1P1-J11 3自由度前腕義手のマルチモーダルセンサ制御

概要

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This paper describes the basic concept of our multimodal sensor control system for 3-Degree-of-Freedom transradial prosthesis. The target of developing the innovative controller is to reduce the mental effort of planning and operating multiple joints in the conventional multifunctional myoelectric controller. An accelerometer is installed in the socket and the angles of the gravitational force are computed to drive the pronation/spination joint and the flexion/extension joint of the prosthesis. A threshold ON/OFF control using the posture information is implemented with the triggering of a co-contraction EMG signal. Through an experiment, we confirmed that this controller is capable of reducing substitute shoulder movements and error EMG firing in the signal source forearm muscles for pick-and-place tasks, when compared to the task conducted with conventional locked-wrist prosthesis.
2009-05-25