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Analysis of Variable Impedance Characteristics in Human Movements and Its Application to Control of Powered Prosthetic Arms

人体运动中的可变阻抗特性分析及其在动力假肢控制中的应用

基本信息

批准号：
11650450
负责人：
TSUJI Toshio
金额：
$ 2.3万
依托单位：
HIROSHIMA UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2000
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-11650450/
关键词：
motor control impedance robot prosthetic arm muscle model

项目摘要

The purpose of this research is to make a new impedance model of human movements and apply it to the control of powered prosthetic arms. The obtained results throughout the research can be summarized as follows :1. In order to estimate the human impedance experimentally, it is necessary to measure force corresponding to external disturbance applied to an end-point of human extremities. In this research, a new experimental apparatus for the measurement of the impedance has been developed, by which the external disturbance with any direction in the horizontal plane can be applied.2. Measuring the mechanical impedance of the wrist joint, we have analyzed the relation between the activation level of skeletal muscles and the joint impedance. The experimental results show that the viscoelasticity of the wrist joint changes depending on the muscular activation level. Then, a new joint impedance model using a nonlinear regression model of the muscular activation level has been proposed.3. The proposed joint impedance model was implemented into a powered prosthetic arm with 3 degrees of freedom which are driven by ultrasonic motors. In this control system, a human operator can control the joint impedance itself by using his/her EMG signals.4. The prosthetic control system was realized by combining the proposed impedance control system and a motion discrimination system that can estimate the operator's intended motions from EMG signals using a neural network. Effectiveness of the developed control system was confirmed from the experiments by an amputee.

本研究的目的是建立一种新的人体运动阻抗模型，并将其应用于电动假臂的控制。1.为了从实验上估计人体阻抗，需要测量施加在人体四肢末端的外部干扰所对应的力。本研究开发了一种新型的阻抗测量实验装置，可以在水平面上施加任意方向的外加扰动。通过测量腕关节的机械阻抗，分析了骨骼肌的激活程度与关节阻抗的关系。实验结果表明，腕关节的粘弹性随肌肉激活程度的不同而变化。在此基础上，利用肌肉激活程度的非线性回归模型，提出了一种新的关节阻抗模型。将所提出的关节阻抗模型应用于超声波电机驱动的三自由度动力假肢。在这个控制系统中，操作员可以使用他/她的肌电信号来控制关节阻抗本身。该假肢控制系统是通过将所提出的阻抗控制系统与运动识别系统相结合来实现的，该运动识别系统可以利用神经网络从肌电信号中估计操作者的预期动作。截肢者的实验结果证实了所开发的控制系统的有效性。