Estimation of Motion intention by Tacit learning and application to Arm prosthesis control

Research Project

Project/Area Number	25871112
Research Category	Grant-in-Aid for Young Scientists (B)
Allocation Type	Multi-year Fund
Research Field	Rehabilitation science/Welfare engineering Intelligent mechanics/Mechanical systems
Research Institution	The Institute of Physical and Chemical Research
Principal Investigator	SHIMODA Shingo 独立行政法人理化学研究所, 脳科学総合研究センター, 連携ユニットリーダー (20415186)
Project Period (FY)	2013-04-01 – 2015-03-31
Project Status	Completed (Fiscal Year 2014)
Budget Amount *help	¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000) Fiscal Year 2014: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000) Fiscal Year 2013: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Keywords	Tacit learning / 義手 / 運動学習 / 環境適応
Outline of Final Research Achievements	We proposed a forearm prosthesis control architecture based on bio-mimetic learning called Tacit Learning. The users who use the conventional forearm prostheses have often to trouble to control the posture of hands because the conventional forearm prostheses have rarely wrist joints. We developed the forearm prosthesis with wrist rotation joints. Motions of the wrist rotation were automatically tuned according to the motions of their own shoulder and the elbow joints by tacit learning. We showed through the clinical tests with the forearm prosthesis users’ that the proposed system can reduce the motion energy when they griped the several type of door handles.