72 results about "Prosthetic hand" patented technology

The invention relates to the technical field of control engineering, in particular to a touch-based prosthetic hand multifunctional sharing control method, which comprises the following steps of: S1, acquiring a surface electromyogram signal of a user in real time, and identifying a motion intention of the user based on the surface electromyogram signal; s2, a finger needing to move is determined according to the movement intention of the user, the current availability of the finger needing to move is judged through fingertip touch readings, and a movable finger is determined and pre-grabbed; s3, after pre-grabbing is conducted, the movable fingers are controlled to conduct stable grabbing by calculating the grabbing force change rate of each finger at the adjacent moments; and S4, after stable grasping is carried out, the grasping power level is adjusted by executing a target activation gesture, and control over the prosthetic hand is completed. Stable grasping of the prosthetic hand, in-hand operation and one-hand multi-grasping control can be achieved.

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 system and method for a prosthetic assembly that includes a first prosthetic component, comprising a prosthetic hand base; a set of second prosthetic components, comprising a set of prosthetic fingers, and a set of actuating systems, wherein one actuating system connects a pair of distinct prosthetic components, enabling actuation of one prosthetic component with respect to the other. Each actuating system, from the set of actuating systems, includes a linkage and a sensored brushless motor; wherein the sensored brushless motor comprises a brushless motor, a field oriented control system, a rotary encoder, and a gearbox.

The invention relates to the technical field of intelligent prosthetic control, and discloses an intelligent prosthetic hand and a control method thereof.The control method comprises the steps that a grabbing task is started through electromyographic signals, forearm movement postures are obtained in real time through an inertia measurement unit, the movement context is judged, and a gesture prototype is automatically selected based on the context to drive the prosthetic hand to be preformed; the proximity sensor detects a target object and then triggers the finger to close. Through intelligent mapping of the motion context and the gesture prototype, physiological synergy of the grabbing intention and the limb motion is achieved, a user can complete natural and smooth grabbing operation without deliberately planning actions, meanwhile, dynamic adjustment of the motion speed characteristics and the myoelectricity trend intensity is combined, and the user experience is improved. The system can adapt to the speed and force requirements of different scenes, and the operation cognitive load is remarkably reduced.

The invention discloses a wearable tactile perception reconstruction system and method, and the system comprises a myoelectric prosthetic hand, a flexible arm band, a vibration feedback array, and a feedback controller, and the flexible arm band is used for binding the system to the big arm of a subject; the myoelectric prosthetic hand is located at the tail end of the limb of the subject, is connected with the feedback controller and transmits data of the pressure sensor, the distance sensor and the motor encoder to the feedback controller; the vibration feedback array is located on the inner side of the flexible arm band and makes direct contact with the skin of a subject. The feedback controller is located on the outer side of the flexible arm band and at least comprises a control box and a circuit board, and the circuit board is fixed in the control box; in the system, the myoelectric prosthetic hand obtains body sense, force touch sense and proximity sense perception information data, the feedback controller receives the perception information data of the myoelectric prosthetic hand, processes the perception information data and converts the perception information data into stimulation coding instructions, and the vibration feedback array receives the stimulation coding instructions and conducts vibration touch sense feedback to achieve touch sense perception reconstruction.

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 present invention discloses a multi-mode anthropomorphic manipulator integrating a driving link and a coupling rope, which relates to a humanoid manipulator for limb-disabled patients. The manipulator is composed of a driving link mechanism and a coupling rope mechanism. The main driving motor drives the link transmission mechanism as the power mechanism for the movement of the manipulator. The coupling rope and the link together form a cross-coupling mechanism to enable the anthropomorphic coupling movement of the three finger joints. By controlling the length and tension state of the coupling rope through a micro-motor, the functions of non-coupling, fixed-coupling, and variable-coupling adaptive under-actuated grasping can be integrated. Moreover, the coupling ratio between the finger joints can present different variation laws according to the grasped object, greatly enhancing the anthropomorphism and grasping space of the prosthetic hand. The present invention combines the advantages of the link transmission and the rope transmission mechanisms, with a strong overall structural rigidity, a large grasping force, flexible operation, and high anthropomorphism and multiple grasping modes.

A flex mechanism (200) of a mechanical wrist (100) for supporting a prosthetic hand is provided. The flex mechanism comprises a support member (40) pivotally coupled at a hinge axis (50) to a mounting member (11), and a spring assembly (20). The spring assembly comprises a wrist extension spring (25) configured to apply a mechanical bias resisting clockwise rotation of the mounting member (11) about the hinge axis (50). A wrist flexion spring (27) is configured to apply a mechanical bias resisting anti-clockwise rotation of the mounting member (11) about the hinge axis (50). A canted coil ring spring (23) is configured to apply a mechanical bias resisting clockwise rotation of the mounting member (11) about the hinge axis (50) and anti-clockwise rotation of the mounting member (11) about the hinge axis (50) when the mechanical wrist (100) is in a neutral position.

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 present invention provides a soft neural prosthetic hand with both myoelectric control and tactile feedback, comprising a soft humanoid hand-like mechanical body, a hand body drive control system, a myoelectric sensing system, and a tactile sensing and feedback system. The hand body drive control system, myoelectric sensing system, and tactile sensing and feedback system are installed in the soft humanoid hand-like mechanical body, which is provided with a receiving cavity. The hand body drive control system has two types of pneumatic control methods: multi-pump multi-valve and single-pump multi-valve. It also has either a drag-line mode or a lightweight mode for installing, reproducing the dexterous grasping movements and intelligent and compliant characteristics of the human hand. It also relies on a tactile sensor and feedback system based on soft materials to achieve closed-loop neural control of a human in the loop. The present invention reduces the load on the patient's arm end, overcomes the significant shortcomings of traditional prosthetic hands in this regard, and also has the advantages of low cost, light weight, and ease of manufacturing.

The present invention discloses an online wrist torque estimation method based on neural features and LSTM, comprising the following steps: (1) the experimenter keeps the arm still and applies torque to the torque sensor through the wrist; (2) synchronously collects the torque sensor data and high-density surface electromyography signals; (3) uses a blind source separation algorithm to decompose the high-density surface electromyography signals to obtain a motor unit spike train MUST; (4) constructs input and output vectors based on the original HD-sEMG signal and the decomposed MUST, trains the LSTM, and simultaneously performs polynomial regression on the discharge rate of the neural features and the torque; (5) calculates the real-time discharge rate DR of the CST through a sliding window for real-time torque estimation. The present invention is used for natural and real-time control of a robotic prosthesis, can provide a better interactive experience for people with disabilities, and can also be widely used in rehabilitation robots, human-computer interaction and other fields.

The present invention discloses a method, device, and readable medium for collaborative control of a prosthetic wrist joint based on tactile feedback. The method comprises the following steps: obtaining a tactile image collected when the back of a prosthetic hand contacts an object to be grasped, preprocessing the tactile image to obtain a processed image; establishing a back-of-hand coordinate system, and calculating the first displacement required to move from the origin of the back-of-hand coordinate system to the contact position with the object to be grasped based on the processed image; determining a second displacement when the prosthetic palm rotates without touching the object, and setting a third displacement based on the distance between the grasping center position of the prosthetic palm and the origin of the back-of-hand coordinate system; establishing a prosthetic kinematic model, and controlling the prosthetic palm to grasp the object to be grasped based on the prosthetic kinematic model in combination with the first, second, and third displacements. Thus, tactile perception control and re-grasp planning are used to assist the user in operating the prosthetic hand to grasp an object, providing the user with a simpler and more flexible prosthetic hand operation method.

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 rapid development of science and technology has greatly promoted the development of artificial prosthetic hands. However, some problems still exist in the actual application process. Solving the contradiction between the dexterity of prosthetic movement and the intuitiveness of operation control has become a key technical link that needs to be urgently solved in the current dexterous prosthetic hand system. The present invention proposes a neural potential trigger stimulation system and feedback method for prosthetic hand tactile feedback. It can select a specific neural excitation model as the trigger signal of the stimulation waveform based on the pressure information perceived by the prosthetic hand end, and use the fingertip pressure signal as the input variable of the neural excitation model to generate a stimulation waveform with different triggering morphology in both the time domain and the frequency domain, thereby realizing direct proprioception of specific sensory information such as pressure, vibration, and pain, and improving the fine operation ability of the prosthetic hand system and the energy efficiency of the equipment.

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 relates to the technical field of sensors, in particular to a multimodal sensing and feedback stimulation two-way electronic skin system and application, and the system comprises a two-way electronic skin and a control circuit connected with the two-way electronic skin; the control circuit is used for respectively establishing a corresponding relation between temperature sensing and cold and hot stimulation of the semiconductor chilling plate, a relation between force sensing and electrical stimulation and a corresponding relation between resistance sensing and vibration motor stimulation; the bidirectional electronic skin comprises a multi-modal stimulation electronic skin and a multi-modal synchronous sensing electronic skin; the bidirectional electronic skin is installed on the wearable prosthetic hand, and flexible fingers of the wearable prosthetic hand are integrated with the multi-mode synchronous sensing electronic skin so as to sense external stimulation. The multi-mode stimulation electronic skin is attached to the surface of a human body to stimulate the touch sense of the human body. According to the bidirectional electronic skin system provided by the invention, the temperature, resistance and force sensed by touch are fed back to the human body by converting corresponding temperature, vibration and electrical stimulation, so that the touch sensing of the human body is enhanced, and the man-machine interaction capability is 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.