Estimation of Motion intention by Tacit learning and application to Arm prosthesis control

2014 Fiscal Year Final Research Report

• Project/Area Number: 25871112
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Rehabilitation science/Welfare engineering; Intelligent mechanics/Mechanical systems
• Research Institution: The Institute of Physical and Chemical Research
• Principal Investigator: SHIMODA Shingo 独立行政法人理化学研究所, 脳科学総合研究センター, 連携ユニットリーダー (20415186)
• Project Period (FY): 2013-04-01 – 2015-03-31
• Keywords: Tacit learning / 義手

Outline of Final Research Achievements

We proposed a forearm prosthesis control architecture based on bio-mimetic learning called Tacit Learning. The users who use the conventional forearm prostheses have often to trouble to control the posture of hands because the conventional forearm prostheses have rarely wrist joints. We developed the forearm prosthesis with wrist rotation joints. Motions of the wrist rotation were automatically tuned according to the motions of their own shoulder and the elbow joints by tacit learning. We showed through the clinical tests with the forearm prosthesis users’ that the proposed system can reduce the motion energy when they griped the several type of door handles.

Free Research Field

ロボティクス