A new fusion scheme for a human and a robot based on muscle synergies

2014 Fiscal Year Final Research Report

• Project/Area Number: 23360112
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Osaka University
• Principal Investigator: MIYAZAKI Fumio 大阪大学, 基礎工学研究科, 教授 (20133142)
• Co-Investigator(Kenkyū-buntansha): HIRAI Hiroaki 大阪大学, 大学院基礎工学研究科, 講師 (60388147) ; UEMURA Mitsunori 大阪大学, 大学院基礎工学研究科, 助教 (00512443)
• Project Period (FY): 2011-04-01 – 2015-03-31
• Keywords: 筋シナジー / 運動制御 / EMG

Outline of Final Research Achievements

A new fusion scheme for a human and a robotic system has been developed based on muscle synergies, specific patterns of muscle coactivation. We first proposed the A-A ratio (Agonist-Antagonist ratio) and A-A activity (Agonist-Antagonist activity) concepts, and used them to extract the kinematic information and stiffness information separately from EMG signals. Next, we demonstrated how to extract muscle synergies from EMG signals by applying dimensionality-reduction techniques. Finally, a framework for understanding how the CNS (Central Nervous System) uniquely specifies control commands to each muscle was presented and applied it to realize a transmission system of motor commands between a human and a robotic system.

Free Research Field

工学（機械工学）「知能機械学・機械システム」