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相关概念视频

Muscles of the Forearm that Move the Hand and Fingers01:17

Muscles of the Forearm that Move the Hand and Fingers

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The muscles of the forearm that move the wrist, hand, and digits are numerous and diverse. They can be classified into two groups based on their location and function — the anterior and posterior compartment muscles.
Anterior Compartment
The anterior compartment muscles originate from the humerus. They primarily function as flexors and are also known as flexor muscles. They typically insert on the carpals, metacarpals, and phalanges. The superficial layer includes the flexor carpi...
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Bones of the Upper Limb: Ulna01:15

Bones of the Upper Limb: Ulna

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The ulna and radius are parallel bones of the antebrachium or the forearm. The ulna lies medially and consists of a bony tip called the olecranon process at its proximal end. This hook-like projection articulates with the olecranon fossa of the humerus and forms the "hinged" ulnohumeral part of the elbow joint. This joint facilitates forearm extension and flexion while preventing its hyperextension. Similarly, the coronoid process, another bony projection on the proximal/anterior side...
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Bones of the Upper Limb: Radius01:09

Bones of the Upper Limb: Radius

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The radius is longer of the two bones that make up the human antebrachium or forearm. At the proximal end, the radius articulates with the capitulum of the humerus and the radial notch of the ulna to form the elbow joint. At the distal end, the radius articulates with the ulna via the ulnar notch, forming the distal radioulnar joint. Distally, the radius also attaches to the carpal wrist bones (scaphoid and lunate) to form the radiocarpal joint.
The radius has a nail-shaped head, and a...
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Development of the Limb Synovial Joints01:07

Development of the Limb Synovial Joints

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Joints form during embryonic development in conjunction with the formation and growth of the associated bones. The embryonic tissue that gives rise to all bones, cartilage, and connective tissues of the body is called mesenchyme.
The mesenchymal stem cells differentiate into chondrocytes that form the hyaline cartilage, and later the cartilaginous model of the bone. This model further transforms into a bone. This process is known as endochondral ossification.
During development, the limbs...
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Bones of the Upper Limb: Humerus01:19

Bones of the Upper Limb: Humerus

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The upper limb consists of the arm, forearm, wrist, and hand bones. The humerus is the single bone of the upper arm region. Proximally, it has a large, spherical, smooth head that articulates with the glenoid cavity of the scapula to form the glenohumeral or shoulder joint. The margin of the head is the anatomical neck, a residual epiphyseal plate. Laterally it extends to form bony projections called the greater tubercle and the lesser tubercle. Next to the tubercles is the surgical neck, a...
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Muscles that Move the Forearm01:16

Muscles that Move the Forearm

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The muscles that move the forearms can be divided into four groups: forearm flexors, forearm extensors, forearm pronators, and forearm supinators. The flexors and extensors act on the elbow joint, while the pronators and supinators act on the radioulnar joints.
Forearm Flexors
The biceps brachii, brachialis, and brachioradialis are forearm flexors. The biceps brachii is made up of two heads. Its long head originates at the supraglenoid tubercle of the scapula, whereas that of the short head is...
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相关实验视频

Updated: Jan 11, 2026

Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs
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人形手指具有刚性-柔性-柔软结构.

Boyang Lyu1,2,3, Huai Xiao1,2,3, Qingxin Meng4,5,6

  • 1School of Automation, China University of Geosciences, Wuhan, China.

Nature communications
|November 12, 2025
PubMed
概括
此摘要是机器生成的。

研究人员开发了一种新型的人形手指,它结合了刚性,灵活性和柔软的组件,以增强机器人的抓取能力. 这种创新的设计实现了高强度和稳定性,扩大了刚性-灵活-软机器人的应用.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 材料科学 材料科学 材料科学
  • 机械工程 机械工程

背景情况:

  • 软机器人抓手提供适应性,但往往缺乏刚性抓手的力量和稳定性.
  • 一个关键的挑战是创建机器人手指,在微妙地处理脆弱的物体时施加高力.

研究的目的:

  • 设计和评估一个具有刚性-柔性-柔软结构的人形机器人手指.
  • 为了解决当前软抓手在力输出和稳定性方面的局限性.

主要方法:

  • 人形手指的设计有刚性管状骨,柔性关节弹和柔软的皮肤.
  • 在骨和皮肤之间集成了一个气动膜驱动器.
  • 实验使用与这些手指构建的抓手进行了实验,以测试抓取能力.

主要成果:

  • 设计的人形手指成功地抓住了各种各样的物体,包括豆腐和纸张等微妙的物品,以及像篮球这样的大物体.
  • 抓手能够承受相当大的重量 (5.275公斤).
  • 刚性-柔性-柔性结构提供了力量,稳定性和适应性的平衡.

结论:

  • 开发出的人形手指成功地整合了刚性,灵活性和柔软的元素,以克服机器人掌握的局限性.
  • 这种设计扩大了刚性-柔性-柔软机器人的应用范围,用于需要强度和细致性的操纵任务.