Design of Pneumatically-Driven Myoelectric Prosthetic Hand for High-Performance Skills

在这项研究中，我们的目标是开发一个更复杂的轻量级肌电假手，前提是与人类接触。出于安全考虑，我们使用了由我们独创的气动致动器驱动的五指机器人手作为肌电假手。在构建气动致动器的性能特征和干扰控制系统以及手和手指的运动识别方法的基础上，建立了具有腕部和拇指掌内收功能的气动驱动肌电假手的基本设计方法，并通过实验验证了其有效性。

In this study, we aimed to develop a more sophisticated lightweight myoelectric prosthetic hand premising contact with humans. We used a five-fingered robot hand driven by our original pneumatic actuators for the myoelectric prosthetic hand with safety in mind. After we constructed control systems for performance characteristics and disturbance in the pneumatic actuators as well as the motion discrimination method of hands and fingers, we established the fundamental design method of pneumatically-driven myoelectric prosthetic hand with two-degree-of-freedom wrist and thumb palmar adduction function as results of validating those effectivenesses by experiments.