Study of practical biomimetic myoelectric hand prosthesis with supplementary sensory feedback system

辅助感觉反馈系统实用仿生肌电手假肢的研究

• 批准号: 10555144
• 负责人: AKAZAWA Kenzo
• 金额: $ 5.38万
• 依托单位: Osaka University (2000-2001)Kobe University (1998-1999)
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 2001
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-10555144/
• 关键词: prosthetic hand; compliance; EMG; microprocessor; electotactile stimuli; sensory feedback; muscle; スチフネス; バーバル情報; ダイナミクス; 音刺激; 感覚代行; 筋電義手; グローブ; マイクロコンピュータ; 電極; 粘弾性

We developed a prosthetic hand which mimicked the fundamental dynamic properties of the neuromuscular control system of the natural human hand. The results obtained from the present study are summarized below.(1) We developed a new type of myoelectrically-controlled prosthetic hand which simulated the dynamic properties of the viscoelasticity of muscle and the stretch reflex. The prosthetic hand consisted of the surface EMG signals processing units, the digital servo system for a DC motor and a one-degree-of-freedom mechanical hand.(2) The utility of the developed prosthetic hand was shown by myoelectric control experiments with both a normal subject and an amputee. If was shown that the finger angle and the compliance of the prosthetic hand could be controlled voluntarily with the EMG signals and that an amputee could grasp a soft object easily with the prosthetic hand.(3) Supplementary sensory feedback system was develpped. Verbal information, for examples : "right", "left" and so on, was informed subjects with two time-series electrotactile stimulation patterns.(4) The 3D-CG (3 dimensional computer graphics) simulator of a on-off control myoelectric hand and a biomimetic myoelectric hand were developed for amputee to watch, touch and try to use the myoelectric hand easily.

我们开发了一种假肢手，模仿了天然人手的神经肌肉控制系统的基本动态特性。从本研究中获得的结果总结了下面。（1）我们开发了一种新型的肌电控制的假体手，该手模拟了肌肉粘弹性和拉伸反射的动态特性。假肢由表面EMG信号处理单元，用于直流电动机的数字伺服系统和一级机械手组成。（2）通过具有正常主题和截肢者的肌电控制实验显示了已发达的假手柄的效用。如果证明，可以自愿通过EMG信号来自愿控制手指角度和假肢的依从性，并且截肢者可以轻松地用假肢手来抓住软对象。（3）补充感觉反馈系统被删除。言语信息，例如：“右”，“左”等等，以两个时间序列的电动刺激模式被告知受试者。（4）3D-CG（3尺寸计算机图形）的模拟器的模拟器是一个开关控制的肌电手部的模拟器，并为Amoelectric Hand hande开发了用于观察amoelectric Hande，以便轻松地使用触摸，可以轻松地触摸，触摸和touch the myoooctric。

项目成果

菊谷功: "ヒト長母指屈筋における筋活動レベルと筋粘弾性力との関係"電子情報通信学会論文誌. J83-DII. 1832-1840 (2000)

Isao Kikutani：“人类拇长屈肌的肌肉活动水平和肌肉粘弹性力之间的关系”电子、信息和通信工程师学会杂志 J83-1840（2000 年）。

Ryuhei Okuno: "Biomimetic myoelectric hand using a one-chip microprocessor (in Japanese)"Proceedings of the 40th Conference the Japan Society of Medical Electronics and Biological Engineering. Vol. 38 Suppl.. 631 (2000)

Ryuhei Okuno：“使用单片微处理器的仿生肌电手（日语）”第 40 届日本医学电子和生物工程学会会议论文集。

奥野竜平: "手の運動制御機能を取り入れたバイオミメティック筋電義手の開発"第20回バイオメカニズム学会講演予稿集. 510-513 (1999)

Ryuhei Okuno：“结合手部运动控制功能的仿生肌电假手的开发”第 20 届生物力学学会会议记录 510-513 (1999)。

Ryuhei Okuno: "Biomimetic Myoelectric Hand with Voluntary Control of Finger Angle and Compliance"Frontiers of Medical and Biological Engineering. 9, 2. 123-135 (1999)

Ryuhei Okuno：“具有自主控制手指角度和顺应性的仿生肌电手”医学和生物工程前沿。

奥野 竜平: "バイオミメティック筋電義手における駆動システムの試作"第40回日本ME学会大会論文集. 631 (2001)

Ryuhei Okuno：“仿生肌电假手驱动系统原型”第 40 届日本 ME 学会会议记录 631 (2001)。