EMG信号に基づく前腕力義手のバイオミメティック制御

日本機械学會論文集. C編 : Transactions of the Japan Society of Mechanical Engineers. C Volume 66 Issue 648 Page 2764-2771 published_at 2000-08-25
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Title ( jpn )
EMG信号に基づく前腕力義手のバイオミメティック制御
Title ( eng )
Bio-mimetic Control of An Externally powered Prosthetic Forearm Based on EMG Signals
Creator
Shigeyoshi Hiroki
Fukuda Osamu
Kaneko Makoto
Source Title
日本機械学會論文集. C編 : Transactions of the Japan Society of Mechanical Engineers. C
Volume 66
Issue 648
Start Page 2764
End Page 2771
Abstract
The EMG signals which include information on not only mascle force but operator's intended motion and mechanical impedance property of joints have been often used as control signals of prosthetic arms. Most of previous researches, however, adopted only the ON/OFF control of the prosthetic arms depending on the results of the EMG pattern discrimination, or controlled only a particular joint depending on the torque estimated from the EMG signals. In this paper, we propose a multi-joint control method of a prosthetic forearm using the EMG signals. In order to realize the natural feeling of control similar to that of the human movements, the impedance model of human forearm is introduced to the control system. Also the force level during the motion is estimated from the EMG signals and used as the control command to each joint. It is shown from the experiments that the forearm motions and force levels can be estimated by using the EMG signals, and the prosthetic forearm can be controlled based on the impedance model smoothly.
Keywords
Bio-Motion
Muscle and Skeleton
Human Interface
Neural Network
Prosthetic Arm
EMG Signals
NDC
Mechanical engineering [ 530 ]
Language
jpn
Resource Type journal article
Publisher
社団法人日本機械学会
Date of Issued 2000-08-25
Rights
copyright(c)2000 社団法人日本機械学会
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 0387-5024
[NCID] AN00187463