Departmental Bulletin Paper 筋電義手用感覚フィードバック装置による把持物体の硬さ提示の提案

森田, 高州

57pp.1 - 8 , 2016-03-24 , 法政大学大学院理工学・工学研究科編
In this paper, a control system of the sensory feedback device for myoelectric prosthetic hand users, which was developed in our previous study, was improved to express the hardness of an object ontinuously. The sensory feedback device is worn on user’s upper arm. When the myoelectric prosthetic hand grabs the object, the hardness of the object is calculated through a pressure-sensitive sensor. According to the hardness of the object, a reference input to realize the corresponding winding speed of the belt is generated by a reference input generator. Then, the feedback device is controlled to track the reference input by using the self-tuning PID control technique, taking parameter variation into account. Thus, the feedback device tightens the user’s upper arm, so that the user can feel a tactile sense. Finally, experiments were performed to verify a usability of the proposed system. Key Words : Sensory feedback, Myoelectric prosthetic hand, Self-tuning PID control, Identification of hardness

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