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Journal of Robotics
Volume 2017, Article ID 7862178, 12 pages
https://doi.org/10.1155/2017/7862178
Research Article

Networked Multimodal Sensor Control of Powered 2-DOF Wrist and Hand

1Graduate School of Tokyo Denki University, Ishizaka, Hatoyama-machi, Hiki-gun, Saitama 350-0394, Japan
2Tokyo Denki University, Ishizaka, Hatoyama-machi, Hiki-gun, Saitama 350-0394, Japan
3National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8560, Japan

Correspondence should be addressed to Kengo Ohnishi; pj.ca.iadned.liam@ihsinho

Received 14 April 2017; Revised 28 July 2017; Accepted 10 August 2017; Published 7 November 2017

Academic Editor: George Mann

Copyright © 2017 Masaki Shibuya et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

A prosthetic limb control system to operate powered 2-DOF wrist and 1-DOF hand with environmental information, myoelectric signal, and forearm posture signal is composed and evaluated. Our concept model on fusing biosignal and environmental information for easier manipulation with upper limb prosthesis is assembled utilizing networking software and prosthetic component interlink platform. The target is to enhance the controllability of the powered wrist’s orientation by processing the information to derive the joint movement in a physiologically appropriate manner. We applied a manipulative skill model of prehension which is constrained by forearm properties, grasping object properties, and task. The myoelectric and forearm posture sensor signals were combined with the work plane posture and the operation mode for grasping object properties. To verify the reduction of the operational load with the proposed method, we conducted 2 performance tests: system performance test to identify the powered 2-DOF wrist’s tracking performance and user operation tests. From the system performance experiment, the fusion control was confirmed to be sufficient to control the wrist joint with respect to the work plane posture. Forearm posture angle ranges were reduced when the prosthesis was operated companying environmental information in the user operation tests.