筋隆起式電動義手の把持動作制御法とSHAP試験による検証

抄録

In this study, a grasping motion control method for muscle bulge movement sensing type electric arm made by 3D printer is proposed. It includes the sensory feedback of grasp power measured by a pressure sensor and the auditory induction using a buzzer in order to realize a reliable and efficient object grasping control. In addition the proposed control system is verified through SHAP test which is originally a motion test of a living human's arm. The functionality with the success rate and time required for each task is evaluated as an alternative of human arm through SHAP test and compared with the actual human arm in many daily motions.