43 results about "Metacarpus" patented technology

The present invention relates to a sensomotoric hand therapy device comprising a flexible shell having a first leg portion configured to accommodate fingers of a hand of a patient, a second leg portion configured to accommodate a thumb of the patient and a U-shaped portion configured to accommodate a metacarpus of the patient. The device further comprises a first reinforced member connected to a distal end region of the first leg portion of the shell, a second reinforced member connected to a distal end region of the second leg portion of the shell and a third reinforced member connected to and reinforcing the U-shaped portion of the shell. Further, the device comprises a movement mechanism defining a course and resistance of movement of the first reinforced member and the second reinforced member relative to the third reinforced member; and to a respective hand therapy system and hand training method.

Disclosed in the present invention is a hand exoskeleton for rehabilitation. The hand exoskeleton for rehabilitation comprises a base, a driving mechanism and a phalangeal sleeve, wherein the base is configured to be worn on an extensor side of a metacarpal bone; the driving mechanism is arranged on the base and comprises at least one driving unit; and the phalangeal sleeve is worn on an extensor side of a phalanx, at least one phalangeal sleeve is provided, the phalangeal sleeve is in transmission connection with the driving unit, and the driving unit can drive the phalangeal sleeve to rotate so as to assist in flexion or extension of the phalanx. The hand exoskeleton for rehabilitation can effectively adapt to different rehabilitation requirements of different patients for finger joints, thereby achieving the effects of performing intervention and assisting in terms of rehabilitation in different rehabilitation stages.

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.

The application belongs to the technical field of humanoid robots, and discloses a modular mechanical thumb finger with the motion characteristics of a human thumb, which comprises a base module, a metacarpal module, a proximal phalanx and a distal phalanx. The base module provides a connecting interface with a palm or an arm robot. The metacarpal module has three active degrees of freedom and is driven by a screw block mechanism to accurately realize opposition, abduction and dumping motions. The proximal phalanx realizes bending motion. The distal phalanx is coupled with the proximal phalanx through a four-bar linkage mechanism and is decoupled through a rocker block mechanism, and has passive adaptive capability. The application highly imitates the motion function of a human thumb, has compact structure, efficient driving, and can stably complete fine opposition and gripping operations. Meanwhile, the modular design facilitates integration, and improves the operability, adaptability and intelligent level of the humanoid dexterous hand.

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 application discloses a bionic artificial hand, which comprises a palm part, a thumb part, four finger parts and a pneumatic control system. The thumb part comprises a thumb metacarpal and a thumb, the thumb metacarpal is hinged to the palm part through a first hinge shaft and is driven to rotate by a first pneumatic device, and the thumb is internally provided with a first cavity unit in series; the thumb is hinged to the thumb metacarpal through a second hinge shaft and is driven to swing by a second pneumatic device. Each finger of the four finger parts is internally provided with a second cavity unit in series, and each finger is hinged to the palm part through a third hinge shaft and is driven to independently swing by a third pneumatic device. The pneumatic control system is arranged in the artificial hand and is used for controlling the air intake and exhaust of each cavity unit and pneumatic device. The bionic artificial hand adopts a two-degree-of-freedom design of thumb metacarpal rotation and thumb swinging, combines with pneumatic device driving, realizes flexible movement of the thumb, and improves the coordination and fine operation ability of the artificial hand.

A hand immobilizer which has a body in the general shape of the hand, including a portion shaped like the metacarpus and wrist of the hand and distally extending portions or digits shaped like the fingers of the hand. At least some of the digits of the hand immobilizer comprise first and second laterally spaced tines or prongs.

1. Name of the Design Product: Boxing Finger Splint. 2. Use of the Design Product: Used to fix the little finger, ring finger and metacarpal bone after finger injury. 3. Design Key Points of the Design Product: Lies in the shape. 4. Picture or Photograph Most Indicating the Design Key Points: Perspective View 1. 5. The bottom view is shown in Perspective View 2, and the bottom view is omitted.

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.

A finger joint reduction simulation training device includes forearm, carpal, metacarpal, proximal phalanx, and middle phalanx portions, and at least one biasing element. The carpal portion is attached to a distal end of the forearm portion. The metacarpal portion is connected to the carpal attachment. The proximal phalanx portion has a proximal end that is connected to the metacarpal portion and a distal end opposite to the proximal end. The distal end includes a dislocation guide surface with a depression formed therein. The middle phalanx portion is positioned adjacent the proximal phalanx portion and includes a proximal end with a terminal surface configured to shift relative to the dislocation guide surface and includes a projection configured to extend into the depression of the dislocation guide surface. The biasing element is configured to bias the terminal surface of the middle phalanx portion against the dislocation guide surface.

The utility model discloses a power brace for improving the internal muscle strength of the hand after hand trauma operation, and relates to the field of internal muscle strength training appliances of the hand, the power brace comprises a hand back thermoplastic plate, a thumb thermoplastic plate, a four-finger thermoplastic plate and a torsion spring, the hand back thermoplastic plate is matched with the metacarpal bone of the hand back, one side edge of the hand back thermoplastic plate is folded towards the direction of the metacarpal surface to form a hook part, and the other side edge of the hand back thermoplastic plate is folded towards the metacarpal surface. The hand back thermoplastic plate, the thumb thermoplastic plate and the four-finger thermoplastic plate can be customized according to the size of the hand of a patient, the torsion spring can be replaced according to different strength of the hand of the patient, and the torsion spring can play a role in connecting the hand back thermoplastic plate and the four-finger thermoplastic plate, so that the metacarpal bone and the proximal phalanx are located at the 90-degree position; and the patient actively stretches the finger joints of the index finger, the middle finger, the ring finger and the little finger to achieve the effect of exercising the internal muscles of the hand, so that the muscle force can be enhanced, the muscle atrophy can be prevented, the nerve recovery can be promoted, and the hand function can be improved.

The invention relates to an orthosis adapted to be worn on a human forearm and hand for immobilizing the wrist joint, comprising a stiff body, wherein the stiff body comprises (i) a metacarpal section, a. having a ring-shaped or ring-segment-shaped thumb holding section adapted to receive the thumb of the human hand, b. having a palmar section adapted to be brought into engagement with the palm of the human hand, and c. having an ulnar section adapted to wrap around the human hand from the volar to the dorsal side, (ii) an elongated middle section adapted to be brought into engagement with the human forearm, and, optionally, wrist, on their medial or lateral side, and (iii) a forearm section adapted to wrap around the human forearm from its ventral to its dorsal side; wherein the ulnar section comprises a hinge section comprising at least one film hinge. The invention also relates to a method for the production of the orthosis.

A protective glove for a human hand has a metacarpus portion comprising a palm side attached to an opposing dorsal side which together cover the metacarpals of the human hand, and four finger portions attached to the metacarpus portion, each finger portion having a bottom side and a top side which together surround one of the fingers of the human hand. A plurality of rigid pads are attached to the top side of at least one of the finger portions, wherein the rigid pads have end surfaces that abut each other, and are positioned so that the end surfaces are positioned over one of the phalangeal joints while being worn. When the finger portions are straightened, the rigid pads restrict any backward flexion. At least one rigid metacarpus pad is attached to the dorsal side, having a side edge positioned over the metacarpophalangeal joint and formed at an angle to the end surface of the adjacent rigid pads. The angle is between approximately 10-50 degrees, so that limited backward flexion is allowed.

The application discloses an electrically actuated flexible bionic palm and a bionic robot. The bionic palm comprises a bionic metacarpal skeleton system, a plurality of independent flexible driving units, a bionic tendon transmission system, and a bionic tendon sheath and pulley system. The bionic metacarpal skeleton system comprises a multi-degree-of-freedom metacarpal frame complex body with a palmar arch adduction / abduction degree of freedom and a palmar rotation degree of freedom. The plurality of independent flexible driving units comprise a palmar arch adduction driving group, a palmar arch abduction driving group, a palmar rotation driving group, and a reset driving group for driving a thumb column to reset from a palmar rotation position. The bionic tendon transmission system comprises a plurality of bionic tendons, and driving force is transmitted to the multi-degree-of-freedom metacarpal frame complex body through the bionic tendons. The bionic tendon sheath and pulley system constrain and guide the movement path of the bionic tendons through a plurality of bionic tendon sheaths and / or pulley structures. The curvature and arc of the palmar arch are dynamically adjusted according to different shapes of a gripped object, the gripping stability of the bionic palm is improved, and through antagonistic cooperation of the palmar rotation driving group and the reset driving group, multi-dimensional accurate control of palmar rotation movement is realized, and the operation dexterity is improved.

The invention relates to the technical field of robots, and discloses a multi-ring series-parallel four-degree-of-freedom active all-drive high-flexibility high-load-bearing mechanical finger which comprises a wrist metacarpal bone base, a central hooke joint, a finger hinge, a first telescopic mechanism, a first multi-connecting-rod structure, a second telescopic mechanism, a second multi-connecting-rod structure and a third telescopic mechanism. The central hooke joint is arranged on the wrist metacarpal bone base; the finger hinge is hinged with the central hooke joint; the finger hinge comprises phalanges, knuckles and fingertips; the first multi-connecting-rod structure and the second multi-connecting-rod structure are both arranged on the central hooke joint; one end of the first telescopic mechanism is universally hinged to the wrist and metacarpal bone 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 bone base, and the other end of the second telescopic mechanism is universally hinged to the first multi-connecting-rod structure; one end of the third telescopic mechanism is universally hinged to the wrist-metacarpal bone base, and the other end of the third telescopic mechanism is universally hinged to the second multi-connecting-rod structure. And by means of the motion decoupling characteristic of the multi-ring hybrid connection mechanism, the finger has high flexibility and high load bearing capacity.

The invention relates to a coupling type four-joint three-degree-of-freedom bionic leg, belongs to the technical field of bionic robots, and solves the problem that in the prior art, legs are prone to colliding with obstacles. The robot comprises a telescopic joint motor (10), a thigh assembly (20), a shank assembly (30) and a metacarpal bone (40). The telescopic joint motor (10) can drive the thigh assembly (20), the shank assembly (30) and the metacarpal bone (40) to move at the same time so that the second end of the metacarpal bone (40) can move up and down, and the rotation direction of the shank assembly (30) relative to the thigh assembly (20) is always the same as the rotation direction of the metacarpal bone (40) relative to the shank assembly (30). A two-rod structure of the leg is changed into a three-rod structure which is bent towards one direction, so that the length of each rod is shortened, the space occupied by knee joints and ankle joints of the leg is reduced, and the probability of collision with obstacles is reduced.

The utility model discloses an intelligent bionic functional arm, which relates to the technical field of bionics and comprises a shunt board, the bottom of the shunt board is fixedly connected with the top of a command processor, the bottom of the command processor is fixedly connected with the inner wall of an upper limb section, and one end of the upper limb section is fixedly connected with one end of a transition cylinder. The other end of the transition cylinder is fixedly connected with one side of the first connecting plate, the other side of the first connecting plate is rotatably connected with one side of the second connecting plate, the other side of the second connecting plate is fixedly connected with one end of the lower limb joint, and the other end of the lower limb joint is rotatably connected with one end of the first metacarpal bone. Through the arrangement of the shunt board, the command processor, the upper limb joint, the transition cylinder, the first connecting plate, the second connecting plate, the lower limb joint and the first metacarpal bone, weak myoelectricity and electroneurographic signals on the arm can be effectively extracted, the motion intention of a patient can be recognized, the purpose that the hand moves along with the heart and the motion intention is precisely recognized can be truly achieved, and the patient experience is improved. And the upper arm amputation user can control the original hand of the upper arm amputation user.

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.

The utility model discloses a metacarpal bone fracture reduction traction device, which belongs to the field of medical instruments and comprises a palm side shaping plate clamp and a back side shaping plate clamp, the palm side shaping plate clamp comprises a first connecting part and a palm rest part, one end of the first connecting part is movably connected with the palm rest part, and the other end of the first connecting part is provided with a hook-shaped part. One end of the first connecting part is movably connected with the palm rest part and used for bearing the position of a metacarpophalangeal joint, one end of the elastic rope is hung on the hook-shaped part, the other end of the elastic rope is fixed to the finger, the finger can be bent or straightened and the metacarpophalangeal joint can be moved by swinging the first connecting part, the purpose of elastic traction fixing can be achieved, functional rehabilitation training can be carried out as soon as possible, and the training effect is good. And the growth of callus can be promoted by dynamic and static combination.

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.

To provide surgical kit systems and methods for using the same for treating thumb arthritis.SOLUTION: A surgical kit system includes a spacer, a strand, a first anchoring mechanism, and a second anchoring mechanism. The spacer is configured to be disposed between the thumb metacarpal and the index metacarpal to prevent impingement between the thumb metacarpal and the index metacarpal. The strand is configured to be anchored to the second and first metacarpals by the first and second anchoring mechanisms to suspend the thumb metacarpal, respectively.SELECTED DRAWING: Figure 1

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.

The invention discloses a medical operation bionics flexible head fixing frame, and relates to the technical field of medical instruments, the medical operation bionics flexible head fixing frame comprises a base, a mechanical arm and a bionic supporting hand; the mechanical arm comprises a vertical arm, a shoulder joint, an upper arm, an elbow joint and a small arm; a wrist joint is arranged at one end of the small arm and used for being connected with a bionic supporting hand. The bionic supporting hand is used for fixing and drawing the head; interference of the cross beam on surgery operation can be avoided, meanwhile, the perspective definition in the surgery is ensured, the surgery difficulty of medical staff is reduced, the success rate of the surgery is improved, the traction finger part simulates the fingers of a doctor to fix the lower jaw of a patient, and the bionic thumb simulates the thumb of the doctor to be fixed to the upper occipital part of the ear of the patient. The head of the patient is tightened and fixed through the telescopic rod, meanwhile, the fifth metacarpal bone and the bionic small point are bent inwards, the head of the patient is lifted from the lower portion, and the fixing stability and safety are further improved.

The invention relates to a hand orthosis comprising: a support (20) which is secured to a main body (10) that itself is form-fittingly secured to a metacarpus; at least one finger receiving portion (30) which is located distally from the support (20), for securing to at least one finger; and a coupling device (40) which connects the support (20) and the finger receiving portion (30) when the hand orthosis is worn and which mounts the finger receiving portion (30) in such a way that it can be pivoted relative to the main body (10), wherein the coupling device (40) has two coupling elements (42, 44), each of which is pivotably mounted on both the support (20) and the finger receiving portion (30).

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 a hand orthosis having a hand liner (100) with a thumb receiving portion (110) which, when the liner is worn, surrounds the proximal phalanx of the thumb and the thumb saddle joint; wherein the hand liner (100) has metacarpal regions (120, 130) which, when the liner is worn, at least partially cover the metacarpus on both the dorsal and palmar sides of the hand; wherein the hand liner (100) has an opening (140) and is designed so that it can be opened up, and wherein a dimensionally stable main body (10) is positioned on the outside of the hand liner (100).

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.