2012 Fiscal Year Final Research Report
Development of a Robot Prosthetic Hand System Based on Finger Joint Angle Estimation Using Surface EMG Signals
| Project/Area Number |
23700669
|
|---|
| Research Category |
Grant-in-Aid for Young Scientists (B)
|
| Allocation Type | Multi-year Fund |
|---|
| Research Field |
Rehabilitation science/Welfare engineering
|
|---|
| Research Institution | University of Hyogo |
|---|
Principal Investigator |
ARAKI Nozomu 兵庫県立大学, 大学院・工学研究科, 助教 (10453151)
|
|---|
| Research Collaborator |
MABHCHI Kunihiko 東京大学, 情報理工学系研究科, 教授 (50192349)
HOASHI Yuki 兵庫県立大学, 大学院・工学研究科, 博士前期課程
NAKATANI Shintaro 兵庫県立大学, 大学院・工学研究科, 博士前期課程
INAYA Kenji 兵庫県立大学, 大学院・工学研究科, 博士前期課程
|
|---|
| Project Period (FY) |
2011 – 2012
|
| Keywords | ヒューマンインターフェース / 筋電義手 / 表面筋電信号 / 関節角度推定 |
|---|
| Research Abstract |
The goal of this study was to develop a robot prosthetic hand system for an amputee that estimates his desired finger angle from surface EMG signals, and operates with the motion he intends. Consequently, we have proposed a finger joint angle estimation method based on a histogram of EMG signals and a linear model. Moreover, a 2-DOF artificial finger robot has been designed and developed. Using this robot and our proposed finger joint angle estimation method, we executed a robot prosthetic finger system demonstration experiment. As a result, it was confirmed that our system is technically feasible for application to a real prosthetic hand system.
|
