感覚フィードバック機能を備えた空気圧ベローズ式筋電義手の開発

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2017/01/01

タイトル(英語): Development of Pneumatic Bellows Myoelectric Hand with Tactile Feedback

著者名: 西川　弘太郎（津山工業高等専門学校　技術部／岡山大学大学院　自然科学研究科），赤対　真行（トヨタ自動車（株）），平田　健太郎（岡山大学大学院　自然科学研究科），高岩　昌弘（徳島大学大学院　理工学研究部）

著者名(英語): Kotaro Nishikawa (Technical Dept., National Institute of Technology, Tsuyama College/Graduate School of Natural Science and Technology, Okayama University), Masayuki Shakutsui (Toyota Motor Corporation), Kentaro Hirata (Graduate School of Natural Science and Technology, Okayama University), Masahiro Takaiwa (Graduate School of Science and Technology, Tokushima University)

キーワード: 空気圧，筋電義手，べローズ，感覚フィードバック　　pneumatic，myoelectric hand，bellows，tactile feedback

要約(英語): Of the 82 thousand upper-extremity amputees in our country, the majority use prosthetic hands. Recently, research and development of myoelectric hand have come to the forefront. However, due to the usage of multiple electric actuators, the myoelectric hand is heavy, structurally complicated and expensive. Thus, the authors propose a pneumatically-driven prosthetic hand with bellows incorporated in the joint. A remarkable point of the proposed prosthetic hands is grip force, averaging 11.0 N with 5 fingers. This grip force exceeds that of general pneumatically-driven prosthetic hands. Also it is lightweight of 240 g, reducing user fatigue. The hand's basic control performance showed quick response to the reference angle and pressure. In the next grasping experiment using EMG envelope, the test subject with this prosthetic hand was able to grasp a 500 ml (500 g) PET bottle. The test subject could grasp an eraser, a flexible rubber ball, and a paper cup. Moreover, this prosthetic hand is equipped with tactile feedback functions enabling users to perceive contact or reactive force from physical objects.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.137 No.1 （2017） 大特集：電子・情報・システム部門誌 30周年記念「電子・情報・システム技術によるイノベーション」

本誌掲載ページ: 127-135 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/137/1/137_127/_article/-char/ja/