Development of a Robot Prosthetic Hand System Based on Finger Joint Angle Estimation Using Surface EMG Signals
| Project/Area Number |
23700669
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Rehabilitation science/Welfare engineering
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| Research Institution | University of Hyogo |
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Principal Investigator |
ARAKI Nozomu 兵庫県立大学, 大学院・工学研究科, 助教 (10453151)
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| Research Collaborator |
MABHCHI Kunihiko 東京大学, 情報理工学系研究科, 教授 (50192349)
HOASHI Yuki 兵庫県立大学, 大学院・工学研究科, 博士前期課程
NAKATANI Shintaro 兵庫県立大学, 大学院・工学研究科, 博士前期課程
INAYA Kenji 兵庫県立大学, 大学院・工学研究科, 博士前期課程
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| Project Period (FY) |
2011 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2012: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2011: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
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| Keywords | ヒューマンインターフェース / 筋電義手 / 表面筋電信号 / 関節角度推定 |
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| Research Abstract |
The goal of this study was to develop a robot prosthetic hand system for an amputee that estimates his desired finger angle from surface EMG signals, and operates with the motion he intends. Consequently, we have proposed a finger joint angle estimation method based on a histogram of EMG signals and a linear model. Moreover, a 2-DOF artificial finger robot has been designed and developed. Using this robot and our proposed finger joint angle estimation method, we executed a robot prosthetic finger system demonstration experiment. As a result, it was confirmed that our system is technically feasible for application to a real prosthetic hand system.
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Report
(3 results)
Research Products
(14 results)
