2C2-4 バイラテラルサーボによる肩動力義手の研究(OS2-2:筋電義手II,オーガナイズドセッション)

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タイトル別名
  • 2C2-4 Study of Shoulder type External Prosthesis control with Bilateral Servo System

抄録

Recent developments in shoulder powered prosthetic hands control can be divided into two types. The first type, as seen in development at Northwestern University, is depended on myo-electrical signal replacement surgery in the chest area to allow control of shoulder rotation, elevation, arm flexion/extension, and the opening of closing of the hands. On the other hand, our research focuses on using a microcomputer to control pre-developed patterns of the different motions. From our experience in position control of the shoulder prosthesis, this project proposes the need for force control in each of the joints. A major concern of the shoulder prosthesis is the need to simultaneously control its movements while considering external loads. The external loads on the prosthesis post-installment are significant enough that the position control heavily depends on these external loads. This project proposes our bilateral servo system as a solution for future shoulder prosthesis to provide the necessary position and myo-electrical control.

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