2P2-A18 リハビリテーションロボティクスにおける人間・機械共適応システム : 個性適応型筋電義手の開発

概要

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In the case of applying the learning ability to the rehabilitation robot, we should take into account learning ability of user (human). In this paper, we developed a prosthetic hand with an interference driven finger and wrist to grasp the object stably, and a EMG-to-motion classifier using on-line learning method to adjust to the change in human's characteristics at time. Moreover, we conducted experiments to discriminate eight forearm motions, with the results, a stable and highly effective discrimination rate was achieved and maintained even when changes occurred in the mapping. Lastly, we analyzed mutual adaptation between human and adaptable prosthetic hand using ability test and f-MRI, and clarified each adaptation process.
一般社団法人日本機械学会の論文