2C2-4 バイラテラルサーボによる肩動力義手の研究(OS2-2:筋電義手II,オーガナイズドセッション)

概要

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Recent developments in shoulder powered prosthetic hands control can be divided into two types. The first type, as seen in development at Northwestern University, is depended on myo-electrical signal replacement surgery in the chest area to allow control of shoulder rotation, elevation, arm flexion/extension, and the opening of closing of the hands. On the other hand, our research focuses on using a microcomputer to control pre-developed patterns of the different motions. From our experience in position control of the shoulder prosthesis, this project proposes the need for force control in each of the joints. A major concern of the shoulder prosthesis is the need to simultaneously control its movements while considering external loads. The external loads on the prosthesis post-installment are significant enough that the position control heavily depends on these external loads. This project proposes our bilateral servo system as a solution for future shoulder prosthesis to provide the necessary position and myo-electrical control.
2009-09-23