous property of the dexterous hand is ensured, the highly integrated design of the dexterous hand is realized, and the universality of the dexterous hand is enhanced.

The invention relates to the technical field of man-machine interaction, in particular to a dexterous hand pose data acquisition method based on infrared optical motion capture, which comprises the following steps: initializing an infrared optical motion capture system and a bending value of each finger flexion and extension of each dexterous hand; constructing a hand model; modifying the message format of the VRPN communication protocol, obtaining the pose data of each mark point of the hand, calculating the rotation angle of each finger near-end fingertip joint of each hand under each task, taking the rotation angle as the rotation angle of each finger near-end fingertip joint of the dexterous hand corresponding to each hand under each task, and outputting the rotation angle of each finger near-end fingertip joint of the dexterous hand. And sequentially calculating the rotation angle of each finger palm knuckle, the bending value of each finger flexion and extension and the bending value of the thumb adduction and abduction under each task. According to the method, the grabbing success rate of the dexterous hand is increased, the reliability of the dexterous hand is improved, the capacity of capturing complex hand actions is enhanced, and the performance of the dexterous hand in a complex task scene is enhanced.

The invention belongs to the related technical field of manipulators, and discloses a robot dexterous hand with a deformable palm, and a little finger module and a ring finger module are correspondingly connected to two metacarpal bone modules; the metacarpal bone module comprises a metacarpal bone, a metacarpal bone first connecting rod, a metacarpal bone second connecting rod, a metacarpal bone tension spring, a metacarpal bone driving structure and a metacarpal bone base, one end of the metacarpal bone is rotationally connected with the finger module, and the other end of the metacarpal bone is rotationally connected with the metacarpal bone base; one end of the metacarpal bone first connecting rod is rotationally connected with the metacarpal bone driving structure, the other end of the metacarpal bone first connecting rod is rotationally connected with one end of the metacarpal bone second connecting rod, a metacarpal bone tension spring is connected between the metacarpal bone first connecting rod and the metacarpal bone driving structure, and the metacarpal bone driving structure is used for pushing the metacarpal bone first connecting rod to deflect the metacarpal bone. The metacarpal bone module can achieve the hand-simulated palm deformation capacity, the metacarpal bone tension spring is arranged, so that the metacarpal bone module has bionic flexibility, and a grabbed object can be better enveloped and grabbed by the palm.

The invention discloses a multi-degree-of-freedom full-drive dexterous hand and a robot, the multi-degree-of-freedom full-drive dexterous hand comprises a palm and a plurality of fingers, the plurality of fingers are arranged on the palm at intervals, and 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, the movement of the finger joints is more direct and sensitive, finer and more complex actions can be achieved, and the flexibility of the fingers is greatly improved. 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 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.

A glove comprising: at least one shell formed of fabric in the shape of a hand, the shell having a body portion and five pockets configured to receive a thumb and four phalanges of a user, and wherein the shell has a palm side and a dorsal side opposite the palm side; a plurality of protective structures on the dorsal side of the shell; a coating on at least a portion of the palm side of the shell; and a thumb crotch reinforcement configured to safeguard a region between the thumb and index finger.

The full-drive dexterous hand comprises a palm mechanism, a thumb mechanism and a finger mechanism, the thumb mechanism comprises a metacarpal bone, a thumb near knuckle and a thumb far knuckle which are sequentially distributed, the metacarpal bone obtains bending and rolling freedom degrees through gear transmission, and the thumb near knuckle and the thumb far knuckle both obtain bending freedom degrees through motor direct drive; the finger mechanism comprises a finger near knuckle, a finger middle knuckle and a finger far knuckle which are sequentially distributed, the finger near knuckle obtains bending and side-sway freedom degrees through gear transmission, and the finger middle knuckle and the finger far knuckle obtain bending freedom degrees through motor direct drive. A full-drive humanoid manipulator framework is adopted, high-precision motion mapping is achieved through 20 independent controllable degrees of freedom, the bionic core is that the ball joint design is adopted, the composite motion capacity of human fingers is highly simulated, fine actions such as grabbing, kneading and rotating of a human hand can be accurately reproduced, and the flexibility degree of the human hand is deeply restored.

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 discloses a dexterous hand with a multi-degree-of-freedom thumb root joint, which comprises a palm base body as well as a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly and a little finger assembly which are connected to the palm base body, the first driving part drives the second driving part to rotate around the first transmission axis, the second driving part drives the thumb palm root knuckles to rotate around the second transmission axis, the first transmission axis is perpendicular to the second transmission axis, and the length of the common perpendicular line is a constant. The driving module can drive the thumb assembly to rotate around the two axes which are relatively perpendicular and have the constant distance, the controllability of the thumb assembly can be improved, and the structural design of the dexterous hand is facilitated; the thumb assembly can simulate the action that a thumb in a human palm rotates around the palm, the opening and closing action of a human jaw and the action that the thumb gets close to or away from a palm base body, and better fits the movement performance of the thumb of the human hand.

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and aims to solve the problem that the size of the dexterous hand finger with at least three knuckles is large. The fingers of the dexterous hand comprise at least three knuckles, the rotation driving assembly is arranged on the first knuckle instead of the palm of the dexterous hand, the size of the palm of the dexterous hand can be reduced, and the supporting piece, the first knuckle, the second knuckle, the third knuckle, the first connecting rod assembly and the second connecting rod assembly form two four-connecting-rod mechanisms connected in series. When the rotation driving assembly arranged on the dexterous hand finger drives the second knuckle to rotate, the first knuckle and the third knuckle synchronously rotate with the second knuckle, bending and stretching of the dexterous hand finger are achieved, the dexterous hand finger is simple and compact in structure, high in rigidity, stable and reliable, the action track and the action form of the dexterous hand finger can be accurately controlled, and the flexibility of the dexterous hand finger is improved. Therefore, the requirements of various complex tasks are met.

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.

The application provides an underactuated bionic dexterous hand, a system and a control method thereof. The underactuated bionic dexterous hand comprises a palm, five fingers, a control plate and a steering engine installed on the back of the palm through a threaded hole. The thumb comprises a joint, a tendon rope for driving the bending of the finger, a metacarpal bone, a proximal phalanx and a distal phalanx connected through a cylindrical pin in sequence. The index finger, the middle finger, the ring finger and the little finger have the same structure and each comprises a joint, a tendon rope for driving the bending of the finger, a distal phalanx, a middle phalanx and a proximal phalanx connected through a cylindrical pin in sequence. A finger root stroke limiter is arranged at the metacarpophalangeal joint of the thumb and the palm, and the metacarpophalangeal joint of the index finger, the middle finger, the ring finger and the little finger and the palm, the middle phalanx and the distal phalanx are each provided with a finger root stroke limiter. The application has high human simulation degree, is light and flexible, and solves the technical problems of the overlarge size, the overly complex structure, the rigid motion and the low human simulation degree of the 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.

To provide a finger attachment for bending the middle finger in walking training, which enables walking with the middle finger bent, so that the upper and lower body move together, the trunk is strengthened, and the entire line connecting the cells, muscles, and skeleton of the whole body is stimulated. [Solution] A finger attachment device 10 for bending the middle finger is used for walking training, in which the proximal phalanx 1 of the middle finger and the part of the middle finger beyond it are bent at an angle of 90 degrees or more toward the inside of the palm around the second joint 3 of the middle finger, and the middle or distal phalanx 2 of the middle finger can be maintained in this bent state while walking. The device comprises a first attachment part 1A attached to the proximal phalanx of the middle finger and a second attachment part 2A attached to the middle or distal phalanx of the middle finger, and a joining component 4 that allows the attachment parts to be joined together and not separated from each other so that the bent state can be maintained when each attachment part is attached to the finger.