3416 results about "Hand parts" patented technology

The disclosure presents a humanoid robot with an upper region (head, torso, arms with forearm assemblies, end effectors), lower region (legs), and connecting central region. Each end effector features index, middle, ring, little finger, and thumb assemblies attached to a housing of said end effector. The housing includes interior wall extents creating spaces for tendon routing, where the first distance between first and second wall extents is less than 45% of the second distance between third and fourth wall extents. Tendons controlling finger movements pass between these wall extents. The robot incorporates a wrist assembly connecting the housing of the end effector to the forearm, actuators housed in the forearm that control the tendons, and a carpal tunnel-like structure that guides tendons from forearm to base of the housing, enabling precise hand movements without requiring actuators in the hand itself.

The invention relates to a small-space electrically-driven metamorphic spinning-buckling gripper capable of being quickly replaced, which comprises a clamping assembly, a clamping assembly, a first clamping assembly and a second clamping assembly, a metamorphic gripper part is hinged to the first shell, the metamorphic gripper part comprises at least two pairs of clamping rollers, and each pair of clamping rollers is sleeved with an elastic crawler belt capable of being attached to and abutting against a drill rod; the rotary power assembly comprises a driving roller used for driving the drill rod to rotate; a mechanical arm assembly; the electromagnetic adsorption assembly can lock or unlock and separate the clamping assembly and the rotary power assembly; a motor direct drive assembly; a sensor assembly; and a control unit. By arranging the electromagnetic adsorption assembly, quick disassembly and assembly of the clamping assembly are achieved, and the clamp replacement efficiency is remarkably improved; by arranging the clamping assembly of the metamorphic structure, the drill pipe clamp can adapt to drill pipes of different sizes, and multiple purposes are achieved through one clamp; the clamping rollers are sleeved with the elastic crawler belts, the contact area of the clamp and the drill rod is increased, clamping stress is evenly distributed, and damage to the drill rod caused by local stress concentration is avoided.

An augmented reality device for obtaining three-dimensional (3D) position information of a plurality of hand joints of a user includes a plurality of cameras configured to photograph the user's hand and obtain images; memory storing instructions; and at least one processor; the instructions, when executed, may cause the device to recognize the plurality of hand joints from the images; obtain two-dimensional (2D) joint coordinate values for feature points corresponding to the hand joints; retrieve, from a look up table (LUT), 3D position coordinate values corresponding to distortion model parameters of the cameras, a positional relationship between the cameras, and the 2D joint coordinate values; and output the 3D position information of the plurality of hand joints based on the 3D position coordinate values.

The invention provides a human body key point detection mechanical palm synchronous control method and system based on vision, and belongs to the technical field of robot control and human-computer interaction. The gesture recognition technology is used for conducting gesture estimation on the target arm, and key point data are captured and extracted. The key point data comprises joint position information of the arm and the hand, necessary input is provided for subsequent control, the data are processed, and the joint position information is converted into steering engine corner information capable of driving all joints of the mechanical arm. According to the invention, the Kalman filtering algorithm is adopted to filter the joint angle data, and then the filtered steering engine rotation angle information is transmitted to each joint point of the mechanical arm through the serial port communication technology, so that the precise control of the mechanical arm is realized, the stability and real-time performance of data transmission are ensured, and the reliability of the mechanical arm is improved. And the mechanical arm can quickly respond to the gesture change of a person.

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

The invention provides a digital twinning-combined dexterous hand teleoperation hand action migration method. The method comprises the following steps: acquiring an image sequence of a hand through a binocular camera; for each group of images in the image sequence, determining a three-dimensional coordinate sequence of the hand feature points; based on a pre-established digital twin skeleton model of the dexterous hand, establishing a mapping relation between the hand feature points and corresponding points in the digital twin skeleton model; converting the three-dimensional coordinate sequence of the hand feature point into a three-dimensional coordinate sequence of a corresponding mapping point in the digital twin skeleton model based on the mapping relation, taking the three-dimensional coordinate sequence as the position of the mapped hand feature point, and determining an optimal buckling angle and an optimal abduction angle; and based on the optimal buckling angle and the optimal abduction angle, a joint angle sequence is obtained, and corresponding joint actions in the dexterous hand are controlled to enable the dexterous hand to perform action migration according to hand actions in the image sequence, so that the smoothness and precision of the actions of the dexterous hand in the action migration process are improved.

The invention discloses a bionic finger, a hand motion control device, a bionic hand control method and a robot, and belongs to the technical field of bionic robotics.The device comprises a plurality of flexible electric actuators which comprise electric actuating materials capable of actively deforming under excitation of an electric field; one end of the flexible electric actuator serves as a fixed end to be connected to the finger adaptation base, and the other end of the flexible electric actuator serves as a free end to be connected to the knuckle structure through a force transmission path. Wherein each flexible electric actuator can be independently controlled, and the plurality of flexible electric actuators cooperatively drive the knuckle structure to generate bionic motion; the passive constraint structure is configured to provide anisotropic mechanical constraint for active deformation of the flexible electric actuator, so that the active deformation is guided and converted into driving displacement or driving force in the first preset direction; and the guide structure is used for guiding the deformation direction of the flexible electric actuator. The device can integrate a strain sensor, an angle sensor and a touch sensor, and realizes closed-loop cooperative control through a controller.

The invention provides a screen interaction method and device, a display device and a storage medium, and the method comprises the steps: obtaining a hand key point of a master control person controlling a target screen, and carrying out the user positioning and skeleton tracking of a target image containing the master control person to determine the hand key point; according to the three-dimensional position information of each hand key point, target pose information of a hand limb of the master control person is determined, and the target pose information comprises at least one of the curvature, the pointing direction and the movement trend; determining a target gesture of the master control person according to the target pose information of the hand limb and standard pose information of the hand limb in the preset gestures; and performing interaction control on the target screen in response to an operation event corresponding to the target gesture. According to the technical scheme, additional interaction equipment such as a mouse does not need to be configured, the equipment configuration cost is reduced, hand pointing analysis is performed based on the three-dimensional space to determine the target interaction position, the interaction accuracy is ensured, and then the interaction performance is improved.

To provide a large-capacity, thin bottle with a cap, which can prevent a situation in which a body is greatly dented by the force of a user's hand when the bottle is lifted by hand, causing contents to fly out of an opening, and is easy to hold stably even for women or elderly people with weak grip strength, and is easy to hold and use even in a large capacity.SOLUTION: Provided is a large-capacity, thin bottle with a cap in which a pair of right and left convex rib parts 61 that extend continuously in a vertical direction and project outward in a cross-sectional view are provided on each of a front surface 41 and a rear surface 42 of the body part 4.SELECTED DRAWING: Figure 1

This application provides a power conversion apparatus and an insulation impedance detection method. The insulation impedance detection circuit is connected to the direct current bus and the ground, and the isolation switch is connected to the insulation impedance detection circuit and the alternating current voltage detection circuit. The controller is configured to control the isolation switch to be turned on, and control the insulation impedance detection circuit to detect a voltage between the direct current bus and the ground, to obtain an insulation impedance based on the voltage. The controller is further configured to control the isolation switch to be turned off before controlling the insulation impedance detection circuit to detect the voltage, to protect a person from suffering an electric shock and hand numbness due to touching the output end of the inverter circuit.

The invention discloses a hand rehabilitation training device, which belongs to the technical field of medical rehabilitation, and comprises a wearable glove base body, a main body structure, a wrist structure, a multi-mode driving module, a nickel-titanium alloy wire driving unit, a pneumatic driving unit, a sensor detection module, a bending sensor, a myoelectricity sensor and a pressure sensor, the multi-mode driving module comprises a sensor detection module and a wrist structure, the electroencephalogram interaction module comprises a non-invasive EEG electrode and a head band, the self-adaptive control module comprises a control box arranged on the wrist structure, and the self-adaptive control module is electrically connected with the multi-mode driving module, the sensor detection module and the electroencephalogram interaction module through wires and communicates with terminal equipment through a built-in wireless module; according to the hand rehabilitation training device with the structure, flexible adaptation, multi-mode driving, electroencephalogram-sensing closed-loop feedback and intelligent regulation and control of hand rehabilitation training are achieved through cooperative work of multiple modules, and training accuracy and individuation are improved.

The invention relates to the technical field of biological medicine industry, and provides a multi-stage vacuum heat-insulation high-temperature experimental facility which comprises a body, the body comprises an external box body and an inner container fixed in the box body, a flow guide cover is fixedly installed in the inner container, a detachable material plate is installed in the flow guide cover in a clamped mode, and the material plate is connected with the box body. Steps which are diagonally arranged are formed at the upper end and the lower end of the inner container, an air channel is formed between the inner container and the flow guide cover, an air cavity is formed between the inner side of each step and the flow guide cover, and a movable push plate is arranged in each air cavity; it can be understood that the flow guide cover is arranged in the inner container, the air channel and the air cavity are formed between the flow guide cover and the inner container, airflow circulation is driven by means of movement of the push plate in the air cavity, and materials are evenly heated on the material plate; meanwhile, the material plate is clamped in the flow guide cover through the elastic piece and can be easily installed and taken out through operation of a hand lever, direct contact with the hand is avoided, and using convenience and safety are improved.

The invention relates to a virtual hand grasping perception and exoskeleton force feedback mapping method based on virtual-real interaction, and belongs to the technical field of virtual reality, the method comprises the following steps: building a hand exoskeleton, and reading joint data in real time; calculating the pose of each joint coordinate system of the virtual hand relative to the virtual world; according to the calculated poses of all the joints of the virtual hand, the virtual hand is driven to synchronously move with the hand exoskeleton in real time; collision and contact events of the virtual hand and the digital object are monitored in real time, and virtual interaction force generated when the virtual hand interacts with the digital object is calculated; calculating feedback torque required to be output by each hand exoskeleton motor of the hand exoskeleton, and driving the motors to output corresponding feedback force through a motor controller of the hand exoskeleton, so as to realize force feedback of the hand. According to the method, the interaction reality sense in the virtual reality application can be enhanced, the user can interact with the virtual environment more naturally in an immersive mode, and the user experience is improved.

A pressing tool includes a housing and pressing jaws arranged outside the housing. One or both pressing jaws can be pivoted into the open position by a user's hand acting upon the respective pressing jaw that faces the housing. An actuating switch is formed on a pin-like holding projection having a longitudinal extent with a free end which protrudes from the housing at an acute or right angle. A dimension of the holding projection transverse to the longitudinal extent is smaller than a smallest diameter of the hand region.

The invention provides a flexible glove based on sparse tensile sensing and a three-dimensional hand fine-grained reconstruction method, and relates to the technical field of man-machine interaction. The method comprises the following steps: constructing a biological constraint sensing sensor array layout; according to the sensor array layout, a wearable glove integrated with six-channel sparse stretching sensing is designed; constructing a three-dimensional multi-modal dynamic hand data set according to the wearable glove; designing a data flow processing pipeline; inputting the data set into a data stream processing pipeline to obtain a preprocessed data set; constructing a multi-stage graph attention network; inputting the preprocessed data set into a multi-stage graph attention network to obtain space mapping data from a 6-channel signal to a 15-joint signal; the mapping data are input into a multi-scale Transform model, and motion feature data of the 15 joints on the time sequence are obtained; according to the motion feature data, a forward kinematics model is adopted for decoding, and the rotation quaternion of the 20 skeletons is output. According to the invention, the stability of the wearable interactive glove can be improved.

The invention discloses an electric fascia gun self-adaptive to mechanical strength, and belongs to the technical field of electric fascia guns, the electric fascia gun self-adaptive to mechanical strength comprises a main body mechanism used for relaxing fascia of a patient part or a part needing to be relaxed, and the main body mechanism is provided with a self-adjusting mechanism for adjusting huge strength according to different pressing strength. The self-adjusting mechanism comprises a fixing cylinder fixedly installed in the fascia gun shell. By means of a mechanical self-adjusting mechanism, the pressing force of the hand of a user is directly converted into the impact strength of the operation tail end in real time, when the user presses down forcibly, the displacement of the outer sliding sleeve pushes the sliding column to move outwards without delay through the inclined groove plate and the lifting conical head, the eccentric distance of a transmission system is increased, and the transmission efficiency is improved. The stroke and the impact force of the operation tail end are linearly increased, accurate force feedback can be provided according to different body parts and muscle states, the poor relaxation effect caused by insufficient force is avoided, and damage possibly caused by excessive impact in a sensitive area is also prevented.

The invention provides an aero-engine blind cavity internal nut screwing device and method, and relates to the field of aero-engine assembling equipment.The aero-engine blind cavity internal nut screwing device comprises a locking and screwing assembly, and the locking and screwing assembly can vertically overturn and stretch into an engine blind cavity; a working gear sleeve is arranged on the locking and screwing assembly, so that the working gear sleeve can rotate and is used for clamping and screwing a nut; compared with the prior art, through vertical overturning of the locking and screwing assembly, the locking and screwing assembly can smoothly enter the blind cavity of the engine, then the locking and screwing assembly located in the blind cavity of the engine is reset to the horizontal state, and at the moment, a nut can be clamped and positioned by a working gear sleeve on the locking and screwing assembly; after the nut and the stud are aligned, the nut and the stud can be screwed through rotation of the working gear sleeve, hands do not need to stretch into an engine blind cavity in the process, and compared with manual screwing, the screwing efficiency is high.

The invention discloses a gesture interaction method and device, a ring and a storage medium, and relates to the technical field of intelligent wearable device.The method comprises the steps that a hand motion data stream of a user is collected in real time through an inertial measurement unit of the intelligent ring, and an electromyographic signal data stream of the user is collected in real time through an electromyographic sensor of the intelligent ring; when the signal feature of the electromyographic signal data flow meets a preset activation condition and the track starting section of the hand motion data flow and the electromyographic signal data flow meet a synchronism condition in time sequence, a gesture interaction signal is triggered; and in response to the gesture interaction signal, executing an interaction operation. The identification accuracy of the user interaction intention in the office scene can be improved.

A robot hand includes: a hand member holding a substrate; a support part disposed at the hand member and supporting a lower surface of the substrate; and a first driving part disposed at the hand member and driving the support part. The first driving part moves the support part between a forward position higher than an upper surface of the hand member and a backward position lower than the forward position. The forward position is set to a position that is away from the upper surface of the hand member by more than a maximum warpage amount expected for the substrate.

The utility model provides a special spanner with an anti-falling structure, which relates to the technical field of special spanners, and comprises a handle, spanner rectangular openings are respectively arranged on two sides of the handle, anti-falling mechanisms are arranged at the upper end and the lower end of the handle, each anti-falling mechanism comprises a placing groove, the placing grooves are arranged on the surfaces of the upper side and the lower side of the handle, and the handle rectangular openings are arranged on the placing grooves. Connecting belts are movably mounted in the containing grooves correspondingly. When a user uses the wrench, the connecting belt can be pulled upwards through the groove, so that the connecting belt is tightly attached to the hand skin of the user through pushing of the spring, the connecting belt can disperse the hand stress of the user, the hand fatigue feeling caused by long-time operation is reduced, and the safety of the user is improved. Meanwhile, the connecting belt is matched with the non-slip mat, so that the friction degree between the hand of the user and the handle is improved, the situation that the hand of the user slips off the handle is avoided, and the working process is more stable and safer.

The embodiment of the invention provides a robot control method and system based on virtual reality and hand motion capture, and the method comprises the steps: collecting the hand posture data of a user, obtaining the first hand posture data of the user through a virtual reality device, the first hand posture data comprises the hand end posture information, and obtaining the first hand posture data of the user through a virtual reality device; obtaining second hand posture data of the user through wearable hand motion capture equipment, wherein the second hand posture data comprises hand joint fine motion information; standardizing the hand position and posture data, and mapping the hand position and posture data into robot target motion data based on a preset calibration matrix, the robot target motion data including first robot target motion data mapped based on the first hand position and posture data and second robot target motion data mapped based on the second hand position and posture data; robot motion control data is generated based on the robot target motion data, and robot parts are controlled to move. According to the robot control method and system based on virtual reality and hand motion capture, the operation precision of the robot can be greatly improved, the operation real-time performance and smoothness are enhanced, and the motion state of the robot can be monitored in real time.

The invention relates to the technical field of fingertip touch, and discloses a fingertip extraction touch method and system based on a convex hull algorithm, and the method comprises the steps: collecting an original hand image, and extracting a hand layered sparse point set; performing feature space mapping on the hand layered sparse point set to obtain a hand feature enhanced point set; generating a hand contour convex hull according to the hand feature enhancement point set; performing point angle analysis on the hand contour convex hull to obtain a hand fingertip candidate point set; performing inter-finger relation constraint analysis on the hand fingertip candidate point set to obtain a hand fingertip target point set; and executing critical angular velocity touch control judgment on the hand fingertip target point set to generate a touch control trigger signal. According to the method, the integrity and continuity of a convex hull result are ensured, the problem of incoherence caused by region segmentation is avoided, and the stability in a rapid gesture conversion process is enhanced.

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

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

The invention discloses a two-arm smart teleoperation method and system based on motion redirection and self-adaption, and relates to the technical field of robots, and the method comprises the steps: determining the posture of a human hand and the posture of a human arm according to a human body image; the robot is redirected according to the human hand posture and the human arm posture through the space attention gating map convolutional network, and the joint angle of a mechanical hand of the robot and the joint angle of a mechanical arm of the robot are correspondingly obtained; the mechanical arm is driven according to the joint angle of the mechanical arm so that the mechanical arm can grab the target object; and target force needed for grabbing the target object is determined, and the mechanical arm is driven to grab the target object according to the target force and the joint angle of the mechanical arm. According to the method, topology modeling and cross-platform action redirection between the human body and the robot are achieved through the space attention gating map convolutional network, pairing data dependence is eliminated, and therefore the high precision of action reproduction and the safety and flexibility of the grabbing process are both considered in the complex dynamic environment.

The invention discloses a seam beautifying agent glue discharging and seam pressing all-in-one device, and relates to the technical field of indoor decoration equipment, and the technical scheme is that the seam beautifying agent glue discharging and seam pressing all-in-one device comprises a supporting plate, a cylinder is arranged in the supporting plate, a composite control mechanism is arranged at the bottom of the cylinder, and a glue discharging and seam pressing assembly is arranged on one side of the cylinder; the compound control mechanism comprises a round shell, the round shell is fixedly arranged at the bottom of the cylinder, a second motor is fixedly arranged at the bottom of the cylinder, the output end of the second motor is fixedly connected with a rotating shaft, and one end of the rotating shaft is fixedly connected with a rotating plate. The tedious operation that different tools need to be used for glue discharging and seam pressing in a traditional mode is avoided, the construction time is greatly shortened, the construction efficiency is improved, the pushing plate is driven to move through the design of the pushing assembly, automatic glue discharging is achieved, the problem that the glue amount is inconsistent due to uneven hand force during manual glue discharging is solved, and the labor intensity of workers is reduced. And the seam beautifying effect is more uniform and attractive.

A robot includes a hand motor configured to independently rotate a first hand and a second hand around a hand axis along a vertical orientation. The hand motor includes: a first output shaft fixed to the first hand; a first stator configured to apply a rotating magnetic field on the first output shaft in the arm link; a second output shaft extending through the first output shaft and fixed to the second hand; a second stator configured to apply a rotating magnetic field on the second output shaft in the arm link; a first bearing held by the arm link and holding the first output shaft or the second output shaft; and a second bearing held by the second output shaft between an outer periphery of the second output shaft and an inner periphery of the first output shaft.

A swim training device includes: (a) a platform having a top side and a bottom side, and extending longitudinally from a leading edge to a trailing edge and extending laterally from a left side to a right side; and (b) a hands pocket located on the top side of the platform and including a hands entry opening facing toward the trailing edge of the platform, wherein: (i) the hands pocket is constructed to receive a user's hands through the hands entry opening so that the user's hands are located in the hands pocket in a generally extended configuration; (ii) the hands pocket is constructed to hold the user's hands in place in the generally extended configuration against the top side of the platform; and (iii) the hands pocket is constructed to resist longitudinal and lateral movement of the user's hands relative to the platform when the user's hands are located within the hands pocket.

The invention belongs to the technical field of robot interaction, and particularly relates to a multi-mode interaction method and system for cluster robot control. Firstly, eye movement data of an operator is obtained, eye movement features of the operator are extracted from the eye movement data, the extracted eye movement features are input into a trained intention recognition model, and the decision intention of the operator for the cluster robot is obtained; generating a control instruction of the robot according to the obtained decision intention, and enabling the robot to execute the control instruction; and in the process of executing the control instruction by the robot, acquiring a hand image of an operator, detecting key point positions of a hand in the hand image, identifying a gesture of the operator according to the detected key point positions, adjusting the control instruction according to a gesture command represented by the identified gesture, and enabling the robot to execute the adjusted control instruction. According to the method, the intuition and convenience of eye movement control are kept, and the accuracy and efficiency of gestures are fully utilized, so that an operator can execute complex tasks more efficiently.