2022 Fiscal Year Final Research Report
Development and Evaluation of Upper limb Prosthesis and Orthosis based on Carpal Articular Function Oriented Design
| Project/Area Number |
20K12760
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 90150:Medical assistive technology-related
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| Research Institution | Tokyo Denki University |
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Principal Investigator |
Ohnishi Kengo 東京電機大学, 理工学部, 教授 (70336254)
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| Project Period (FY) |
2020-04-01 – 2023-03-31
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| Keywords | 義手 / 手指装具 / 手根関節 / 操作インタフェース / 機構 / 筋電パターン識別 / 自動調整 |
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| Outline of Final Research Achievements |
We proposed thumb-wrist-function oriented design, which mainly targets independent motion control or the thumb and wrist joint of prosthetic terminal devices and anthropomorphic robotic hands and assessed the effect of this design approach. A terminal device and a servomotor-embedded hand with mechanisms and control for cooperated thumb carpometacarpal and radiocarpal joints were designed, and their interfaces were developed. A spatial linkage for powered prosthetic hand’s thumb was designed. A 5-digit hand with 2-DOF thumb CM-joint and radial-ulnar rotating joint was developed. 3-digit terminal device with tripod & lateral grasp was developed. Automatic sensitivity adjusted pattern recognition myoelectric controller was developed and tested.
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| Free Research Field |
リハビリテーションロボティクス
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| Academic Significance and Societal Importance of the Research Achievements |
パターン識別式の義手開発は続いており，手指装具の研究開発も盛んであるが，制御対象であるハンド，手先具や手指装具の機能設計が不十分ではアルゴリズムによる制御性への効果は十分期待することはできない．また，手先具は3Dプリンタで製造するための設計が報告されているが，製造コスト重視で，母指は運動機能がほとんどない．これらのことから，本研究で目標とする母指・手関節に着目した設計アプローチは従来の義手手先具や手指装具とは一線を画し，また義手・上肢装具としての実用性を重視し，作業性がある機構とインタフェースの開発とこの義手を評価できる試験装置も合わせて研究を進めるところが特徴である．
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