J023032 腰用パワーアシストスーツの機構設計及びSVMによる動作検出([J02303]医療福祉のメカトロニクス)

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We have been developing a waist power assist suit that supports four waist motions including forward/backward bending and right/left twist. In this paper, we present the concept and the mechanism design in which two DC motors with harmonic drive speed reducers are employed. Next, we develop a signal processing for discrimination of four waist motions. Surface electromyogram signals from right and left erector spinae muscles are employed as source signals for SVM-based discrimination system, and a strong multi-class classifier based on combination use of four SVMs are constructed in which each SVM is a binary classifier for each of four motions. We show that the proposed processing has a lower false-positive rate, which is an important property for power assist suit.
2011-09-11