2023 Fiscal Year Final Research Report

Realization of a cyborg prosthetic hand that can be perceived as a body using somatosensory stimulation synchronized with motor intention

Research Project

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Project/Area Number	21H03300
Research Category	Grant-in-Aid for Scientific Research (B)
Allocation Type	Single-year Grants
Section	一般
Review Section	Basic Section 59010:Rehabilitation science-related
Research Institution	Yokohama National University
Principal Investigator	Kato Ryu 横浜国立大学, 大学院工学研究院, 准教授 (70516905)
Co-Investigator(Kenkyū-buntansha)	高木岳彦国立研究開発法人国立成育医療研究センター, 小児外科系専門診療部, 部長 (00348682) 山野井佑介東京理科大学, 工学部電気工学科, 助教 (40870184) 吉田進二東海大学, 医学部, 講師 (80464882) 矢吹佳子電気通信大学, 脳・医工学研究センター, 研究員 (80774017) 横井浩史電気通信大学, 大学院情報理工学研究科, 教授 (90271634) 児玉三彦東海大学, 医学部, 准教授 (90317777)
Project Period (FY)	2021-04-01 – 2024-03-31
Keywords	サイボーグ義手
Outline of Final Research Achievements	This research aims to develop a cyborg prosthetic hand that enables body recognition as one's own body and to establish a methodology for doing so, with the aim of realizing a next-generation practical cyborg prosthetic hand that achieves a natural operating feel close to that of a natural body. The main research results are as follows: (1) We developed a control method for a cyborg prosthetic hand that reduces the burden of operation by combining myoelectrical stimulation and distance imaging during pre-shaping, (2) We developed a multi-degree-of-freedom cyborg prosthetic hand that can be worn at all times by creating a hand that takes into account the dislocation mechanism of finger joints and the functions and mechanical characteristics of the human hand, and (3) We clarified a somatosensory feedback method that promotes body recognition through psychophysical experiments using tactile and deep sensory feedback methods.
Free Research Field	ロボティクス
Academic Significance and Societal Importance of the Research Achievements	本研究成果は，自己身体として身体認知を可能にするサイボーグ義手の構築とその感覚フィードバック手法を示せたことは，ただの使いやすい道具ではなくより身体に近づいた自然な操作感を実現するサイボーグ義手の構築の可能性を示したことであり学術的に大きな意義がある．また，本研究成果は上肢切断者のQOL(生活の質)の向上や，マニピュレータを用いた両手作業の拡張による組立作業支援などの産業応用など社会的波及効果も大きいものと考える．