| Budget Amount *help |
¥16,900,000 (Direct Cost: ¥13,000,000、Indirect Cost: ¥3,900,000)
Fiscal Year 2013: ¥6,760,000 (Direct Cost: ¥5,200,000、Indirect Cost: ¥1,560,000)
Fiscal Year 2012: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2011: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
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| Research Abstract |
This project aims at developing a trans-humeral prosthesis which can be used in daily living. A hybrid robotic arm was designed with pneumatic actuators and servo motors, taking into consideration the range of motion (ROM) and impact absorption. After verified with a simulation study, a robotic arm less than 800g, with 5 DOFs (degree of freedom) was prototyped. An adaptive user interface was established, in which around-shoulder bio-signals were used to detect direction of reaching and configuration of grasping to make. An audio-feedback for tactile information and joint angles was built. All the components developed were integrated to a trans-humeral prosthesis, and the effectiveness of each components and the system as a whole was verified through a set of experiments.
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