218 results about "Hand joint" patented technology

The invention discloses a three-dimensional human body posture estimation method and device. The method comprises the following steps of S1, using a monocular camera to collect the depth images and the RGB color images of a human body at different angles; S2, constructing a human body skeleton key point detection nerve network based on the RGB color images, and obtaining a key point labeling image; S3, constructing hand joint node 2D-3D mapping network; S4, calibrating the depth image of the human body at the same angle and the key point labeling image, and then carrying out three-dimensionalpoint cloud color conversion on the corresponding depth image so as to obtain a colored depth image; S5, based on the key point labeling image and the colored depth image, using a preset learning network to predict the corresponding position of the labeled human body skeleton key point in the depth image; and S6, combining the outputs of the step S3 and the step S5 to achieve the refined estimation of three-dimensional human body posture estimation.

The invention discloses a master-slave integrated mechanical arm for assisting minimally invasive surgery. A master operating end of the mechanical arm comprises a master hand joint I seat provided with a rotatable master hand joint I shaft; the output end of the master hand joint I shaft is connected with a master hand joint II seat; the master hand joint II seat is internally provided with a rotatable master hand joint II shaft which is fixed with a telescopic frame; an upper telescopic seat is connected with a lower telescopic seat by a linear mechanism; a slave operating end comprises a base part connected with the master operating end, a driving mechanical arm part connected with the base part and a telescopic part installed on the driving mechanical arm. A tool clamping end comprises a surgical instrument seat installed on a slide block of a slave hand telescopic part; the upper surface and the lower surface of the surgical instrument seat are respectively fixedly connected with two ends of a transmission screw and can move in a straight line along the guide rail of the slave hand telescopic seat under the traction of the transmission screw. By utilizing the device, the system structure is simplified and the system volume and the failure rate are reduced.

A virtual skeleton includes a plurality of joints and provides a machine readable representation of a human target observed with a three dimensional depth camera. A relative position of a hand joint of the virtual skeleton is translated as a gestured aiming vector control, and a virtual weapon is aimed in proportion to the gestured aiming vector control.

The invention provides a virtual reality integrated system based on action capture. The system comprises an inertial action capture device, an indoor positioning device, a virtual reality device, a data glove device, an electronic imitation gun device and a backpack computer device; and a first Calman filter is built in the backpack computer device. The inertial action capture device comprises a plurality of action capture sensors; the indoor positioning device is a UWB indoor positioning system; the data glove device comprises a glove body and a plurality of hand joint posture sensors; the electronic imitation gun device comprises an electronic imitation gun and an electronic imitation gun data collection sensor; and each of the action capture sensor, the hand joint posture sensors and the electronic gun posture sensor comprises a three-axis MEMS acceleration sensor, a three-axis MEMS angular velocity sensor, a three-axis MEMS magnetometer, a data filter sensor and a microprocessor with a built-in second Calman filter. The virtual reality integrated system provided by the invention can realize omnibearing interaction of people in the real world with the virtual environment and improve the immersion and the interactivity of the virtual reality system.

This new invention is a frame and servo assembly for attaching to massage chair seats manufactured without an existing servo assembly. It includes a frame body, on which there is sliding rack, a screw drive, a positioning stabilizer bar, and a connecting plate. The sliding rack is coupled to various motor brackets, the screw drive, a driving block, a screw drive stop block, and a plurality of wave shaped massaging wheels. The various motor brackets are coupled to two motors. One of the motors utilizes an axle with an off-center axis on both ends. There are multiple connecting brackets installed on the off-center axle, with wheel brackets installed at the end of the connecting brackets. Various “wave” shaped wheels at the end of the wheel brackets aid to simulate the natural feel of human hand joint movements to a user. At the two ends of the additional motor assemblies are bases for joint assemblies. These joint bases are connected to the connecting brackets via connecting joints. The wheels are located on the two ends of the sliding rack. The positioning stabilizer bar is affixed inside the frame body for stability.

The invention provides a real-time three-dimensional gesture estimation method based on a single RGB frame. The method mainly includes 2D joint estimation and 2D joint to 3D posture, and the process is as follows: firstly a color image is taken as input, a hand detector is used to position the hand and generate a likelihood estimated value and coordinates of a hand bounding box, and a pre-trainingnetwork runs to estimate the two-dimensional position of the hand joint and generate a heat map of the hand 2D joint position, and finally nonlinear square minimization is used to fit a 3D model of the hand to the estimated 2D joint position, to restore the 3D hand posture. According to the real-time three-dimensional gesture estimation method, the problem that the hand is quickly moved, self-blocked or obstructed from other objects during operation is solved, initialization is not required, the high-quality detection rate is achieved, and the method can also be extended to other human three-dimensional posture detection applications.

The invention describes a skeletal control of a three-dimensional virtual world. The virtual skeleton includes a plurality of joints and provides a machine readable representation of a human target observed with a three-dimensional depth camera. A relative position of a hand joint of the virtual skeleton is translated as a gestured control, and a three-dimensional virtual world is controlled responsive to the gestured control.

The invention discloses a three-dimensional gesture recognition method based on a depth image and an interaction system. The method comprises steps: a depth information map is obtained by using a depth sensor; an AOI is recognized for the obtained depth information map by using a CNN, and a to-be-recognized hand depth information map is cut; the hand depth information map acquired from the CNN isinputted to a gesture recognition network for recognition, and three-dimensional coordinates of a recognized hand key node are acquired; the hand key node coordinates are subjected to coordinate transformation, which is adapted to world coordinates in the interaction system; by using Socket communication, a hand key node coordinate sequence after coordinate transformation is transmitted to the interaction system; and the interaction system acquires the hand key node information, a semantic judgment condition set by a user is combined, and a physical engine is used to display an interaction result. The three-dimensional coordinates of a hand joint point can be recognized excellently, a gesture semantic action can also be judged, and the application prospect is wide.

The invention discloses a pneumatic hand joint rehabilitation system. The system comprises a glove with five finger sleeves, an air pump and a control device; a back surface of each finger sleeve is provided with a set of pneumatic telescopic adjustment mechanisms for fingers inserted into the finger sleeves along the length thereof, the pneumatic telescopic adjustment mechanisms on each finger sleeve are inflated and deflated by the control device through the air pump, so that the fingers inserted into the finger sleeves passively generate flexion and extension actions, and the rehabilitationtraining is completed; through the control device, it is possible to select the fingers which need to be subjected to rehabilitation training, and a rehabilitation training time and a finger flexionand extension switching time are set; it is possible to perform the rehabilitation training for all the fingers and set the rehabilitation training time and a finger switching time; mirror rehabilitation training that healthy hand positive flexion and extension drives the passive flexion and extension of diseased hands is completed; the degree of grasping of the hands is adjusted. The system can automatically drive fingers of patients to perform passive training such as grasping, gripping, stretching and the like, and effectively restore finger flexibility.

The invention discloses a manipulator with the functions of receiving and stacking. The battery, the lithium battery is a rectangle with equal lengths on both sides, the multi-functional claw is composed of claws, magnetic plates, sensors, connecting rods, axles, and telescopic arms. The present invention is a manipulator with functions of collecting and stacking, Connect and fix the multi-functional gripper in the center of the bottom of the bracket through the connecting rod, and the gripper will work by energizing the touch sensor of the actuator, and the three claws on the multi-functional gripper will be glued together to form a rectangular template, and push back and forth for material collection or Open the claws to match the magnetic plate to pick up items, and the telescopic arm can be driven by the wheel shaft to elongate the claws to stack items, so that it is convenient, fast and time-saving to replace manual work.

The invention discloses a multi-dimensional vision hand function rehabilitation quantitative evaluation system and an evaluation method. The system comprises an optical motion capturing device, a video capture device, a hand function quantitative evaluation system, an interactive touch screen and a collection platform, wherein the optical motion capture device acquires three-dimensional space data and motion vector information of each joint of fingers, a palms and each joints of a hand wrists in real time by an intelligent algorithm; the optical motion capture device outputs motion parameters which are then input into the hand function quantitative evaluation system, the hand function quantitative evaluation system preprocesses data, preprocessing results are screened and stored in a database, and by aiming at evaluation schemes of different evaluated motions, an evaluation result is provided. According to the multi-dimensional vision hand function rehabilitation quantitative evaluation system and the evaluation method, three-dimensional space parameter computation precision of hand joints of a patient can be improved; by combining a computer vision technology with optical intelligent motion capture, more precise quantitative rehabilitation evaluation data is provided, and assists to the a doctor to perform rehabilitation diagnosis on the patients.

The invention relates to a medical rehabilitation training instrument. An upper-limb rehabilitation training robot solves the problems that existing equipment is complex in structure and hand joints cannot move comprehensively. The upper-limb rehabilitation training robot comprises a base (1), a support frame (3), a seat (2), a cantilever beam (4) and an upper limb training mechanism, wherein the upper limb training mechanism comprises a shoulder joint expanding and shrinking mechanism, an arm bending and stretching mechanism, a shoulder joint internal and external rotating mechanism connected and fixed with rotary rods (17 and 18), a front arm forward and backward rotating mechanism the same as the shoulder joint internal and external rotating mechanism, an elbow joint expanding mechanism fixedly connected with the shoulder joint internal and external rotating mechanism and the front arm forward and backward rotating mechanism through two pairs of rotating blocks (32 and 41), and a hand expanding mechanism fixedly connected with the shoulder joint internal and external rotating mechanism through slide bars (44 and 45). The upper-limb rehabilitation training robot is simple to operate and enables the joints to move comprehensively.

The present invention relates to a device allowing an embracive and active multi-exercise in a joint and muscle strengthening to have more advantages in a rehabilitation exercise in a state that users (hemiplegic stroke patients, disabled, patients and other users needing an upper limbs rehabilitation exercise) needing a rehabilitation exercise with respect to limbs (a shoulder, an arm, a wrist and the like) sit on a chair (a wheelchair, a chair for treatment, a general chair or the like) and raise arms. A multi-upper limb muscle rehabilitation exercise device of the present invention comprises: (2) a liftable table adjustment unit adjusting an entire rehabilitation unit in consideration of user characteristics in a state that a user sits on a chair or a wheel chair; (3) a left and right arm adjustment unit allowing an arm part to independently move in order to provide an environment capable of setting a limb part of a hemiparalysis patient or a rehabilitation patient to an optimal location on an upper end of (2) the liftable table adjustment unit; (4) a wrist and hand joint muscular strength increasing unit capable of preponderantly and independently curing a wrist and a hand joint and performing a rehabilitation with respect to the wrist and the hand joint on an one side of (3) the left and right arm adjustment unit; and (5) a diagnosis measurement displaying unit capable of performing a check with respect to a therapy patient or a rehabilitation patient by combining a dementia test or an aptitude test to selectively apply.

The invention discloses a coal mine blasting insecurity action identification and judgment method based on GMM (Gaussian Mixture Model) representation. The method comprises the following specific processes that: (1) preprocessing human body skeleton sequence data, obtaining the human body skeleton sequence data through kinect, obtaining hand joint data through a data glove, and carrying out denoising and normalized preprocessing on the human body skeleton sequence data and the hand joint data; (2) carrying out human body skeleton sequence data representation: 1) obtaining the GMM feature of action, 2) representing a skeleton sequence time sequence, and 3) extracting action representation GMM features; and (4) on the basis of the behavior identification of a Bayes classifier. By use of themethod, one action is comprehended as the sequential combination of multiple key gestures, a method for representing an action key gesture by the GMM is used for simplifying problem processing, so that the method exhibits certain effectiveness, and the problems of long time sequence, complex action and difficulty in judgment of coal mine blasting action can be accurately solved through identification and judgment.

A fine gesture recognition method includes steps of: extracting local features of a hand joint position, the local features including relative position features and / or timing displacement features; performing cluster calculation according to the relative position features and / or timing displacement features to obtain the clustering features corresponding to the relative position features and / or timing displacement features; according to the corresponding relationship between the clustering features and the gesture categories, performing clustering feature model training, and performing gesture recognition according to the trained clustering feature model. The invention can help the classifier to measure the similarity of the gesture type and help to judge the fine movement process of the finger and realize the detection of the substantial movement.

A continuous casting constant-weight cutting device comprises a cutter, a casting roller track, a casting blank flow and a control system. The invention is characterized in that a track beam vertical to the casting blank track is arranged above the casting blank flow of the continuous casting machine, the track beam is arranged with a movable cart disposed with a weight support and a weight sensor, the weight support is disposed with an electric pushing rod connected with a flexible rod whose end is fixed with a beam, two ends of the beam are mounted with a lifter and a hand joint. The invention mounts weight device on the weight cart covering N casting blank flows, therefore, the continuous casting blanks share one weight, to avoid error, and the control system can correct the size via the weight of each flow, to control the weight. The invention can cut the continuous casting blank in constant length and weight, to improve efficiency.

The invention discloses an insulator cleaning device. A rotating cylinder is fixed in a mechanical hand joint, straight toothed spur gears are respectively and fixedly sheathed at two extending ends of the rotating cylinder, a joint rotating shaft is fixed on the mechanical hand joint and is positioned in front of the rotating cylinder, a mechanical hand framework is supported on the joint rotating shaft, a fan-shaped straight toothed gear corresponding to the straight toothed spur gear is arranged on the outer wall of the mechanical hand framework, the fan-shaped straight toothed gear is engaged with the straight toothed spur gear, and a sweeping brush and a spray head are arranged in the mechanical hand framework. Through the arrangement of the cleaning brush, the spray head and the like, the automatic cleaning of an insulator can be realized, the cleaning efficiency is improved, the cleaning is thorough, the work intensity is low, and the insulator cleaning device has the characteristics that the cost is low, the structure is simple, the reliability is good, and the like.

The invention discloses a gesture recognition method and system based on depth information, and the method comprises the steps: training a CNN model responded by a human body part, inputting an imageread by a camera, obtaining a response graph of an upper body part of a human body through the prediction of the trained model, judging the position of a hand, and segmenting a hand position image; training a CNN model based on hand joint points to realize end-to-end joint point positioning; preprocessing the segmented hand position picture, inputting the segmented hand position picture into a model for joint point position prediction, and fitting to form a gesture; clculating the distance between the position of the finger joint point and the central position of the palm, and judging the gesture matched with the position relation. According to the gesture recognition method and system based on the depth information provided by the invention, the depth information can be read in a complexscene, and interaction with the display is carried out through gesture recognition.

The invention discloses a manual alphabet identification method based on Leap Motion. The method comprises steps of acquiring palm and wrist bone articulation point 3D coordinate information through a depth camera Leap Motion device; performing correlative calculation on the 3D coordinate information so as to obtain bending angle information of hand joints; acquiring hand type feature information and wrist bending degree feature information through feature processing on the angle information; calculating the Euclidean distance between the acquired feature information and templates; and identifying manual alphabets according to a maximum probability criterion, a nearest neighbor criterion and a successive frame flow result consistent principle. By employing the method, the Chinese manual alphabets can be effectively and rapidly identified, manual alphabet elements are relatively independent, and sign language can be identified in a real time manner through the identification of manual alphabet continuous sequences. By employing the method, the sign language based on the manual alphabets can be identified in a real time manner, so that the deaf can effectively communicate with others by the use of a wearable device.

The invention provides a 3D gesture recognition method and system based on a deep convolutional neural network. The method comprises the steps that firstly, using a first deep convolutional neural network or conducting pre-segmentation on a large number of color images containing hands, and extracting hand action parts; secondly, performing hand joint node detection on the extracted hand by usinga second deep convolutional neural network; Performing gesture 3D reconstruction on the detected joint nodes by using a double-flow deep convolutional network; And finally, constructing a softmax network comprising three full connection layers to identify the 3D reconstructed gesture. The technical scheme provided by the invention has the beneficial effects that the gesture recognition precision can be effectively improved. From the perspective of application range, an object of the method is an RGB image collected by a monocular camera, required equipment is simple and cheap, and the application scene is wider.

The invention discloses a characteristic covariance matrix-based dynamic gesture recognition method. According to the method, a uniform framework is provided for two-dimensional dynamic gestures and three-dimensional dynamic gestures; for recognition of the two-dimensional dynamic gestures, only FAST angular points of hand areas in three continuous frames are accurately tracked, and the whole hands do not need to be accurately tracked, so that the tracking requirement is greatly reduced and the realization is easier; for recognition of the three-dimensional dynamic gestures, three-dimensionalskeleton information of hands is obtained in real time by using an SDK of a RealSense F200, and obtaining a three-dimensional coordinate of hand joint points in each frame so as to robustly track thegestures; and through logarithmic covariance matrix descriptors, compact expressions are provided for the whole gesture sequences, so that the SVM model training efficiency and efficiencies of gesturerecognition systems are greatly improved.

The invention is suitable for the technical field of computers, and provides a vehicle-mounted man-machine interaction method and vehicle-mounted equipment, and the method comprises the steps: obtaining a target image containing hand information in a preset region; according to a pre-trained gesture recognition model, conducting hand joint point recognition on the hand information, and obtaining three-dimensional space coordinates of all joint points of the hand relative to a preset original point; generating gesture recognition information according to the three-dimensional space coordinates;and determining a vehicle control instruction corresponding to the current gesture recognition information according to a pre-stored mapping relationship between the gesture recognition information and the vehicle control instruction, and outputting the vehicle control instruction. As the image acquisition can be completed only by the camera and the processing process of the image is relatively simple, the human-vehicle interaction cost in the prior art can be reduced, and the gesture is further recognized from the hand information by virtue of the gesture recognition model, and the human-vehicle interaction is carried out through the gesture, so that the influence of the surrounding environment is not easily caused, and the user experience effect can be improved.

A wearable hand exoskeleton device comprises a fixing base, a thumb mechanism, an index finger mechanism, a middle finger mechanism, a ring finger mechanism and a little finger mechanism. The thumb mechanism, the index finger mechanism, the middle finger mechanism, the ring finger mechanism and the little finger mechanism are identical in constitution, and each comprise a tail-end fingerstall, a first linkage rod, a second linkage rod, a near-end fingerstall and a sliding rod all of which are sequentially connected through rolling bearings. The sliding rods of the finger mechanisms are connected with sliding slots in the hand back fixing base. Through the structure, the number of degrees of freedom of the hand exoskeleton device can be matched with the number of hand joints, and moving flexibility of the fingers is ensured. By means of the wearable hand exoskeleton device, the structure design of the hand exoskeleton is simplified, and the wearable exoskeleton device is convenient to use, small in occupied space, low in manufacturing cost and capable of being applied to the fields of force feedback gloves, hand rehabilitation devices, humanoid manipulators and the like.

The invention relates to a system and method for capturing a hand movement function based on a data glove and a position tracker, relates to the field of hand movement function capturing systems, and aims to solve the problems that the hand movement function is difficult to capture and the existing data glove is difficult to record hand grasping posture data scaling. According to the system and method for capturing the hand movement function based on the data glove and the position tracker disclosed by the invention, hand joint flexion-extension angle information is acquired through the data glove; scaling of the data glove is completed rapidly and accurately through 8-posture data glove scaling experimental paradigms; according to hand movement function experimental requirements, multiple grasping postures of many people for many times can be effectively recorded in combination with wrist position posture data of the position tracker; therefore, the hand movement function capturing accuracy and efficiency are greatly increased; and the system and the method are applied to capturing hand postures.

The invention discloses a flexible glove assembly for rehabilitation training. The flexible glove assembly comprises a glove body, finger side pull lines, finger pulp and back pull lines and wrist pull lines. The glove body comprises finger portions, a palm portion and a wrist portion which are sequentially connected and formed. The finger pulp and back pull lines, the finger side pull lines and the wrist pull lines are arranged on the hand back and hand palm of the glove body, one end of each finger pulp and back pull line is fixed to the fingertip of each finger portion, and the other end ofeach finger pulp and back pull line penetrates through the wrist portion after passing through the palm portion. one end of each wrist pull line is fixed to the palm portion, and the other end of each wrist pull line penetrates through the wrist portion. A first turning part is arranged on the hand back and hand palm of the palm body respectively, the first turning part located on the hand back is close to the root portion of the little finger, and the first turning part located on the hand palm is close to the root portion of the thumb. The flexible glove assembly can drive the finger portions to perform bending, stretching, inward closure and outward stretching actions under traction and drives the wrist portion to bend or stretch and meets the full function demand of hand joint training.

The invention provides a gesture recognition method based on a convolutional neural network and 3D estimation, and the method comprises the steps: processing a to-be-recognized image through employinga SegNet-base network model, so as to extract a hand mask feature map in the to-be-recognized image; constructing a deep convolutional network DetectNet based on supervised learning, and performing network positioning on hand joint points in the hand mask feature map to obtain a gesture recognition result of 2D estimation; and processing the 2D estimated gesture recognition result by adopting a PoseNormNet model based on the standard frame and viewpoint estimation to obtain a 3D estimated gesture recognition result.

A limb bone joint rehabilitation training device comprises a power structure, the upper end of the power structure is connected with a limb training structure, and the limb training structure comprises an upper limb joint training assembly capable of conducting arc-shaped reciprocating rotation and reciprocating autorotation twisting on hand joints of a patient and a lower limb joint training assembly connected with the upper limb joint training assembly. The lower limb joint exercise assembly can perform up-down bending and stretching exercise and left-right opening and closing exercise on leg joints of the patient; the front end of the power structure is connected with a transmission structure, and the transmission structure is connected with a lumbar vertebra massage structure capable of conducting circumferential rotation and intermittent up-down protruding massage on the two side edges of the lumbar vertebra of a patient. The transmission structure is further connected with a cervical vertebra joint massage structure which can circularly extrude and massage different positions in front of and behind the cervical vertebra of the patient and automatically adjust the extrusion force, and the problems that a rehabilitation exercise device in the prior art is single in structure and cannot fully arouse the enthusiasm and autonomy of the patient in use are effectively solved.

The invention discloses a three-dimensional virtual-real fusion experiment system, and the system comprises: an object tracking device which is used for recognizing the type of a real experiment object and positioning the three-dimensional space coordinates of the real experiment object in real time, and obtaining the type of the real experiment object and the corresponding real-time three-dimensional space coordinates; a hand tracking device which is used for identifying the joint points of the operating hand and positioning the three-dimensional space coordinates of the joint points of the operating hand in real time to obtain the real-time three-dimensional space coordinates of the joint points of the operating hand; and a virtual-real fusion processing device which is used for generating a corresponding virtual-real fusion image according to the type of the real experimental object, the corresponding real-time three-dimensional space coordinates of the real experimental object andthe real-time three-dimensional space coordinates of the operating hand joint points. According to the invention, the advantages of the virtual-real fusion technology are fully utilized, the virtual object and the real experimental object are fused, the real experimental object can be tracked and cultivated in real time while a user naturally moves the real experimental object, the experimental operation ability and learning interest of the user are cultivated, and the experimental risk is reduced.

The invention provides a variable-rigidity soft driver and a hand rehabilitation training robot using the same. The driver comprises a layered driver body, a gas source and a control system, wherein the driver body is made of an elastic material; a double-helix fiber winding layer coats outside the driver body; a gas cavity is arranged in the driver body; a variable-rigidity layer is arranged at the middle position of the gas cavity and divides the gas cavity into an upper-layer chamber and a lower-layer chamber; the substrate of the variable-rigidity layer is made of a flexible material withhigh tensile modulus, has high strength and flexibility and can limit axial strain of the driver; a low-melting-point alloy is arranged in the snake-shaped flow channel in the variable-rigidity layer;an electrode is connected with the low-melting-point alloy; the gas source respectively communicates with the upper-layer chamber and the lower-layer chamber through gas pipelines; the control systemcomprises a controller and a rigidity control switch; the rigidity control switch is connected with a power supply device of the electrode; and the controller is simultaneously connected with a driver of the gas source and the rigidity control switch. The driver provided by the invention has large bending range, can meet the movement requirements of hand joints, and has high bearing capacity at the same time.