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Development of myoelectric prosthetic hand with sensory feedback using conductive polymer

Research Project

Project/Area Number 18H03761
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Review Section Medium-sized Section 20:Mechanical dynamics, robotics, and related fields
Research InstitutionThe University of Electro-Communications

Principal Investigator

Yokoi Hiroshi  電気通信大学, 大学院情報理工学研究科, 教授 (90271634)

Co-Investigator(Kenkyū-buntansha) 高木 岳彦  国立研究開発法人国立成育医療研究センター, 小児外科系専門診療部, 部長 (00348682)
東郷 俊太  電気通信大学, 大学院情報理工学研究科, 准教授 (30751523)
姜 銀来  電気通信大学, 脳・医工学研究センター, 准教授 (70508340)
加藤 龍  横浜国立大学, 大学院工学研究院, 准教授 (70516905)
Project Period (FY) 2018-04-01 – 2023-03-31
Project Status Completed (Fiscal Year 2022)
Budget Amount *help
¥43,550,000 (Direct Cost: ¥33,500,000、Indirect Cost: ¥10,050,000)
Fiscal Year 2022: ¥7,670,000 (Direct Cost: ¥5,900,000、Indirect Cost: ¥1,770,000)
Fiscal Year 2021: ¥9,230,000 (Direct Cost: ¥7,100,000、Indirect Cost: ¥2,130,000)
Fiscal Year 2020: ¥8,710,000 (Direct Cost: ¥6,700,000、Indirect Cost: ¥2,010,000)
Fiscal Year 2019: ¥8,710,000 (Direct Cost: ¥6,700,000、Indirect Cost: ¥2,010,000)
Fiscal Year 2018: ¥9,230,000 (Direct Cost: ¥7,100,000、Indirect Cost: ¥2,130,000)
Keywords筋電義手 / 機械学習 / 個性適応型制御 / 導電性シリコーン / 5指ロボットハンド / 筋電センサ / 感覚フィードバック / ワイヤー牽引駆動 / センサ / 筋電制御システム / 電極 / 多自由度ロボットハンド / 筋電制御 / 導電性高分子 / センサグローブ / 導電性シリコン / ロボットハンド / センサ機能付きグローブ / 触圧感覚 / フィードバック機構 / ワイヤー干渉駆動 / 振動子 / 身体所有感 / ロボットアーム / 皮膚インピーダンス計測
Outline of Final Research Achievements

In this study, we aim to realize a high degree of freedom (DOF) motor ability and a substitute function for sensory sensation. was developed, and using the myoelectric control system, we challenged the task of reconstructing the finger movements of amputees.
In each mechanical development task, a lightweight, multi-degree-of-freedom, high-output 5-fingered robot hand was prototyped using the wire interference drive method, and improvements were made through performance evaluation. Then, we clarify the design method that can be applied to myoelectric prostheses. In the development of sensor gloves task, by applying conductive silicone, the contact pressure and joint angle of the fingertip are measured, and by transmitting this to the stump socket using a vibrator, it responds to movement. We have developed a myoelectric prosthetic hand that can feel the sense of agency and the sense of ownership of the body caused by contact.

Academic Significance and Societal Importance of the Research Achievements

多機能性は,複数の運動要素を必要とするため,従来の機械設計の思想では,機能を増やすたびに重量も価格もサイズも増加する.この問題に対して,新たに「2DOF ワイヤー干渉駆動法」を考案し,知財の取得に至るなど学術的意義は大きなものがある.
生体電気信号のセンサは,電極部を非金属材料で開発することにより,金属アレルギーによる肌荒れを防止と皮膚への圧力低減,および,密着による防水を実現することは,高い独創性を有する.さらに,義肢装具の感覚フィードバックにより,自己所有感と運動主体感を付与することで,義手の利用者の利便性の向上に大きく寄与した.

Report

(6 results)
  • 2022 Annual Research Report   Final Research Report ( PDF )
  • 2021 Annual Research Report
  • 2020 Annual Research Report
  • 2019 Annual Research Report
  • 2018 Annual Research Report
  • Research Products

    (107 results)

All 2023 2022 2021 2020 2019 2018 Other

All Int'l Joint Research (3 results) Journal Article (26 results) (of which Int'l Joint Research: 7 results,  Peer Reviewed: 24 results,  Open Access: 17 results) Presentation (52 results) (of which Int'l Joint Research: 27 results,  Invited: 2 results) Book (3 results) Remarks (6 results) Patent(Industrial Property Rights) (17 results) (of which Overseas: 2 results)

  • [Int'l Joint Research] 南開大学/中国科学院深セン先進技術研究院(中国)

    • Related Report
      2020 Annual Research Report
  • [Int'l Joint Research] 南開大学/中国科学院深セン研究所(中国)

    • Related Report
      2019 Annual Research Report
  • [Int'l Joint Research] 北京理工大学/上海交通大学/中国科学院シンセン先進技術研究院(中国)

    • Related Report
      2018 Annual Research Report
  • [Journal Article] Improvement of precision grasping performance by interaction between soft finger pulp and hard nail2023

    • Author(s)
      Ayane Kumagai, Yoshinobu Obata, Yoshiko Yabuki, Yinlai Jiang, Hiroshi Yokoi, Shunta Togo
    • Journal Title

      Soft Robotics

      Volume: 10 Issue: 2 Pages: 345-353

    • DOI

      10.1089/soro.2021.0231

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] 3M3Dワイヤ干渉駆動に基づくヒューマノイド腰関節の開発2023

    • Author(s)
      柿野和真 , 山野井佑介 , 東郷俊太 , 横井浩史 , 姜銀来
    • Journal Title

      日本ロボット学会誌. 2023. accepted

      Volume: Accepted

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 捕球動作に有効なヒトの捕球形態の分類とロボットハンドの捕球形態への応用2023

    • Author(s)
      東島 涼香 , 姜 銀来 , 横井 浩史 , 東郷 俊太
    • Journal Title

      バイオメカニズム学会誌

      Volume: 47(1) Pages: 54-62

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development of Robotic Hand for Prosthetic Limb using a Gear Mechanism for Infants with Congenital Upper Limb Defects2022

    • Author(s)
      Nakao Soichiro、Hirai Taichi、Ono Yuma、Yamanoi Yusuke、Kuroda Yuki、Yabuki Yoshiko、Togo Shunta、Jiang Yinlai、Kato Ryu、Takagi Takehiko、Ishihara Masahiro、Yokoi Hiroshi
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 40 Issue: 10 Pages: 903-914

    • DOI

      10.7210/jrsj.40.903

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Development of a Two-Layered Elastic Glove for Dynamic Stable Grasping of Powered Prosthetic Hand2021

    • Author(s)
      小畑承経, 熊谷あやね, 矢吹佳子,東郷俊太, 姜銀来, 横井浩史
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 39 Issue: 8 Pages: 744-750

    • DOI

      10.7210/jrsj.39.744

    • NAID

      130008107279

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Research on the Dissemination Process of Hot Words2021

    • Author(s)
      Fei Wang, Hiroshi Yokoi
    • Journal Title

      Academic Journal of Humanities & Social Sciences

      Volume: 4(7) Issue: 7

    • DOI

      10.25236/ajhss.2021.040712

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Asymmetric shape of distal phalanx of human finger improves precision grasping2021

    • Author(s)
      Kumagai Ayane、Obata Yoshinobu、Yabuki Yoshiko、Jiang Yinlai、Yokoi Hiroshi、Togo Shunta
    • Journal Title

      Scientific Reports

      Volume: 11 Issue: 1 Pages: 10402-10402

    • DOI

      10.1038/s41598-021-89791-3

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Learning data correction for myoelectric hand based on “survival of the fittest"2021

    • Author(s)
      Yusuke Yamanoi, Shunta Togo, Yinlai Jiang, Hiroshi Yokoi
    • Journal Title

      Cyborg and Bionic Systems

      Volume: 2021 Pages: 1-12

    • DOI

      10.34133/2021/9875814

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Development of a Humanoid Shoulder Based on 3-Motor 3 Degrees-of-Freedom Coupled Tendon-driven Joint Module2021

    • Author(s)
      Wenyang Li, Yiwei Wang, Shunta Togo, Hiroshi Yokoi,and Yinlai Jiang
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 6 Issue: 2 Pages: 1105-1111

    • DOI

      10.1109/lra.2021.3056376

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Semi-automated control system for reaching movements in EMG shoulder disarticulation prosthesis based on mixed reality device2021

    • Author(s)
      Shunta Togo, Kazuaki Matsumoto, Susumu Kimizuka, Yilai Jiang, and Hiroshi Yokoi
    • Journal Title

      IEEE Open Journal of Engineering in Medicine and Biology

      Volume: 2 Pages: 55-64

    • DOI

      10.1109/ojemb.2021.3058036

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Joint Angle Based Motor Point Tracking Stimulation for Surface FES: A Study on Biceps Brachii2021

    • Author(s)
      Kento Ichikawa, Yinlai Jiang, Masao Sugi, Shunta Togo, Hiroshi Yokoi
    • Journal Title

      Medical Engineering & Physics

      Volume: 88 Pages: 9-18

    • DOI

      10.1016/j.medengphy.2020.11.014

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Modularization of 2- and 3-DoF Coupled Tendon-Driven Joints2021

    • Author(s)
      Wenyang Li, Peng Chen, Dianchun Bai, Xiaoxiao Zhu, Shunta Togo, Hiroshi Yokoi
    • Journal Title

      IEEE Transactions on Robotics

      Volume: 37 Issue: 3 Pages: 1-13

    • DOI

      10.1109/tro.2020.3038687

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Development of a shoulder disarticulation prosthesis system intuitively controlled with the trunk surface electromyogram2020

    • Author(s)
      Susumu Kimizuka, Yohei Tanaka, Shunta Togo, Yinlai Jiang, Hiroshi Yokoi
    • Journal Title

      Frontiers in Neurorobotics

      Volume: 14 Pages: 74-74

    • DOI

      10.3389/fnbot.2020.542033

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Modularized Coupled Tendon-Driven Humanoid Robot Arm2020

    • Author(s)
      姜銀来,李文揚, 陳鵬,東郷俊太, 横井浩史
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 38 Issue: 7 Pages: 657-666

    • DOI

      10.7210/jrsj.38.657

    • NAID

      130007897136

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Development a Myoelectric Prosthetic Hand for Partial Hand Amputees to Use Successfully Remaining Finger -Proposal of the Design Method for Mechanical System and Control System and Prototype -2019

    • Author(s)
      村井雄太,矢吹佳子,石原正博,高木岳彦,髙山真一郎,東郷俊太,加藤龍,姜銀来,横井浩史
    • Journal Title

      Journal of the Society of Biomechanisms

      Volume: 43 Issue: 2 Pages: 124-133

    • DOI

      10.3951/sobim.43.2_124

    • NAID

      130007660513

    • ISSN
      0285-0885
    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand2019

    • Author(s)
      Yong Xu、Jing Xiaobei、Wu Xinyu、Jiang Yinlai、Yokoi Hiroshi
    • Journal Title

      Sensors

      Volume: 19 Issue: 16 Pages: 3539-3539

    • DOI

      10.3390/s19163539

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Development of Intuitive Operation Type Shoulder Disarticulation Prosthesis System Using Surface Myoelectric Potential of Trunk2019

    • Author(s)
      君塚進,日吉祐太郎,叶鶴松,田中洋平,東郷俊太,姜銀来,横井浩史
    • Journal Title

      Journal of the Society of Biomechanisms

      Volume: 43 Issue: 4 Pages: 248-255

    • DOI

      10.3951/sobim.43.4_248

    • NAID

      130007740719

    • ISSN
      0285-0885
    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development of an sEMG sensor composed of two-layered conductive silicone with different carbon concentrations2019

    • Author(s)
      Togo Shunta、Murai Yuta、Jiang Yinlai、Yokoi Hiroshi
    • Journal Title

      Scientific Reports

      Volume: 9 Issue: 1 Pages: 13996-13996

    • DOI

      10.1038/s41598-019-50112-4

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Anthropomorphic Prosthetic Hand with Combination of Light Weight and Diversiform Motions2019

    • Author(s)
      Jing Xiaobei、Yong Xu、Jiang Yinlai、Li Guanglin、Yokoi Hiroshi
    • Journal Title

      Applied Sciences

      Volume: 9 Issue: 20 Pages: 4203-4203

    • DOI

      10.3390/app9204203

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Development of new cosmetic gloves for myoelectric prosthetic hand using superelastic rubber2019

    • Author(s)
      Yoshiko Yabuki, Kazumasa Tanahashi, Yasuhiro Mouri, Yuta Murai, Shunta Togo, Ryu Kato, Yinlai Jiang, Hiroshi Yokoi
    • Journal Title

      Robotics and Autonomous Systems

      Volume: 111 Pages: 31-43

    • DOI

      10.1016/j.robot.2018.09.004

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Fourth finger dependence of high-functioning autism spectrum disorder in multi-digit force coordination2019

    • Author(s)
      Togo Shunta、Itahashi Takashi、Hashimoto Ryuichiro、Cai Chang、Kanai Chieko、Kato Nobumasa、Imamizu Hiroshi
    • Journal Title

      Scientific Reports

      Volume: 9 Issue: 1 Pages: 1-11

    • DOI

      10.1038/s41598-018-38421-6

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] 握力把握・精密把握における安定把持のための筋電義手用関節屈伸機構の開発2019

    • Author(s)
      谷 直行,姜 銀来,東郷 俊太,横井 浩史
    • Journal Title

      日本ロボット学会誌

      Volume: Vol.37,No.2 Pages: 168-178

    • NAID

      130007616765

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development of a parent wireless assistive interface for myoelectric prosthetic hands for children2018

    • Author(s)
      Yutaro Hiyoshi, Yuta Murai, Yoshiko Yabuki, Kenichi Takahana, Soichiro Morishita, Yinlai Jiang, Shunta Togo, Shinichiro Takayama, Hiroshi Yokoi
    • Journal Title

      Frontiers in Neurorobotics

      Volume: Vol.12, No.48 Pages: 00048-00048

    • DOI

      10.3389/fnbot.2018.00048

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] One-Channel Surface EMG Decomposition for Force Estimation2018

    • Author(s)
      Wentao Sun, Jinying Zhu, Yinlai Jiang, Hiroshi Yokoi, Qiang Huang
    • Journal Title

      Frontiers in Neurorobotics

      Volume: 12 Pages: 20-20

    • DOI

      10.3389/fnbot.2018.00020

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] 個性適応型制御法を用いた幼児・子供用義手の開発2018

    • Author(s)
      矢吹 佳子,Hesong Ye,Xu Yong,日吉 祐太郎,村井 雄太,東郷 俊太,姜 銀来,加藤 龍,高木 岳彦,高山 真一郎,横井 浩史
    • Journal Title

      運動器リハビリテーション

      Volume: Vol.29,No.3 Pages: 302-311

    • Related Report
      2018 Annual Research Report
  • [Journal Article] 上肢欠損,切断患者における筋電義手を用いた治療の実際 -Targeted muscle reinnervationにおける今後の展望-2018

    • Author(s)
      高木 岳彦,高山 真一郎,矢吹 佳子,加藤 龍,横井 浩史
    • Journal Title

      運動器リハビリテーション

      Volume: Vol.29,No.3 Pages: 287-291

    • Related Report
      2018 Annual Research Report
  • [Presentation] Development of Separate Exoskeleton Socket of Wrist Joint on Myoelectric Prosthetic Hand for Congenital Defects with Symbrachydactyly2023

    • Author(s)
      Y. Inoue;Y. Kuroda;Y. Yamanoi;Y. Yabuki;H. Yokoi
    • Organizer
      2022 IEEE International Conference on Cyborg and Bionic Systems (CBS)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Conditional Generative Adversarial Network-based Finger Position Estimation for Controlling Multi-Degrees-of-Freedom Myoelectric Prosthetic Hands2023

    • Author(s)
      Hai Jiang , Yusuke Yamanoi , Yuki Kuroda , Peiji Chen , Shunta Togo , Yinlai Jiang , Hiroshi Yokoi
    • Organizer
      2022 IEEE International Conference on Cyborg and Bionic Systems (CBS)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of a 7-DOF Electric Shoulder Prosthesis Using a Return-routing Coupled Tendondriven Mechanism2022

    • Author(s)
      Yuko Nakamura , Yinlai Jiang , Hiroshi Yokoi , Shunta Togo
    • Organizer
      2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development and Evaluation of a Lightweight Two-Degree-of-Freedom Electric Prosthetic Hand for Toddlers2022

    • Author(s)
      Yuki Kuroda , Taichi Hirai , Yoshiko Yabuki , Yusuke Yamanoi , Yinlai Jiang , Hiroshi Yokoi
    • Organizer
      2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development and Clinical Evaluation of a Five-Fingered Myoelectric Prosthetic Hand with Pattern Recognition2022

    • Author(s)
      Yuki Kuroda , Tatsuki Tsujimoto , Takayoshi Shimada , Yoshiko Yabuki , Dianchun Bai , Yusuke Yamanoi , Yinlai Jiang , Jinying Zhu , Hiroshi Yokoi
    • Organizer
      2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 小児手掌形成不全者に対する機械学習を用いた筋電義手の適用に関する研究2022

    • Author(s)
      井上 祐希,横井 浩史
    • Organizer
      第38回日本義肢装具学会学術大会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 未来時間を考慮した仮想軌道に基づく繰り返し制御法2022

    • Author(s)
      梅田 佳歩,姜 銀来,横井 浩史,東郷 俊太
    • Organizer
      第40回日本ロボット学会学術講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 伸縮機構を備えたロボティック・フィンガーの開発2022

    • Author(s)
      柿野 和真,山野井 佑介,東郷 俊太,横井 浩史,姜 銀来
    • Organizer
      第40回日本ロボット学会学術講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 靭帯型拘束法を用いたワイヤ牽引転がり関節の設計と評価2022

    • Author(s)
      梅澤 亮,姜 銀来,横井 浩史,東郷 俊太
    • Organizer
      第40回日本ロボット学会学術講演会
    • Related Report
      2022 Annual Research Report
  • [Presentation] Inverse Kinematics and Master-Slave Control for a 7-DoF Tendon-Driven Humanoid Robot Arm2021

    • Author(s)
      +Zhenyu Sun; Wenyang Li; Xiaobei Jing; Xu Yong; Yinlai Jiang; Hiroshi Yokoi
    • Organizer
      2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of a humanoid shoulder based on 3-motor 3 degrees-of-freedom coupled tendon-driven joint module2021

    • Author(s)
      Wenyang Li, Yiwei Wang, Shunta Togo, Hiroshi Yokoi and Yinlai Jiang
    • Organizer
      2021 IEEE International Conference on Robotics and Automation (ICRA2021)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Design of a 3-dof coupled tendon-driven waist joint2021

    • Author(s)
      Yiwei Wang, Wenyang Li, Shunta Togo, Hiroshi Yokoi and Yinlai Jiang
    • Organizer
      2021 IEEE International Conference on Robotics and Automation (ICRA2021)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of a motorized prosthetic hand for infants with phocomelia2021

    • Author(s)
      TAKAYOSHI SHIMADA, Yusuke Yamanoi, Yoshiko Yabuki, Shunta Togo, Yinlai Jiang, Ryu Kato, Takehiko Takagi, Yuki Kuroda and Hiroshi Yokoi
    • Organizer
      18th World Congress of the International Society for Prosthetics and Orthotics (ISPO2021)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Investigation of motor point shift and contraction force of triceps brachii for functional electrical stimulation2021

    • Author(s)
      Takashi Hirai, Yinlai Jiang, Masao Sugi, Shunta Togo and Hitoshi Yokoi
    • Organizer
      2021 43rd Annual International Conference of the IEEE Engineering in Medicine
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Evaluation of the precision grasping ability by artificial finger based on the morphology of distal phalanx2021

    • Author(s)
      Ayane Kumagai, Yoshinobu Obata, Yoshiko Yabuki, Yinlai Jiang, Yokoi Hiroshi and Shunta Togo
    • Organizer
      2022 IEEE 4th Global Conference on Life Science and Technologies (LifeTech2022)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development and Clinical Evaluation of a Five-Fingered Myoelectric Prosthetic Hand with Pattern Recognition2021

    • Author(s)
      Yuki Kuroda, Tatsuki Tsujimoto, Takayoshi Shimada , Yoshiko Yabuki , Dianchun Bai , Yusuke Yamanoi , Yinlai Jiang , Jinying Zhu and Hiroshi Yokoi
    • Organizer
      2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development and Evaluation of a Lightweight Two-Degree-of-Freedom Electric Prosthetic Hand for Toddlers2021

    • Author(s)
      Yuki Kuroda, Taichi Hirai, Yoshiko Yabuki, Yusuke Yamanoi, Yinlai Jiang and Hiroshi Yokoi
    • Organizer
      2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 個性適応型学習機能を有した他自由度筋電義手の臨床適応と性能評価2021

    • Author(s)
      黒田勇幹,山野井佑介,島田岳佳,Hai Jiang, 矢吹佳子,Dianchun Bai, 髙木岳彦,Yinlai Jiang,横井浩史
    • Organizer
      第37回日本義肢装具学会学術大会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 回内外と掌背屈運動を活かす分離型ソケットの開発2021

    • Author(s)
      千田知広,島田岳佳,黒田勇幹,矢吹佳子,山野井佑介,横井浩史,髙木岳彦
    • Organizer
      第37回日本義肢装具学会学術大会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 小児手掌欠損者に対する筋電義手の開発2021

    • Author(s)
      井上祐希,島田岳佳,高橋明丈,千田知広,大谷俊介,黒田勇幹,山野井佑介,矢吹佳子,髙木岳彦,横井浩史
    • Organizer
      第37回日本義肢装具学会学術大会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 可動指を変えた幼児用2自由度電動義手の開発2021

    • Author(s)
      大谷俊介,平井太智,黒田勇幹,矢吹佳子,山野井佑介,東郷俊太,姜銀来,横井浩史
    • Organizer
      第37回日本義肢装具学会学術大会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 超小型対立回転機構を用いた手掌筋電義手,能動指義手の開発2021

    • Author(s)
      矢吹佳子,山野井佑介,黒田勇幹,島田岳佳,大谷俊介,千田知広,溝口恒雄,髙木岳彦,髙山真一郎,横井浩史
    • Organizer
      第37回日本義肢装具学会学術大会
    • Related Report
      2021 Annual Research Report
  • [Presentation] ワイヤ劣駆動ロボットフィンガによる薄板小物体把持のための関節トルク比と過伸展機構の検討2021

    • Author(s)
      大谷 俊介,姜 銀来,東郷 俊太,横井 浩史,山野井 佑介
    • Organizer
      第39回日本ロボット学会学術講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 動的安定把持実現のための電動義手用2層弾性グローブの開発2021

    • Author(s)
      小畑 承経,熊谷 あやね,矢吹 佳子,東郷 俊太,姜 銀来,横井 浩史
    • Organizer
      第39回日本ロボット学会学術講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 先天性前腕欠損者のための幼児用2自由度電動義手の開発2020

    • Author(s)
      平井太智、中尾聡一郎、小野祐真、黒田勇幹、矢吹佳子、山野井佑介、東郷俊太、姜銀来、加藤龍、横井浩史
    • Organizer
      第38回日本ロボット学会学術講演会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 回内・回外機能を有し個性に適応する幼児用筋電義手の開発と評価2020

    • Author(s)
      中尾聡一郎、平井太智、小野祐真、山野井佑介、黒田勇幹、矢吹佳子、東郷俊太、姜銀来、加藤龍、高木岳彦、石原正博、横井浩史.
    • Organizer
      第38回日本ロボット学会学術講演会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 筋電信号の時変性に適応する教師データ更新手法に関する研究2020

    • Author(s)
      黒田勇幹、山野井佑介、東郷俊太、姜銀来、加藤龍、横井浩史.
    • Organizer
      第38回日本ロボット学会学術講演会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 2自由度受動回転機構を有する能動ハンドの開発と評価2020

    • Author(s)
      矢吹佳子、高木岳彦、山野井佑介、平井太智、高橋明丈、横井浩史
    • Organizer
      第36回日本義肢装具学会学術大会
    • Related Report
      2020 Annual Research Report
  • [Presentation] ADLにおける機能向上のための対立回転機構を用いた幼児用義手の開発2020

    • Author(s)
      高橋明丈, 矢吹佳子, 山野井佑介, 黒田勇幹, 小野祐真, 中尾聡一郎, 平井太智, 横井浩史
    • Organizer
      第36回日本義肢装具学会学術大会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 子供用筋電義手ソケットの開発2020

    • Author(s)
      黒田勇幹,矢吹佳子,山野井 佑介,東郷俊太,姜銀来,横井 浩史
    • Organizer
      第36回日本義肢装具学会学術大会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 個性適応システムを有するユニバーサルソケットの有用性評価2020

    • Author(s)
      矢吹佳子、黒田勇幹、山野井佑介、平井太智、小野祐真、中尾聡一郎、横井浩史
    • Organizer
      第36回日本義肢装具学会学術大会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 上腕切断患者に対するTargeted Muscle Reinnervation -効率よい義手操作に向けて-2020

    • Author(s)
      高木岳彦、柳澤聖、吉田進二、小林由香、渡辺雅彦
    • Organizer
      第47回日本マイクロサージャリー学会学術集会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 上肢切断に対する選択的神経移行術とバイオニックハンドの開発2020

    • Author(s)
      高木岳彦
    • Organizer
      第5回次世代スーパーマイクロサージャリー研究会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 小児用のAI義肢開発 ~より直感的な筋電義手操作に向けて~.~.特別企画7 医療現場に人工知能(AI)がやってくる20212020

    • Author(s)
      高木岳彦、横井浩史
    • Organizer
      第124回日本小児科学会学術集会
    • Related Report
      2020 Annual Research Report
    • Invited
  • [Presentation] Nerve-Machine Interface と末梢神経外科 ~より効果的な筋電義手操作のために~2020

    • Author(s)
      高木岳彦,横井浩史
    • Organizer
      第43回末梢神経を語る会(第64回日本手外科学会学術集会併設)
    • Related Report
      2020 Annual Research Report
    • Invited
  • [Presentation] A Gear-Driven Prosthetic Hand with Major Grasp Functions for Toddlers2019

    • Author(s)
      Xiaobei Jing, Xu Yong, Yuankang Shi, Yoshiko Yabuki, Yinlai Jiang, Hiroshi Yokoi, Guanglin Li
    • Organizer
      2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development and evaluation of a myoelectric prosthetic hand adaptable to individuality for Children2019

    • Author(s)
      Yoshiko Yabuki, Yuta Murai, Yusuke Yamanoi, Xiaobei Jing, Xu Yong, Yuankang Shi, Shunta Togo, Yinlai Jiang,Takehiko Takagi, Shinichiro Takayama and Hiroshi Yokoi
    • Organizer
      International Society for Prosthetics and Orthotics (ISPO) 17th World Congress
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Motor point tracking stimulation of biceps brachii using multi electrodes based on functional electrical stimulation2019

    • Author(s)
      Kento Ichikawa, Yinlai Jiang, Masao Sugi, Shunta Togo, Hiroshi Yokoi
    • Organizer
      2019 IEEE International Conference on Cyborg and Bionic Systems
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of EMG prosthetic hand for infant with lightness and high pinch force2019

    • Author(s)
      Taichi Hirai, Shunta Togo, Yinlai Jiang and Hiroshi Yokoi
    • Organizer
      15th IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO 2019)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Design of A Prosthetic Hand for Multiple hand Motions2019

    • Author(s)
      Xiaobei Jing, Xu Yong, Guanglin Li, Yinlai Jiang, Hiroshi Yokoi
    • Organizer
      2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of an Adaptive Prosthetic Hand2019

    • Author(s)
      Xu Yong, Xiaobei Jing, Xinyu Wu, Hiroshi Yokoi, Yinlai Jiang
    • Organizer
      2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] EEG measurement using dry electrodes comprising two-layered conductive silicone with different carbon concentrations2019

    • Author(s)
      Yuma Ono, Yuta Murai, Shunta Togo, Yinlai Jiang and Hiroshi Yokoi
    • Organizer
      2019 IEEE International Conference on Robotics and Biomimetics (ROBIO 2019)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A 10-DOF lightweight robotic hand with built-in wire-driven mechanism2019

    • Author(s)
      Takaki Shimura, Yuta Murai, Shunta Togo, Yinlai Jiang and Hiroshi Yokoi
    • Organizer
      2019 IEEE International Conference on Robotics and Biomimetics (ROBIO 2019)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Evaluation of the grasping ability by artificial finger based on the morphology of distal phalanx2019

    • Author(s)
      Ayane Kumagai, Yoshinobu Obata, Yinlai Jiang, Hiroshi Yokoi, Shunta Togo
    • Organizer
      2020 IEEE 2nd Global Conference on Life Science and Technologies (LifeTech 2020)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Analysis of two-layer artificial soft fingertip for dynamic stable grasping2019

    • Author(s)
      Yoshinobu Obata, Ayane Kumagai, Shunta Togo, Yinlai Jiang, Hiroshi Yokoi
    • Organizer
      2020 IEEE 2nd Global Conference on Life Science and Technologies (LifeTech 2020)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 義手用装飾手袋の材質と物体把持性能に関する調査研究2019

    • Author(s)
      矢吹 佳子,馮 翔 ,鎌田 舞花,小畑 承経,東郷 俊太 ,姜 銀来,横井 浩史
    • Organizer
      第35回日本義肢装具学会学術大会
    • Related Report
      2019 Annual Research Report
  • [Presentation] 筋電義手の熟達度に関する研究2019

    • Author(s)
      鎌田 舞花,矢吹 佳子,黒田 勇幹,山野井 佑介,東郷 俊太,姜 銀来,横井 浩史
    • Organizer
      第40回バイオメカニズム学術講演会
    • Related Report
      2019 Annual Research Report
  • [Presentation] Development of Compliance Actuation Mechanism for Wire-driven Robotic Hand using Pressure Force2018

    • Author(s)
      Yoshinobu Obata, Yuta Murai, Takaki Shimura, Xu Yong, Xiaobei Jing, Shunta Togo, Yinlai Jiang, Hiroshi Yokoi
    • Organizer
      2018 IEEE International Conference on Robotics and Biomimetics
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of an intuitive operation type shoulder prosthesis hand system using the surface myoelectric potential of trunk2018

    • Author(s)
      Susumu Kimizuka, Yutaro Hiyoshi, Hesong Ye, Shunta Togo, Youhei Tanaka Yinlai Jiang, Hiroshi Yokoi
    • Organizer
      018 IEEE International Conference on Cyborg and Bionic Systems (CBS 2018)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Reduction of malfunction of myoelectric shoulder prosthesis by removing ECG noise2018

    • Author(s)
      Kazuaki Matsumoto, Susumu Kimizuka, Shunta Togo, Yinlai Jiang, Hiroshi Yokoi
    • Organizer
      2018 IEEE International Conference on Cyborg and Bionic Systems (CBS 2018)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of new flexible dry electrode for myoelectric sensor using conductive silicone2018

    • Author(s)
      Yasuhiro Mouri, Yuta Murai, Yoshiko Yabuki, Takumi Kato Hideki Ohmae, Yoshihiro Tomita, Shunta Togo, Yinlai Jiang, Hiroshi Yokoi
    • Organizer
      2018 IEEE International Conference on Cyborg and Bionic Systems (CBS 2018)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of Tendon Driven Under-Actuated Mechanism Applied in an EMG Prosthetic Hand with Three Major Grasps for Daily Life2018

    • Author(s)
      Xiaobei Jing, Xu Yong, Tian Lan, Guanglin Li, Shunta Togo, Yinlai Jiang, Hiroshi Yokoi
    • Organizer
      2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
    • Related Report
      2018 Annual Research Report
  • [Book] ロボット工学ハンドブック(第3版)第Ⅳ編:ロボット応用 4.3筋電義手2023

    • Author(s)
      横井浩史,矢吹佳子(分担執筆)
    • Total Pages
      1086
    • Publisher
      コロナ社
    • ISBN
      9784339046793
    • Related Report
      2022 Annual Research Report
  • [Book] わたしたちに音楽がある理由2020

    • Author(s)
      横井 浩史,横井 和恵,矢吹 佳子
    • Total Pages
      328
    • Publisher
      音楽之友社
    • ISBN
      9784276139107
    • Related Report
      2019 Annual Research Report
  • [Book] 最先端医療機器の病院への普及展望と今後の製品開発2018

    • Author(s)
      横井 浩史,矢吹 佳子,村井 雄太,雍 旭,景 曉バイ,東郷 俊太,白 殿春,朱 笑笑,姜 銀来
    • Publisher
      (株)技術情報協会
    • Related Report
      2018 Annual Research Report
  • [Remarks] 電気通信大学横井・姜・東郷研究室

    • URL

      http://www.hi.mce.uec.ac.jp/yklab/

    • Related Report
      2022 Annual Research Report
  • [Remarks] 電気通信大学 教員情報検索

    • URL

      http://kjk.office.uec.ac.jp/Profiles/57/0005620/profile.html

    • Related Report
      2021 Annual Research Report
  • [Remarks] 横井・姜・東郷研究室

    • URL

      http://www.hi.mce.uec.ac.jp/yklab/publication.html

    • Related Report
      2021 Annual Research Report
  • [Remarks] 電気通信大学横井・姜・東郷研究室ホームページ

    • URL

      http://www.hi.mce.uec.ac.jp/yklab/publication.html

    • Related Report
      2020 Annual Research Report
  • [Remarks] 電気通信大学横井・姜・東郷研究室ホームページ

    • URL

      http://www.hi.mce.uec.ac.jp/yklab/

    • Related Report
      2019 Annual Research Report
  • [Remarks] 電気通信大学横井・姜・東郷研究室

    • URL

      http://www.hi.mce.uec.ac.jp/yklab/index.html

    • Related Report
      2018 Annual Research Report
  • [Patent(Industrial Property Rights)] 義手2023

    • Inventor(s)
      横井浩史,井上祐希,山野井佑介,矢吹佳子,黒田勇幹
    • Industrial Property Rights Holder
      横井浩史,井上祐希,山野井佑介,矢吹佳子,黒田勇幹
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2023-004600
    • Filing Date
      2023
    • Related Report
      2022 Annual Research Report
  • [Patent(Industrial Property Rights)] 義手2023

    • Inventor(s)
      横井浩史,飯塚達也,山野井佑介,矢吹佳子,井上祐希
    • Industrial Property Rights Holder
      横井浩史,飯塚達也,山野井佑介,矢吹佳子,井上祐希
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2023-004609
    • Filing Date
      2023
    • Related Report
      2022 Annual Research Report
  • [Patent(Industrial Property Rights)] 義手ソケット2023

    • Inventor(s)
      横井浩史,井上祐希,山野井佑介,矢吹佳子,黒田勇幹
    • Industrial Property Rights Holder
      横井浩史,井上祐希,山野井佑介,矢吹佳子,黒田勇幹
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2023-004614
    • Filing Date
      2023
    • Related Report
      2022 Annual Research Report
  • [Patent(Industrial Property Rights)] 変換プログラムおよび変換装置2022

    • Inventor(s)
      横井浩史,石源康,東郷俊太,姜銀来,山野井佑介
    • Industrial Property Rights Holder
      横井浩史,石源康,東郷俊太,姜銀来,山野井佑介
    • Industrial Property Rights Type
      特許
    • Filing Date
      2022
    • Related Report
      2022 Annual Research Report
    • Overseas
  • [Patent(Industrial Property Rights)] 義手2021

    • Inventor(s)
      横井 浩史 , 石原 正博 , 山野井 佑介 , 高木 岳彦
    • Industrial Property Rights Holder
      電気通信大学 , ㈱ブレースオンアール・名古屋 他
    • Industrial Property Rights Type
      特許
    • Filing Date
      2021
    • Related Report
      2021 Annual Research Report
    • Overseas
  • [Patent(Industrial Property Rights)] 筋電センサシステム2021

    • Inventor(s)
      横井 浩史, 他
    • Industrial Property Rights Holder
      国立大学法人電気通信大学, 株式会社タナック
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2021-156039
    • Filing Date
      2021
    • Related Report
      2021 Annual Research Report
  • [Patent(Industrial Property Rights)] 義手2020

    • Inventor(s)
      横井 浩史, 石原 正博, 山野井 佑介, 高木 岳彦
    • Industrial Property Rights Holder
      電気通信大学, ブレースオンアール・名古屋他ター
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2020-169821
    • Filing Date
      2020
    • Related Report
      2020 Annual Research Report
  • [Patent(Industrial Property Rights)] 義肢装具取り付け用ソケット装置2020

    • Inventor(s)
      横井浩史, 石原正博, 山野井佑介他
    • Industrial Property Rights Holder
      電気通信大学,ブレースオンアール・名古屋他究センター
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2020-067259
    • Filing Date
      2020
    • Related Report
      2020 Annual Research Report
  • [Patent(Industrial Property Rights)] 変換プログラムおよび変換装置2020

    • Inventor(s)
      横井 浩史, 石 源康, 東郷 俊太, 姜 銀来, 山野井 佑介
    • Industrial Property Rights Holder
      国立大学法人電気通信大学
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2020-002645
    • Filing Date
      2020
    • Related Report
      2020 Annual Research Report
  • [Patent(Industrial Property Rights)] ワイヤ駆動装置2019

    • Inventor(s)
      横井 浩史, 景 暁, 雍 旭, 矢吹 佳子, 東郷 俊太他
    • Industrial Property Rights Holder
      国立大学法人電気通信大学
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2019-208742
    • Filing Date
      2019
    • Related Report
      2019 Annual Research Report
  • [Patent(Industrial Property Rights)] 人工関節機構2019

    • Inventor(s)
      横井 浩史,矢吹 佳子,東郷 俊太他
    • Industrial Property Rights Holder
      国立大学法人電気通信大学,株式会社タナック
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2019-164917
    • Filing Date
      2019
    • Related Report
      2019 Annual Research Report
  • [Patent(Industrial Property Rights)] 筋電センサ及び電極部材2019

    • Inventor(s)
      横井 浩史,姜 銀来,東郷 俊太,村井 雄太,君塚 進,石 源康
    • Industrial Property Rights Holder
      国立大学法人電気通信大学
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2019-105592
    • Filing Date
      2019
    • Related Report
      2019 Annual Research Report
  • [Patent(Industrial Property Rights)] グリッパ構造、人工アーム、及びグリッパ装置2019

    • Inventor(s)
      横井 浩史, 矢吹 佳子, 東郷 俊太, 姜 銀来
    • Industrial Property Rights Holder
      国立大学法人電気通信大学
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2019-055195
    • Filing Date
      2019
    • Related Report
      2019 Annual Research Report
  • [Patent(Industrial Property Rights)] マニピュレータ2018

    • Inventor(s)
      横井 浩史 , 姜 銀来
    • Industrial Property Rights Holder
      国立大学法人電気通信大学
    • Industrial Property Rights Type
      特許
    • Filing Date
      2018
    • Acquisition Date
      2021
    • Related Report
      2021 Annual Research Report
  • [Patent(Industrial Property Rights)] 電気刺激装置、トレーニング装置、および電気刺激方法2018

    • Inventor(s)
      秋場 猛 , 横井 浩史
    • Industrial Property Rights Holder
      システム・インスツルメンツ株式会社 , 国立大学法人電気通信大学
    • Industrial Property Rights Type
      特許
    • Filing Date
      2018
    • Acquisition Date
      2021
    • Related Report
      2020 Annual Research Report
  • [Patent(Industrial Property Rights)] ワイヤ駆動装置2018

    • Inventor(s)
      横井浩史, 景暁バイ, 雍旭,矢吹佳子, 東郷俊太, 姜銀来
    • Industrial Property Rights Holder
      国立大学法人電気通信大学
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2018-230625
    • Filing Date
      2018
    • Related Report
      2018 Annual Research Report
  • [Patent(Industrial Property Rights)] 指部残存機能を利用した義指屈伸機構2018

    • Inventor(s)
      横井 浩史, 石原 正博
    • Industrial Property Rights Holder
      指部残存機能を利用した義指屈伸機構
    • Industrial Property Rights Type
      特許
    • Filing Date
      2018
    • Acquisition Date
      2018
    • Related Report
      2018 Annual Research Report

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Published: 2018-04-23   Modified: 2024-01-30  

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