545 results about "Wrist joints" patented technology

The invention discloses a wrist joint spasm assessment method and a wrist joint spasm assessment device based on multi-source data fusion. The rotating speed data, the rotating angular speed data and the angle change data of the wrist joint, the pressure change data of the whole palm, the acceleration change data of the palm, the torque change data of the wrist joint and the electromyographic change data of related muscles in the movement process are measured, and scoring is carried out in combination with an expert system. The evaluation of wrist spasm is realized by combining a multiple linear regression algorithm with a differential evolution algorithm; and based on the multi-source data fusion, establishing an evaluation model by using a Bi-LSTM network so as to realize spasm evaluation. The wrist serves as a spasm detection part, and compared with traditional spasm detection equipment, a more convenient data acquisition mode is achieved while the evaluation precision is guaranteed.

A flexible sensor and a method of detecting biaxial wrist joint motion and a robotic arm are provided; the flexible sensor of detecting biaxial wrist joint motion includes a light-proof sleeve, a protective layer, a strip-shaped transparent conductive hydrogel, a light intensity sensor, a light source, and a resistance detection module; the transparent conductive hydrogel is arranged in an inner cavity of the light-proof sleeve; the protective layer is arranged between an inner side wall of the light-proof sleeve and the transparent conductive hydrogel; the light intensity sensor and the light source are arranged at two ends of the strip-shaped transparent conductive hydrogel, respectively; the resistance detection module is connected to the two ends of the strip-shaped transparent conductive hydrogel; a longitudinal section of the strip-shaped transparent conductive hydrogel is in a form of a rectangle with unequal length and width.

The invention discloses a forearm of a manipulator, which is provided with a wrist joint axis and an elbow joint axis, and comprises a shell comprising a supporting part and a main body part which are integrally formed, and the supporting part is provided with a first pressing end; the wrist belt wheel is coaxial with the axis of the wrist joint, the wrist belt wheel and the shell form a mounting space, the wrist belt wheel comprises a shaft part and a belt wheel part which are integrally formed, and a second pressing end is formed at the joint of the shaft part and the belt wheel part; the bearing is arranged in the mounting space, and the bearing is provided with an inner ring and an outer ring; the pressing assembly is coaxial with the axis of the wrist joint and comprises a first pressing piece and a second pressing piece; wherein the first press-fit part and the first press-fit end form axial constraint on the outer ring of the bearing, and the second press-fit part and the second press-fit end form axial constraint on the inner ring of the bearing, so that the wrist belt wheel can rotate relative to the shell through the bearing. By adopting the scheme, the concentricity of the forearm of the manipulator is improved, and the axial mounting space is reduced.

The present invention is a handle for a jump rope comprising a gripping portion, an extension member, and a rotation mechanism housing. The gripping portion is held by the user's fingers, while the user's thumb extends down the extension member which is fixed to the gripping portion's distal end and extends downward and laterally away from the gripping portion. The housing is attached with a distal end of the extension member and contains an opening for the jump rope. When gripped, the housing is positioned below and laterally away from the user's wrist joint, improving ergonomics and reducing wrist strain. The housing may incorporate various mechanisms for secure rope attachment and smooth rotation.

The invention relates to a hybrid drive type bionic light-weight nursing mechanical arm which comprises a shoulder joint module, a rope-driven elbow joint module and a rope-driven wrist joint module which are connected in sequence. The shoulder joint module is of a series-parallel structure, a first servo motor directly drives a center linkage platform to achieve forward flexion and backward extension of the shoulder, and a second servo motor and a third servo motor cooperatively drive a closed-loop structure formed by a driven branch chain unit to achieve adduction, abduction, internal rotation and external rotation of the shoulder. The elbow joint module achieves elbow bending and stretching and inward and outward rotation driven by a fifth servo motor through rope wheel transmission and gear meshing. The wrist joint module achieves forward flexion, backward extension, abduction and adduction of the wrist through a rope winding path and bevel gear meshing. Compared with the prior art, the adaptability and efficiency of the mechanical arm in rehabilitation nursing are improved, it is ensured that all the joints can work precisely and cooperatively under multi-degree-of-freedom movement, and the control precision and stability of a driving system are optimized while the high-load bearing capacity is ensured.

The invention discloses a whole body attitude estimation method based on a sparse inertial sensor. The method comprises the following steps: 1, synthesizing acceleration data, direction data and angular velocity data through a finite difference method and a forward kinematics algorithm; 2, performing alignment processing on original acceleration data and original direction data acquired by three inertial sensors worn on a head joint, a left wrist joint and a right wrist joint of the user by rotating the transformation matrix; and 3, extracting depth features of an inertial motion data sample through an encoder combining Transform Encoder and a bidirectional long-short time memory network, designing a decoder based on a multilayer perceptron to calculate positions and relative rotation of joints, and sequentially estimating the relative rotation of the joints of different parts in a plurality of stages in combination with a human body kinematics model so as to realize whole body posture estimation. The method can effectively overcome the defect that sparse inertia input is used for whole body motion reconstruction in an existing attitude estimation method, and the robustness and prediction precision of the system are effectively improved.

The invention relates to the technical field of mechanical wrist control, and discloses a mechanical wrist variable stiffness control method based on air pressure feedback. The method comprises the following steps: acquiring real-time air pressure distribution data and joint angle data of the multi-airbag system of the mechanical wrist; calculating an instant air pressure feedback vector of each airbag area according to the difference between the real-time air pressure distribution data and a preset air pressure reference value; based on the real-time air pressure feedback vector and the joint angle data, in combination with predefined airbag area rigidity influence factors, obtaining local rigidity adjustment amount of each airbag area; when it is detected that the real-time torque load of the wrist exceeds a preset load threshold value, the local rigidity adjustment amount is fused to generate a comprehensive target rigidity value of the wrist joint; the priority of contribution of each airbag area to the target stiffness is evaluated, an airbag state switching instruction is output according to the priority, the high-priority airbag area is switched to a high-pressure state, and the low-priority airbag area is maintained in a low-pressure or pressure relief state. The method enhances operation stability and energy efficiency.

A method including acquiring a hand movement video obtained by capturing images during a process in which a target user rotates a wrist joint from a first angle to a second angle while maintaining a hand posture with five fingers naturally extended, so that the hand movement video comprises a plurality of image content frames captured during a rotation process of the hand from a front / side view to a side / front view; acquiring curvature information of the fingers and / or nails from the plurality of image content frames acquired during the rotation process; and creating a 3D hand model of the target user based on the hand movement video, and optimizing key point parameters of the fingers and / or nails in the 3D hand model based on the curvature information of the fingers and / or nails. The present disclosure enables digital reconstruction of the hand and improve the reconstruction accuracy of the hand.

The invention provides a rigid-flexible coupling wrist rehabilitation robot which comprises an arm supporting unit and a wrist supporting unit, the arm supporting unit is matched with the forearm of a patient, the wrist supporting unit is matched with the palm of the patient, and an upper / lower elastic rope support and a left / right elastic rope support are installed on a connecting plate of the forearm supporting unit. An elastic rope connecting anchor point at the front end of the upper elastic rope support and an elastic rope connecting anchor point at the front end of the lower elastic rope support are connected with corresponding anchor points of the wrist supporting unit through three elastic ropes to form an integral tensioning structure, and four driving flexible ropes penetrate through Bowden wire pipes installed in the elastic rope supports to be connected to the corresponding anchor points of the wrist supporting unit. And the flexion / extension and radial deflection / ulnar deflection of the wrist joint are realized by traction and driving of the flexible cable. The open type wearable structure is convenient for a patient to wear, and the problems that a rigid wrist rehabilitation robot is not matched with the instant movement center when the wrist of the patient moves and the joint torque of a flexible wrist rehabilitation robot is insufficient are solved, so that the treatment effect of rehabilitation training on the patient is improved.

The invention discloses a cold and hot type portable glove with adjustable joint motion range, which belongs to the technical field of medical instruments and structurally comprises a glove body, a double-layer elastic body and a heat insulation coating layer are arranged on the surface of the hand back side of the glove body, and a thermoelectric material layer and a heat transfer coating layer are arranged on the surface of the palm side of the glove body; a temperature sensor which can be in direct contact with a hand is arranged in the glove body; the double-layer elastomers are arranged at finger joints and wrist joints and comprise a lower-layer non-phase-change elastomer and an upper-layer liquid-gas phase-change elastomer, a temperature-controllable resistance wire is embedded in the liquid-gas phase-change elastomer, the resistance wire is heated to enable the liquid-gas phase-change elastomer to generate shape change and the double-layer elastomers to generate bending deformation, and the motion range of the joints is adjusted; the thermoelectric material layers are arranged at non-finger joints and non-wrist joints, and the thermoelectric material layers achieve refrigeration or heating based on the Peltier effect. The cold and hot type portable glove is high in integration level, good in portability and wide in application prospect.

The present invention discloses a rigid-flexible pneumatic component hybrid-driven robot joint system, belonging to the technical field of robots. The robot has the function of whole-body joint movement: three cylinders are connected in parallel to drive the movement of the waist joint. Multiple cylinders of the waist joint and the pneumatic muscles of the pelvis together drive the movement of the hip joint; the pneumatic motor and the pneumatic muscles in the form of antagonist muscles together drive the movement of the knee joint; four pneumatic muscles are connected in parallel to drive the movement of the ankle joint, and another two pneumatic muscles are connected to the lower end of the foot through the rear connecting shaft guide and drive the ankle joint together with the four pneumatic muscles of the ankle joint. A group of antagonist muscles in the wrist joint-elbow joint and the shoulder joint-elbow joint respectively drive the rotation of the elbow joint, and the pneumatic muscles in the form of two groups of antagonist muscles in the wrist joint-elbow joint and the wrist joint drive the movement of the wrist joint, and the pneumatic gripper has the function of clamping items. The present invention drives the joints by combining pneumatic components with mechanism, and has the characteristics of compact structure, strong adaptability and flexible working mode.

The invention relates to the technical field of rehabilitation robot control, in particular to an active-disturbance-rejection backstepping control system of a wrist rehabilitation robot. The wrist rehabilitation robot adopts two pneumatic artificial muscle systems as driving elements, and the control system comprises a tracking differentiator used for tracking and differentiating an input target angle signal; the extended state observer is used for estimating the system state and the total disturbance of the system in real time; the nonlinear error feedback controller is used for forming an error feedback signal and generating a control torque; the backstepping method controller is used for calculating and distributing the output pressure of the pneumatic artificial muscle system; the PID controller is used for dynamically correcting the output pressure; and the self-adaptive combination valve is used for controlling the pressure in the pneumatic artificial muscle system. According to the method, the inherent problems of high nonlinearity, uncertainty and hysteresis effect of a pneumatic artificial muscle system are solved, and high-precision trajectory tracking control over wrist joint movement is achieved.

The present invention discloses a pneumatic transmission robot system based on a combination of multiple modes, belonging to the technical field of robots. The movement of the hip joint, knee joint, ankle joint, shoulder joint, elbow joint, and wrist joint of the robot is driven by pneumatic muscles, and the waist joint is driven by balloon cylinders and cylinder combinations, having the function of fully simulating the joint movement of a human. The balloon cylinder and the waist joint cylinder are connected in series as a branch chain, and three branch chains are connected in parallel to form a single-layer waist joint, and six branch chains between two layers are evenly distributed on the circumference. A group of pneumatic muscles combined with a guide wheel drive the hip joint to rotate around the Z axis, two pneumatic muscles combined with a four-bar mechanism drive the flexion and extension movement of the knee joint, and two groups of pneumatic muscles are rotatably connected to the calf bone II, and with this as a support and combined with a universal joint, the flexion, extension, adduction, and abduction movements of the ankle joint are realized. The present invention is driven by pneumatic muscles and cylinders, and has the characteristics of compact structure, combination of rigidity and flexibility, and good explosion-proof performance.

The invention provides a surgical instrument rollback control method, a readable storage medium and a surgical robot system.The surgical instrument rollback control method comprises the steps that key point discretization is conducted according to the form of a surgical instrument before rollback, and a spline line is obtained through reconstruction according to the discretized key points; when the surgical instrument is in a form in a rollback process, constructing a cost function based on the distance between each key point and the spline line; the instruction speed of the elbow and wrist joint meeting the requirement that the derivative of the cost function to the time is minimum is found out; integrating the instruction speed to obtain an instruction position of the elbow and wrist joint, and controlling the surgical instrument to return based on the instruction speed and the instruction position. By means of the configuration, the surgical instrument roughly follows a path formed according to the form of the surgical instrument before the surgical instrument returns, the possibility of collision generated when the surgical instrument returns can be effectively reduced, the surrounding environment does not need to be perceived, and additional image support is not needed.

The embodiment of the invention provides a robot. The robot comprises a moving assembly suitable for enabling the robot to move in multiple directions; a torso assembly coupled to the moving assembly and adjustable in height relative to the moving assembly, the torso assembly including a shoulder joint portion and a neck joint portion; the bionic double arms comprise a left arm and a right arm, the left arm and the right arm are movably coupled to the two sides of the trunk assembly through shoulder joint parts so as to achieve three-degree-of-freedom movement relative to the trunk assembly, and the left arm and the right arm each comprise an elbow joint part and a wrist joint part; a large arm mechanism and a small arm mechanism coupled via the elbow joint portion to rotate relative to each other about an axis of the elbow joint portion; the execution component is coupled to the tail end, away from the large arm mechanism, of the small arm mechanism through the wrist joint part so as to achieve three-freedom-degree movement relative to the small arm mechanism; the head part is coupled to the top end of the trunk assembly through the neck joint part and located between the bionic double arms, and the head part is suitable for carrying out two-degree-of-freedom movement relative to the trunk assembly.

1. Name of the design product: Wrist guard mouse pad (abstract hook shape). 2. Use of the design product: Used as a mouse pad to protect the wrist joint. 3. Design key points of the design product: Lies in the shape. 4. Picture or photo that best shows the design key points: Perspective view 1.

An orthosis for support of a joint, adapted to the thumb or wrist, having sleeve-like main member made of an elastic material, adapted to envelop the joint and distal and proximal limb portions on either side of the joint, elastically deformable panel housed in a pocket formed in the main member, and non-elastic bracing device for bracing the main member and a proximal portion of the panel around the proximal limb portion, the panel being configured such that, over at least 50 % of the length of the main member along the limb portions, including a limb portion covered by the bracing device, the panel has a cross-section occupying more than 30 % of the perimeter of the underlying limb, the panel having a stiffness defined by a Young's modulus between S and 10 MPa, while the material forming the main member has a stiffness of a lower order of magnitude.

The invention belongs to the technical field of industrial robots, and particularly relates to a wrist joint wire harness structure of a six-axis industrial robot. Comprising a forearm, a wrist joint, a wrist joint supporting sleeve, a six-axis motor and a spiral wire harness, the wrist joint supporting sleeve is fixed to the front end of a forearm side plate of the forearm, the wrist joint is rotationally connected with the wrist joint supporting sleeve, the six-axis motor is arranged on the wrist joint, the spiral wire harness is contained in the wrist joint supporting sleeve, the inner side end of the spiral wire harness is fixed to the wrist joint, and the outer side end of the spiral wire harness is fixed to the forearm side plate. The outer side end of the spiral wire harness is fixed to a forearm side plate and connected with a wrist joint cable led out of an inner cavity of the forearm, and the wrist joint rotates to drive the inner side end of the spiral wire harness to rotate forwards or reversely in the spiral direction. The wire harness layout is simple, the cable reliability and the transmission precision are improved, the sealing performance is better, and the efficiency is higher.

The invention relates to the technical field of robots, and particularly discloses a bionic humanoid mechanical arm which comprises a shoulder joint module, a big arm module, an elbow joint module, a small arm module and a wrist joint module which are connected in sequence. The wrist joint module realizes two-degree-of-freedom flexible movement through a regular octahedron tensegrity structure, and the rotation centers of the wrist joint module naturally intersect at one point and are connected with the rolling shaft in series to form three-degree-of-freedom concurrent rotation; the length-adjustable supporting rod in the flexible structure changes the joint rigidity in real time and dynamically adapts to the load change so as to enhance the man-machine interaction safety; an elbow joint adopts a virtual pitch circle rolling mechanism, all joint-crossing driving rope paths are forced to remain unchanged, and multi-joint motion coupling is eliminated from the mechanical intrinsic level; a driving motor and a rope wheel system are arranged on the large arm module in a centralized mode, the rope tensioning state is continuously optimized in cooperation with a ratchet wheel type self-locking tension mechanism, and the tail end inertia is reduced under the condition that an elbow and wrist joint motor is completely removed.

The present invention provides a tantalum metal wrist joint prosthesis with a gradual porous structure and a wear-resistant layer, comprising: a distal implant, a special-shaped ball head, and a proximal implant. The distal implant comprises a distal insertion plug, a proximal platform, and a circular pin. The overall shape of the special-shaped ball head is a small half-notch of an ellipsoid. One end of the special-shaped ball head is provided with a socket that matches the circular pin, so that the distal implant and the special-shaped ball head are plugged and fixed. The other end of the special-shaped ball head is a convex ball structure. The proximal implant comprises a concave joint ball and a gradual porous structure segment. The surface of the concave joint ball is provided with a coating. The coating contacts the surface of the convex ball structure of the special-shaped ball head, so that the proximal implant and the special-shaped ball head are connected to form a compensatory wrist joint. The technical solution of the present invention solves the problems of incomplete coordination between artificial wrist joint prostheses and muscles and soft tissues, severe wear at the joint, and short service life in the prior art.

The present invention discloses a method for identifying mobile phone usage behavior in low-resolution monitoring scenarios, comprising the following steps: collecting low-resolution video images for frame-by-frame analysis, and identifying the wrist joint and head position in the analyzed low-resolution video images through an AlphaPose posture recognition model; obtaining a first probability that the mobile phone is being held by obtaining a mobile phone ROI area and its confidence based on a target detection model YOLOv7; based on the first probability, according to the wrist joint and head position, identifying whether there are several abnormal mobile phone usage situations in the current frame that indicate that the mobile phone is prohibited from being used in the current frame through an LSTM-based timing judgment model; the present invention realizes the identification of abnormal mobile phone usage behavior in low-resolution monitoring scenarios, and improves the applicability of intelligent recognition technology in low-resolution scenarios.

The present disclosure relates to a prosthesis (400) configured for implantation in a carpometacarpal joint in the wrist, the prosthesis comprising a first and a second implant part member (405a,b) configured to be screwed into a radius and metacarpal bone respectively. Each implant part member (405a,b) comprising an articulation member (420a,b) configured to be received in the bone fixation member (410a,b) in a releasable manner. The articulation members (420a,b) comprise orientation pins (423) configured to be inserted into bore sections of the bone fixation members 410a,b. When seated in the bore sections, the first portions of the articulation members (420a,b) with the orientation pins (423) are substantially centered along the central axes of the bone fixation members (410a,b), thereby forming common central axes extending through the bone fixation members (410a,b) and the articulation members (420a,b). The radius articulation member (420a) comprises a replacement articular surface configured for articulation with a replacement articular surface located on the metacarpal articulation member (420b). The radius replacement articular surface has (420a) a configuration that is asymmetric about the common central axis of the radius bone fixation (410a) and articulation members (420a). The bore sections have cross-section (419) extending perpendicularly to the central axis defining a first polygonal outline (429). The orientation pins (423) have cross-sections defining a second polygonal contour line, such that when the orientation pins (423) of the articulation members (420a,b) are seated in the bores of the bone fixation members (410a,b), rotation of the articulation members (420a,b) in relation to the bone fixation members (410a,b) is prevented.

The utility model relates to the technical field of manipulators, and in particular to a humanoid manipulator arm, comprising a shoulder joint assembly, an elbow joint assembly and a wrist joint assembly, wherein the shoulder joint assembly comprises a first shoulder rotation module, a second shoulder rotation module connected to the output end of the first shoulder rotation module and a third shoulder rotation module connected to the output end of the second shoulder rotation module; the elbow joint assembly comprises a large arm rotation connector connected to the output end of the third shoulder rotation module, an elbow connector rotatably connected to the large arm rotation connector and a forearm rotation module mounted on the elbow connector; the wrist joint assembly comprises a small arm rotation connector mounted at the output end of the forearm rotation module, a wrist connector and a manipulator adapter rotatably connected to the wrist connector, a manipulator driving mechanism for driving the manipulator adapter to rotate is mounted on the wrist connector, and the humanoid manipulator arm of the utility model is similar to a human body and has good flexibility.

A humanoid robot arm belongs to the field of humanoid robots and is characterized in that a first driving mechanism is mounted in a first arm fixing part, a second arm fixing part is connected with the output end of the first driving mechanism, and the second driving mechanism and a third driving mechanism are transversely mounted and fixed on the second arm fixing part; the upper end of the U-shaped arm fixing part is fixed with a shell of the third driving mechanism, the second lower end of the U-shaped arm fixing part is hinged with a Y shaft of the hollow cross shaft, the upper part of the manipulator flange is hinged with an X shaft of the hollow cross shaft, and the lower part of the manipulator flange is fixedly connected with the manipulator; the Y axis and the X axis of the mechanical arm intersect at one point, the intersection point is located on the axis, rotating around the Z axis of the arm, of the arm, the three axes intersect at one point, the conveying structure layout is consistent with the human arm movement structure layout, the size is gradually decreased from the elbow joint to the wrist joint, and the characteristic of simulating the human arm is achieved. And the two driving power sources bear driving loads at the same time, and the higher load capacity is achieved.

The invention discloses an SMA-based upper limb exoskeleton rehabilitation robot which comprises a big arm exoskeleton auxiliary block detachably mounted on a big arm, a front arm exoskeleton block detachably mounted on a front arm and a wrist joint exoskeleton frame detachably mounted on a wrist joint, and the front arm exoskeleton block can be rotationally mounted on the big arm exoskeleton auxiliary block in a driven manner; an upper SMA tractor used for driving the forearm exoskeleton block to rotate is arranged on the big arm exoskeleton auxiliary block, and a lower SMA tractor used for enabling the wrist to move up and down is arranged on the forearm exoskeleton block. When the upper SMA tractor is heated to a certain temperature, the upper SMA tractor begins to contract, the forearm exoskeleton block is dragged in the contraction process, the forearm exoskeleton block rotates on the big arm exoskeleton auxiliary block, the forearm of the human body is driven to swing, meanwhile, the lower SMA tractor is heated, and when the lower SMA tractor is heated to a certain temperature, the lower SMA tractor begins to contract, and the forearm exoskeleton block rotates on the big arm exoskeleton auxiliary block and drives the forearm of the human body to swing. In the contraction process, the hand is dragged, the hand moves up and down, and the auxiliary effect on arm and hand rehabilitation is achieved.

The application discloses a kind of located in humanoid robot joint sensing system and method, belong to humanoid robot technical field, system includes humanoid robot limbs and joint, camera, processor and calibration board, the joint includes shoulder joint, elbow joint, wrist joint and end effector, and / or hip joint, knee joint, ankle joint and end effector;Camera is composed of a binocular camera module and a TOF module, camera and processor are located on the joint of humanoid robot, processor calibration position, process the data obtained by camera and output control instruction to control end effector.The application can realize more extensive range of environmental perception, the camera on the joint can be freely adjusted with the movement of joint Angle and direction, so as to realize more flexible environmental perception and operation;Integrated camera data processing and motor control, reduce the communication delay between sensor and controller, improve the response speed and processing efficiency of system.

The invention relates to a wrist joint, a minimally invasive surgery robot and a knee joint endoscopic surgery robot. The knee joint endoscopic surgery robot comprises a far-end two-degree-of-freedom wrist joint, a one-degree-of-freedom bent flexible mechanical arm, a rigid insertion sheath tube, a wire transmission device, a bending driving device and a gear transmission device. Wherein the endoscope module is integrated at the tail end of the wrist joint, so that flexible exploration in a knee joint cavity is realized; through two-degree-of-freedom movement of the wrist joint, local flexible adjustment of the visual field of the endoscope is achieved; large-range bending movement and safe interaction of the endoscope are realized through one-degree-of-freedom bending movement of the flexible mechanical arm; by controlling extension and retraction of the rigid insertion sheathing canal, a doctor can conveniently control the endoscope to smoothly enter a knee joint cavity from a knee joint incision, the bending radius of the flexible joint in the flexible mechanical arm can be changed by regulating and controlling the extension amount of the rigid insertion sheathing canal, and then flexible adjustment of the visual field of the endoscope in a large range and a small range is achieved.

The application relates to the technical field of medical rehabilitation robots, in particular to a safe upper limb rehabilitation exoskeleton robot, which comprises a fixing frame and a mechanical arm arranged on the fixing frame and used for assisting the movement of a patient's arm, the mechanical arm comprises, in sequence, a shoulder joint vertical folding and unfolding module, a shoulder joint horizontal folding and unfolding module, a shoulder joint flexion and extension module, an elbow joint flexion and extension module, a wrist joint flexion and extension module and a lower arm rotating module, the mechanical arm can be suitable for a left arm or a right arm by switching left and right states. Each module of the mechanical arm is provided with a mechanical limiting structure used for limiting the activity range of the corresponding module, and the mechanical limiting structure can switch left and right states, and is used for synchronously switching when the mechanical arm switches left and right states to ensure the safety of the patient. The spring positioning pin is used for adjustably limiting, the application can realize the left and right exchange function of the mechanical arm, ensure the mechanical safety limiting of the limit angle of the two arms and improve the safety of the equipment.

The invention discloses an XR gesture tracking and recognition method based on multi-view depth fusion. The method comprises the following steps: constructing a virtual camera by adopting a perspective cutting method, and dynamically extracting a hand region after geometric correction through gesture detection and perspective cutting of each frame of image; in combination with internal and external parameters of a camera, through position coding and a multi-head attention mechanism, a geometrical relationship between visual angles is modeled, semantic relevance of multi-visual-angle 3D features is deeply excavated, globally consistent hand representation is constructed, then six-degree-of-freedom information of wrist joints and rotation angles of the joints are output based on a regression device, and forward kinematics and a linear skin algorithm are combined, so that the degree of freedom of the wrist joints is calculated. Generating a complete hand posture and skeleton key point coordinates; and based on the key point position and the rotation angle of each joint, gesture recognition is realized through template matching. According to the method, multi-view image information and hand kinematics constraints are combined, high-precision and high-robustness three-dimensional gesture attitude estimation and classification are achieved while real-time performance is guaranteed, and the method is suitable for various XR scenes.

The utility model provides a disposable nail path protection device, and relates to the technical field of wrist joint fixing frames, the disposable nail path protection device comprises a supporting plate, a distance adjusting assembly is arranged on the surface of the supporting plate, the distance adjusting assembly comprises a fixing frame, the fixing frame is fixedly connected to the surface of one side of the supporting plate, and the distance adjusting assembly is arranged on the surface of the supporting plate. And a screw groove is formed in the surface of the other side of the supporting plate, a one-way screw is inserted into the screw groove, one end of the one-way screw is connected with a handle, and the other end of the one-way screw is connected with a first bearing. When the distance of the movable frame needs to be adjusted, the handle can be rotated to drive the one-way screw rod to rotate, so that the movable frame is moved through thread rotation, the distance between the movable frame and the fixed frame is adjusted, a screw channel can be protected through the sliding sleeve, and the overall practicability is improved; the problem that the distance of an existing nail channel cannot be adjusted according to the actual situation is solved.