权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

Development of control system of the electric prosthetic hand using the digital cyber hand in virtual reality space

虚拟现实空间数字网络手电动假手控制系统的开发

基本信息

批准号：
15300194
负责人：
SAKAI Naotaka
金额：
$ 4.86万
依托单位：
Utsunomiya University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2005
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-15300194/
关键词：
virtual reality motion analysis electric prosthetic hand regulation biomechanics hand 仮想空間三次元画像手指

项目摘要

In the first year of the project, 2003, we combined the 3-Dimensional motion analysis system and the mechanical analysis system. It resulted that a new methodology to measure the axial rotation of the finger motion was developed and data base of hand motion was established with measuring the various hand movement in active daily living. On the other hand, we developed the finger force plate and measured the force vector in the fingertip at finger compression. In the second year, 2004, we developed the humanoid electric prosthetic hand which has a hand movement just as alive human hand, using the 3-dimensional data base of the hand motion. After all, there is a co-operative rhythm among the flexion angle of finger joints, and with this rhythm, it is possible to produce the human-like hand motion in the robotic prosthetic hand. In 2005, we investigated the perception of the digital cyber hand from 3-dimensional motion analysis data, in the virtual reality space. In this space, a disabled person with amputated arm could perceive as if his lost arm regenerated and the control of cyber arm was thought to be available for using the electric prosthetic hand. In order to develop this control system, we compared the real space and the cyber space and combined these two spaces. It resulted that the flexion angle of each finger joint of,the digital cyber hand should be transmitted to the control system of the electric prosthetic hand, and that this transmission would produce the humanoid artificial hand which has a human-like hand movement.

在项目的第一年，2003年，我们结合了三维运动分析系统和力学分析系统。提出了一种测量手指运动轴向旋转的新方法，并通过测量日常生活中的各种手部运动，建立了手部运动的数据库。另一方面，研制了指力测力板，测量了手指按压时指尖的力矢量。第二年，也就是2004年，我们利用手部运动的三维数据库，开发出了手部运动与活体人类手一样的仿人电动假手。毕竟，手指关节的屈曲角度之间存在着一种合作的节奏，有了这种节奏，就有可能在机器人假手中产生类似人类的手的运动。2005年，我们在虚拟现实空间中，从三维运动分析数据中调查了数字网手的感知。在这个空间里，截肢的残疾人可以感觉到，他失去的手臂似乎再生了，而且人们认为，使用电动假手可以控制网络手臂。为了开发这个控制系统，我们比较了真实空间和网络空间，并将这两个空间结合起来。其结果是，数字网络手的每个手指关节的屈曲角都要传输到电动假手的控制系统中，这种传输将产生具有类似真人手部运动的仿人假手。