Development of a Powered Prosthesis with Hybrid Interface for Precision and Powered Grasp Function

开发具有混合接口的动力假肢，以实现精确和动力抓握功能

• 批准号: 22700579
• 负责人: OHNISHI Kengo
• 金额: $ 2.58万
• 依托单位: Tokyo Denki University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Young Scientists (B)
• 财政年份: 2010
• 资助国家: 日本
• 起止时间: 2010 至 2012
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-22700579/
• 关键词: 義手; ハンド; 生体機能利用; リハビリテーション; 知能機械; 筋電制御; 節電制御

Myoelectric control and Bowden cable control system are the 2 major terminal device control method for the upper limb prosthesis. Our objective is to propose a hybrid controller composed of the myoelectric control and Bowden cable control for developing a multifunctional upper limb prosthesis to enhance the workability. To investigate the functionality of the myoelectric and Bowden cable control methods and determine the specification of the new controller, the adjustability of prehension force is measured through experiment. In the experiment, prehension force is measured in timeline for the intact hand, myoelectric controlled prosthetic hand, and Bowden cable controlled hook-type terminal device. Data collected from 10 subjects are evaluated by 3 indices: setting time, number of regripping repetition, and ratio of the maximum gripping force to the target force. The criteria of the design specification are discussed based on the mean and deviation of the analysis, and the development of the hybrid controller’s digit mechanismdesign and prototyping are forwarded. The experiments on prehension force control are compared with the pre-collected data. A human-mechatronics interface for coexisting powered and precision grasp is to be established

肌电控制和鲍登电缆控制系统是上肢假肢的两种主要终端设备控制方法。我们的目标是提出一种由肌电控制和鲍登电缆控制组成的混合控制器，用于开发多功能上肢假肢，以提高其可操作性。为了研究肌电和鲍登电缆控制方法的功能，确定新型控制器的规格，通过实验测量了抓握力的可调性。在实验中，对完整手、肌电控制假手和鲍登电缆控制的钩式终端装置进行了抓握力的时间轴测量。采用设定时间、重抓次数、最大抓握力与目标力之比3个指标对10名被试的数据进行评价。根据分析的均值和偏差，讨论了设计规范的准则，并对混合控制器数字机构设计和样机的发展进行了展望。对抓取力控制的实验结果与预采集数据进行了比较。建立了动力抓取与精密抓取并存的人机界面

项目成果

義手制御インタフェースによる把持力調整能力の比較

使用假肢手控制界面的握力调节能力比较

• 作者: Kengo Ohnishi;Isamu Kajitani;渡辺勇輝，大西謙吾
• 通讯作者: 渡辺勇輝，大西謙吾

義手制御を想定した条件下における表面筋電位センサの安定性評価実験

假肢手控制条件下表面肌电位传感器稳定性评估实验

• 发表时间: 2012
• 作者: 大西謙吾

Multimodal Sensor Control for Orientating the Hand of a 3-DOF Transradial Myoelectric Prosthesis

用于定向 3 自由度经桡动脉肌电假肢手部的多模态传感器控制

• 发表时间: 2010
• 作者: Kengo Ohnishi;Isamu Kajitani
• 通讯作者: Isamu Kajitani