2021 Fiscal Year Research-status Report
Control of human upper limb by electrical stimulation for accurate motion with external mechanical assistance of high bandwidth: basic mechanism and modeling
| Project/Area Number |
20K19843
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| Research Institution | The University of Tokyo |
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Principal Investigator |
黄 守仁 東京大学, 情報基盤センター, 特任講師 (20750029)
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| Project Period (FY) |
2020-04-01 – 2023-03-31
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| Keywords | human-robot interaction / mechanical assistance / electrical stimulation |
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| Outline of Annual Research Achievements |
In the second year of this study, we conducted primary evaluations of the developed electrical stimulation devices that can generate two channels of programmable electrical pulses with a frequency between 0 - 2000Hz under safety requirements. Closed-loop visual feedback control of human upper limb by the developed electrical stimulation from a range of 10Hz - 1000Hz was implemented. Primary results showed the possible tendency of better motion control in relation to a higher frequency of electrical stimulation embeded with a corresponding update frequency of visual feedback information. At the same time, we refined the system and continued the study on the human-machine interaction involving mechanical assistance of high-bandwidth via bimanual coordination mechanism.
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| Current Status of Research Progress |
Current Status of Research Progress
3: Progress in research has been slightly delayed.
Reason
One main goal of this study is to investigate the possible relationship between the performance of human upper limbs' motion control by electrical stimulation and the time resolution of electrical stimulation as well as feedback rate of closed-loop information. Although the primary evaluation results with a limited patch of participants showed the possible tendency of the relationship, it is necessary to conduct experimental studies on more human volunteers. However, due to COVID19 regulations, the experiment with sufficient participants was not able to be implemented as scheduled. Therefore, the research is progressing with a slight delay.
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| Strategy for Future Research Activity |
With the relief of the COVID19 regulations, the following two experimental studies on human volunteers is to resume. Firstly, stimulating the biceps and triceps of human upper limb with closed-loop visual feedback control by the developed electrical stimulation from a range of 10Hz - 1000Hz is to be studied. Secondly, human-machine interaction involving mechanical assistance of high-bandwidth via bimanual coordination to be evaluated with concrete tasks by our refined system.
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| Causes of Carryover |
Firstly, the scheduled expenses for compensation of human volunteers' participants in the experimental studies were postponed due to COVID19 regulations. Secondly, by borrowing the existing system from other projects, the scheduled purchase of high-speed vision system was postponed. Besides, the scheduled travel budget to attend academic conferences was not fully implemented due to the reason that conferences have been held on-line.
The budget is rescheduled to resume the experimental studies on recruiting volunteers as well as purchase of the necessary parts including high-speed vision system, mechanical parts and electrical parts. Besides, publication fees as well as registration fees for conferences are scheduled in order to present the results of this study.
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