| Project/Area Number |
10555144
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 展開研究 |
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| Research Field |
Control engineering
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| Research Institution | Osaka University (2000-2001)
Kobe University (1998-1999) |
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Principal Investigator |
AKAZAWA Kenzo Graduate School of Engineering, Osaka University, Professor, 大学院・工学研究科, 教授 (30029277)
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| Co-Investigator(Kenkyū-buntansha) |
KIM Guan Graduate School of Engineering, Osaka University, Research Assistant, 大学院・工学研究科, 助手 (90243170)
KOTANI Manabu Faculty of Engineering, Kobe University, Associate Professor, 工学部, 助教授 (30215272)
YOSHIDA Masaki Faculty of Engineering, Osaka Electro-Communication University, Professor, 工学部, 教授 (30174949)
OKUNO Ryuhei Graduate School of Engineering, Osaka University, Research Assistant, 大学院・工学研究科, 助手 (90294199)
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| Project Period (FY) |
1998 – 2001
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| Project Status |
Completed (Fiscal Year 2001)
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| Budget Amount *help |
¥8,400,000 (Direct Cost: ¥8,400,000)
Fiscal Year 2001: ¥1,800,000 (Direct Cost: ¥1,800,000)
Fiscal Year 2000: ¥2,100,000 (Direct Cost: ¥2,100,000)
Fiscal Year 1999: ¥2,200,000 (Direct Cost: ¥2,200,000)
Fiscal Year 1998: ¥2,300,000 (Direct Cost: ¥2,300,000)
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| Keywords | prosthetic hand / compliance / EMG / microprocessor / electotactile stimuli / sensory feedback / muscle / スチフネス / バーバル情報 / ダイナミクス / 音刺激 / 感覚代行 / 筋電義手 / グローブ / マイクロコンピュータ / 電極 / 粘弾性 |
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| Research Abstract |
We developed a prosthetic hand which mimicked the fundamental dynamic properties of the neuromuscular control system of the natural human hand. The results obtained from the present study are summarized below.
(1) We developed a new type of myoelectrically-controlled prosthetic hand which simulated the dynamic properties of the viscoelasticity of muscle and the stretch reflex. The prosthetic hand consisted of the surface EMG signals processing units, the digital servo system for a DC motor and a one-degree-of-freedom mechanical hand.
(2) The utility of the developed prosthetic hand was shown by myoelectric control experiments with both a normal subject and an amputee. If was shown that the finger angle and the compliance of the prosthetic hand could be controlled voluntarily with the EMG signals and that an amputee could grasp a soft object easily with the prosthetic hand.
(3) Supplementary sensory feedback system was develpped. Verbal information, for examples : "right", "left" and so on, was informed subjects with two time-series electrotactile stimulation patterns.
(4) The 3D-CG (3 dimensional computer graphics) simulator of a on-off control myoelectric hand and a biomimetic myoelectric hand were developed for amputee to watch, touch and try to use the myoelectric hand easily.
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