44 results about "Interphalangeal Joint" patented technology

The invention provides a method for quickly positioning the instant center of a finger joint and a rehabilitation glove following the instant center, the method for quickly positioning the instant center of the finger joint comprises the following steps: A, keeping a finger in a half-bending state, and making a straight line collinear with the outer contour of each knuckle of the finger; b, folding lines of all joints are made through straight lines and finger knuckles, and geometric center lines of the fingers are made through the folding lines; c, making a positioning circle tangent to the fold lines of the joints and the geometric center line of the finger in an acute angle space formed by the fold lines of the joints and the geometric center line of the finger; d, the positioning circle radius R1 at the metacarpophalangeal joint of the finger is larger than or equal to 1 mm and smaller than or equal to 2.5 mm, and the positioning circle radius R2 of the near-end interphalangeal joint and the far-end interphalangeal joint of the finger is larger than or equal to 0.5 mm and smaller than or equal to 2 mm; e, in engineering application, the equivalent instantaneous center of the metacarpophalangeal joint varies within the range of a positioning circle with the radius being R1, and the equivalent instantaneous centers of the near-end interphalangeal joint and the far-end interphalangeal joint varies within the range of a positioning circle with the radius being R2.

The present disclosure provides a thumb assembly for an end effector for a humanoid robot. The thumb assembly includes a digit assembly comprising a proximal assembly, a medial assembly, a distal assembly, a proximal interphalangeal joint pivotably coupling the proximal assembly to the medial assembly, and a distal interphalangeal joint pivotably coupling the distal assembly to the medial assembly. The thumb assembly also includes a motor assembly comprising a first motor and a second motor, and a gear assembly. The gear assembly includes a flexion gear configured to be driven by the first motor to cause the digit assembly to move about a second carpometacarpal joint axis, and an interposition gear configured to be driven by the second motor to cause the digit assembly to move about a first carpometacarpal joint axis.

The invention belongs to the field of robots, and particularly relates to a three-degree-of-freedom rigid-flexible coupling dexterous finger and a dexterous hand, and the dexterous finger comprises a finger knuckle module, a double-end spherical hinge connecting rod, a palm inner finger driving module, a driving transmission mechanism and an arm inner finger driving module. By fusing a rigid space connecting rod mechanism and a flexible driving transmission mechanism, the contradiction that a traditional rigid structure lacks flexibility and a flexible structure is insufficient in rigidity is ingeniously solved. Two degrees of freedom of flexion and extension and adduction and abduction of fingers at metacarpophalangeal joints are realized by utilizing a spatial connecting rod mechanism formed by a knuckle supporting frame, a proximal phalanx, a deflection transverse shaft and a double-end spherical hinge connecting rod; meanwhile, the power of the finger driving module in the arm is efficiently transmitted to the interphalangeal joints through the driving transmission mechanism, the middle joint and the distal phalanx are driven to achieve coupling or self-adaptive buckling, and therefore the third degree of freedom is obtained, and the problem that the contradiction exists between insufficient flexibility of a traditional rigid structure and insufficient rigidity of a flexible structure is solved.

The embodiment of the invention provides a skin redness test measuring instrument used for judging whether limb tail ends are ischemic or not, and relates to the technical field of medical instruments. The upper surface of the limb placing plate comprises a left end, a right end, an upper end and a lower end; the left end and the right end of the air bag belt are connected to the left end and the right end of the limb placing plate respectively; a limb space for placing a limb is formed between the air bag belt and the limb placing plate, and the limb space is provided with an opening into which the limb extends; the opening is positioned at the upper end or the lower end of the limb placing plate; the limb tail end comprises fingers and / or toes; a local tissue fixer for separating adjacent fingers or toes is arranged in the limb space; the local tissue fixator is arranged at the position, close to the metacarpophalangeal joint, of the finger or the toe, and compression of the air bag belt on the tail end of the limb is not disturbed by the arrangement of the local tissue fixator. And the detection box is connected with the limb placing plate and is used for sensing the color of the skin of the limb placed in the limb space.

A glove system (100) includes a glove body (110) and a plurality of first strain sensors (120) and a plurality of second strain sensors (130) disposed on the glove body (110), where each first strain sensor (120) of the plurality of first strain sensors (120) is located at an interphalangeal joint of a user when the user wears the glove body (110), and each second strain sensor (130) of the plurality of second strain sensors (130) is located at an interphalangeal joint of the user when the user wears the glove body (110). Each of the plurality of second strain sensors (130) is located at one metacarpophalangeal joint and is configured to measure a deformation of the interphalangeal joint in a single degree of freedom, and each of the plurality of second strain sensors (130) is located at one metacarpophalangeal joint and is configured to measure a deformation of the metacarpophalangeal joint in two degrees of freedom, the single degree of freedom and the two degrees of freedom each including a degree of freedom corresponding to bending of the finger.

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.

To provide a sole that can be worn and used for training the toes by walking. [Solution] The sole (10) of the present invention comprises a sole body (11) and a protruding portion (12) integrally formed on the back surface of the sole body (11). The sole body (11) and the protruding portion (12) are formed of a material having high resilience and flexibility. The protruding portion (12) extends continuously or intermittently in the width direction in a region corresponding to the vicinity of the interphalangeal joint (IP) of the first toe (T1) of the wearer's foot and the vicinity of the proximal interphalangeal joints (PIP) of the second toe (T2) through the fifth toe (T5) of the wearer's foot up to the base (TB) of the wearer's toes. When the sole body (11) is not being worn, spaces A1 and A2 are defined between the back surface of the sole body (11) and the ground (G) in the region from the front end (121) of the protruding portion (12) to the front end (111) of the sole body (11) and the region from the rear end (122) of the protruding portion (12) to positions corresponding to the rear ends of the ball of the big toe (TE) and the ball of the little toe (HE) of the wearer's foot.

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.

The application discloses a hand rehabilitation exoskeleton based on a rope driving and a rehabilitation training method thereof, and relates to the field of rehabilitation exoskeletons.The hand rehabilitation exoskeleton comprises a control system, a sensor system, a finger driving mechanism, a forearm link, a back-of-hand link, a hand rehabilitation exoskeleton executing mechanism and a thumb rehabilitation mechanism.The hand rehabilitation exoskeleton executing mechanism comprises a proximal interphalangeal joint adaptive mechanism and a distal interphalangeal joint rehabilitation closed-loop mechanism.The finger driving mechanism comprises a finger stretching and bending power assembly and a fingertip stretching and bending power assembly, a thumb stretching and bending power assembly and a plurality of rope transmission mechanisms.The rope transmission mechanisms comprise a rope spring transmission mechanism and a pulley set transmission mechanism.The finger driving mechanism drives the hand rehabilitation exoskeleton executing mechanism to perform a stretching action or a bending action.The hand rehabilitation exoskeleton and the rehabilitation training method thereof can assist in finger bending or stretching and grasping training, have good adaptability and use comfort, are convenient to wear, and are suitable for the rehabilitation training of hands of stroke patients.

To provide an artificial joint capable of adjusting the size of a hinge to the size of the resected surface of each bone.SOLUTION: An artificial joint 1A is applied to a proximal interphalangeal joint. The artificial joint 1A integrally has: a proximal stem 10 inserted into a hole 521 in the proximal phalanx 52 located on the proximal side of the joint; a distal stem 20 inserted into a hole 531 in a middle phalanx 53 located on the distal side of the joint; and a hinge 30 pivotally connecting the proximal stem 10 and the distal stem 20. The hinge 30 includes: a proximal wall 31 facing the distal end 52E of the proximal phalanx 52; a distal wall 32 facing a proximal end 53E of the middle phalanx 53; and a connecting portion 33 connecting the proximal wall 31 and the distal wall 32. The maximum width of the proximal wall 31 in the left-right direction is smaller than the maximum width of the distal wall 32 in the left-right direction.SELECTED DRAWING: Figure 2

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 discloses a pneumatic hand for hand muscle spasm resistance, which is characterized in that flexible telescopic tubes are arranged on the backs of five fingers of a glove body, fingers and finger pulps at the palm and proximal phalanx are exposed, a first connecting block is arranged on one side of the palm end of the glove body, and a second connecting block is arranged on the other side of the palm end of the glove body. A hand muscle spasm detection module is arranged in the interphalangeal joints of the five fingers of the glove body. According to the utility model, the hand muscle spasm detection module is added to help treatment personnel to timely discover increase of hand muscle tension of a patient, a program is set in advance through the module or the treatment personnel manually controls the program to enable the pneumatic hand to drive fingers to stretch so as to achieve the effect of simulating BOBATH bare-handed treatment spasm resistance, and the gloves are improved. The latest BOBATH, posture control and motion control concepts are adopted, more palm center and finger pulp areas are exposed, proprioceptive input is increased, and recovery of the hand motion function of a patient is better facilitated.

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 invention discloses a finger fixing device which comprises a metacarpophalangeal joint sleeve, a proximal interphalangeal joint sleeve, a distal interphalangeal joint sleeve, a first telescopic cylinder, a second telescopic cylinder, an adjusting screw and a sliding sleeve. A sliding groove is formed in the front wall of the knuckle sleeve and slidably connected with a first telescopic cylinder. The front end of the telescopic cylinder I is rotationally connected with an interphalangeal joint sleeve; the front end of the interphalangeal joint sleeve is slidably connected with a telescopic cylinder II; a first sliding groove is formed in the rear wall body of the second telescopic cylinder and slidably connected with a near interphalangeal joint sleeve, and the front end of the second telescopic cylinder is rotationally connected with a far interphalangeal joint sleeve. Supporting rods are symmetrically arranged at the front part of the outer wall of the telescopic cylinder I and are in threaded connection with the adjusting screw; a front-end ball head of the adjusting screw is connected with a sliding sleeve; l-shaped rods are symmetrically arranged at the rear end of the interphalangeal joint sleeve; a sliding sleeve is connected to a vertical rod body of the L-shaped rod in a sliding manner; supporting rods I are symmetrically arranged at the front part of the outer wall of the telescopic cylinder II and are in threaded connection with the adjusting screw.

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 the field of manipulators, and discloses a six-axis manipulator, which comprises a small arm, the metacarpophalangeal joint is mounted at one end of the forearm; the interphalangeal joints are mounted on the metacarpophalangeal joints, and the metacarpophalangeal joints are used for driving the interphalangeal joints to rotate; the two auxiliary belts are symmetrically arranged on the two sides of the metacarpophalangeal joint, one ends of the two auxiliary belts are connected with the forearm, the other ends of the two auxiliary belts are connected with the interphalangeal joint, and the auxiliary belts are used for supporting the interphalangeal joint. According to the mechanical arm, due to the design that the auxiliary belt is introduced, extra support and stability are provided between the metacarpophalangeal joints and the interphalangeal joints, the rigidity of the mechanical arm in the key area is effectively enhanced, and the mechanical arm can keep higher structural stability and bearing capacity when clamping heavy objects or moving at a high speed.

A glove system (100), including a glove body (110) and a plurality of first strain sensors (120) and a plurality of second strain sensors (130) arranged on the glove body (110), when a user is wearing the glove body (110), each of the plurality of first strain sensors (120) is located at an interphalangeal joint of a finger of the user and is configured to measure deformation of the interphalangeal joint in a single degree of freedom, and each of the plurality of second strain sensors (130) is located at a metacarpophalangeal joint of the finger and is configured to measure deformation of the metacarpophalangeal joint in two degrees of freedom, the single degree of freedom and the two degrees of freedom both including a degree of freedom corresponding to a bending of the finger.

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.

The utility model relates to the field of medical instruments, in particular to a phalanx fixing brace which comprises a fixing sleeve, a metacarpophalangeal joint fixing plate, an interphalangeal joint fixing plate, a first dorsal bent plate and a second dorsal bent plate, and the fixing sleeve fixes the metacarpophalangeal joint fixing plate to the inner side of a palm through a first adhesive tape and a second adhesive tape; the fixing sleeve fixes the interphalangeal joint fixing plate to the inner side of a finger through a first adhesive tape and a second adhesive tape, a containing groove is formed in the interphalangeal joint fixing plate, and the end, close to the interphalangeal joint fixing plate, of the metacarpophalangeal joint fixing plate is inserted into the containing groove; the first back side bent plate is installed on the fixing sleeve in a sliding mode, and the first back side bent plate is used for fixing the palm and the fingers. The second back side bent plate is mounted on the fixing sleeve in a sliding manner and is used for fixing the finger space on the same finger; the first back side bent plate and the second back side bent plate are detachably connected with the interphalangeal joint fixing plate through limiting assemblies. The method has the effect of reducing the possibility that the joint function is limited.

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.

The invention discloses a two-degree-of-freedom under-actuated robot thumb based on a linear sliding rod mechanism, and relates to the technical field of intelligent robots. The base joint rack, the near knuckle rack and the far knuckle rack form a base body structure through metacarpophalangeal joints and interphalangeal joints, two drivers are fixed to the bottom of the base body structure and connected with the transmission lead screw, the transmission connecting rod is a Y-shaped structural part, the ends of two branch arm rods of the transmission connecting rod are hinged to the bottom end of the far knuckle rack, and a main arm rod of the transmission connecting rod is provided with a sliding way hole to form a sliding pair with a sliding rod. The bottom end of the sliding rod is supported through a spring, the bottom end of the sliding rod is hinged to the metacarpophalangeal joint, the two sides of the bottom end of the transmission connecting rod are provided with lead screw nuts and lead screw rods to form a ball screw pair, the position sensor collects far knuckle rack position signals, and the magnetic steel and the Hall sensor measure near knuckle rack position signals. Two-degree-of-freedom movement is carried out by adopting a parallel structure, stable and flexible self-adaptive enveloping grabbing of an object is realized, the overall structure is simple and efficient, and the device has the advantages of high integration level, high power density, high response speed and accurate measurement.

The utility model discloses a golf glove which comprises at least one of a left glove and a right glove, a bottom joint area is formed between a thumb and an index finger of the left glove or the right glove, and the bottom joint area is arranged in a part where the thumb and the index finger are opposite to each other. The part from the root part of the thumb to the interphalangeal joint of the thumb is mutually jointed and fixed with one side of the index finger. The golf glove disclosed by the utility model can assist people in keeping a correct rod holding posture, so that the consistency and the effectiveness of batting are improved.

The invention discloses a motion compatible thumb exoskeleton with a finger aligning function and a use method thereof, and belongs to the technical field of biological mechanical engineering.The motion compatible thumb exoskeleton comprises a palm fixing part arranged on the back of a hand, the palm fixing part is provided with a carpal joint motion module, and the output end of the carpal joint motion module is provided with a carpal joint phalanx connecting piece; the carpometacarpal joint phalanx connecting piece is arranged outside the thumb metacarpal bone, the carpometacarpal joint movement module can drive the carpometacarpal joint phalanx connecting piece to move close to or away from the palm, the carpometacarpal joint phalanx connecting piece is provided with the interphalangeal metacarpal joint movement module, and the output end of the interphalangeal metacarpal joint movement module is arranged on the thumb distal phalanx. The thumb can be driven by the interphalangeal joint movement module to be close to or away from the index finger. According to the motion compatible thumb exoskeleton with the finger aligning function and the using method thereof, accurate, in-place and multi-angle personalized rehabilitation training aiming at thumb finger aligning motion can be achieved.

A body-sensitive shaving blade for shaving / carding a private area. A body-sensitive shaving blade for shaving one or more portions of a body includes: a body having a first end and an opposing second end; a user engagement member designed to provide, in use, a plurality of contact points with a hand of a user; and a shaving assembly having a blade head, the blade head having at least one or more cutting surfaces. The plurality of contact points may include regions at or near metacarpophalangeal joints, proximal interphalangeal joints, and distal lower phalanges of a user's hand.

A goalkeeper's glove for a goalkeeper includes a base knit and a plurality of finger stalls. Two or more of the finger stalls can include a compression knit area configured to be located circumjacent a proximal interphalangeal joint of fingers of a wearer. A wrist collar with a compression knit area can be configured to be located circumjacent the radiocarpal joint of the wearer. The compression knit areas of the finger stalls and the wrist collar can be configured to provide support to the fingers and wrist of the wearer, respectively, in a manner similar to athletic tape.

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 invention relates to the technical field of livestock hoofs treatment in veterinary medicine, and provides a wearable treatment device for hoofs and toes of hoof animals, and the wearable treatment device comprises an outer shell which is made of a high-molecular polymeric material and is formed by splicing at least two splicing shells; the supporting net plate is fixedly arranged on the inner wall of the assembling shell, the distance between the supporting net plate and an opening in the lower end of the assembling shell is 1.5-3 cm, and a plurality of air-permeable and water-permeable holes are formed in the supporting net plate; the baffle is detachably arranged on the surface of the lower end of the supporting net plate, and the baffle is only arranged below the supporting net plate in the area corresponding to the sick and bad toe; the filler comprises anti-abrasion filler wrapping the corresponding positions of the ball joint and the near-end interphalangeal joint; the treatment filler comprises an isolation shell, a textile fabric is arranged in the isolation shell, treatment medicine is laid or soaked on the textile fabric, and the surface of the lower end of the isolation shell abuts against the surface of the upper end of the supporting net plate.

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.

The utility model relates to the field of medical equipment, in particular to a medical glove for accurate and three-dimensional mold taking during hand defect repair or reconstruction and an auxiliary glove for finger defect reconstruction, which comprises a glove main body, and the glove main body comprises a palm part for accommodating a human hand and a finger part for accommodating the human hand. The finger part is provided with five fingerstalls corresponding to fingers of a person, grid lines are arranged on the surface of the glove main body, first through holes, second through holes, third through holes and fourth through holes are formed in the fingerstalls, the first through holes are formed in the back sides of the fingerstalls, the first through holes are formed between the back sides, corresponding to distal interphalangeal joints of fingers, of the fingerstalls and the root of a nail, and the fourth through holes are formed in the back sides of the fingerstalls. The second through hole is formed in the middle of the front end of the fingerstall, the third through hole is formed in the left side of the fingerstall, the fourth through hole is formed in the right side of the fingerstall, and the third through hole and the fourth through hole are formed in the fingerstall corresponding to the far-end interphalangeal joint of the finger; and the glove main body is transparent. The glove main body is transparent, so that observation is facilitated during mold taking.