2022 Fiscal Year Annual Research 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
|
|---|
| Research Institution | The University of Tokyo |
|---|
Principal Investigator |
黄 守仁 東京大学, 情報基盤センター, 特任講師 (20750029)
|
|---|
| Project Period (FY) |
2020-04-01 – 2023-03-31
|
| Keywords | human-robot interaction / mechanical assistance / bimanual coordination / high-speed vision / electrical stimulation |
|---|
| Outline of Annual Research Achievements |
The purpose of this study is to investigate the mechanism and modeling for control of human upper limbs to realize accurate manipulation with external mechanical assistance of high bandwidth. The following aspects were achieved in the final year of this study. Firstly, with the system developed for realizing human-machine interaction via voluntary bimanual coordination mechanism with high-bandwidth mechanical assistance, we investigated the basic mechanism with respect to the phase theory and experimentally verified the effectiveness with a concrete task. The result of quantitative studies on this topic has been summarized in a paper under review. For the topic of human upper limb control by electrical stimulation, although more quantitative studies are still under way, primary results verified our proposed concept based on our developed system that could generate two channels of high-speed visual-feedback-controlled electrical pulses with a frequency up to 2000Hz.
Overall, with the studies carried out in this reseach project, we successfully developed the systems according to our plans and managed to lay the foundation for further studies on human upper limb control by electrical stimulation as well as by voluntary bimanual coordination mechanism with high bandwidth mechanical assistance.
|
