手の運動機能を取り入れたデジタル制御方式による筋電義手の開発(3部運動機能の復元)

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The propose of this study was to develop a new type of hand prosthesis which simulated dynamic properties of the neuromuscular control system of the human hand. This hand consists of a mechanical hand (one degree of freedom), a processing unit for surface electromyographic (EMG) signals, and a digital servo system of the DC motor. EMG signal was used as a control signal for opening and closing the hand prosthesis. Since both muscle viscoelasticity and gain of stretch reflex varied linearly with muscle activity, stiffness of the hand prosthesis was designed to change linearly with the amplitude of integrated EMG (rectified and smoothed electromyographic signal). The digital servo system contained two systems, a force feedback system that mimicked dynamics of the neuromuscular control system, and a position control system. Both systems had their own one-chip microprocessors that ran independently. The one-chip microprocessor had the fundamental functions for control of the DC motor. That is, it had three digital I/O ports, four A/D converter channels, two output ports for PWM signals, and two input channels for timer counters. The usefulness of this hand prosthesis was indicated by three myoelectric control experiments with a normal subject, (1) voluntary control of the finger angle, (2) measuring responses to the disturbance torque, and (3) handling hard and soft objects. In the first experiment, the subject easily controlled our hand prosthesis with a myoelectric signal. The second experiment showed that the subject could control the stiffness of this hand prosthesis by changing the contraction levels of two antagonistic muscles. The third experiment showed that subjects who were not trained to control of the prosthesis could handle a soft object with our hand prosthesis.
バイオメカニズム学会の論文
1994-08-10

手の運動機能を取り入れたデジタル制御方式による筋電義手の開発(3部運動機能の復元)

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手の運動機能を取り入れたデジタル制御方式による筋電義手の開発(3部 運動機能の復元)

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概要

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関連論文

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手の運動機能を取り入れたデジタル制御方式による筋電義手の開発(3部運動機能の復元)