Development of biomimetic prosthesic hand with sensory aid

具有感觉辅助的仿生假手的开发

• 批准号: 12558113
• 负责人: YOSHIDA Masaki
• 金额: $ 5.57万
• 依托单位: Osaka Electro-Communication University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2000
• 资助国家: 日本
• 起止时间: 2000 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-12558113/
• 关键词: prosthesic hand; control unit; sensory aid; electrical stimulation; interference current; feed back; 間隔情報伝達; グローブ; ソケット

The purpose of this study is to produce the prototype myoelectrical hand prosthesis which amputee can use in everyday life. The results of the study are shown as follows.Electronic control circuitWe produced electronic control circuit aiming at the battery drive that the user could carry. The control circuit consists of a motor control circuit, electromyogram processing circuit, and a motor drive circuit. We changed a central processing unit for power-saving of electronic control circuit. With modification of a central processing unit, we developed a new control program. Because a design of the whole control circuit was finished, we made the first trial circuit board design for miniaturization and examined possibility of miniaturization. We developed the automatic offset regulation circuit of the force detecting circuit in hand.Sensory aid unitThe experiments were carried out to decide the modulation method, the position of electrical stimulation, and the number of stimulus point. As the result, we devised the method that did not inflict on subjects. And we confirmed that the three phases of information could be transmitted with four electrodes.For the sensory aid, we examined two kinds of electric stimulation method. One is the method that two different current of phase fed to the body and that the created beat current stimulated the body. By using this method, we could stimulate body in low voltage. And we confirmed that we could change the stimulus position with the fixed electrode by changing phase of two stimulus current and that the myoelectrical signal could be measured when this stimulation was applied. Another method is to give two kinds of stimulus to the body in succession. With this method, we could transmit the state of the hand prosthesis in accuracy of around 95%.

本研究的目的是制作一个可供截肢者日常使用的肌电假手原型。研究结果如下：电子控制电路针对用户可携带的电池驱动，设计了电子控制电路。控制电路由电机控制电路、肌电图处理电路和电机驱动电路组成。为了节省电子控制电路的功耗，我们更换了一个中央处理器。通过对中央处理器的改造，我们开发了一种新的控制程序。由于完成了整个控制电路的设计，我们进行了第一次小型化试验电路板设计，并检查了小型化的可能性。我们研制了手部力觉检测电路的自动失调调节电路。感觉辅助单元通过实验确定了调制方式、电刺激位置和刺激点数。因此，我们设计了一种不会对受试者造成伤害的方法。同时证实了四电极可以传递三相信息。一种是将两个不同相位的电流馈入人体，产生的拍频电流刺激人体。通过这种方法，我们可以在低电压下刺激身体。通过改变两个刺激电流的相位，可以改变固定电极的刺激位置，并在此刺激下测量肌电信号。另一种方法是连续给予身体两种刺激。通过这种方法，我们可以在95%左右的准确度传递的手假肢的状态。

项目成果

M.Kitamasu: "Basic Study for New Type Actuator Using Shape Memory Alloy"Proceedings of the 2001 IEEE EMBS Annual Conference. No.430(CD-ROM). 1-3 (2001)

M.Kitamasu：“使用形状记忆合金的新型执行器的基础研究”2001 IEEE EMBS 年会论文集。

R.Okuno: "Biomimetic Hand Prosthesis with Easily Programmable Microprocessor and High Torque Motor"Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. 1674-1677 (2003)

R.Okuno：“具有易于编程的微处理器和高扭矩电机的仿生手假肢”IEEE 医学和生物学工程学会第 25 届年度国际会议论文集。

吉田正樹, 寺尾宗亮, 山原寿貴: "筋張力推定のための筋電図処理最適遮断周波数"生体医工学. 41,特別号. 119 (2003)

Masaki Yoshida、Sosuke Terao、Hisataka Yamahara：“肌肉张力估计的肌电图处理的最佳截止频率”生物医学工程 41，特刊 119（2003）。

M.Yoshida: "Sensory Feedback System using Interferential Current"IFMBE Proceedings 2002. 1324-1325 (2002)

M.Yoshida：“使用干扰电流的感觉反馈系统”IFMBE Proceedings 2002. 1324-1325 (2002)

Y.Sasaki: "New stimulation method for stimulus point movement"Proceedings of 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. 1655-1657 (2003)

Y.Sasaki：“刺激点运动的新刺激方法”IEEE 医学与生物学工程学会第 25 届国际年会论文集。