筋電制御によるバイオミメティック電動義手の開発

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  • Development of Biomimetic Powered-Prosthetic Hand Controlled by Myoelectrogram
  • キンデン セイギョ ニ ヨル バイオミメティック デンドウ ギシュ ノ カイハ

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The purpose of this study was to develop a new type of myoelectric prosthetic hand, which simulated dynamic properties of the neuromuscular control system of human hand. This prosthetic hand consisted of a processing unit of surface electromyogram (EMG), a digital servo system of DC motor and a one-degree-of-freedom mechanical hand. EMG signal was used as control signal for opening and closing of the prosthetic hand. This prosthetic hand mimicked the property that both muscle viscoelasticity and gain of the stretch reflex vary linearly with the activity of muscle. That is to say, stiffness of the prosthetic hand was designed to change linearly with the amplitude of IEMG (rectified and smoothed surface EMG).<br>Usefulness of this prosthetic hand was shown in myoelectric control experiments executed by normal subjects and amputate. Both the finger angle and the stiffness of the prosthetic hand were voluntarily controlled with the surface EMG by these subjects, and soft objects were grasped smoothly.<br>Preliminary experiments on sensory feedback was done in such a way that magnitude of the sound varied increased with an increase in force applied to the fingers. Usefulness of the sensory feedback of force was indicated by executing the grasp of soft object.

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