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%.

这项研究的目的是生产截肢者在日常生活中可以使用的原型肌电手法。研究结果如下所示。电子控制电路We产生了针对用户可以携带的电池驱动器的电子控制电路。控制电路由电动机控制电路，肌电图处理电路和电动机电路组成。我们更改了一个中央处理单元，用于节能电子控制电路。通过修改中央处理单元，我们开发了一个新的控制程序。由于整个控制电路的设计已经完成，因此我们进行了第一个试验电路板设计，以进行小型化，并检查了微型化的可能性。我们开发了手动检测力的力检测电路的自动偏移调节电路。执行实验以确定调制方法，电刺激的位置和刺激点的数量。结果，我们设计了没有对受试者施加的方法。我们确认信息的三个阶段可以用四个电极传输。对于感觉辅助，我们检查了两种电刺激方法。一种是一种方法，两个不同的相位馈送到人体上，而创建的节拍电流刺激了身体。通过使用这种方法，我们可以在低压下刺激身体。我们确认，我们可以通过更改两个刺激电流的相改变固定电极的刺激位置，并且在应用这种刺激时可以测量肌电信号。另一种方法是连续地对身体进行两种刺激。通过这种方法，我们可以以约95％的精度传输手肢体的状态。

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）。

佐々木陽子: "筋電義手用感覚フィードバック方法の検討"日本生活支援工学会第1回研究集会講演概要集. 7 (2001)

佐佐木洋子：“肌电假手感觉反馈方法的研究”日本生命支持工程学会第一次研究会议摘要7（2001）。

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)