11 results about "Metacarpus" patented technology

The application relates to the technical field of robots and discloses a multi-ring mixed connection four-degree-of-freedom active full-drive high-skill high-load mechanical finger, which comprises a wrist metacarpal base, a center hooke joint, a finger hinge, a first telescopic mechanism, a first multi-link structure, a second telescopic mechanism, a second multi-link structure and a third telescopic mechanism, the center hooke joint is arranged on the wrist metacarpal base; the finger hinge is hinged to the center hooke joint; the finger hinge comprises a phalanx, a knuckle and a fingertip; the first multi-link structure and the second multi-link structure are both arranged on the center hooke joint; one end of the first telescopic mechanism is universally hinged to the wrist metacarpal base, and the other end is universally hinged to the phalanx; one end of the second telescopic mechanism is universally hinged to the wrist metacarpal base, and the other end is universally hinged to the first multi-link structure; one end of the third telescopic mechanism is universally hinged to the wrist metacarpal base, and the other end is universally hinged to the second multi-link structure. The multi-ring mixed connection mechanism has the motion decoupling characteristics, so that the finger has high skill and high load capacity.

This invention relates to the field of dexterous hand technology, and provides a dexterous hand thumb structure, a dexterous hand, and a robot. The dexterous hand thumb structure includes a palm drive unit, a first deceleration unit, and a thumb module. By using the palm drive unit and the first deceleration unit as drive components for the metacarpophalangeal joint, the entire thumb module can achieve palmar lateral swinging motion. At the same time, by setting a bending drive unit in the thumb metacarpal joint, the rotation of the CMC joint is controlled by the bending drive unit, thereby enabling the thumb metacarpal joint to swing while simultaneously performing rotational flexion and extension movements. Furthermore, the rotation axis of the thumb metacarpal joint is perpendicular to the rotation axis of the entire thumb module's swinging motion, and the entire movement process is independent and compact. This allows for independent control of thumb bending and palmar movement within a limited space, achieving more precise dexterous hand motion control.

The multi-joint cooperative intelligent dexterous hand comprises a palm shell, and the palm shell is movably connected with a thumb, an index finger, a middle finger, a ring finger and a little finger; the palm shell is provided with a thumb metacarpal bone driving mechanism which is used for enabling the thumb to rotate around the side edge of the palm shell; the thumb is connected with a thumb cooperative driving mechanism which is used for bending the thumb; the index finger, the middle finger, the ring finger and the little finger are all connected with finger cooperation driving mechanisms which are used for enabling the index finger, the middle finger, the ring finger or the little finger to bend. The dexterous hand has six degrees of freedom, the thumb has two degrees of freedom and is used for bending and side swaying, each of the other four fingers has one degree of freedom and is used for finger bending, and through a multi-joint coupling structure, all joint actions are well coordinated, and human hand actions are finely simulated.

The utility model relates to the field of warm -keeping technology, concretely is a kind of heating gloves based on ergonomics, including glove lining, the heating wire is fixedly connected with in the palm side of glove lining, the heating wire includes by the distribution of large metacarpal segment in the inside of large metacarpal from the rima glottidis, the beneficial effect of the present device is: utilize the concave structure of human palm, distribute in palm concave place by hypothenar segment, large metacarpal segment and phalangeal joint avoidance section, avoid electric heating wire compression muscle and metacarpal joint while ensuring heating and keeping warm;By metacarpal joint avoidance return section and metacarpal joint avoidance section, avoid the joint protrusion of second metacarpal to fifth metacarpal and proximal phalanx;Again by phalangeal joint avoidance section along the joint of proximal phalanx and middle phalanx distribution, utilize the concave wiring formed by finger natural bending, avoid heating wire compression joint and muscle, finally realize finger heating while improving comfort.

This application belongs to the field of robotics technology, and the embodiments provide a dexterous hand and a robot. The dexterous hand includes: a palm base plate; a thumb detachably connected to the palm base plate, the thumb including a thumb drive assembly for driving flexion-extension and lateral movements, the thumb drive assembly being located within the thumb; and multiple phalanges, each phalanx including a first drive assembly, a second drive assembly, and a metacarpal bone, the first and second drive assemblies being configured to drive the phalanges to perform flexion-extension and lateral movements; wherein the first and second drive assemblies independently include a power module and a transmission module, the power module being integrated within the palm base plate, and the transmission module being integrated within the metacarpal bones. This dexterous hand has a compact structure, is lightweight, and more closely resembles the shape and size of a human hand; the five fingers adopt a modular design, allowing for individual disassembly and control, greatly facilitating installation, debugging, and maintenance, and reducing usage costs.

The invention discloses a multi-sensor coupled finger posture real-time estimation method and system, and relates to the technical field of wearable sensing and rehabilitation engineering. A heterogeneous sensing layout is constructed according to the density difference of finger joint information, fabric capacitors arranged along the back side are used for representing the total stretching of the whole finger, local bending is anchored through film resistors at PIP joints, and multi-dimensional monitoring of bending and stretching and abduction / adduction of MCP joints is achieved in combination with inertial measurement unit sets of metacarpal bones and proximal phalanges; in the algorithm level, strong physiological coupling constraints (specific linkage coefficients are set according to finger differences) of DIP and PIP are introduced to eliminate redundant variables, data are aligned through a multi-channel queue and a unified time axis, a baseline, a mapping relation and a dissection coupling coefficient are updated online only in a detected static stable platform window, physical shaping and failure degradation are applied during operation, and the dynamic performance of the static stable platform is improved. Continuous angle estimation which is low in time delay and high in robustness and conforms to anatomy is achieved on the edge processor.

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 provides a flexible hand rehabilitation exoskeleton and a control method thereof, and the exoskeleton is composed of a dorsal shell, four-finger abduction-adduction driving wire ropes, four-finger abduction limiting wire ropes, a finger driving device, a thumb metacarpal bone internal-external rotation driver, a thumb abduction-adduction driver and the like. The wire ropes are pulled by external motors to pull the fingers, so that the four-finger abduction-adduction action training is realized, and the thumb multi-degree-of-freedom training can be realized by using the thumb abduction-adduction driver and the thumb metacarpal bone internal-external rotation driver. The application has the advantages of compact structure, high integration, convenient carrying, light weight, thumb multi-degree-of-freedom training and the like.

The present invention relates to a brace configured to be worn on the forearm and hand of a human being to stabilize the wrist joint, and comprises a rigid body having an exoskeleton surrounding an elongated core. [Solution] The rigid body 12 comprises a metacarpal section 18 having (i) a ring-shaped or ring-segment-shaped thumb-holding section 20 configured to receive the thumb of a human hand, a palm section 22 configured to engage with the palm of a human hand, and an ulnar section 24 configured to wrap around the human hand from the palm side to the dorsal side; (ii) an elongated intermediate section 26 configured to engage with the medial or lateral side of a human forearm; and (iii) a forearm section 28 configured to wrap around the human forearm from the ventral side to the dorsal side.

The application relates to the technical field of robots, and discloses a five-degree-of-freedom active full-drive humanoid mechanical thumb, a dexterous hand and a humanoid robot, wherein the humanoid mechanical thumb comprises a trapezium base, a metacarpal unit, a phalanx unit, four groups of first telescopic units and one group of second telescopic units; the metacarpal unit is hinged to the trapezium base; the phalanx unit comprises a first rod, a second rod, a third rod and a fourth rod; the first rod is hinged to the metacarpal unit; one end of the first telescopic unit is hinged to the trapezium base, and the other end is hinged to the first rod; the first telescopic unit is used for driving the first rod to rotate; one end of the second telescopic unit is hinged to the metacarpal unit; the other end is hinged to the second rod; and the second telescopic unit is used for driving the second rod to rotate. The mechanical thumb designed in the application has the comprehensive advantages of high dexterity, high load capacity, high precision and compact integration of the five degrees of freedom of the humanoid thumb.