5776 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.

An apparel article (12) with a grip texture on an exterior surface formed by a grip field of a plurality of spaced-apart nodules (16) extending from the exterior surface to a distal end and each defining a concave recess (44) therein. The apparel article may comprise (A) a glove body having a cuff with an open end and a hand portion from which four finger tubes and a thumb tube extend, for receiving a hand. and the exterior surface having at least one grip field for gripping an article and (B) a shoe cover with a sole having the grip field for resisting slippage on walking surfaces.

The present invention is an applicator tip for a hand piece assembly used in dermal abrasion procedures, the applicator tip having a cap shape with a plurality of apertures that form ports communicating with a fluid supply line in the hand piece assembly and a vacuum source to remove the abrading fluid. The fluid is introduced onto the outer abrading surface of the applicator tip through a first central aperture and spreads out along the outer abrading surface when the applicator tip is placed against the patient's skin. Recesses in the outer abrading surface establish pathways for the abrading fluid to move along as the applicator tip is moved over the patient's skin. The fluid emitting from the central port is moved into one of four quadrants defined by recesses in the outer abrading surface, each quadrant serving as a fluid chamber that receives fluid from the central fluid supply port. Each sector shaped chamber includes within its border a C-shaped barrier with its opening facing a dividing sector wall. As the applicator tip forms a seal with the patient's skin, fluid is introduced through the supply port and through the entrance of the chamber, filling each chamber with working fluid as the working fluid flows to and around the C-shaped barrier. Disposed inside each C-shaped barrier is a respective vacuum port that removes the working fluid from each chamber. Fluid from each chamber is vacuumed through its vacuum port after having flowed around a maze-like path, navigating the C-shaped barrier and sector walls in a vortex flow pattern.

The invention relates to the technical field of medical rehabilitation training, in particular to an intelligent hand training method and system, electronic equipment and a storage medium, and the method comprises the steps: receiving a training mode instruction selected by a user; real-time biomechanical data of the affected side hand are collected through a multi-source sensor array, the real-time biomechanical data comprise finger joint angles, electromyographic signal intensity and a touch pressure distribution matrix, and when the affected side hand is in a mirror image training mode, the six-degree-of-freedom motion trail of the uninjured side hand is synchronously collected; calling a corresponding algorithm model for processing based on the training mode, and generating a control instruction set containing pneumatic pressure parameters, electrical stimulation waveforms and virtual interaction instructions; the control instruction set is sent to a server side, a mechanical glove arranged on the hand of the affected side in a sleeving mode executes corresponding pneumatic-electric combined driving operation, and multi-sense feedback is synchronously presented. According to the application, the composite requirements of patients in different rehabilitation stages on training mode diversity, control accuracy and interactive immersion can be met.

The invention provides an interactive tactile glove system for astronaut training. The interactive tactile glove system comprises an upper computer virtual environment, a lower computer tactile perception glove and a tactile representation glove. The touch sensing glove is used for collecting temperature, humidity and pressure information of a hand and transmitting the information to the upper computer for processing through Bluetooth. The upper computer virtual environment is built based on a Unity 3D platform, various task scenes can be simulated, and corresponding tactile feedback signals are generated and transmitted. The tactile representation glove receives data transmitted by a virtual environment or the tactile perception glove, and real-time representation of temperature, force feedback and motion postures is achieved through an integrated semiconductor cooler, a vibration element, a bending sensor and other assemblies. According to the system, multi-modal tactile feedback can be provided in single astronaut fine operation training and cooperative operation of multiple astronauts, and the training effect and team adaptability are improved. The system not only has high integration level and stability, but also can provide multi-level and multi-mode tactile simulation according to task requirements, and is suitable for accurate training and remote operation in a complex task environment.

Disclosed is a lightweight hand exoskeleton force feedback apparatus, including a driver, a first rotating link, a second rotating link, a first linkage link, a second linkage link, a finger sleeve, and a pressure sensor fixing member; the driver is worn on a back of metacarpal bone of a human hand, the finger sleeve is fixed on an index finger, and the pressure sensor fixing member is fixed below the index finger; when the human hand bends to simulate a state of grasping an object, the driver drives the first rotating link to couple with the first linkage link and the second linkage link through the second rotating link to drive the finger sleeve to bend and stretch, force feedback is applied to the fingertip, and a pressure is accordingly imposed on a pressure sensor of the pressure sensor fixing member, so that closed-loop force feedback control is implemented.

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 provides a method and a device for redirecting human hand actions to a heterogeneous manipulator in a multi-task scene, and relates to the technical field of robots and intelligent control. The method comprises the following steps: acquiring visual data and tactile data; performing task type classification by adopting a pre-trained Perciver IO model to obtain a task type code; according to a physical constraint dynamic correction mechanism, correcting the joint weight of the machine finger to obtain a normalized finger weight; key point extraction is conducted on the human hand, and vectors between all joints of the human hand are calculated through a geometric vector method; performing driven joint constraint processing according to the established joint mapping matrix, calculating an adapted Jacobian matrix, and obtaining an adapted standardized robot arm kinematics model; and carrying out nonlinear optimization on the vectors between the human fingers and between the robot fingers to obtain each joint angle of the robot arm, so that the robot arm completes action redirection. By adopting the method, the generalization ability of cross-task and heterogeneous models can be improved.

The invention discloses a transformer substation control screen cabinet pressing plate mistaken touch prevention method and system, and the method comprises the steps: the system automatically detects the approaching of the hand of an operator through infrared induction and gesture recognition, and judges whether the recognition operation is effective or not; according to environmental changes such as high humidity or temperature, the system automatically adjusts the sensitivity of the touch screen to optimize the operation experience; before key operation, the system starts a multiple confirmation mechanism, and an operator needs to confirm an operation intention through a touch screen button and voice recognition; for high-risk operation, the system pops up an alarm and carries out secondary confirmation; meanwhile, the system dynamically adjusts the authority according to the identity of the operator and the task requirement, and the low-authority operator is limited to access the key component and only can execute the operation within the authority range of the low-authority operator; according to the method and the system for preventing the pressing plate of the transformer substation control screen cabinet from being touched mistakenly, the accuracy and the flexibility of preventing mistakenly touching are effectively improved, and the defects in the prior art are overcome through an intelligent means.

According to the man-machine interaction system and method for robot training and data acquisition, a main device instruction system captures an operator hand posture generation instruction through a wearable sensor of an action acquisition subsystem, and meanwhile, the direction and strength information of force is transmitted by means of an annular vibration motor array of a tactile feedback subsystem; the data processing system is responsible for converting the attitude instruction into a mechanical arm control signal and processing feedback force data; the slave equipment responds to a multi-degree-of-freedom mechanical arm execution instruction of the system, and a force sensor collects environment interaction force data and transmits the environment interaction force data back; a robot self-learning module trains a diffusion model by using synchronously acquired time-aligned vision, trajectory and force feedback multi-modal data sets, a tactile feedback subsystem realizes force information transmission through single-motor direction mapping and PWM wave adjustment, and the self-learning module adopts DDIM to accelerate reasoning to generate an action sequence. And the autonomous operation capability of the robot in a complex scene is improved.

The invention provides a three-dimensional gesture estimation method fusing hand and object features, and relates to the technical field of gesture recognition. The method specifically comprises the following steps: acquiring a plurality of different hand and object images containing 3D postures of a hand and an object, constructing an image data set, and dividing a training set from the image data set according to a preset proportion; constructing a hand occlusion estimation joint model fusing the hand object features; inputting the training set into a hand occlusion estimation joint model fused with the hand and object features for training to obtain a trained hand occlusion estimation joint model fused with the hand and object features; and acquiring a hand and object image containing 3D postures of a hand and an object, and inputting the hand and object image into the trained hand occlusion estimation joint model fusing the hand and object features for gesture estimation to obtain a three-dimensional gesture estimation result. According to the method, the hand feature information can be better extracted under the severe shielding condition by designing the hand shielding estimation joint model fusing the hand feature.

The disclosed humanoid robot is designed to perform diverse, human-like tasks in various environments, from industrial assembly and customer service to every day household chores. These robots possess anthropomorphic features including a head, torso, arms, legs, and hands, enabling complex motions with over 60 degrees of freedom. The upper portion houses over 70% of the DoF, allowing dexterous manipulation, while the central and lower portions are optimized for battery storage and efficient movement. More than 30 electric actuators (mostly rotary) power the humanoid robot, with a strategic arrangement that minimizes mechanical singularities and facilitates tasks such as deep squats and precise reaching. This configuration reduces cost, weight, and maintenance while improving performance and capabilities of said humanoid robot.

The present invention describes a fixation system for the backstrap of pistol grips, preferably micro-compact pistols. The present invention aims to promote better ergonomics for different users of the same pistol. As each person has different hand dimensions, it is not possible to develop a grip geometry that ensures an ideal hold for everyone, thus, the present invention describes a system that allows the interchangeability of backstraps of different sizes, all of which can be fitted to the pistol's grip. To attach the backstrap to the grip, a housing and a tab equipped with at least one through-hole are designed on the grip and a protrusion is arranged on the backstrap, which fits into said housing, and holes for a connecting element to be inserted and held in the holes and the through-hole.

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.

A silicone mitten is provided. The silicone mitten includes an upper portion defining an inner space for accommodating a hand of a user. The silicone mitten also includes a lower portion having a first opening at a bottom side configured to allow insertion of the hand of the user into the inner space defined by the upper portion. The upper portion includes a plurality of through holes configured to allow air ventilation.

The invention provides a humanoid robot control method and system and a humanoid robot, and the method comprises the steps: obtaining a task instruction and a view image; inputting the visual field image and the task instruction into a visual language perception model to obtain a three-dimensional coordinate of the target object; cue words are obtained, the cue words and the three-dimensional coordinates are input into a task planner, and control information corresponding to the cue words is determined; the arm control module is used for controlling arm movement of the humanoid robot, the hand control module is used for controlling hand movement of the humanoid robot, and the main body control module is used for controlling leg movement of the humanoid robot. According to the method, multiple modules such as visual perception, language understanding, task planning and motion control can be integrated into a unified framework, end-to-end control from perception to execution is realized, the integration level of the humanoid robot control process is improved, the adaptability of the robot in a complex environment is enhanced, and the control efficiency of the humanoid robot is improved. And the transparency and credibility of the humanoid robot control process are improved.

There is disclosed herein, by way of example, a personal safety device having a main body having disposed therein a non-lethal defensive weapon (such as pepper spray, taser, or baton); a hand enclosure; a light; and a bottom attachment; wherein the main body is constructed with a size and shape to comfortably fit an average human female hand.

The invention relates to a virtual reality technology-based humanoid robot remote control system and method, the system comprises a VR device and a humanoid robot, and the VR device comprises a head-mounted device, a hand device, a visual information sampling unit, a hand device sampling unit and a visual information imaging unit; the humanoid robot comprises a robot system communication unit, a robot system planning control unit, a visual sensor and a joint motor execution unit. The technical problems that existing robot control mainly depends on field teaching operation of workers, so that the mechanical arm control threshold is high, and the field limitation is large are solved, and the beneficial effects of being low in threshold, high in interactivity, low in delay, high in safety, high in flexibility and the like are achieved.

The present invention discloses a massager, where an outer shell includes an accommodating cavity; and a driver is mounted in the accommodating cavity, the driver includes a reciprocating displacement drive assembly and a mounting portion, a connecting portion of the reciprocating displacement drive assembly penetrates a long-shaped guide hole on the outer shell and is connected with the mounting portion, and the massaging member is at least partially connected with the mounting portion in a plug-in manner, so that the reciprocating displacement drive assembly drives the mounting portion to perform a reciprocating linear displacement action to cause the massaging member to perform a reciprocating telescopic motion. It solves the technical problem of hand fatigue due to massage with hands, thereby improving service performance.

The invention relates to the technical field of man-machine interaction, in particular to a virtual reality man-machine interaction method. The method comprises the following steps: S1, designing an interactive interface conforming to a virtual environment; s2, collecting hand actions of a user through a camera; s3, performing real-time processing and analysis on the hand action of the user through a key point detection OpenPose model, and identifying the intention of the hand action of the user; and S4, adjusting the state of the virtual environment according to the intention of the hand action of the user. According to the invention, by combining the YOLO model and the OpenPose model, accurate recognition and real-time response to the hand action of the user are realized. Static features (such as joint angles and palm normals) and dynamic features (such as motion trails, speeds and accelerated speeds) of hand actions are comprehensively utilized, so that visual and natural interaction experience is provided. The user can complete operations such as'grabbing 'and'pointing' through visual gestures, additional equipment is not needed, and the immersion and interactivity of virtual reality are enhanced.

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 relates to a somatosensory glove and system based on a flexible photoelectric dual-mode sensor. The somatosensory glove based on the flexible photoelectric bimodal sensor comprises a glove body, the flexible photoelectric bimodal sensor and a control circuit, the flexible photoelectric bimodal sensor is arranged on the glove body and can deform along with the hand action of a user so as to collect an original bimodal signal; the control circuit is electrically connected with the flexible photoelectric dual-mode sensor, and is used for preprocessing an original dual-mode signal acquired by the flexible photoelectric dual-mode sensor to obtain a preprocessed dual-mode signal, and then transmitting the preprocessed dual-mode signal to computing equipment. According to the flexible photoelectric bimodal sensor, bimodal signals caused by hand actions can be respectively collected from two angles through the optical sensing layer and the electric sensing layer, so that richer and more comprehensive action detail information is captured, and the accuracy and sensitivity of action capture are improved.

The invention discloses a self-adaptive exoskeleton robot which comprises a hand exoskeleton device used for capturing the degree of freedom of hand joints of 20 persons at the same time and conducting force feedback. The perception and force feedback system is used for data acquisition and master control driving and is matched with IO resources of a master control chip; the self-adaptive wearing module is used for sewing the finger exoskeleton to a light, thin and elastic fiber glove, the wearing mode is reinforced through a restraint ring, and meanwhile, an exoskeleton palm structure is designed to be a variable structure capable of being attached to the back of the hand in a self-adaptive mode; the man-machine interaction module is used for man-machine interaction; and the master-slave control system realizes master-slave control. According to the invention, the bionic flexible muscle optimization design, the force feedback technology and the touch force sensor integrated with force feedback are adopted, so that the force of a user can be acquired, and a foundation is laid for force closed-loop control.

The invention discloses a quick charging device for a solid-state battery, and relates to the technical field of solid-state batteries, the quick charging device comprises a moving box, a roller, a reciprocating screw rod, a fixed frame, a lifting column, a bottom column, a lifting column and a lifting plate, the moving box is slidably mounted at the top of a platform, and the roller is rotatably mounted in the moving box; one end of the reciprocating screw rod is rotatably installed at the bottom of the platform, the bottom column is rotatably installed at the other end of the reciprocating screw rod, the fixing frame is fixedly installed on the face, close to the reciprocating screw rod, of the bottom column, a rectangular sliding groove is formed in the fixing frame, and the lifting column is slidably installed in the rectangular sliding groove of the fixing frame. When the lifting column moves, the electric plate is lifted, so that an article can be lifted to the position closer to the box opening, a user does not need to stretch the hand to the bottom of the box to grab the article with great effort, and particularly, the convenience of taking the article is greatly improved for people with thicker fingers or poor hand flexibility.

The utility model belongs to the technical field of circuit board testing, in particular to a circuit board testing platform for electronic information engineering, which comprises a base and a turntable, the bottom of the base is fixedly connected with a cover body, a station switching assembly is arranged between the cover body and the turntable, the turntable is provided with four clamping stations, and the four clamping stations are arranged on the base. The top of the base is fixedly connected with a test main body, the top of the test main body is provided with a circuit board test station, and the front side of the test main body is fixedly connected with a controller. According to the utility model, the structural design is reasonable, the four clamping stations are arranged and can be switched, so that the circuit board can be clamped, taken and placed and tested at the same time, the test efficiency is greatly improved, the clamping station at the right side is far away from a probe, and the test efficiency is improved. The problem that the probe moves downwards to crush the hands of a person is fundamentally solved, and the safety in use is improved.

The utility model relates to a crutch with adjustable height and angle, which comprises a crutch body and a stabilizing component, the stabilizing component is arranged in the crutch body, and the stabilizing component is used for stabilizing the crutch body; and the stabilizing assembly comprises a round cover, a round groove is formed in the round cover, a corrugated sleeve is fixedly connected to the bottom of the round cover, and a bottom plate is fixedly connected to the bottom of the corrugated sleeve. When the bottom of the walking stick body is in contact with the inclined ground, the bottom of the walking stick body can be always parallel to the ground under the running fit of the round ball and the round groove, and even if the walking stick is on the uneven or inclined ground, good contact can be kept, and more reliable support can be provided; according to the walking aid, shaking and unbalance caused by uneven ground when a user walks can be effectively reduced, meanwhile, the reset spring and the corrugated sleeve can provide certain buffering and damping effects in the using process, and the hand pressure of the user is relieved.

The utility model belongs to the technical field of massage equipment, and provides a hand massage mechanism which comprises a moving frame, an air bag fingerstall, a driving device and an inflation assembly, the air bag fingerstall is used for being connected to the finger of a person in a sleeving mode and can be inflated to expand, and the air bag fingerstall is arranged on the moving frame; the driving device is connected with the movable frame and is used for driving the movable frame to move; the inflation assembly comprises an air pump and a plurality of first air valves, the air pump is connected with the first air valves through pipelines, and the first air valves communicate with the air bag fingerstalls through pipelines and are used for conducting air inflation and deflation control over the air bag fingerstalls. The utility model further provides a hand massage instrument with the hand massage mechanism. The technical problems that in the prior art, a hand massage device only has a mechanical pressing technique, and the massage mode is single are solved.