719 results about "Hand wrist" 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 discloses a wrist joint spasm assessment method and a wrist joint spasm assessment device based on multi-source data fusion. The rotating speed data, the rotating angular speed data and the angle change data of the wrist joint, the pressure change data of the whole palm, the acceleration change data of the palm, the torque change data of the wrist joint and the electromyographic change data of related muscles in the movement process are measured, and scoring is carried out in combination with an expert system. The evaluation of wrist spasm is realized by combining a multiple linear regression algorithm with a differential evolution algorithm; and based on the multi-source data fusion, establishing an evaluation model by using a Bi-LSTM network so as to realize spasm evaluation. The wrist serves as a spasm detection part, and compared with traditional spasm detection equipment, a more convenient data acquisition mode is achieved while the evaluation precision is guaranteed.

A system or method for controlling movement of a robot (600) using actuators may include one or more actuators (1002) of a first type positioned at torso, shoulder, and hip locations of the robot; one or more actuators of a second type (1004), the one or more actuators of the second type being positioned at a wrist position of the robot; one or more actuators (1006) of a third type, the one or more actuators of the third type being positioned at a wrist position of the robot; one or more actuators of a fourth type (1008), the one or more actuators of the fourth type being positioned at the elbow and ankle positions of the robot; one or more actuators (1010) of a fifth type, the one or more actuators of the fifth type being positioned at a torso position and a hip position of the robot; and one or more actuators (1012) of the sixth type, the one or more actuators of the sixth type being positioned at the knee position and the hip position of the robot.

A prosthetic assistive device configured to attach to a distal end of a natural or prosthetic arm or wrist. The device may include a palm portion. A split hook may be coupled to a distal end of the palm portion. The split hook may comprise a first end effector and a second end effector. The prosthetic device may include a third end effector rotatably coupled to the palm portion at a proximal end of the palm portion. The third end effector may rotate about a transverse axis to pinch and unpinch, as well as rotate about a longitudinal axis to adduct and abduct. A rotating member such as a ring may rotate about a plate for adduction / abduction. The prosthetic device may include a drive assembly configured to rotate one or both of the split hook end effectors about two different axes.

A wrist brace, accommodating right and left hands, includes: a casing, pull tab, elastic members, center stay, and thumb stay. The casing includes: first and second thumb sockets, respectively usable for right and left thumbs, positioned symmetrically about the casing's center axis; and first and second elongated pockets, each formed parallel to the center axis, extending between the respective thumb socket and distal end of the casing. A third elongated pocket, centered on the center axis, extends between proximal and distal ends of the casing. The elastic securing members pass through holes on one side of the casing, with respective first ends fixedly secured to the pull tab, and respective second ends fixedly secured to another side of the casing. A center stay occupies the third pocket. A thumb stay is received within either of the first and second elongated pockets for respective use on the right and left hands.

The present disclosure relates to the field of artificial limbs for amputees and specifically to a passive compliant wrist unit 210 for upper limb prosthesis. The passive compliant can comprise a plurality of fingers controlled by a compliant four bar mechanism. The arm is capable of extension / flexion, radial / ulnar deviation on application of a force on the snap joint. The limb is also capable of pronation / supination actions. By application of a force on an arm snap joint, the flexible wrist 216 can be adapted to perform extension / flexion, radial / ulnar deviation.

The invention discloses a wrist image fracture recognition detection method and system based on an improved YOLOv8 network, and the method comprises the steps: obtaining a to-be-processed wrist fracture image data set, and carrying out the data preprocessing, and obtaining a wrist fracture image; based on a fast network backbone structure, a bidirectional feature pyramid network structure fused with a global-to-local space aggregation module and a dynamic cross-stage deformable convolutional network module is introduced, and an improved YOLOv8 recognition network model is constructed; and performing image recognition processing on the wrist fracture image based on the improved YOLOv8 recognition network model to obtain a wrist image fracture recognition result. According to the invention, the capture capability and feature extraction efficiency of the wrist fracture features under the complex background can be enhanced, and then the precision of wrist fracture image recognition is improved. The wrist image fracture recognition and detection method and system based on the improved YOLOv8 network can be widely applied to the technical field of image recognition.

The invention provides a rope-driven elbow-forearm rehabilitation device based on a tension spring reset system, the rope-driven elbow-forearm rehabilitation device comprises a flexible driving part, a forearm rotating part and an elbow joint flexion and extension part, and the flexible driving part is composed of a reset tension spring, a driving rope and the like; the forearm rotating part is composed of wrist inner and outer rings, a rotating track assembly and the like. The elbow joint flexion and extension part is composed of an angle adjusting chuck, a passive moving pair assembly and the like. The forearm rotating part is worn on the forearm and the wrist of a subject, and the flexible driving part drives the wrist outer ring to rotate so as to drive the forearm of the subject to rotate forwards and backwards; the elbow joint flexion and extension part is worn on the upper arm of a subject, and the flexible driving part drives the angle adjusting chuck to rotate so as to drive the elbow joint of the subject to complete flexion and extension movement; the forearm rotating part and the elbow joint flexion and extension part are connected through a forearm-elbow connecting piece; the two-degree-of-freedom elbow and forearm rehabilitation training device can realize two-degree-of-freedom rotation movement of the elbow and the forearm, is suitable for postoperative rehabilitation training of a congenital ulna and radius fusion patient, and has the advantages of portability, good flexibility and the like.

The invention discloses a minimally invasive surgical instrument, and belongs to the technical field of medical instruments, the minimally invasive surgical instrument comprises a tail end tool, an operating part, a power transmission part and a connecting part, the connecting part comprises a linear part connected with the tail end tool, a bending part connected with the operating part and a spherical pair mechanism used for connecting the linear part and the bending part; the inner side of the spherical pair mechanism is provided with an inner path for smooth transition of a jaw wire, the spherical pair mechanism is provided with a rotary limiting shaft and a locking assembly, the rotary limiting shaft is configured to enable the bent part to do pitching rotation action relative to the linear part, the locking assembly comprises a locking unit and a control unit, and the locking unit is configured to provide locking force for the spherical pair mechanism. The control unit is a locking wire for connecting the locking unit and the locking operation part, and the locking operation part is reversely interlocked with the spherical pair mechanism. By adjusting the angle between the linear part and the bent part, the wrist of a doctor is located at a comfortable moving position, so that the flexibility of the wrist in the operation process is improved, and the fatigue feeling of the doctor is reduced.

Hand table device for surgeons including a rectangular, rigid platform having elevated edges running along each long side thereof. The elevated edges allow the surgeon and assistant to rest their arms / wrists to prevent fatigue of their arms and shoulders while also providing a solid foundation for the surgeon's arms / wrists during a delicate procedure. The edges further prevent instruments and fluids from exiting the surgery area. The rigid platform may include magnets which, along with secondary metallic articles, permit instruments, medical devices and a patient's body part to be secured or immobilized as needed. The hand table device may be disposable for one-time use only.

The utility model belongs to the technical field of detection, particularly relates to an ethanol derivative detection device, and aims to solve the problems that a test tube is oscillated by shaking a wrist to accelerate mixing of solutions, the next step cannot be prepared in the process, and the wrist of a tester is damaged by long-time shaking, and the ethanol derivative detection device comprises a base, the alcohol lamp is arranged at the top of the base, the reagent bottle is arranged at the top of the base, the supporting frame is fixedly connected to the top of the base, and the test tube rack is fixedly connected to the top of the base. Meanwhile, an oscillating assembly capable of automatically swinging left and right in a reciprocating manner is arranged, so that wrist injury of a tester caused by long-time swinging is avoided, reagent solution mixing is accelerated, two hands are liberated, the tester can prepare for the next operation step, and the testing speed is increased.

The exoskeleton manipulator comprises an exoskeleton main body, the front end of the exoskeleton main body is connected with a finger four-finger part, the rear end of the exoskeleton main body is connected with a finger thumb part and a wrist wearing part, the exoskeleton main body is connected with a thumb metal rod and a four-finger knuckle rod, and a hand back liner is arranged on a palm part on the inner side of the exoskeleton main body; the four-finger part comprises an index finger stall, a middle finger stall, a ring finger stall and a little finger stall which are arranged on the four-finger knuckle rod in a sleeving manner, and the thumb part comprises a thumb stall arranged on the thumb metal rod in a sleeving manner; the wrist wearing part comprises a wide bandage with one end fixed to the exoskeleton body and a wrist guard arranged on the wide bandage. The invention further relates to a wearing method of the exoskeleton mechanical arm, wearing can be rapidly completed only through two steps after assembly is completed, and the problem that the exoskeleton mechanical arm is simple to wear and good in adaptability cannot be achieved at the same time is solved.

The invention provides a rigid-flexible coupling wrist rehabilitation robot which comprises an arm supporting unit and a wrist supporting unit, the arm supporting unit is matched with the forearm of a patient, the wrist supporting unit is matched with the palm of the patient, and an upper / lower elastic rope support and a left / right elastic rope support are installed on a connecting plate of the forearm supporting unit. An elastic rope connecting anchor point at the front end of the upper elastic rope support and an elastic rope connecting anchor point at the front end of the lower elastic rope support are connected with corresponding anchor points of the wrist supporting unit through three elastic ropes to form an integral tensioning structure, and four driving flexible ropes penetrate through Bowden wire pipes installed in the elastic rope supports to be connected to the corresponding anchor points of the wrist supporting unit. And the flexion / extension and radial deflection / ulnar deflection of the wrist joint are realized by traction and driving of the flexible cable. The open type wearable structure is convenient for a patient to wear, and the problems that a rigid wrist rehabilitation robot is not matched with the instant movement center when the wrist of the patient moves and the joint torque of a flexible wrist rehabilitation robot is insufficient are solved, so that the treatment effect of rehabilitation training on the patient is improved.

The invention relates to the technical field of medical instruments, in particular to a compression device for a hemostatic ball, which comprises a fixing block covering a puncture point on a wrist radial artery, a hemostatic component, a compression component, a compression component and a compression component, and is characterized in that the edges of two sides of the fixing block are provided with fixing bands for being fixed on the wrist; the upper top cover and the lower closing block are arranged in an inner cavity of a fixing block, movable gaps are reserved in the upper portion and the lower portion of the upper top cover, and a plurality of evenly-distributed hemostasis balls are arranged in the movable gaps between the upper top cover and the lower closing block and used for stopping bleeding of a puncture point. The operating mechanism is arranged on the fixing block and used for tightening the hemostasis assembly and the fixing band at the puncture point. A collaborative operation mode is adopted, tightening of the fixing band and compression of the hemostasis assembly are synchronously performed at the position of a wrist radial artery puncture point, the effects of positioning the puncture point and fixing the device are achieved, compression hemostasis is performed according to the specific condition of a patient, the fixing band does not need to be repeatedly operated, and the influence of external force extrusion is reduced.

The claimed group of inventions relates to a field of anatomical engineering, and it relates to a mechanical finger and an actuator therefor, which may be used in imitators and prostheses of upper limbs. The mechanical finger is a structural element that performs a gripping function, consists of movable phalanxes, elements for modifying their position relative to each other, and a driving rope that is connected to a lead nut that is, in turn, intended to interact with an electromechanical actuator that transmits a force to the mechanical finger. According to the invention, the rope is fixed on the lead nut and divided into two portions which are arranged symmetrically relative to a sagittal plane of the proximal phalanx and laid on the guides. Therewith, cavities are provided in locations of the rope which are configured to receive loops of the rope, and a length of each of them equals to a travel length of the lead nut. The actuator is a power module that is aimed to drive and to control a movement of the mechanical finger. It consists of a motor reducer having a front shaft with a lead screw mounted thereon, the lead screw is configured to be coupled to the lead nut, and an encoder that is configured to enable a connection to the contact board of the artificial wrist, thereby powering the motor reducer and transmitting pulses. The actuator and the mechanical finger are individual modules of the artificial wrist which together form a single module.

Provided are a fusion system of a mechanical arm and a dexterous hand, and a control method therefor. The fusion system comprises a four-degree-of-freedom mechanical arm, a dexterous hand wrist mounted at the tail end of the four-degree-of-freedom mechanical arm, and a dexterous hand mounted on the dexterous hand wrist, wherein the dexterous hand wrist is a single-joint spatial orthogonal two-degree-of-freedom wrist. In a motion control method, the fusion system of the four-degree-of-freedom mechanical arm and the dexterous hand is regarded as a six-axis series mechanical arm, and according to a joint angle, a position and an attitude of the tail end of the dexterous hand wrist can be obtained by means of a forward kinematics method; and according to the position and attitude of the tail end of the dexterous hand wrist, the joint angle can be obtained by means of an inverse kinematics numerical solution method, and then a control instruction is obtained and sent to a servo position controller, so as to drive the tail end of the dexterous hand wrist to reach a preset position and attitude. A six-degree-of-freedom series-parallel mechanism combining the mechanical arm and the dexterous hand wrist has multi-degree-of-freedom redundancy, such that rotation of the five-finger dexterous hand can be achieved without a wide-range motion of the mechanical arm.

A gameplay paddle with an ergonomic angled handle is disclosed. The angled game paddle handle allows for perfect straight-out extension of the forearm and wrist creating maximum reach and the greatest amount of hitting surface or better control of the ball.

The invention discloses an upper limb exoskeleton control method which comprises the steps that a monocular vision sensor is fixed to the wrist of a user, a lens faces the trunk of the user, and spatial position information of the wrist is collected; reversely calculating the pose of the sensor according to the feature points at the wrist by using an EPnP algorithm to obtain a rotation matrix and a translation vector; synchronously collecting surface electromyogram signals, and predicting intention through feature extraction and a classification model; performing time alignment on the visual data and the myoelectricity data, performing multi-modal fusion, and predicting the tail end position and speed at a future moment; mapping the three-dimensional motion to a two-dimensional plane, simplifying the three-dimensional motion into a two-link inverse kinematics problem, and analyzing to obtain a joint angle and an angular velocity; and the torque of the exoskeleton motor is adjusted in real time according to the joint angle, the angular speed and the electromyographic activation intensity. According to the upper limb exoskeleton control method, the vision sensor is reversely installed to the wrist and faces the body, and the problem that the monocular vision scale is uncertain is solved in the mode that monocular vision is added with kinematics constraint.

The invention relates to the technical field of industrial robots, in particular to a twenty-two-degree-of-freedom dexterous hand which comprises a palm structure, and the two ends of the palm structure are movably connected with a wrist structure and five finger structures correspondingly; a driving structure is mounted in the wrist structure, the driving structure comprises finger driving mechanisms and a palm driving mechanism which are mounted on the wrist structure, and the five finger driving mechanisms penetrate through the palm structure to be connected with the five finger structures one by one and are used for driving the five finger structures to bend and swing; the palm driving mechanism is connected with the palm structure and used for driving the palm structure to bend and swing. According to the dexterous hand, the five fingers, the palm structure and the wrist structure have bending and swinging capacities respectively, the degree of freedom is high, and the dexterous performance of the dexterous hand is greatly improved; the mode of combining the chain, the sleeve and the tendon rope is adopted, remote more accurate control over the tendon rope is achieved, and the repeated positioning accuracy of the dexterous hand is improved.

An external fixation K-wire clamp including an elongated channel arranged and configured to receive a K-wire. In some examples, the elongated channel is devoid of any predefined grooves so that a K-wire can be positioned anywhere along the length of the elongated channel and / or in various orientations. In addition, and / or alternatively, an exemplary method of use for treating a distal radius fracture is disclosed. The method enabling earlier hand / wrist therapeutics.

The invention discloses an intelligent wrist protecting device for wrist rehabilitation, the intelligent wrist protecting device comprises a base, a vertical fixing assembly, an arm supporting unit and a wrist training execution unit, the vertical fixing assembly is vertically fixed on the surface of one end of the base, the arm supporting unit is horizontally arranged above the base, and the wrist training execution unit is arranged above the vertical fixing assembly. One end of the arm supporting unit is fixed to the side wall of the vertical fixing assembly, the other end of the arm supporting unit is located above the side, away from the vertical fixing assembly, of the base, one end of the wrist training execution unit is arranged on the arm supporting unit, and one end of the wrist training execution unit is flexibly connected to the vertical fixing assembly. The wrist protecting device can be used for completing basic activities such as adduction, abduction, flexion and extension of the wrist of a patient, rehabilitation of the wrist of the patient is promoted, the palm sleeve can be accurately controlled and flexibly adjusted, and the wrist protecting device can provide customized and efficient rehabilitation training services for the patient.

The invention discloses an SMA-based upper limb exoskeleton rehabilitation robot which comprises a big arm exoskeleton auxiliary block detachably mounted on a big arm, a front arm exoskeleton block detachably mounted on a front arm and a wrist joint exoskeleton frame detachably mounted on a wrist joint, and the front arm exoskeleton block can be rotationally mounted on the big arm exoskeleton auxiliary block in a driven manner; an upper SMA tractor used for driving the forearm exoskeleton block to rotate is arranged on the big arm exoskeleton auxiliary block, and a lower SMA tractor used for enabling the wrist to move up and down is arranged on the forearm exoskeleton block. When the upper SMA tractor is heated to a certain temperature, the upper SMA tractor begins to contract, the forearm exoskeleton block is dragged in the contraction process, the forearm exoskeleton block rotates on the big arm exoskeleton auxiliary block, the forearm of the human body is driven to swing, meanwhile, the lower SMA tractor is heated, and when the lower SMA tractor is heated to a certain temperature, the lower SMA tractor begins to contract, and the forearm exoskeleton block rotates on the big arm exoskeleton auxiliary block and drives the forearm of the human body to swing. In the contraction process, the hand is dragged, the hand moves up and down, and the auxiliary effect on arm and hand rehabilitation is achieved.

The invention relates to the technical field of meridian power generation data acquisition, in particular to a dry and wet electrode combined double-track elastic self-adaptive meridian impedance measuring bracelet which comprises a medical bandage, a mounting plate and an electrode group, the mounting plate is arranged on the surface of the medical bandage, and a silica gel layer is arranged on the surface of the mounting plate. Under the connection of the mounting plate and the electrode sets, the effect of supporting and limiting the acting positions of the electrode sets on the medical bandage is achieved, during use, only one electrode set needs to be limited to be aligned with the acupuncture point, the electrode sets of the other parts can correspond to the corresponding acupuncture points one by one, use and operation are convenient and fast, and due to the connection of the mounting plate and the connecting piece, use is convenient and fast. Through the action of the flexible circuit board and the connecting piece, the connection between the two groups of mounting plates is realized, the action area of the medical bandage on a wrist or an ankle is increased, the contact area of the electrode group on meridian points is further increased, the contact measurement in a larger range is achieved, and the accuracy and the applicability of the medical bandage are improved.

1. Name of the product in this design: Wrist Connector Plate. 2. Purpose of this design: This design is used as a connecting plate to connect the palm and wrist of a robotic arm. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

The utility model relates to an auxiliary device for preventing a wrist from pressure injury, which belongs to the technical field of medical instruments and comprises a placing plate, a soft cushion is placed on the top surface of the placing plate, a protective sleeve is fixedly sleeved on the peripheral wall of the placing plate, a mounting groove is arranged on the top surface of the placing plate, and a first secondary magic tape is fixedly connected in the mounting groove. A receding groove is formed in the bottom face of the soft cushion, a first female hook-and-loop fastener is fixedly connected into the receding groove, two positioning holes are formed in the top face of the containing plate, two positioning rods are fixedly connected to the bottom face of the soft cushion, and one end of each positioning rod extends into the corresponding positioning hole. According to the auxiliary device for preventing the pressure injury to the wrist, under the action of the soft cushion, the wrist is protected, the pressure injury to the wrist is avoided as much as possible, the protection effect is improved, the soft cushion is conveniently fixed through attachment between the first mother hook-and-loop fastener and the first child hook-and-loop fastener, and medical staff can conveniently disassemble and assemble the soft cushion.

The wrist stabilizer for rehabilitation comprises a wearing sleeve, and the wearing sleeve is sleeved backwards from the front portion of a palm to the rear portion of a wrist; the front end of the wearing sleeve is provided with finger holes corresponding to five fingers; the front end of the wearing sleeve is sleeved to the root of a finger, so that most of the finger is exposed; a plurality of guide blocks are respectively arranged on one side, corresponding to the hand back, of the wearing sleeve along the palm back, the wrist and the back of the wrist; a posture fixing chain sequentially penetrates through the guide blocks; the posture fixing chain is sleeved with an elastic outer sleeve. The posture fixing chain comprises a plurality of chain block single bodies which are sequentially opposite end to end and a pull wire which slides and penetrates through the centers of the chain block single bodies in the axial direction at the same time. Through the simple and light structural design, flexible adjustment and stable fixation of the wrist posture are successfully achieved, and it is ensured that a user can obtain the best supporting and protecting effect in the rehabilitation and daily use process.

A wrist hooking and pen holding correcting device comprises a pen holding piece (1). A wrist hooking prevention member (2); one end of the wrist hooking prevention piece (2) is rotationally connected with the pen holding piece (1), when the pen is used, the wrist hooking prevention piece (2) extends to the wrist or the forearm from the palm of a user, physical limiting is formed between the palm and the wrist or the forearm, and therefore the palm is limited to be bent towards the chest of the user in the writing process. According to the wrist hooking and pen holding correcting device, the wrist hooking preventing piece is arranged on the pen holding piece, when the device is used, the wrist hooking preventing piece extends to the wrist or the forearm from the palm center, physical limiting for limiting the wrist from being hooked inwards is formed, and therefore the purpose of correcting the wrist hooking and writing is achieved; in addition, the correcting device can be directly picked up for use, an additional fixing belt is not needed to fix the wrist hooking preventing plate, and the correcting device is efficient and convenient.

A wrist joint (100) for a surgical instrument (160) having a proximal end (164), a distal end (166), an end effector (102) mounted at the distal end and (166) at least one actuation tendon (108a, 108b) for actuating the end effector (102) The wrist joint (100) comprises proximal and distal parts (110, 120) having respective proximal and distal rolling surfaces (112, 122), wherein respective axes (114, 124) extend through the proximal and distal parts (110, 120) centrally with respect to the associated rolling surfaces (112, 122). The distal part (120) is rotatably coupled to the proximal part (110) with the proximal and distal rolling surfaces (112, 122) able to roll against one another. Proximal and distal guiding assemblies (130, 132) are mounted to the proximal and distal parts (110, 120) respectively. Respective guiding surfaces (131, 133) of the proximal and distal guiding assemblies (130, 132) are configured to guide the at least one actuation tendon (108a, 108b) therebetween as the at least one actuation tendon (108a, 108b) extends from the proximal end (164) to the end effector (102), thereby decoupling actuation of the end effector (102) from wrist movement.

The present application relates to a kind of hand type hemostatic clamp, including first holder and second holder, the first holder and second holder are movably connected, the inner side of the first holder and the inner side of second holder form the clamping area for being fitted to the surface of wrist, the inner side surface of the first holder is equipped with the compression component for pressing the bleeding point, the inner side surface of the second holder is equipped with the support component that can move;In the present application, the cooperation between compression component and support component is used to simulate hand configuration, disperse the support point on second holder, will not cause hand back or wrist congestion and other symptoms, jointly constitute a three-dimensional stable compression support positioning space, patient when using, entire hemostatic clamp is stable and does not move, improve the wearing experience of patient.

The invention relates to the technical field of piano practice auxiliary devices, and provides a wrist stability auxiliary training device which comprises a base, a sleeve seat is fixedly connected to the middle of the base, a supporting column is slidably connected to the top end of the inner side of the sleeve seat, a supporting seat is fixedly connected to the top of the supporting column, and a wrist lifting mechanism is arranged at the top of the supporting seat. The wrist lifting mechanism comprises a spherical hinge seat, a supporting rod is spherically hinged to the top end of the spherical hinge seat, a mounting seat is fixedly connected to the top of the supporting rod, a supporting plate is fixedly connected to the top of the mounting seat, a cover plate is hinged to one end of the supporting plate, a clamping block is fixedly connected to one end of the cover plate, a locking piece is arranged at the other end of the supporting plate, and a pressing piece is arranged on the inner side of the cover plate; a plurality of stabilizing pieces are arranged on the outer side of the mounting base. The homopolar magnetic repulsive force design of the electromagnet and the permanent magnet block is adopted, the pressure spring is combined, the wrist is allowed to do natural micro-amplitude movement within the preset range, and the problem that due to an existing tool, the freedom degree of the wrist is lost is solved.