Development of a multi-DOF electromyography prosthetic system using the adaptive joint mechanism
Development of a multi-DOF electromyography prosthetic system using the adaptive joint mechanism
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DOI：
10.1533/abbi.2005.0060
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发表时间：
2006-04
影响因子：
2.2
通讯作者：
A. Arieta;Ryu Katoh;H. Yokoi;Y. Wenwei
中科院分区：
文献类型：
--
作者：
A. Arieta;Ryu Katoh;H. Yokoi;Y. Wenwei
本文介绍了一种利用人体皮肤表面肌电信号控制的电动假肢系统。电动假肢系统的研究分为两个主要课题。一是关节机构的设计。我们建议使用基于肌腱驱动结构的自适应关节机制。该机构包括机械扭矩-速度转换器和通过远端执行器辅助近端关节扭矩的机构。另一个课题是肌电信号的识别。针对肌电信号的多种模式识别和非线性特性，提出了一种基于简单模式识别信息处理的控制器。该系统还驱动12个伺服电机来移动自适应关节机构。在本文中，我们展示了所提出的系统，并描述了假手的机械设计。实验结果表明，该方法可以实现对电动装置的控制。
This paper describes an electrically powered prosthetic system controlled by electromyography EMG signal detected from the skin surface of the human body. The research of electrically powered prosthetic systems is divided into two main subjects. One is the design of the joint mechanism. We propose the use of an adaptive joint mechanism based on the tendon-driven architecture. This mechanism includes mechanical torque--velocity converters and a mechanism to assist the proximal joint torque by distal actuators. The other subject is the recognition of the EMG signal. For the discrimination of many patterns and nonlinear properties of the EMG signal, we propose a controller based on a simple pattern recognition information process. The system also drives 12 servomotors to move the adaptive joint mechanism. In this paper, we show the proposed system and describe the mechanical design of the prosthetic hand. The experimental results show that the electrically powered devices can be controlled using the proposed method.