Development of a Robot Prosthetic Hand System Based on Finger Joint Angle Estimation Using Surface EMG Signals

这项研究的目标是为截肢者开发一种机器人假手系统，该系统可以根据表面肌电信号估计他想要的手指角度，并以他想要的运动进行操作。因此，我们提出了一种基于直方图和线性模型的手指关节角度估计方法。在此基础上，设计并研制了一种2自由度的人工手指机器人。利用该机器人和我们提出的手指关节角度估计方法，我们进行了机器人假指系统演示实验。结果证实，我们的系统在技术上是可行的，可以应用于真实的假手系统。

The goal of this study was to develop a robot prosthetic hand system for an amputee that estimates his desired finger angle from surface EMG signals, and operates with the motion he intends. Consequently, we have proposed a finger joint angle estimation method based on a histogram of EMG signals and a linear model. Moreover, a 2-DOF artificial finger robot has been designed and developed. Using this robot and our proposed finger joint angle estimation method, we executed a robot prosthetic finger system demonstration experiment. As a result, it was confirmed that our system is technically feasible for application to a real prosthetic hand system.