著者

大西 謙吾

出版者

一般社団法人日本機械学会

雑誌

福祉工学シンポジウム講演論文集

巻号頁・発行日

vol.2007, pp.95-96, 2007-09-30

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本報告では,義手が適切に処方され利用されることを目標として,能動上腕義手を例にとり,その課題と筆者らの取り組みを示した.能動義手は既知の技術であるが,日本において利用状況は極めて低い.外観を理由に拒否されるが,筋電位制御式の義手と比較し,優れたフィードバック系を有し,特に上腕切断者が自立した生活を送る上では非常に有効な道具となりえるゆえ,適切な理解と評価を受けているとはいいがたい.筆者らは,能動上腕義手の技術的な問題がシンプルな構造ゆえ調整が難しい点にあることに着目し,コントロールケーブルシステムに関する基礎実験と数値シミュレータの作成を進めた,これら取り組みの中間報告と今後の課題について述べた.

著者

大西 謙吾 宮川 浩臣 田島 孝光 斎藤 之男

出版者

バイオメカニズム学会

雑誌

バイオメカニズム (ISSN:13487116)

巻号頁・発行日

vol.16, pp.155-165, 2002 (Released:2004-09-01)

参考文献数

22

被引用文献数

1

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Demand for fine human function modeling methodology is rising with the popularization of assistive devices. Systems engineering based research that delves into the functional cooperative relationship of the digits, hand, and arm is needed for design of substitutive mechanisms and for their control of the human body. The optimal tool for such research is the design process of a sensor-based robotic hand-arm system. This paper discusses the research issues and our proposed strategy.Our research goal is to develop a sensory-controlled mechanical system for performing versatile human-like prehension. As a design concept, we propose an effective model extracted from functional analysis of the upper limb. The key assumption in categorizing hand behavior is the arm’s driving function. Without proper integration of the two, the hand function can be neither analyzed nor assembled. Our approach uses this assumption as its base; we propose a method for classifying a non-redundant relation to control the dynamic and static use of the artificial upper limb.We began remodeling the degrees of freedom (DOF) of the human hand by identifying the transverse and longitudinal adjustable arch structure in the hand. Our new model is composed of 21 active DOF, which include movement in the palm. We classified movements and postures of the hand and arm with this DOF model located at the end of a seven-DOF arm. We then classified the hand modes as prehensile forms and sustentacular forms.Based on this model and our previous research experience in developing prosthetic upper limbs and anthropomorphic robotic hands, we devised a robotic hand-arm with a total of 24 degrees of freedom. Additionally, a new multitactile sensor has been developed for use on the robotic hands in our laboratory at TDU.For generating control strategy, the behavior of the hand is classified into two divisions. The first is cooperation of the digits and palm, and the second is cooperation of the hand and arm modules. The digit cooperation task is fourfold: formation, transformation, deformation, and hold. A motion planner drives the digit movements from the relation of the hand forms to the task that is proposed.A tactile sensor-based control strategy is presented. The digits are controlled according to the hand modes and the sensory feedback loop, with slippage detection rules. Two strategies are proposed for extending the control for fine manipulation: cooperative slippage sensing of adjacent digits, and slippage prediction applying hand orientation information measured by an inclinometer.The overall objective of our approach is the design of a dexterous control system for a multi-DOF robotic upper limb. This includes discussion of a modeling method for the human upper limb.