2012 Fiscal Year Final Research Report
Development of myoelectric prosthetic hands applying caging grasps for long-term use
| Project/Area Number |
23760248
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Sasebo National College of Technology |
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Principal Investigator |
MAKITA Satoshi 佐世保工業高等専門学校, 電子制御工学科, 講師 (60580868)
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| Project Period (FY) |
2011 – 2012
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| Keywords | 物体操作 / ロボットハンド / ケージング / マニピュレーション / 物体認識 / 筋電義手 / 筋電位 |
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| Research Abstract |
We studied caging grasps by a myoelectric prosthetic hand for long-term use of the hand: (1) experimental study of caging grasps for position-controlled prosthetic hands, and visual object recognition for ring-type caging, (2) motion estimation with electromyography. In (1), we proposed caging grasps, as geometrical constraint of objects by robots, and experimentally approached the posture and fingers location of the hand for caging several simple-shaped objects. Also we developed feature detection and posture estimation of objects for ring-type caging. In (2), we can recognize 4 motions of the forearm and the fingers by 2 electrodes.
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