431 results about "Human arm" patented technology

The present invention relates to an exoskeleton interface apparatus that parallels human arm motion and is comprised of a serial assemblage of five powered linkages and joints based at a rigid support structure worn on the torso of the human subject. Such apparatus generates shoulder rotation using three orthogonal revolute joints mounted on serial linkages encompassing and intersecting at the anatomical glenohumeral joint. Elevation of the shoulder joint is articulated using a link member driven by a single revolute joint mounted in the torso structure. Passive adjustable linkages are used to match variation in anatomical forearm length, upper arm length, and scapula-to-glenohumeral radius. A plurality of integrated dc motor/harmonic drive transmission modules is co-located on adjoining linkages to power the joints. Force is exchanged with the human at the handgrip and elbow brace, and reacted to the torso structure via the base attachment. The present invention is applicable in particular to rehabilitation of the shoulder.

A wrist-watch mobile phone device which is recharged by body temperature to prevent from signal interruption includes a wrist-watch mobile phone unit which is applied in a cellular wireless communication system, and a wrist band which is assembled with the wrist-watch mobile phone unit. The mobile phone unit includes a housing which is provided with wrist-band installation members and a cover which is pivoted at the housing and can be flipped open freely. A rear side of the housing that is in contact with a human arm is embedded with thermoelectric power generating chips to recharge a primary battery of the mobile phone at any time by body temperature of the arm. In addition, a surface or a part of the cover is provided with an independent system of a quartz-core watch to facilitate reading time.

A prosthetic arm apparatus including a plurality of segments that provide a user of the prosthetic arm apparatus with substantially the same movement capability and function as a human arm. The segments are connectable to one another and connectable to a prosthetic support apparatus that may be adorned by the user. Some segments may provide movement about more than one axis using a single actuator. The prosthetic arm apparatus may include a user interface incorporated therein and may include one or more communication systems for communicating with external devices.

An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the user's arm.

A prosthetic arm apparatus including a plurality of segments that provide a user of the prosthetic arm apparatus with substantially the same movement capability and function as a human arm. The segments are connectable to one another and connectable to a prosthetic support apparatus that may be adorned by the user. Each segment of the plurality of segments provides a portion of the movement capability, enabling the plurality of connected segments connected to the harness mount to provide substantially the same movement capability as that lacking in the user.

An anthropomorphic medical robot arm includes a base end, a first arm element, a base joint coupling the base end to the first arm element, a second arm element, a middle joint coupling the second arm element to the first arm element, a distal functional end, a distal joint coupling the distal functional end to the second arm element, and at least one selectively operable movement inhibitor operable on the base joint, middle joint and/or distal joint so as to restrict the functionally possible range of movement of the robot arm to the range of movement of a human arm.

A linear-motion telescopic mechanism according to the present invention includes a plurality of block members (22) by which an arbitrary arm length is achieved in such a manner that the plurality of block member (22) are rigidly connected to each other so as to elongate a linear-motion telescopic joint (J3). On the other hand, by separating the plurality of block members (22) one by one from a rigid alignment of the plurality of block members (22), the linear-motion telescopic joint (J3) is contracted. The block members (22) unfixed from the rigid alignment are still serially connected but not in a rigid manner. That is, the block members (22) thus unfixed can be flexed in any directions, and therefore can be housed inside a support member (1) in a compact manner. This arrangement can provide a linear-motion telescopic mechanism (i) which enhances safety by eliminating such a risk, inevitable for a typical robot arm having an elbow joint, that an object around the robot arm gets caught between arm sections when the elbow joint is closed, and (ii) which can reduce a space to be occupied by the robot arm.

The invention relates to a method of realizing the visualization of track arm movement in fields such as immersion interactive game, dangerous industrial control, virtual reality, etc. The current method is not very much in line with human daily interaction habits. The method of the invention is: roughly locating the target window for arm position through analyzing the central logo color information of wrist and elbow in real-time image sequence; then carrying out central logo extraction and three-dimensional reconstruction of characteristic points for the rough target window from two synchronized camera; lastly carrying out robust control with the three-dimensional characteristic points of wrist and elbow based on fuzzy predictive control technology, and generating stable navigation control signals. The method of the invention can realize six degrees of freedom arm navigation operation, thus human arms and hands can be in a natural state when interacting, the operator can carry out human-computer interaction in a natural way, which is much more in line with human daily interaction habits.

Provided are a multi-joint robot arm, a manipulation force acquiring unit that acquires a manipulation force from a person, the manipulation force acquiring unit disposed on the multi-joint robot arm, an external force acquiring unit that acquires an external force to be applied to a gripped object, the external force acquiring unit disposed on the multi-joint robot arm, an impedance controller that performs impedance control on the multi-joint robot arm based on the manipulation force acquired by the manipulation force acquiring unit and a set impedance parameter, and an assist force correcting unit that corrects a force component vertical to the resistance force of an assist force generated by the impedance controller according to the resistance force generated by friction caused by contact between the gripped object and an external environment.

The illustrative embodiment is a simulation system for practicing vascular-access procedures without using human subjects. The simulator comprises a data-processing system and a haptics device. The haptics device provides the physical interface at which an end effector, which is representative of a medical instrument (e.g., a needle, catheter, etc.), is manipulated with respect to a haptics-device base to simulate instrument insertion. The data-processing system, by exchanging signals with the haptics device, provides a three-dimensional simulation that includes the resistive forces that a medical practitioner would experience if the simulated procedure were an actual procedure that was being performed on a real anatomy (e.g., human arm, etc.). The simulator displays the ongoing simulation and assesses the performance of its user.

The invention discloses a method for quick solution of six-degree-of-freedom humanoid dexterous arm inverse kinematics. The method includes: firstly, setting up a six-degree-of-freedom human arm simulated joint structural model, solving an elbow joint angle and two joint angles of the shoulder joint according to a planar relation formed by the shoulder center, the elbow center, the wrist center and the neck center of the dexterous arm and the tail end position of the dexterous arm, and further solving three joint angles of the wrist joint by the aid of the dexterous arm tail-end posture relation; and calculating position error of a dexterous arm target link to prove effectiveness of the solution of the inverse kinematics by means of a positive kinematic model. Compared with a numerical solving method for robot inverse kinematics, the method for quick solution of six-degree-of-freedom humanoid dexterous arm inverse kinematics is high in precision and quick in speed, and can be used for humanoid dexterous arm operational tasks having high requirements on precision and instantaneity.

The embodiment of the invention provides a self-service express cabinet and an express delivering and mailing method thereof. The self-service express cabinet comprises an express cabinet main body and a man-machine interaction device arranged on the express cabinet main body, the express cabinet main body is provided with an express mailing and taking window, and box grids used for storing expresses, an express bearing table and a mechanical arm are arranged in the express cabinet main body. According to the self-service express cabinet, the automatic sorting work on the expresses is achieved by controlling the related cooperative movement of the express bearing table and the mechanical arm, therefore, unmanned express sorting and delivering are achieved, and the workload of a courier is effectively reduced; meanwhile, the box grids used for storing the expresses are arranged in the express cabinet main body, the expresses are put into or taken out from the box grids through the related cooperative movement of the express bearing table and the mechanical arm, therefore, the express cabinet is not limited by the human arm any more, and the express cabinet can be made to be higher. Therefore, compared with an existing express cabinet, the area is reduced on the premise that the same quantity of the expresses are stored.

The invention discloses a double-layer personification motion planning method for a seven-freedom-degree simulated human mechanical arm, and belongs to the technical field of the mechanical arm control. The problems that the current seven-freedom-degree simulated human mechanical arm path planning method based on a Bi-RRTX algorithm is not suitable for the task space planning of the simulated human mechanical arm, and the path of an end effector and the mechanical arm configuration of the simulated human mechanical arm cannot be optimized at the same time can be solved. The method comprises the steps of planning a collisionless path for the end effector, executing the smoothing treatment to the collisionless path, calculating all usable mechanical arm configurations, selecting an optimal mechanical arm configuration set according to the kinematics characteristic of a human arm and controlling the simulated human mechanical arm to successively complete all arm configurations in the optimal mechanical arm configuration set. In the step of planning the collisionless path, an end new growth path point validity judgment method based on arm configuration description is used for replacing the collision detection method in the current Bi-RRTX algorithm. The method is suitable for the double-layer personification motion planning of the seven-freedom-degree simulated human mechanical arm.

The invention relates to a movement control system and method for a multi-shaft mechanical arm, the movement of the mechanical arm can be controlled by users through a natural gesture and an arm motion. According to the movement control system and method for the multi-shaft mechanical arm, the physical gesture is recognized and the arm posture is calculated and solved through detection of myoelectric signals and IMU motion information on the surface of the human arm; the mechanical arm is controlled to present the arm motion of the human body through establishment of an arm-mechanical arm physical relationship model; and the grabbing operation of a tail end actuator of the mechanical arm is controlled by the natural gesture. The movement control system and method for the multi-shaft mechanical arm can be widely used for the field of remote operations of the mechanical arm, the teaching and the like; and the intelligent control over a robot is realized, and the aims of human-computer interaction and intelligent interaction are achieved.

The invention discloses a natural interaction pen capable of automatically inputting written contents and a handwriting detection method. According to writing motion models of human, the interaction pen measures angular velocity information and acceleration information of the motion of a human hand and a human arm in a writing motion process by using sensors in a pen body, and output voltage signals are subjected to low-pass filtering and analogue-to-digital conversion and then are sent to a microprocessor I for calculation of writing motion characteristic quantity and recognition of writing intention and mapped into handwriting information of the written contents; the signals output by the microprocessor I are sent through a data wireless communication module I; the signals sent by the data wireless communication module I are received by a receiving end of a computer host, then processed through a microprocessor II and transmitted to the computer host through a USB interface. The natural interaction pen has the advantages of no need of handwriting panel, independent work, better accordance with the writing operation habit of people, and high portability and universality.

The invention discloses a wearable robot for detecting and suppressing tremor of human arms and a method for suppressing the tremor thereof. The robot comprises a wearable exoskeleton system, a tremor excitation system, a tremor movement detection system and a signal processing and control system. The invention provides a comprehensively utilized 'three closed loop' mixed tremor suppression strategy based on the biological force loading technology and the functional neuromuscular stimulation technology. When the tremor patients carry out daily activities such as writing, raising arms and the like, the tremor movement detection system senses the movement information of the arms and isolates tremor movement signals from normal movement signals through the 'two-stage' adaptive prediction filtering algorithm; the 'three closed loop' tremor movement suppression control strategy is adopted to respectively control a functional neuromuscular stimulation device and a DC motor system to generate tremor movement with the same amplitude and 'opposite' phase positions so as to achieve the aim of suppressing arm tremor of the patients and improve the quality of lives of the tremor patients.

The invention provides a motion trajectory planning method of mechanical arms of a humanoid robot for preventing collision. In the prior art, the collision problem is not solved fundamentally. The method adopts a joint space-based interpolation method to solve the collision problem between the mechanical arms and a table caused by motion trajectory generation of the mechanical arms, and mainly aims at operation of humanoid arms of the humanoid robot oriented to tabletops or objects similar to tabletops. The mechanical arm freedom degree includes three freedom degrees of the shoulder, two freedom degrees of the elbow and two freedom degrees of the wrist. The concrete implementation method comprises under the premise of ensuring completion of target operation at a fixed moment, properly bending the elbow at the collision occurring moment during the motion of the mechanical arms to prevent collision. With such scheme, the mechanical arms can move without collision while realizing high flexibility and large operation space.

The invention discloses a mobile-robot remote control apparatus. The remote control apparatus is characterized by comprising a robot on-site unit and a remote control unit, wherein the robot on-situ unit comprises a navigation module, a video acquisition module, a wireless communication module, a motion control module and a safety module, and the remote control unit comprises a multi-view vision acquisition module, an image processing module, a data operation controlling module and a wireless communication module. The invention also provides a mobile-robot remote control technology. The remote control technology comprises the following steps: a) acquisition and feature extraction of human arm image; b) movement track tracking of human arms and palms, and acquisition of space movement data of characteristic points; and c) conversion of movement control instruction of robot arms and palms, and wireless output. The mobile-robot remote control apparatus is convenient to use, high in intelligent degree, much lower in visual sensor cost compared with data gloves, and convenient to popularize and apply.

The invention discloses a flying robot with a mechanical arm and a control method thereof. The flying robot comprises a multi-rotor unmanned aerial vehicle flying platform, the six-degree-of-freedom mechanical arm and an operation end control system, wherein the six-degree-of-freedom mechanical arm is installed under the multi-rotor unmanned aerial vehicle flying platform. The unmanned aerial vehicle is combined with the mechanical arm, so that the task execution capability of the unmanned aerial vehicle is expanded; and the movement range of the mechanical arm is expanded from the ground to the air, meanwhile, the control mode of the mechanical arm is improved, the new control mode can enable the mechanical arm to move along with a human arm, so that the idea of an operator can be executed more naturally and flexibly. According to the flying robot and the control method thereof, the operation ranges of the unmanned aerial vehicle and the mechanical arm are expanded, and remote control of the mechanical arm is realized; the mechanical arm can move along with the postures of the human arm, so that complex model detection and model operation are avoided, and the response effect is better; and the impact to the mechanical arm and the flying platform during rapid response of a steering engine can be relieved while the rapid response characteristic of the steering engine is kept as far as possible.

The invention discloses a soft manipulator based on pneumatic artificial muscles,which comprises a manipulator mechanism and an air circuit control system. The manipulator mechanism comprises a manipulator fixing platform, an elbow joint, a manipulator lower arm, a manipulator upper arm and a wrist joint; the air circuit control system comprises an air source device, pneumatic triple pieces, a pressure-reducing valve, a proportional pressure valve, an electromagnetic valve, a pneumatic artificial muscle, a data collecting card and a computer. The pneumatic muscle actuator based soft manipulator researches and develops a pneumatic muscle manipulator based on the working characteristics of a human arm structure and the pneumatic artificial muscle, uses the flexibility advantage of the pneumatic artificial muscle to solve a plurality of weaknesses of the modern robot, researches and develops a humanized manipulator mechanism and a corresponding air circuit control system, and adopts the pneumatic artificial muscle as a driver to widen the research field of the manipulator. The soft manipulator based on pneumatic artificial muscle has the advantages of novelty, flexibility, simple structure and easy controlling and the like, and can meet the requirements on the manipulator properties in the field of bionic robots and rehabilitant robots and the like.