Dynamical Coupling in Motor-Sensory Function Substitution

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The goal of this proposal is the realization of dynamical coupling between assistive device systems for motor-sensory function substitution and their users. During the term of this project, EMG (Electromyographic) prosthetic hand was taken as the example of the assistive device. Towards this goal, we proceeded in three stages: (a) investigation of the general sensori-motor characteristics of human shoulder-arm-hand complex, and development of an interaction-based adaptation method to enable the dynamical coupling, based on the results from the previous stage; (b) development of a multi-modal sensory feedback method; (c) realization of the prosthetic hand control system that uses EMG and kinematic signals for forward control and bio-sensory stimulation for feedback control. The evaluation then will be performed to the integrated prosthetic hand system.