3A1-R04 上肢姿勢角度と動的加速度による相互補償法を用いた電動前腕義手の制御(ウェアラブルロボティクス)

• 田上 達也

  電機大院

• 大西 謙吾

  電機大

書誌事項

タイトル別名

• 3A1-R04 Control of a powered transradial prosthesis applying mutual compensation method on dynamic acceleration and upper limb posture angle(Wearable Robotics)

抄録

This paper describes multimodal sensor control of powered transradial prosthesis applying mutual compensation method on dynamic acceleration and upper limb posture angle. The target of developing the control method is to improve the stability of accelerometer-based upper limb posture angle estimation in the multimodal sensor control system. The proposed method measures the dynamic acceleration and upper limb posture angle (static acceleration) by using differences in the dynamic characteristic of two accelerometers of the same type. Two experimental devices for identification of accelerometer dynamic characteristic transfer function. An identification experiment was conducted for the angle input accelerometer and the estimated 2nd order transfer function had a fit rate difference of approximately 1%.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2014 (0), _3A1-R04_1-_3A1-R04_2, 2014

  一般社団法人 日本機械学会

キーワード

• Upper limb prosthesis
• Multimodal sensor control
• Accelerometer

詳細情報

• CRID: 1390282680914035712
• NII論文ID: 110009967127
• DOI: 10.1299/jsmermd.2014._3a1-r04_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2014/0/2014__3A1-R04_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可