Analysis of control mechanism of human upper limb and development of biomimetic actuator

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The purposes of this research were analysis of movement control mechanism of human upper limb and muscle contraction and development of biomimetic actuator and powered prosthetic hand. In this research, the dynamics of human thumb muscle and elbow muscles were formulated and myoelectric hand the developed.(1) Analysis and formulation of dynamicsThe dynamics of flexor pollicis longus (FPL) muscle including short latency stretch reflex for synthesis of a myoelectric hand was identified. First, force response to ramp stretch was measured with varying isometric force. Then a third order ARX (autoregressive with exogenous input) model was used to express the force response. Determined ARX model was also expressed with a tranafer function.(2) Modeling of position control mechanism of upper limbEMG signals of six muscles of upper limb, elbow joint angle and torque were measured when the flexing the elbow at almost constant speed. It was estimated that when the velocity of flexion was zero, the stiffness was negative over an elbow joint angle of 30 to 80 degrees. However when the velocity of flexion was at 30 and 60 deg/s, the stiffness was positive.(3) Development of biomimetic actuatorWe 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.