本田 雄一郎

This paper proposes a training system for controlling the five-finger EMG-prosthetic hand that enables not only fast finger motions but also a strong grasping force. The proposed system is developed based on the control method equivalent to the five-finger prosthetic hand, and conducts three types of training: muscle contraction, muscle cooperation, and grip force training. In the contraction training and the cooperation training, the control ability of muscle force and the reproducibility of EMG patterns can be trained, respectively. Appropriate gripping force according to the hardness of an object can also be trained via the grip force training using a virtual prosthetic hand. The validity of the proposed system is demonstrated in the five-day experiments conducted for three subjects.

We discuss the development method of a skeleton type myoelectric prosthetic hand by using a laser cutting machine. This myoelectric prosthetic hand has five concepts for practical application; (1) Five fingers, (2) Gripping operation using the five fingers, (3) Structure of the hand to the collision,(4) Structure in the operation of the rehabilitation training and (5) low price, saving weight. Results demonstrated these concepts capabilities of the skeleton type myoelectric prosthetic hand.

本田技術研究所が開発した「歩行アシスト」は，対象者の腰部から大腿部に装着し，歩行周期を改善することにより歩行運動を支援する装着型装置である．その特性から，下肢切断者に使用することにより，異常歩行を改善し，より効率的な歩行の獲得が可能となると予測される．今回，異常歩行を有する大腿義足のユーザーに対し，歩行アシストを適用し，歩容の改善効果を調べた．PCI測定および動作解析を行い，PCIの減少および股関節可動域の改善を認め，歩容の改善が認められた．

We discuss the development method of a simple myoelectric prosthetic hand by using the two type digital fabrication machines, which are a three dimensional printer and a laser cutting machine. The performance of both machines to developing the prosthetic hand is compared in terms of the difficulty of manufacturing and assembly, experimentally. Results demonstrated these digital fabrication capabilities of the prosthetic hand.

In this paper, we aim to develop a custom-made environment control system (ECS) in order to support daily living for physically handicapped persons. We modularized the ECS "Bio-remote" developed at Hiroshima University based on OpenRTM. The modularity enhanced flexibility and expandability of Bio-remote, and it made possible to operate by combining multiple input signals. In addition, we performed a trial test with an upper limb amputee in a room which was build to evaluate Bio-remote. We confirmed the operation of the prototype system and the advantage of the modularity that the system function can be easily modified and added.

This paper proposes an interactive training system for control of myoelectric prostheses. The proposed training system is capable of selecting suitable motions (EMG patterns) for each user by eliminating ineffective ones, and can also provide consistency between user's motor images and the corresponding prosthetic movements using a virtual prosthetic hand (VH). In the experiments performed, a one-day training session using the proposed system was conducted with two healthy males. The results showed that the number of motions was gradually increased through training and the discrimination rates for selected motions were sufficiently high (average discrimination rates: 95.7 ± 1.54 [%]). It is therefore confirmed that the proposed system could be used for myoelectric prosthesis control training.

We discuss the development method of a simple myoelectric prosthetic hand by using the two type digital fabrication machines, which are a three dimensional printer and a laser cutting machine. The performance of both machines to developing the prosthetic hand is compared in terms of the difficulty of manufacturing and assembly, experimentally. Results demonstrated these digital fabrication capabilities of the prosthetic hand.

In this paper, we aim to develop a custom-made environment control system (ECS) in order to support daily living for physically handicapped persons. We modularized the ECS "Bio-remote" developed at Hiroshima University based on OpenRTM. The modularity enhanced flexibility and expandability of Bio-remote, and it made possible to operate by combining multiple input signals. In addition, we performed a trial test with an upper limb amputee in a room which was build to evaluate Bio-remote. We confirmed the operation of the prototype system and the advantage of the modularity that the system function can be easily modified and added.

本田技術研究所が開発した「歩行アシスト」は，対象者の腰部から大腿部に装着し，歩行周期を改善することにより歩行運動を支援する装着型装置である．その特性から，下肢切断者に使用することにより，異常歩行を改善し，より効率的な歩行の獲得が可能となると予測される．今回，異常歩行を有する大腿義足のユーザーに対し，歩行アシストを適用し，歩容の改善効果を調べた．PCI測定および動作解析を行い，PCIの減少および股関節可動域の改善を認め，歩容の改善が認められた．