52 results about "Prosthetic hand" patented technology

The invention provides a self-adaptive force feedback control method for a pressure sensing artificial hand. The self-adaptive force feedback control method comprises the following steps: S1, acquiring a pressure signal; s2, pressure signal preprocessing; s3, setting a pressure threshold value; s4, pressure signal contrastive analysis; s5, generating an adaptive force adjusting signal; s6, executing driving force; and S7, acquiring and feeding back a force feedback signal. Through sensing-analysis-adjustment-feedback closed-loop control, self-adaptive grabbing of the artificial hand to different objects is achieved, the core is that the grip strength is dynamically adjusted based on pressure signals, and grabbing stability and object safety are both considered.

A prosthetic hand comprises a palm part; a proximal thumb part coupled to the palm part to form a first joint with a first axis of rotation, wherein the proximal thumb part is configured to rotate about the first axis of rotation; a distal thumb part coupled to the proximal thumb part to form a second joint with a second axis of rotation, wherein the distal thumb part is configured to rotate about the second axis of rotation; a rotary actuator configured to rotate the proximal thumb part and distal thumb part about the first axis of rotation and the second axis of rotation respectively; and a locking mechanism having a first configuration and a second configuration.

This utility model relates to a hand with a gripping thumb, aiming to solve the problems of existing prosthetic hands, such as limited functionality, complex structure, difficult maintenance, non-removable components, and excessive weight. The hand with a gripping thumb includes a palm shell, a thumb mechanism, a return spring, and a control cable. The palm shell is a hollow structure with an internal hinge seat and a long slot. The thumb mechanism consists of a thumb head, a hinge shaft, and a drive arm, and is installed inside the palm shell. The return spring connects the drive arm and the fixed seat, and the control cable connects to the drive arm and extends from the wrist, achieving the swinging gripping of the thumb head through its reaction with the return spring. This utility model has a simple structure, few parts, low cost, and is easy to maintain. The palm cover of the palm shell is removable, facilitating repair and replacement, and reducing maintenance costs. The overall design is lightweight, reducing the burden on patients and providing a practical, economical, and reliable solution for amputees, meeting their diverse daily needs.

Provided is an electronic prosthetic hand that detects and operates hand movements. The electronic prosthetic hand may include a prosthetic hand including a finger unit capable of joint movement and a control unit that controls the finger unit, a first sensor module positioned on a user's finger, a second sensor module positioned on the back of the user's hand, and a gyro sensor provided in each of the first and second sensor modules to measure displacement according to a change in the positions of the first and second sensor modules. The electronic prosthetic hand can be used more precisely because the first and second sensor modules detect the movements of the user's finger and back of the hand, respectively, and implement joint movements of the finger unit based on the displacement difference values according to the movements of the finger and back of the hand.

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 prosthetic hand 10 comprising a palm part 20 and a thumb 30. The thumb has a proximal thumb part 100 coupled to the palm part configured to rotate about a first axis of rotation 110 and a distal th

The invention provides an artificial hand slippage sensing and self-adaptive control method based on deep learning. The method comprises the following steps: S1, acquiring data of a multi-source sensor; s2, preprocessing off-line data; s3, constructing and training a deep learning slip perception model; s4, collecting real-time data in the artificial hand grabbing process; s5, carrying out real-time data preprocessing; s6, real-time slip sensing based on a deep learning model; s7, generating a self-adaptive control decision; s8, executing the control instruction; and S9, slip state feedback verification and closed-loop adjustment are carried out. Through the design of off-line training, real-time reasoning and closed-loop feedback, the problems that a traditional artificial hand is poor in adaptability to complex scenes and not timely in sliding response are effectively solved, the method can be widely applied to the fields of artificial limbs, industrial grabbing robots and the like, and more stable and natural grabbing experience is provided for users.

The present invention provides a prosthetic hand system and method based on force / position hybrid fuzzy control. The system comprises a prosthetic hand body, a force feedback module for obtaining the contact pressure of corresponding fingertips, a position feedback module for obtaining motion information of each joint, and calculating the flexion / extension angles and adduction / abduction angles of the corresponding joint based on this motion information to determine the position information of each joint. A control module for dynamically adjusting the force applied by the prosthetic hand during grasping using an impedance model based on the contact pressure of each fingertip, converting force control commands into position control commands, and combining these position control commands with the position information of each joint to generate a final control signal, which is then sent to the corresponding drive module. The present invention can ensure high-precision control while reducing the design complexity of the controller.

The application relates to the technical field of intelligent artificial limb control, and discloses an intelligent artificial limb hand and a control method thereof, which comprises the following steps: starting a gripping task through an electromyographic signal, acquiring a forearm motion posture in real time by using an inertial measurement unit and determining a motion context, automatically selecting a gesture prototype to drive the artificial limb hand to preform based on the context, and triggering finger closure after detecting a target object by using a proximity sensor. Through intelligent mapping of the motion context and the gesture prototype, the application realizes physiological-level cooperation between a gripping intention and a limb motion, so that a user can complete natural and smooth gripping operation without deliberately planning actions. Meanwhile, dynamic adjustment of a motion speed feature and an electromyographic trend intensity enables the system to adapt to speed and intensity requirements in different scenes, and significantly reduces operation cognitive load.

A prosthetic hand having one or more digits with a lip seal and a tip, which may be a conductive tip. The lip seal has a cross-sectional profile with a contact finger inclining radially outwardly from a radially inner main body portion. The contact finger can flex to account for variable gap sizes in which the seal is used. Less motor current draw is required for digit actuation as compared to use of an O-ring seal. The lip seal can provide a waterproof seal to the knuckle. The prosthetic digit may include a replaceable, and / or conductive, distal tip. The replaceable distal tips may reversibly couple to the prosthetic digit via push on and removal with a simple tool. The conductive distal tips may harness the capacitance of metallic portions of the digit. Contact of the tip may be recognized by and operable with capacitive touch screens, such as mobile devices.

The invention discloses a body feeling myoelectricity artificial hand system fusing myoelectricity enhanced decoding and bionic electrical stimulation feedback. The system comprises a myoelectricity bracelet, a main controller, an electrical stimulator and an artificial hand. According to the system, an electromyographic bracelet is used for collecting residual limb side electromyographic signals, a main controller removes electrical stimulation artifacts in the signals in real time through a comb filtering and self-adaptive filtering series algorithm, gesture intentions are recognized online through a self-updating multi-class LDA algorithm, and the prosthetic hand is driven to execute corresponding actions. According to the system, a closed-loop feedback mechanism based on a muscle shuttle sensing model is constructed, the muscle shuttle sensing model simulates neural coding characteristics of a human body muscle shuttle, the real-time stroke of a micro servo electric cylinder of the prosthetic hand and stress information of a torque sensor are mapped into electrical stimulation frequency and voltage parameters respectively, and an electrical stimulator is controlled to apply bionic stimulation to the stump. According to the invention, closed-loop control of myoelectricity intention recognition, artificial limb action execution, state detection and electrical stimulation feedback is realized, the problems of lack of sensory feedback, serious electrical stimulation signal interference and the like of the existing myoelectricity artificial limb are effectively solved, a patient is helped to reconstruct ontology perception, and the accuracy and naturalness of artificial limb control are improved.

The invention discloses a self-driven multifunctional sensor for an artificial hand wrist. An angle-speed detection mechanism and a pulse measuring ring are integrated; the angle detection mechanism is composed of a first rotor disc, a fixed stator disc and a friction layer, the first rotor disc and the fixed stator disc can rotate relatively, and sine electric signals corresponding to angle changes are output when the wrist bends and stretches based on the friction electrification effect. The speed detection mechanism generates a characteristic cycle electric signal related to the rotating speed through friction between a second rotor disc and a fixed electrode disc with a specific electrode; the pulse measuring ring is integrated on the inner side of the watchband, and the built-in flexible piezoelectric sensing module is tightly attached to the radial artery of the wrist, so that pulse fluctuation can be directly detected; the whole device does not need an external power supply, can generate sensing signals in a self-driven mode through mechanical friction and pulse pressure, and synchronously achieves simultaneous measurement of the wrist angle, the rotating speed and the pulse signals by means of a four-channel high-speed electrical measuring instrument and a multi-channel serial port circuit.

The invention discloses a variable-rigidity soft prosthetic hand and a using method thereof, and the variable-rigidity soft prosthetic hand comprises a soft simulated hand mechanical body which comprises a rigid-flexible coupling bionic finger group module and a palm module; the rigid-flexible coupling bionic finger set module comprises at least two fingers, and each finger is sequentially provided with a movement cavity and a rigid cavity in the direction from the hand back to the palm. The motion chamber is provided with a corrugated structure and is used for driving fingers to bend; the fiber reinforced layer covers the outer wall surface of the stiffness chamber and is used for adjusting the stiffness of the finger and generating a first direction thrust; one end of the palm module is connected with the rigid-flexible coupling bionic finger group module, and the other end is connected with a limb of a patient; and the pneumatic driving control system is packaged in an inner cavity of the palm module and is connected with an air path in the rigid-flexible coupling bionic finger group module. According to the scheme, the problems that an existing artificial limb is heavy, low in load capacity, high in reset delay and inconvenient to maintain are solved.

The present invention provides a joint mechanism and a prosthetic hand using it, in which the force required to move the support in one direction is relatively weak, and the force required to move the support in the other direction is relatively strong. [Solution] The joint mechanism has an elastically deformable elastic part surrounding the shaft and a support part connected to the elastic part. When the support part is displaced in one direction along the circumferential direction of the shaft, a first frictional force acts between the elastic part and the outer surface of the shaft. When the support part is displaced in the other direction along the circumferential direction of the shaft, a second frictional force acts between the elastic part and the outer surface of the shaft, and the first frictional force is greater than the second frictional force.

A method for estimating the stiffness of an under-actuated manipulator that does not require force sensors and encoders is proposed. This method addresses the problem that the existing stiffness estimation algorithm for under-actuated manipulators relies on force sensors and high-precision encoders due to the low stiffness of the body and the complexity of the dynamic model. The present invention establishes a stiffness model of the prosthetic hand during grasping and a simplified dynamic model to achieve rapid estimation of the deformation of the object and the change in the grasping force. On the one hand, the Jacobian matrix and the deformation of the object are obtained by performing overall integration and post-contact integration on the voltage balance equation. On the other hand, the change in the grasping force is estimated by the deformation characteristics of the manipulator in a short period of time. Finally, an overall stiffness model of the under-actuated manipulator is established, and the stiffness of the object when grasping the object is calculated in combination with the manipulator's own stiffness. It is possible to achieve accurate estimation of the stiffness of an object in a short period of time without the use of sensors and encoders, which not only effectively reduces costs but also expands the application scenarios of stiffness estimation.

A system and method for creation and function of an advanced prosthetic hand includes: a base palm, comprising the primary body of the prosthetic hand; a set of actuating digits, wherein each actuating digit is connected to the palm; a sleeve, connected to the palm, providing an interface; a sensor system, comprising sensors integrated on a subset of the set of actuating digits; and a feedback system, connected to the sensor system enabling sensory feedback from the sensor system. In preferred variations, the base palm comprises, at least partially, a carbon-fiber shell. The system may further include a set of water sealing elements integrated into the prosthetic hand. The system functions as a hand prosthesis with actuating digit and hand components.

A prosthetic hand includes a wrist attachment part configured for connecting to a wrist connector; a palm part, the palm part and wrist attachment part being rotatably coupled together to form at least part of a wrist joint; and at least one locking member configured to selectively engage a corresponding engagement part coupled to the palm part, wherein the locking member is movable between an unlocked position, in which the locking member and engagement part are disengaged and the palm part is free to rotate relative to the wrist attachment part, and a locked position, in which the locking member and engagement part are lockingly engaged and the palm part is rotatably locked relative to the wrist attachment part, wherein an end face of the locking member is configured to be flush with an end face of the wrist attachment part when the locking member is in the locked position and the end face of the locking member is configured to be proud of the end face of the wrist attachment part when the locking member is in the unlocked position.

A prosthetic hand includes a wrist attachment part configured for connecting to a prosthetic arm; a palm part, the palm part and wrist attachment part being rotatably coupled together to at least partially form a wrist joint with a lateral axis of rotation; and a battery housing, wherein the battery housing is positioned such that the axis of rotation of the wrist joint passes through the battery housing.

A prosthetic hand with a chassis (20) and at least one base element (10) for fastening a prosthetic finger to the chassis (20), wherein a longitudinal guide for the base element (10) is arranged or formed on the chassis (20), the base element (10) being mounted in said longitudinal guide, wherein the longitudinal guide blocks two translational degrees of freedom and a clamping element (30) is assigned to the longitudinal guide, said clamping element being displaceably mounted in or on the chassis (20) or the base element (10) between a locking position and an unlocking position and effecting a blocking of the third translational degree of freedom in the locking position.

A prosthetic hand 10 comprises wrist and palm parts 20, 30 that are rotatably coupled to form a wrist joint 50 with a transverse rotation axis 51, and a battery housing 40 through which the rotation a

The utility model discloses a joint-line-free artificial limb manufacturing mold in the technical field of artificial limb molds, which comprises a hand back mold shell, a palm mold shell, a hand mold sleeve, a port separation blade and an artificial hand inner mold, the hand mold sleeve filled with the artificial hand inner mold is sealed in the mold cavity formed by the hand back mold shell and the palm mold shell through the end opening blocking piece, the mold installation process can be optimized, meanwhile, the artificial limb leather sheath can be directly formed at a time, an integral structure is adopted, and meanwhile, no joint line exists, so that after the silica gel leather sheath is subjected to injection molding, the production efficiency is greatly improved. A joint line does not need to be ground, so that the manufacturing process is greatly simplified, and the manufacturing of the artificial limb leather sheath is more efficient; due to the fact that the joint line does not need to be ground, the outer surface of the artificial limb leather sheath is smoother, the joint line does not exist, later repair and re-coloring of the ground position are not needed, the whole leather sheath has no color difference, and the beauty artificial limb leather sheath manufactured through the device is more vivid.

A prosthetic hand 10 comprises wrist and palm parts 20, 30 that are rotatably coupled to form a wrist joint 50 with a transverse rotation axis 51, and a battery housing 40 through which the rotation a

The utility model relates to an anti-cutting glove practical training device. The device mainly comprises a cabinet body and a simulated cutting hand assembly, wherein the simulated cutting hand assembly is arranged in the cabinet body; wherein a transparent safety door is arranged on one side of the cabinet body; the simulation hand cutting assembly comprises a motor, a lead screw suite, a blade and at least two performance comparison gloves, the output end of the motor is connected with the lead screw suite, the blade is arranged on the lead screw suite through a connecting seat, the performance comparison gloves are arranged below the blade, and the performance comparison gloves are arranged on the lead screw suite. Each performance comparison glove is sleeved with an artificial hand; the blade, the performance comparison glove and the artificial hand are located in the visual range of the safety door. According to the utility model, the impression of safety education for sharp object cutting can be enhanced; and due to the arrangement of the safety door, the equipment does not cause actual harm to personnel, and safety risks existing in the education process are avoided.

A prosthetic limb in amputation rehabilitation, having a forearm and a hand with four fingers and a thumb, with the wrist and the fingers & thumb thereof being fully independently controlled by nerve signals originating in the amputee's brain and not being controlled by the actions of nearby muscles in the amputee's upper arm or shoulder. Control of the prosthesis is achieved by a fully contained electronic unit in the forearm of the prosthesis that receives neural signals from the brain, converts the analog neural signals to digital signals that are fed into an artificial intelligence engine circuit that utilizes a library of algorithms to learn from the brain what the signals are that will produce a desired hand and finger movement, then convert its computed digital output to analog electrical signals that are fed to the prosthetic hand and finger to produce actual motion as instructed by the brain.

1. Name of this design: Five-Finger Bionic Hand (Intelligent Dexterous Hand Type C). 2. Applications of this design: It can be used in humanoid robots as a dexterous end effector or actuator in industry; it can also be used in intelligent prosthetic hands for rehabilitation applications. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key features: the front view.

The present application belongs to the technical field of myoelectric pattern recognition, and particularly relates to a wrist myoelectric pattern recognition calibration method based on transfer learning and resisting gesture interference.The method comprises the following steps: collecting eight-channel myoelectric signals at the wrist by using a wrist myoelectric collection device, obtaining a characteristic matrix composed of four continuous characteristic values through window processing on the collected continuous sequence; using a prototype classifier for wrist myoelectric pattern recognition; using an unsupervised model of transfer learning for calibration, combining a target function for minimizing the characteristic distribution distance and a target function for minimizing the empirical error of the prototype classifier to obtain an optimization problem; and finally selecting pseudo-labels through the structural information of the source domain data with labels and the target domain data without labels themselves.The present application does not need to train the user in different postures in advance, thereby reducing the training burden of the user; the recognition accuracy is effectively improved without retraining the classifier; and the present application can be used for controlling a prosthetic hand in different postures.

The application discloses a kind of prosthetic hand force control evaluation equipment and its evaluation method for having tactile.The application includes base, motor assembly, tension sensor, support, linear guide, test sensor assembly, processor and display;The test sensor assembly of the application includes " pinch force " test component and " grip force " test component, and the continuous monitoring of the pinch force and grip force of prosthetic hand can be completed;Array pressure sensor can record the pressure data of different fingers in completing the force task, record the pressure distribution of palmar pressure and test component;Test sensor assembly is set on linear guide through support, and is pulled to motor assembly by cable, so as to exert traction on test sensor assembly, realize dynamic test;The application can distinguish tactile prosthetic hand and ordinary prosthetic hand, the function test of tactile prosthetic hand, subject completes dynamic task with eyes closed, and records both data, calculates and compares the goodness of fit of both.

A rotatable and removable wrist connection for a prosthetic hand. A prosthesis coupling includes first and second ball race sections that may be moved together or apart to constrain ball bearings to an inner zone or an outer zone to allow the prosthesis coupling to be secured to or removed from a socket coupling. A socket coupling includes a socket body for receiving a wrist coupling having a rotary connector core extending from the socket body and compliantly mounted to the socket body.

Provided are: a link mechanism that is suitable for use in prosthetic hands and the like due to being low cost and having a simple structure; and a prosthetic hand using the same. A link mechanism comprises: a first joint part that includes a first link (110 (A)) and a second link (110 (B)) connected to the first link so as to be rotatable about a first base axis (AX1); a second joint part that is arranged side-by-side with the first joint part and includes a third link (110 (D)) and a fourth link (110 (E)) connected to the third link so as to be rotatable about a second base axis (AX2) which is different from the first base axis, wherein the third link is connected to the second link so as to be rotatable about a third base axis (AX3) which is different from the first base axis and the second base axis.

The invention relates to an automated hand, such as a prosthetic hand. In one form, the automated hand may be fluid compatible. In one form, the automated hand may comprise features to reduce the risk of harm to motors and / or other sensitive components of the hand when subject to an impact. In one form, the hand may comprise a wrist joint configured to allow the hand to curl and flex and / or to rotate. In one form, one or more digits of the hand may be individually controlled. In one form the hand may include a thumb rotation locking mechanism. In one form the hand may be provided with removable grip plates. In one form, the hand May be configured for use as a training hand.