Evaluation of Compensatory Movement by Shoulder Joint Torque during Gain Adjustment of a Powered Prosthetic Wrist Joint

Akira Kato, Haruno Nagumo, Miyake Tamon, Masakatsu G. Fujie, Shigeki Sugano

研究成果: Conference contribution

抄録

Powered prostheses with low degree of freedom (DoF) have been developed for people with disabilities to assist daily tasks. These prostheses neglect the user's compensatory movements caused by the low degree of freedom. We assume that the movements can be reduced by well-designed controller of the devices. This paper explores an optimal control gain of the powered prosthesis to prevent the user from compensatory movements through experiments. In the experiments, we developed 1-DoF hand prosthesis with a position-controlled servo, which includes the constant gain as a feed-forward term. The compensatory movements are regarded as a joint torque at a shoulder (abduction/adduction). 4 intact subjects performed a pick-and-place task, using the prosthesis with several control gains. The empirical results show that there was the optimal gain for each subject, which reduces their compensatory movement.

本文言語English
ホスト出版物のタイトル40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1891-1894
ページ数4
ISBN(電子版)9781538636466
DOI
出版ステータスPublished - 2018 10月 26
イベント40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018 - Honolulu, United States
継続期間: 2018 7月 182018 7月 21

出版物シリーズ

名前Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
2018-July
ISSN(印刷版)1557-170X

Other

Other40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
国/地域United States
CityHonolulu
Period18/7/1818/7/21

ASJC Scopus subject areas

  • 信号処理
  • 生体医工学
  • コンピュータ ビジョンおよびパターン認識
  • 健康情報学

フィンガープリント

「Evaluation of Compensatory Movement by Shoulder Joint Torque during Gain Adjustment of a Powered Prosthetic Wrist Joint」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル