| Budget Amount *help |
¥18,330,000 (Direct Cost: ¥14,100,000、Indirect Cost: ¥4,230,000)
Fiscal Year 2014: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2013: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2012: ¥6,630,000 (Direct Cost: ¥5,100,000、Indirect Cost: ¥1,530,000)
Fiscal Year 2011: ¥8,580,000 (Direct Cost: ¥6,600,000、Indirect Cost: ¥1,980,000)
|
|---|
| Outline of Final Research Achievements |
A new fusion scheme for a human and a robotic system has been developed based on muscle synergies, specific patterns of muscle coactivation. We first proposed the A-A ratio (Agonist-Antagonist ratio) and A-A activity (Agonist-Antagonist activity) concepts, and used them to extract the kinematic information and stiffness information separately from EMG signals. Next, we demonstrated how to extract muscle synergies from EMG signals by applying dimensionality-reduction techniques. Finally, a framework for understanding how the CNS (Central Nervous System) uniquely specifies control commands to each muscle was presented and applied it to realize a transmission system of motor commands between a human and a robotic system.
|
