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Development of artificial muscle having characteristics of human skeletal muscle

具有人体骨骼肌特性的人造肌肉的开发

基本信息

批准号：
01870001
负责人：
HANDA Yasunobu
金额：
$ 7.87万
依托单位：
Tohoku University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Developmental Scientific Research
财政年份：
1989
资助国家：
日本
起止时间：
1989 至 1992
项目状态：
已结题

项目摘要

We have developed artificial muscles made of helically colled shape memory alloy (SMA) wires. this SMA was made by diffusion method in order to reduce metal fatigue and to increase force of during transition. The transition temperature of this SMA for the artificial muscle was 75ﾟC(Af point). As feasible study of control of the SMA muscle, we made a dynamic model of the artificial hand where sophisticated duplicated skeleton system of the forarm and hand was used. Universal joints for robotics were used as joints for connecting each bone. A stainless steel rope was used as an artificial tendon and attached to the prescribed point of the bone where the tendon of each muscle is originally inserted in human. For applying current to each SMA muscle, a multichannel functional electrical stimulation (FES) system which we developed was used. Patterns of current application to SMA muscles were created from EMG data during hand motion recorded from normal volunteers. By using this system, hand motions such as cylindrical grasp and key grip were achieved in the artificial dynamic hand model.Then we have developed a muscle unit by a hellically colled SMA wire. Diameter of this wire was 0.1mm and D/d=5. Number of coiling was 100. Force of transition (contractile force) of this muscle unit was 6 kg/cm2 at 63ﾟC. This value was almost the same as that of human skeletal muscle during maximum contraction. An agonistantagonist system acting to the rabbit elbow joint with the above mentioned FES system was made by connecting the muscle units. It was found that flextion and extension of the elbow was basically controlled by this system.

我们已经开发了由螺旋冷却的形状记忆合金（SMA）丝制成的人工肌肉。该形状记忆合金采用扩散法制备，以减少金属疲劳，增加过渡过程中的力。该SMA用于人造肌肉的转变温度为75 ℃（Af点）。作为SMA肌肉控制的可行性研究，我们建立了一个动力学模型的假手，其中使用了复杂的复制骨骼系统的前臂和手。机器人的万向节被用作连接每个骨骼的关节。将不锈钢绳用作人工肌腱，并将其连接到骨骼的指定点，其中每个肌肉的肌腱最初插入人体。为了向每个SMA肌肉施加电流，使用了我们开发的多通道功能性电刺激（FES）系统。SMA肌肉的电流应用模式是根据正常志愿者手部运动记录的EMG数据创建的。利用该系统在人工动态手模型中实现了圆柱形抓握和键抓握等手部运动，并利用螺旋形缠绕的SMA丝构建了肌肉单元。该丝的直径为0.1mm，D/d=5。弹簧圈栓塞术次数为100。在63 ℃时，该肌肉单位的转变力（收缩力）为6 kg/cm 2。该值与人体骨骼肌最大收缩时的值几乎相同。将上述FES系统与肌肉单元连接，制成作用于兔肘关节的激动剂系统。结果表明，手肘的屈伸运动基本上由该系统控制。