Continuous Wrist Joint Control Using Muscle Deformation Measured on Forearm Skin

Akira Kato, Masato Hirabayashi, Yuya Matsurnoto, Yasutaka Nakashima, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

Continuous, easy-to-implement, accurate inference of intended joint angles is important for effectively controlling powered prosthetic devices that can improve the lives and capabilities of upper-limb amputees. Estimation of intended joint angles is difficult because conventional biosignals are not directly related to the intended angle motion. In previous work, we began to address this issue by confirming that both transra-dial amputees and intact subjects, the measured deformation of the muscle bulge on the skin surface change according to the intended wrist joint angle. This paper presents a continuous prosthesis wrist joint control method using this deformation signal. We here verify the effectiveness of the distribution of the muscle bulge for accurate and stable wrist joint angle control in real time. The wrist joint angles were calculated in real time from a muscle viscoelastic model using the previously determined algorithm. We compared the error between measured and estimated angles with a conventional method, the Voigt model, and the KelvinVoigt model. Experimental results obtained for three intact people over three trials of wrist movement tasks gave the accuracy and stability of 7.96\pm 6.16{\circ} when using the Voigt model; this is a similar performance compared to related work using a surface electromyogram. A method for continuously controlling the wrist joint angle for a prosthesis using the distribution of the muscle bulge was thus successfully established.

本文言語English
ホスト出版物のタイトル2018 IEEE International Conference on Robotics and Automation, ICRA 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1818-1824
ページ数7
ISBN(電子版)9781538630815
DOI
出版ステータスPublished - 2018 9月 10
イベント2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
継続期間: 2018 5月 212018 5月 25

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
国/地域Australia
CityBrisbane
Period18/5/2118/5/25

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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