15 results about "Interphalangeal Joint" patented technology

The application discloses a multi-degree-of-freedom tendon-driven robot finger, which comprises a palm knuckle, a first knuckle, a second knuckle, a third knuckle, a driving device and a tendon, each knuckle comprises a knuckle body and a tendon guide mechanism; the first interphalangeal joint with three degrees of freedom is formed by connecting the palm knuckle and the first knuckle through a first ligament, the second interphalangeal joint with a single degree of freedom is formed by connecting the first knuckle and the second knuckle through a second ligament, and the third interphalangeal joint with a single degree of freedom is formed by connecting the second knuckle and the third knuckle through a third ligament; the tendon comprises a radial finger flexion tendon, a ulnar finger flexion tendon and a finger extension tendon, the tendon passes through the tendon guide mechanism and is connected with the driving device, the driving device drives the finger to perform extension-flexion movement and abduction-adduction movement through the tendon, and the finger extension tendon comprises a non-elastic main part for realizing extension of the first interphalangeal joint, a first elastic part for realizing extension of the second interphalangeal joint and a second elastic part for realizing extension of the third interphalangeal joint.

The invention discloses a multi-active-degree-of-freedom tendon-driven robot dexterous hand which comprises a palm which comprises a palm frame and a plurality of palm knuckles; the fingers are connected to the palm through the palm knuckles, each finger comprises a plurality of knuckles, and each knuckle comprises a knuckle body and a tendon rope guiding mechanism; the plurality of groups of tendon ropes are respectively arranged on the plurality of fingers, and each group of tendon ropes comprises a plurality of tendon ropes; the driving unit is fixed on the palm frame; the adjacent knuckles of each finger and the plurality of fingers and the plurality of palm knuckles are connected through tough elements to form a plurality of interphalangeal joints; each tendon rope on each finger penetrates through the corresponding tendon rope guiding mechanism and is connected with the driving unit, and the driving unit drives the corresponding finger to conduct stretching-buckling movement and abduction-adduction movement through the tendon ropes.

A hand covering with a mitten shell, a thumb portion extending laterally from the mitten shell, and abbreviated index, middle, ring, and pinkie finger fingertip segments configured to receive only the distal phalanx portions of the index, middle, ring, and pinkie fingers of the hand, respectively. Each fingertip segment has a distal end portion and a tubular peripheral wall that define an inner volume configured to receive only the distal phalanx portion the respective finger up to the distal interphalangeal joint. The inner volumes of the fingertip segments have lengths comprising a distance DD that are at least 20% but not more than 35% of a distance DT for the respective fingertip segment wherein the distance DT for each fingertip segment extends from the distal end of the inner volume to a line traveling laterally across the hand covering crossing a junction where the thumb portion meets the mitten shell.

The utility model belongs to the technical field of medical instruments, and particularly relates to a first metacarpal bone basilar fracture fixing splint. According to the first metacarpal bone basal part fracture fixing splint, the near-end plate can be fixed to the wrist of a patient through the third bridle, the far-end plate is fixed to the proximal joint basal part and the interphalangeal joint of the thumb through the first bridle and the second bridle, and the abduction angle of the thumb is controlled by adjusting the length of the adjusting rod; the first metacarpal bone basilar part is fixed, the hinged position of the near-end plate and the far-end plate is located at the wrist joint of the patient, the skin of the patient cannot be bruised, loosening caused by hand movement of the patient cannot happen, and therefore the good fixing effect is guaranteed.

The multi-degree-of-freedom tendon-driven robot finger comprises a palm knuckle, a first knuckle, a second knuckle, a third knuckle, a driving device and a tendon rope, and each knuckle comprises a knuckle body and a tendon rope guiding mechanism; the palm knuckles and the first knuckles are connected through first ligaments to form first interphalangeal joints with three degrees of freedom, the first knuckles and the second knuckles are connected through second ligaments to form second interphalangeal joints with single degrees of freedom, and the second knuckles and the third knuckles are connected through third ligaments to form third interphalangeal joints with single degrees of freedom; the tendon ropes comprise the radial side finger bending tendon rope, the ulnar side finger bending tendon rope and the finger stretching tendon rope, the tendon ropes penetrate through the tendon rope guiding mechanism and are connected with the driving device, and the driving device drives the fingers to conduct stretching-bending movement and abduction-adduction movement through the tendon ropes. The finger stretching tendon rope comprises a non-elastic body part used for achieving stretching of a first interphalangeal joint, a first elastic part used for achieving stretching of a second interphalangeal joint and a second elastic part used for achieving stretching of a third interphalangeal joint.

The invention provides a rehabilitation glove and a design method thereof. The rehabilitation glove comprises a finger module, a palm module and a power module. The finger modules are arranged in parallel and comprise a first plate spring and a second plate spring of which the far ends are fixed, the palm module is used for supporting the palm of a user and is fixed to the near end of the first plate spring, and the power module is used for driving the second plate spring to move, so that the two plate springs interact to drive the fingers of the user to bend and stretch; a first included angle is formed between the first plate spring and the second plate spring and used for enabling the ratio of the bending angle of a near interphalangeal joint to the bending angle of a far interphalangeal joint of the finger to be not smaller than 2 when the power module drives the finger of a user to bend and stretch through the finger module, and therefore eagle claw-shaped deformity caused by excessive bending of the far-end joint is avoided. The motion trail of the fingers is more fit with the physiological characteristic of natural flexion and extension of the human hand, extra compression on soft tissues and joints of the fingers is remarkably reduced, and the wearing comfort and the safety of rehabilitation training are improved.

The utility model relates to an interphalangeal joint prosthesis with a bionic structure, which belongs to the technical field of medical prostheses and is characterized in that the near end of a near-end prosthesis is connected with a near phalanx, and the far end of a far-end prosthesis is connected with a middle phalanx; the far end of the near-end prosthesis is of a bionic structure of a near-end articular surface of the interphalangeal joint, the near end of the liner is of a bionic structure of a far-end articular surface of the interphalangeal joint, and the far end of the near-end prosthesis and the near end of the liner are matched and can rotate relative to each other; the liner is made of flexible materials and provides buffering between the near-end prosthesis and the far-end prosthesis. Through cooperation of the bionic structure, miniaturization is achieved, and meanwhile the flexibility and stability of the interphalangeal joint prosthesis of the bionic structure in the flexion and extension movement are guaranteed through the structure of the human body.

A kind of double-degree-of-freedom underactuated robot thumb based on linear slide rod mechanism relates to intelligent robot technical field.Base joint frame, proximal phalanx frame and distal phalanx frame are connected by metacarpophalangeal joint and interphalangeal joint to form base structure, two drivers are connected transmission screw lever at bottom, transmission link is Y-shaped structural member, two branch arms of which are hinged to the bottom end of distal phalanx frame, the main arm is provided with slide hole and slide rod to form sliding pair, the bottom end is supported by spring, the bottom end of slide rod is hinged to metacarpophalangeal joint, screw nut and screw lever are arranged on the both sides of the bottom end of transmission link to form ball screw pair, position sensor collects distal phalanx frame position signal, and magnet steel and hall sensor measure proximal phalanx frame position signal.Two degrees of freedom motion is realized by using parallel structure, stable and flexible adaptive enveloping grasping of object is realized, the overall structure is simple and efficient, and has the advantages of high integration, high power density, fast response speed and accurate measurement.

A dexterous hand, including a hand module, the hand module includes one or more finger units and a palm unit, wherein each finger unit includes a plurality of phalanges and one or more interphalangeal joints, wherein the palm unit includes a carpometacarpal base, one or more metacarpals, one or more carpometacarpal joints, and one or more metacarpophalangeal joint, wherein each finger unit is hinged to a respective metacarpal by a respective metacarpophalangeal joint, wherein each metacarpal is respectively connected to the carpometacarpal base, wherein each interphalangeal joint has degrees of freedom of flexion extension, wherein each metacarpophalangeal joint has degrees of freedom of flexion extension, degrees of freedom of abduction adduction and degrees of freedom of circumduction, wherein each interphalangeal joint's degrees of freedom of flexion extension, each metacarpophalangeal joint's degrees of freedom of flexion extension, each metacarpophalangeal joint's degrees of freedom of abduction adduction are driven by different actuators.

The application relates to an integrated 3D printing dexterous finger and a kinematic modeling method thereof, wherein the integrated 3D printing dexterous finger comprises a finger base, a metacarpophalangeal roll joint, a first proximal phalanx, a metacarpophalangeal pitch joint, a second proximal phalanx, a proximal interphalangeal joint, a middle phalanx, a distal interphalangeal joint and a distal phalanx which are connected in sequence; and further comprises a proximal interphalangeal joint driving tendon, a first metacarpophalangeal joint driving tendon, a second metacarpophalangeal joint driving tendon and a variable cross-section passive coupling tendon. The integrated 3D printing dexterous finger can realize bidirectional driving of the finger by using a single driving tendon without complex assembly, and can overcome the friction and relaxation problems of 3D printing flexible materials through special structure design, so as to meet the efficient, lightweight and high reliability requirements of robot grasping.

Sole structure for a shoe, comprising a midsole formed from a soft elastic material, the upper of which serves as a sole support surface for the foot of a shoe wearer, and an outsole formed from an elastic material harder than the material of the midsole, the underside of which serves as a floor surface, wherein the sole structure comprises: a thin plate formed from an elastic material having a higher modulus of elasticity than the material of the midsole, and which is arranged on an underside of the midsole above the outsole;and a shock-absorbing body formed from a soft elastic material, arranged on the upper side of the outsole in such a way that it rests against an underside of the plate at least in a rearfoot area of ​​the shoe, the plate extending in a longitudinal direction from a point corresponding to the heel bone of the foot of the shoe wearer at least to a point corresponding to the first interphalangeal joint of the foot, arranged in the rearfoot area of ​​the shoe between the midsole and the shock-absorbing body, arranged in a forefoot area of ​​the shoe between the midsole and the outsole and designed such that at least one section of the plate serves as an exposed section in which an underside of the plate is exposed in a midfoot area of ​​the shoe at a point above the ground surface.

This utility model relates to a visual simulation training platform for suturing extensor tendons. Its overall shape is a human hand model, including fingers, palm, and wrist. It also includes: a simulated skin layer mounted on the outer surface of the hand model; slots on the back of the hand side of the fingers; a bone layer mounted in the slots of the fingers to simulate the five digits of the human hand; a circular damping shaft at the finger joints of the bone layer, through which the finger joints rotate; and a tendon mounted in the slots of the fingers on the surface of the bone layer. The tendon includes a fingertip segment and a root segment, with the fingertip segment connected to the fingertip and the root segment connected to a push-pull force sensor; a certain gap is left between the fingertip and root segments. The metacarpophalangeal joints flex and extend via the circular damping shafts, thereby simulating the process of regulating the tension of flexor and extensor muscles. Push-pull force sensors are used to monitor the tension received by the simulated tendons being sutured in real time.

The utility model provides a bony hammer-shaped finger clamp which comprises a joint bearing assembly and a pressure applying assembly, the pressure applying assembly is rotatably arranged on one side of the upper portion of the joint bearing assembly, the joint bearing assembly is used for placing a finger, and one end of the pressure applying assembly abuts against a fracture block. The device is simple in structure, convenient to manufacture and low in cost. The bone block fixing needle is utilized to pressurize a reset fracture block and maintain normal alignment, so that the operation difficulty can be reduced, the risk that the bone block is broken due to internal fixation is reduced, the success rate of one-time reset fixation is improved, the operation time is shortened, and the dependence on the skill and experience of an operator is reduced; and meanwhile, the soft joint supporting bracket can maintain the straightening position fixation of the distal interphalangeal joint under the condition of not damaging skin soft tissues, so that the joint surface injury caused by the use of a kirschner wire for threading and fixing is avoided, and the later joint function exercise is facilitated.

This invention discloses a real-time piano playing posture correction system based on hand shape recognition, specifically in the field of music-assisted teaching technology. It addresses the problems of joint positioning loss and inaccurate dynamic force assessment under occlusion during playing. First, a primary contour is generated by fusing visual flow entities and reflection edges to construct a key mapping mesh. Then, inverse kinematics deduction is performed using skeletal proportion constraints to reconstruct the three-dimensional skeleton sequence under occlusion. Next, focusing on the key sinking time window, the vertical displacement gradient of the metacarpophalangeal joints and the rate of change of interphalangeal joint angles are compared to quantify joint motion values ​​and construct a force deformation feature vector. The extracted feature vectors are input into a standardized database for comparison, and posture error labels are parsed out. Finally, graphic and synchronous speech correction signals are generated at rests or long notes in the electronic score, constructing a closed-loop correction system that does not interrupt the playing rhythm, providing scientific support for piano posture-assisted teaching.