756 results about "Wrist joints" patented technology

The invention discloses a wrist joint mechanism, an arm structure and a robot. The wrist joint mechanism comprises a switching assembly and a connecting assembly, the first connecting assembly is rotationally connected with the switching assembly, and the first connecting assembly rotates around a first axis relative to the switching assembly; the first driving assembly is arranged on the first connecting assembly; one end of the connecting rod assembly is connected with the output end of the first driving assembly, and the other end of the connecting rod assembly is connected with the switching assembly; the second driving assembly is arranged on the switching assembly; the second connecting assembly is connected with the output end of the second driving assembly, and the second driving assembly drives the second connecting assembly to rotate around a second axis relative to the switching assembly; the first axis intersects the second axis. According to the technical scheme, the structure of the wrist joint mechanism is more compact, and therefore the space occupied by the wrist joint mechanism in the arm structure is reduced.

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 invention belongs to the field of robots, and provides a multi-scene obstacle crossing self-adaptive climbing inspection robot and a control method thereof in order to solve the problem that an existing inspection robot is not suitable for a high-rise steel structure. The multi-scene obstacle crossing self-adaptive climbing inspection robot comprises at least three sections of moving mechanisms, and any two sections of adjacent moving mechanisms are connected through a node connecting rod; a spherical hinge type multi-degree-of-freedom steering engine driving joint is arranged at the middle section part of the node connecting rod; each section of moving mechanism at least comprises a control part, a supporting part, a sensing part and a climbing part; the climbing part at least comprises a pair of side arm connecting rods which are symmetrically arranged on the two sides of the supporting part. The tail end of each side arm connecting rod is connected with a dynamic magnetic attraction wheel through a wrist-imitating joint; a self-adaptive driven wheel is further arranged at the bottom of the supporting part, and the self-adaptive driven wheel and the dynamic magnetic attraction wheels on the two sides of the self-adaptive driven wheel form a three-point clamping structure. The method can meet the requirements of visual full-coverage path planning and space precise positioning of the high-rise steel structure.

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 mechanical arm and a double-arm robot. The mechanical arm comprises a supporting body, a shoulder structure, a large arm, an elbow structure, a small arm and a wrist structure. The shoulder structure comprises a shoulder differential assembly, a shoulder rope driving assembly and a shoulder joint, and the shoulder joint has three degrees of freedom and comprises a shoulder rotating seat fixedly arranged on the shoulder differential assembly and a shoulder adapter which is pivoted to the shoulder rotating seat, fixedly arranged at the first end of the big arm and in transmission connection with the shoulder rope driving assembly; the wrist structure comprises a wrist fixing support, a wrist rope differential assembly, a wrist rotation driving assembly and a wrist joint, and the wrist joint has three degrees of freedom and comprises a wrist rotation support pivoted to the wrist fixing support and a wrist deflection support which is in transmission connection with the power output end of the wrist rope differential assembly and pivoted to the wrist rotation support; the wrist rotation driving assembly is installed on the wrist deflection support and used for being in transmission connection with the tail end mechanical arm. The shoulder joint and the wrist joint of the mechanical arm are small in mass and inertia.

The invention provides a mechanical arm and a humanoid robot, and relates to the technical field of robots. The mechanical arm comprises a small arm assembly, the small arm assembly comprises a small arm, a wrist framework, a first wrist joint driving piece and a second wrist joint driving piece, the small arm is provided with an elbow joint end and a wrist joint end, and the first wrist joint driving piece, the wrist framework, the second wrist joint driving piece and the wrist joint end are sequentially connected. The first wrist joint driving piece and the second wrist joint driving piece are sequentially arranged in the axial direction of the forearm, the first wrist joint driving piece is used for driving the hand assembly to rotate around a first reference axis, and the second wrist joint driving piece is used for driving the wrist skeleton to rotate around a second reference axis; the first reference axis, the second reference axis and the axis of the small arm are perpendicular to one another. According to the mechanical arm, the mode that the first wrist joint driving piece and the second wrist joint driving piece are sequentially connected in series is adopted to replace a traditional motor parallel connection and connecting rod transmission matching scheme, the structure of the small arm assembly is simplified, and the weight of the mechanical arm is reduced.

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.

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.

An arm structure includes a shoulder joint, an elbow joint, a wrist joint, a first connection structure connecting the shoulder joint with the elbow joint and that relatively moves while maintaining an orientation of the elbow joint relative to the shoulder joint, a second connection structure connecting the elbow joint with the wrist joint and that relatively moves while maintaining an orientation of the wrist joint relative to the elbow joint, a third connection structure connecting the shoulder joint with the second connection structure and that relatively moves while maintaining an orientation of the wrist joint relative to the shoulder joint, a first actuator that rotates a first rotating shaft included in the first connection structure, and a second actuator that rotates a second rotating shaft included in the third connection structure. The first and second rotating shafts are supported by the shoulder joint.

The present invention relates to the field of rope-driven mechanical arms. The technical solution is: a three-degree-of-freedom wrist joint structure for rope-driven mechanical arms, characterized in that: the structure includes three motor wheels arranged on a base, a rotary base rotatably positioned on the base, a plurality of pulleys fixed in the base, a transmission shaft rotatably positioned on the rotary base around a horizontal axis, a first winding wheel sleeved and fixed on the rotary shaft, a second winding wheel and a third winding wheel rotatably sleeved on the rotary shaft, a first output wheel and two winding wheels sleeved and fixed on the transmission shaft, a second output wheel rotatably sleeved on the transmission shaft, an end platform connected to a rocker, two winding rings rotatably sleeved on the first rotating shaft of a universal joint, two support rods sleeved on the second rotating shaft of a universal joint, two transmission ropes driving the rotary base, a plurality of transmission ropes driving the rocker, and the remaining plurality of transmission ropes driving the end platform. The present invention can increase the operable space of the mechanical arm.

An adjusting prosthesis effectively solves the problems that when an existing wrist joint prosthesis is used, control and adjustment are inconvenient, and the fixing process is tedious and inconvenient. Comprising a main connecting block, the upper side of the main connecting block inclines in a left-low right-high mode, the upper end face of the main connecting block is an arc-shaped face which is sunken downwards, a hemispherical fixing sleeve is fixed to the lower side in the main connecting block, a sphere is arranged in the fixing sleeve, and the lower end of the sphere extends out of the fixing sleeve and is fixedly provided with a guide cylinder; the outer side of the guide cylinder is sleeved with a plurality of supporting pieces evenly distributed in the up-down direction, the projections of the supporting pieces in the front-back direction can form a big-end-up trapezoid, the projections of the supporting pieces in the up-down direction are oval, a threaded column capable of rotating in the up-down axial direction is arranged in the guide cylinder, and the lower end of the threaded column is in threaded connection with an extension cylinder. The lower end of the extension cylinder penetrates through the guide cylinder; the device is simple in structure, convenient to operate, novel in conception and high in usability.

The invention discloses double-arm heavy-load robot teleoperation exoskeleton equipment with a limiting protection function. The robot comprises a fixed base and exoskeletons installed on the left side and the right side, the exoskeleton on each side is provided with eight active degrees of freedom, and the eight active degrees of freedom comprise shoulder joint three degrees of freedom, elbow joint one degree of freedom, wrist joint three degrees of freedom and tail end clamping jaw one degree of freedom. According to the human engineering size, four passive adjustment freedom degrees of the shoulder height, the shoulder width, the large arm length and the small arm length are increased so as to adapt to the body types of different operators. The device has the following obvious advantages that the joint limiting device is arranged, so that joints are prevented from being damaged due to over-limit movement, and the operation safety is effectively improved; a passive degree-of-freedom design is introduced, so that the fitting degree of the equipment and a human body joint natural movement track is improved; an operator can conveniently and directly observe the state of the slave end mechanical arm clamping jaw through the tail end clamping jaw, the hand enabling holding rod is provided with a multi-stage button, adjustment in multiple mapping modes is supported, and the precise control requirement of a complex two-arm rescue task is met.

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.

A surgical instrument according to an embodiment may include: an end effector including first and second jaw members movable between an open position and a closed position; a wrist joint portion connected to a proximal end of the end effector; and a shaft connected to a proximal end of the wrist joint portion. At least one of the first and second jaw members is rotatably provided about a rotation axis. A diameter D1 of the end effector at a portion where the rotation axis is provided is smaller than a diameter D2 of a central portion in a longitudinal direction of the wrist joint portion and a diameter D3 of a central portion in the longitudinal direction of the shaft.

The present application is about an arm exoskeleton, an upper body exoskeleton and a teleoperation system, and relates to the field of robots. The arm exoskeleton includes a shoulder exoskeleton, an elbow exoskeleton and a wrist exoskeleton; the shoulder exoskeleton, the elbow exoskeleton and the wrist exoskeleton are connected in sequence. When the arm exoskeleton performs active movement according to control instructions, or performs passive movement following the user's arm movement, the shoulder motor group simulates the movement guided by the human shoulder joint, the elbow motor group simulates the movement guided by the human elbow joint, and the wrist joint group simulates the movement guided by the human wrist joint. When the user wears the arm exoskeleton to exercise, the motor group and the skeleton are combined and set corresponding to the shoulder joint, elbow joint and wrist joint of the user's arm, so that the arm exoskeleton simulates the human body movement more realistically during the movement process, and improves the simulation accuracy of the human body movement state.

The utility model provides a radial artery paracentesis postoperation compression hemostasis braking device which comprises a fixing plate, fixing pieces and a pressurizing assembly, the fixing pieces and the pressurizing assembly are installed on the fixing plate, the two fixing pieces are arranged at the two ends of the fixing plate, and the pressurizing assembly is arranged between the two fixing pieces. The pressurizing assembly comprises a clamping piece used for being clamped outside a surgical limb of a patient and a pressing piece used for being pressed on a puncture point, the pressing piece is installed on the clamping piece, a containing space for containing the surgical limb is formed between the fixing plate and the clamping piece, and at least one part of the pressing piece stretches into the containing space; according to the device, at least the palm-to-forearm section of the operative limb is fixed to the fixing plate through the fixing piece, so that the wrist joint is braked, the braking effect is good, and movement of the operative limb is not affected; the pressing piece does not influence normal blood supply of an operation limb, the compression hemostasis effect of a puncture point is good, meanwhile, operation is easy, and the workload of medical staff can be reduced.

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 utility model discloses a flexible resistance type hand wrist joint angle measuring device, which comprises a flexible measuring module, a digital-to-analog conversion module, an MCU (Microprogrammed Control Unit) processing control module, a power supply module and a liquid crystal display screen, the digital-to-analog conversion module is electrically connected with the MCU processing control module and the power supply module, and the MCU processing control module is electrically connected with the liquid crystal display screen. The flexible resistance type hand wrist joint angle measuring device disclosed by the utility model has the beneficial effects that firstly, the movement process and the movement angle range of a hand wrist joint can be measured; and secondly, a flexible measurement module, a resistance signal isolation transmitter and an Arduino are combined, so that the motion angle of the wrist joint of the hand is effectively measured. And thirdly, the device has the characteristics of small size, low cost, high measurement precision, strong anti-interference capability, convenience in installation and the like, and is suitable for detecting the angle of large-range movement of human joints.

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.