J162011 肩関節の運動を考慮したインテリジェント筋電義手の制御([J16201]メカニカルデバイス・システムの知能化,機械の知能化と脳工学応用)

概要

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In order to improve the quality of life of persons who lost their own limb due to an accident or sickness, many myoelectric artificial arms have been proposed. These myoelectric artificial arms are controlled based on EMG signals. If muscles which are used to move a target joint remain, EMG signals can be measured at the muscles. On the other hand, if these muscles do not remain, EMG signals must be measured at other muscles. In this paper, the control method of elbow joint motion of a myoelectric arm for an above elbow amputees is proposed. The proposed myoelectric arm uses EMG signals of the biceps brachii and the triceps brachii muscles as input for elbow joint motion. However, since both the biceps brachii and the triceps brachii muscles are the biarticular muscles between the shoulder joint and elbow joint, the EMG signals of these muscles are affected depending on the motion of the shoulder joint. To remove the influence of the shoulder joint motion on these EMG signals, a neuro-fuzzy modifier is used in the proposed control method. The effectiveness of the proposed method was evaluated by performing experiments.
一般社団法人日本機械学会の論文
2011-09-11