CN104858882A - Mechanical hand - Google Patents
Mechanical hand Download PDFInfo
- Publication number
- CN104858882A CN104858882A CN201510216129.0A CN201510216129A CN104858882A CN 104858882 A CN104858882 A CN 104858882A CN 201510216129 A CN201510216129 A CN 201510216129A CN 104858882 A CN104858882 A CN 104858882A
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- mechanical
- dactylus
- finger
- palm
- teaching
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Abstract
The invention relates to a mechanical hand and especially relates to the mechanical hand with mechanical fingers. The mechanical hand comprises the mechanical fingers, a mechanical palm, a displacement sensor, a power module, a control module and finger connecting structures which are disposed on mechanical knuckles and used to connect demonstration knuckles with the mechanical knuckles. In this way, during demonstration, the demonstration knuckles drive the mechanical knuckles to move by the finger connecting structures, so that the mechanical hand with the mechanical fingers can realize the demonstration conveniently and accurately. A demonstration reproduction method of the mechanical hand with the fingers comprises the steps that during the demonstration, the finger connecting structures disposed on the mechanical knuckles are connected to the demonstration knuckles. By the demonstration reproduction method, the demonstration knuckles drive the mechanical knuckles by the finger connecting structures, so that the mechanical hand with the mechanical fingers can realize the demonstration conveniently and accurately.
Description
Technical field
The present invention relates to manipulator, particularly relate to a kind of manipulator with mechanical finger.
Background technology
There is the manipulator of mechanical finger, had very important application in fields such as industry and lives.
The mechanical finger of existing machinery hand has two kinds of GUIDANCE FOR AUTONOMIC GUIDED VEHICLES:
1, demonstrator controls the motion of mechanical finger by control end, and carry out teaching to manipulator, during reproduction, mechanical finger is according to the data reproduction of control end record.This mode, teaching bothers, but reproduction and teaching are all that mechanical finger performs an action, and teaching is accurate.
2, the teaching gloves that staff is put on for gathering finger exercise data perform an action, and control module memorizes relevant data and controls mechanical finger motion, and mechanical finger imitates finger motion according to the data that teaching gloves gather.The advantage of this control mode is: teaching is convenient; Shortcoming is: during teaching, and staff is performed an action by mechanical gloves, and when reproducing, manipulator performs an action, and teaching is inaccurate.Or during teaching, staff puts on the motion of teaching gloves, and manipulator performs teaching action, during reproduction, manipulator performs reproducing movement, and such teaching and reproduction are all that manipulator performs an action, and teaching is accurate, but because staff and the position difference of manipulator during teaching, teaching is inconvenient.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of can facilitating and the manipulator with mechanical finger of accurate teaching, and a kind of can the teaching method of and accurate teaching convenient to the manipulator with finger.
For solving the problems of the technologies described above, manipulator of the present invention comprises: a kind of manipulator, comprising: the mechanical palm that at least one mechanical finger with at least one mechanical dactylus is connected with mechanical finger, for relative motion position between direct or indirect measurement mechanical dactylus and/or between mechanical dactylus and mechanical palm displacement transducer, between driving device dactylus and/or the power plant module of relative motion between mechanical dactylus and mechanical palm, for controlling the control module that power plant module moves; The position signalling of detection is passed to control module by displacement transducer; Also comprise: be arranged on the finger syndeton for being connected with mechanical dactylus by teaching dactylus on mechanical dactylus.During such teaching, teaching dactylus, by referring to the motion of syndeton driving mechanical dactylus, makes the teaching of the manipulator with mechanical finger accurately convenient; The dactylus of teaching simultaneously can refer to external force suffered by syndeton or mechanical dactylus by referring to that syndeton is experienced, and forms negative-feedback, makes teaching accurately more convenient.
Further, refer to that syndeton is the fingerstall for being socketed teaching dactylus; Fingerstall is sleeve structure; Fingerstall is fixed on the first mechanical dactylus, or fingerstall is fixed on other mechanical dactylus, or multiple fingerstall is separately fixed on different mechanical dactylus.Syndeton is the fingerstall of sleeve-like structure, and structure is simple.
Further, refer to syndeton also for action executing, the material of its agent structure is stressed on-deformable hard material.Refer to that syndeton connects teaching finger, use it for action executing and teaching can be made further accurately convenient.
Further, refer to that syndeton also comprises the fixing elastic construction for tightening connection teaching finger on the body construction.Elastic construction has elasticity, can tighten teaching dactylus, refers to that syndeton not easily departs from teaching dactylus like this.
Further, manipulator also comprises being wrapped in and refers to syndeton outer field soft body structure.Avoid the agent structure of hard material directly to apply power to object like this, exert all one's strength excessive or too small.
Further, manipulator also comprises the execution architecture be fixed on the first mechanical dactylus; Execution architecture is that certain radian or angle bend towards the mechanical centre of the palm.Be more conducive to manipulator like this perform and scratch, the action needing multiple dactylus bending to the centre of the palm such as to grab, decrease the shortcoming of manipulator dactylus deficiency.
Further, manipulator also comprises and is arranged on manipulator palm for connecting the palm syndeton of teaching palm.Palm syndeton can be that teaching palm is connected with mechanical palm, thus by the action teaching of teaching hand entirety to manipulator.
Further, slap syndeton and refer to that syndeton is connected as a single entity.Facilitate teaching hand to dress like this and refer to syndeton and palm syndeton.
Further, manipulator also comprises the mechanical arm be connected with mechanical palm; Mechanical arm comprises at least one mechanical podomere; Displacement transducer is also for the relative motion position between direct or indirect measurement mechanical podomere and/or between mechanical podomere and mechanical palm; Power plant module is also for the relative motion between driving device podomere and/or between mechanical podomere and mechanical palm.So not only the motion of mechanical finger can be facilitated accurate teaching, and the motion of mechanical palm also can by convenient teaching accurately, and because mechanical finger is connected to manipulator palm, thus the mass motion of mechanical finger also can by convenient teaching accurately.
There is a teaching playback method for the manipulator of finger, comprise the steps:
During teaching, the finger syndeton be arranged on mechanical dactylus is connected with teaching dactylus; Teaching dactylus is by referring to the motion of syndeton driving mechanical dactylus; Relative motion positional information between displacement transducer direct or indirect measurement mechanical dactylus and/or between mechanical dactylus and mechanical palm, and pass to control module, each position information of the multiple time point of control module record; During reproduction, control module controls each mechanical dactylus motion according to the positional information of record.This teaching playback method, teaching dactylus, by referring to the motion of syndeton driving mechanical dactylus, makes the teaching of the manipulator with mechanical finger accurately convenient; The dactylus of teaching simultaneously can refer to external force suffered by syndeton or mechanical dactylus by referring to that syndeton is experienced, and forms negative-feedback, makes teaching accurately more convenient.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation
.
Fig. 1 is robot manipulator structure figure.
Fig. 2 is the cooperation figure of manipulator and staff.
Fig. 3 has the manipulator of arm and the cooperation figure of staff.
Fig. 4 is fingerstall profile.
Fig. 5 is the robot manipulator structure figure that fingerstall and palm set are connected as a single entity.
Fig. 6 is the robot manipulator structure figure that fingerstall and palm set are connected as a single entity.
Fig. 7 is the manipulator reduced graph the first and second mechanical dactylus being all fixed with fingerstall.
Fig. 8 is the manipulator reduced graph first, second, and third mechanical dactylus being all fixed with fingerstall.
Fig. 9 is the manipulator reduced graph only having the first and second two mechanical dactylus.
Detailed description of the invention
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " is fixed " and should be interpreted broadly, and refers to that two parts are fixedly connected with or two parts integrations.
As depicted in figs. 1 and 2, staff 8 is as teaching hand, and finger 801 is as teaching finger, and staff dactylus 801a is as teaching dactylus, and people's palm 802 is as teaching palm (also can animal hand etc. as teaching hand).Fingerstall 601, as referring to syndeton, refers to that syndeton can also be the structures such as clip.Manipulator comprises 101,102,103,104,105 5 mechanical fingers, and five mechanical fingers are contained in the diverse location on mechanical palm 2 respectively.Five mechanical fingers have similar structure, to be positioned at the mechanical finger 101 of forefinger position, mechanical finger 101 comprises the first mechanical dactylus 101a, second mechanical dactylus 101b, 3rd mechanical dactylus 101c, 4th mechanical dactylus 101d, first mechanical dactylus 101a and the second mechanical dactylus 101b, second mechanical dactylus 101b and the 3rd mechanical dactylus 101c, 3rd mechanical dactylus 101c and the 4th mechanical dactylus 101d is respectively at joint 101e, 101f, 101g place composition revolute pair, 4th mechanical dactylus 101d and mechanical palm 2 form revolute pair at 101h place, joint, joint 101e, 101f, the revolute pair axis at 101g place parallel to each other and all with the revolute pair axes normal at 101h place, joint.Motor 3(is housed respectively at 101e, 101f, 101g, 101h place, joint can make motor stator and rotor be separately fixed on two parts be connected), they are respectively used to driving first mechanical dactylus 101a and the second mechanical dactylus 101b, the second mechanical dactylus 101b and the 3rd mechanical dactylus 101c, the 3rd mechanical dactylus 101c and the 4th mechanical dactylus 101d, the 4th mechanical dactylus 101d and mechanical palm 2 and mutually rotate.Motor 3 is equipped with the encoder 4 of the rotor angle displacement for detecting motor 3.First mechanical dactylus 101a is fixed with fingerstall 601, and fingerstall 601 is for being socketed the first finger segments 801a on forefinger.Machinery palm 2 on be fixed with palm set 7, mechanical palm 2 for being socketed people's palm 802, thus is connected with people's palm 802 by palm set 7 (mechanical palm 2 also can not be connected with people's palm 802, mechanical palm 2 can with other object by hinge or fix etc. mode be connected).
During teaching, the first finger segments 801a drives the first mechanical dactylus 101a to move by fingerstall 601, the each dactylus motion of mechanical finger 101, and then drive the motor 3 of each joint position to rotate, each encoder 4 gathers the rotor angular displacement information of each motor 3 of each time point and passes to control module 5, and control module 5 records the rotor angular displacement of each motor 3 of each time point.During robot work, the first finger segments 801a exits fingerstall 601, and control module 5 controls each motor 3 according to the rotor angular displacement information of each motor of each time point 3 of record and rotates, thus the motion of mechanical finger 101 when reproducing teaching.
Other points similar to the structure of mechanical finger 101, teaching and operation principle.4th mechanical dactylus 105d of mechanical finger 105 and mechanical palm 2 form revolute pair at 105h place, joint, because mechanical finger 105 is positioned at thumb position, so the pivot center a at angle at the pivot center at 105h place and 101h place, joint, mechanical finger 105 can be made so better to follow the action of staff thumb, the scope of preferred a value 20 ~ 90 degree.
As shown in Figure 3, palm set 7 is as palm syndeton.Manipulator also comprises mechanical arm 9, machinery palm 2 is connected joint with mechanical arm 9 and motor 3 is housed, and each joint of mechanical arm 9 is also equipped with motor 3, and mechanical arm 9 is connected with pedestal 10, their connection joint also has motor 3, and each motor 3 is equipped with encoder 4.Pedestal 10 is fixed on body of wall, desktop or operating desk etc.During teaching, people's palm 802 inserts palm set 7, the first finger segments 801a inserts fingerstall 601, the motion of the first finger segments 801a motion driving mechanical finger 101, people's palm 802 motion driving mechanical palm 2 and mechanical arm 9 move, corresponding each motor 3 rotates, and each encoder 4 gathers the rotor angular displacement information of each motor 3 of each time point and passes to control module 5, and control module 5 records the rotor angular displacement of each motor 3 of each time point.During work, staff 8 departs from manipulator, and control module 5 controls each motor 3 according to the rotor angular displacement information of each motor of each time point 3 of record and rotates, thus the motion of mechanical finger 101, mechanical palm 2 and mechanical arm 9 when reproducing teaching.
As shown in Figure 4, fingerstall 601 comprises agent structure 601a, elastic construction 601b, soft body structure 601c, agent structure 601a are on-deformable hard material (available steel, plastics etc.), and when needs are stressed, the basic structure of fingerstall 601 is indeformable.Such fingerstall 601 not only can be used for teaching, also can be used for performing clamping and wait action, because fingerstall 601 is enclosed within the first finger segments 801a, can to facilitate and the action expressing the first finger segments 801a is accurately intended to.So direct machinery refers to as execution architecture, and action when teaching and reproduction is about the same, and implementation effect is about the same.Elastic construction 601b is fixedly connected with agent structure 601a, and elastic construction 601b is elastomeric material (rubber etc.), and elastic construction 601b is used for tightening finger, thus does not depart from fingerstall 601 during guarantor's finger motion.Soft body structure 601c is wrapped in agent structure 601a periphery, and soft body structure 601c is soft material (rubber etc.), and machinery the first mechanical dactylus can be made like this because of minimum offset deviation, can not to exert all one's strength excessive or too small when performing the action such as clamping, pressing.
As shown in Figure 5 and Figure 6, fingerstall 601 and palm set 7 connect as one composition gloves 11, and such staff 8 dresses more convenient and quicker.
The structure of above mechanical finger, only has on the first mechanical dactylus and is fixed with fingerstall, therefore can only copy the action of the first finger segments.Be fixed on by fingerstall on other mechanical dactylus, mechanical finger can copy the action of other staff dactylus.
As shown in Figure 7, the sketch (saving other dactylus, joint motor and sensor) of a kind of structure of mechanical finger, comprises the first to the five five mechanical dactylus 101a, 101b, 101c, 101d, 101e.First mechanical dactylus 101a and the second mechanical dactylus 101b is fixed with respectively the fingerstall 601 for being socketed the first and second staff dactylus and fingerstall 602.The action of first and second mechanical first and second staff dactylus of dactylus 101a, 101b difference reproducible 801a, 801b of such manipulator.
As shown in Figure 8, the sketch (saving other dactylus, joint motor and sensor) of a kind of structure of mechanical finger, comprises the first to the six six mechanical dactylus 101a, 101b, 101c, 101d, 101e, 101f.The distance of shaft centers first, second, third mechanical dactylus 101a, 101b, 101c being fixed with respectively the joint, fingerstall 601,602,603, second mechanical dactylus 101b two for being socketed first, second, and third staff dactylus 801a, 801b, 801c from the distance of shaft centers approximating the second joint, staff dactylus 801b two from.The action of first, second and third mechanical first, second and third staff dactylus of dactylus 101a, 101b, 101c difference reproducible 801a, 801b, 801c of such manipulator.
As shown in Figure 9, the sketch (saving other dactylus, joint motor and sensor) of a kind of structure of mechanical finger, comprise the first and second two mechanical dactylus 101a, 101b, fingerstall 601 is fixed on the first mechanical dactylus 101a for being socketed the first finger segments 801a or the second staff dactylus 801b or the 3rd staff dactylus 801c.The execution architecture 101aa be fixed on the first mechanical dactylus is that certain radian or angle bend towards the mechanical centre of the palm, is more conducive to manipulator like this and performs and scratch, the action needing multiple dactylus bending to the centre of the palm such as to grab, decrease the shortcoming of manipulator dactylus deficiency.So simple structure also can complete through teaching and knock keyboard or the action such as to play the piano.The quantity simultaneously pointed is also the amount doesn't matter, and the product of different structure can meet the different needs.
The finger of all structures above, mechanical finger internode, mechanical dactylus with between palm, between palm with arm, each intersegmental revolute that can form of arm also can be fixed together into parts, some frees degree can have been lacked although be fixed together, but it also can meet some demands in industry or life, is such as fixed by mechanical for manipulator first and second dactylus.Because the first and second staff dactylus have motion association, also can only with a mechanical dactylus of motor drive machinery hand first and second, control by gearratio the angle ratio that the first and second mechanical dactylus rotate separately.
The finger of all structures above, directly can be placed on joint motor and drive first motion, also motor can be made indirectly to drive each mechanical dactylus motion by machine driving, make finger structure compacter like this.The invention being 201310321326.X as application number provides a kind of mechanical finger, it at least comprises: the first mechanical dactylus, second mechanical dactylus of affixed described first mechanical dactylus, and the 3rd mechanical dactylus, the song that described second mechanical dactylus realizes self based on the first linkage part of the mechanical dactylus of connection the 3rd is stretched, described 3rd mechanical dactylus based on connect the second linkage part of palm realize self on carry pressure off, and based on self-contained 3rd linkage part and connect the song that the 4th linkage part of palm realizes self and the second mechanical dactylus and stretch, wherein, respectively with the first linkage part, second linkage part, the motor that 3rd linkage part and the 4th linkage part connect is arranged on palm.
The finger of all structures above, using encoder as displacement transducer, during teaching, can by machine driving or directly by the rotation of mechanical dactylus, drive motor axle rotates and then drives encoder to rotate and gathers motor shaft angular displacement information, and then indirectly gathers the displacement information of each mechanical dactylus; Also can other kind straight line or angle displacement sensor be arranged in transmission system, by the straight line of a certain transmission link or angle displacement collection, and then indirectly gather the displacement information of each mechanical dactylus
.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a manipulator, comprising: the mechanical palm that at least one mechanical finger with at least one mechanical dactylus is connected with described mechanical finger, for directly or indirectly measure described mechanical finger internode and/or between described mechanical dactylus and described mechanical palm relative motion position displacement transducer, for driving the power plant module of described mechanical finger internode and/or relative motion between described mechanical dactylus and described mechanical palm, for controlling the control module that described power plant module moves;
The position signalling of detection is passed to described control module by institute's displacement sensors;
It is characterized in that, also comprise: being arranged on the finger syndeton for being connected with described mechanical dactylus by teaching dactylus on described mechanical dactylus.
2. manipulator according to claim 1, is characterized in that, described finger syndeton is the fingerstall for being socketed teaching dactylus;
Described fingerstall is sleeve-like structure;
Described fingerstall is fixed on the first mechanical dactylus, or described fingerstall is fixed on mechanical dactylus described in other, or multiple described fingerstall is separately fixed on different described mechanical dactylus.
3. manipulator according to claim 1 and 2, is characterized in that, described finger syndeton is also for action executing, and the material of its agent structure is stressed on-deformable hard material.
4. manipulator according to claim 3, is characterized in that, described finger syndeton also comprises the elastic construction for tightening connection teaching finger be fixed in described agent structure.
5. manipulator according to claim 3, is characterized in that, described finger syndeton also comprises and is wrapped in the outer field soft body structure of described finger syndeton.
6. manipulator according to claim 1 and 2, is characterized in that, also comprises the execution architecture be fixed on the first mechanical dactylus; Described execution architecture is that certain radian or angle bend towards the mechanical centre of the palm.
7. manipulator according to claim 1 and 2, is characterized in that, also comprises and is arranged on manipulator palm for connecting the palm syndeton of teaching palm.
8. manipulator according to claim 7, is characterized in that, described palm syndeton and described finger syndeton are connected as a single entity.
9. manipulator according to claim 1 and 2, is characterized in that, also comprises the mechanical arm be connected with mechanical palm;
Described mechanical arm comprises at least one mechanical podomere;
Institute's displacement sensors is also for directly or indirectly measuring the relative motion position between described mechanical podomere and/or between described mechanical podomere and described mechanical palm;
Described power plant module is also for driving the relative motion between described mechanical podomere and/or between described mechanical podomere and described mechanical palm.
10. there is a teaching playback method for the manipulator of finger, comprise the steps:
During teaching, the finger syndeton be arranged on mechanical dactylus is connected with teaching dactylus;
Described teaching dactylus drives described mechanical dactylus motion by described finger syndeton;
Institute's displacement sensors directly or indirectly measures described mechanical finger internode and/or relative motion positional information between described mechanical dactylus and mechanical palm, and passes to control module, each position information of the multiple time point of described control module record;
During reproduction, described control module controls each described mechanical dactylus motion according to the positional information of record.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510216129.0A CN104858882A (en) | 2015-05-01 | 2015-05-01 | Mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510216129.0A CN104858882A (en) | 2015-05-01 | 2015-05-01 | Mechanical hand |
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| Publication Number | Publication Date |
|---|---|
| CN104858882A true CN104858882A (en) | 2015-08-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510216129.0A Pending CN104858882A (en) | 2015-05-01 | 2015-05-01 | Mechanical hand |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106914908A (en) * | 2015-12-25 | 2017-07-04 | 苏茂 | Staff thumb device for force feedback |
| CN107756437A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | The double finger joint drivers in thumb position |
| CN107756446A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | Closed-loop control Two axle drive device |
| CN107756389A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | Robot double-axis reverse driver |
| CN107756432A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | Small interphalangeal joint active driving device |
| CN107756387A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | Machine user tripod head driver |
| CN107756438A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | Robot heteropleural shaft flexible attachment means |
| CN107756404A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | The remote finger joint driver of thumb |
| CN107756440A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | Heteropleural sync driver |
| CN107756439A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | The remote finger joint driver of forefinger |
| CN109278054A (en) * | 2018-10-25 | 2019-01-29 | 希格斯动力科技（珠海）有限公司 | The manipulator that can be used for playing and robot is played using the manipulator |
| CN110060544A (en) * | 2019-05-31 | 2019-07-26 | 福建工程学院 | A kind of piano playing demo system and its demenstration method |
| WO2020088015A1 (en) * | 2018-11-01 | 2020-05-07 | 深圳岱仕科技有限公司 | Hand action capturing device |
| CN113172602A (en) * | 2021-01-28 | 2021-07-27 | 朱少强 | Wearable bionic manipulator based on VR technology |
-
2015
- 2015-05-01 CN CN201510216129.0A patent/CN104858882A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106914908A (en) * | 2015-12-25 | 2017-07-04 | 苏茂 | Staff thumb device for force feedback |
| CN107756438A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | Robot heteropleural shaft flexible attachment means |
| CN107756440A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | Heteropleural sync driver |
| CN107756389A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | Robot double-axis reverse driver |
| CN107756432A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | Small interphalangeal joint active driving device |
| CN107756387A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | Machine user tripod head driver |
| CN107756437A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | The double finger joint drivers in thumb position |
| CN107756404A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | The remote finger joint driver of thumb |
| CN107756446A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | Closed-loop control Two axle drive device |
| CN107756439A (en) * | 2016-08-17 | 2018-03-06 | 苏茂 | The remote finger joint driver of forefinger |
| CN109278054A (en) * | 2018-10-25 | 2019-01-29 | 希格斯动力科技（珠海）有限公司 | The manipulator that can be used for playing and robot is played using the manipulator |
| WO2020088015A1 (en) * | 2018-11-01 | 2020-05-07 | 深圳岱仕科技有限公司 | Hand action capturing device |
| CN110060544A (en) * | 2019-05-31 | 2019-07-26 | 福建工程学院 | A kind of piano playing demo system and its demenstration method |
| CN110060544B (en) * | 2019-05-31 | 2023-05-30 | 福建工程学院 | Piano playing demonstration system and demonstration method thereof |
| CN113172602A (en) * | 2021-01-28 | 2021-07-27 | 朱少强 | Wearable bionic manipulator based on VR technology |
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Application publication date: 20150826 |