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1 2012 Future University Hakodate 2012 System Information Science Practice Group Report Project Name Biological Information for Social Welfare Development of Myoelectric hand Group Name Myoelectric hand control group /Project No. 25-C /Project Leader Hitotaka Sasaki /Group Leader Takahito Hiyama /Group Member Hitotaka Sasaki Naoya Yakushiji Takahito Hiyama Kana Tamagawa Advisor Shigeru Sakurazawa Toshiyuki Nakagaki Date of Submission January 16, 2013

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3 Abstract Abstract in English: In this project, we controled a electromyogram(emg) hand using surface electrodes. Then, we were assigned to three groups. First group is measurement of biological signals group. This group makes electronic circuit that measure EMG. Second group is control of a myoelectric hand group. This group identify motion by measured myoelectric signals and supply instructions to myoelectric hand. Third group is manufacture of a myoelectric hand group. This group make a main body of myoelectric hand. In first semester, we aimed to develop a myoelectric hand to perform accurate movements. So, we identified motion of stone-scissor-paper and flection and extension of wrist by EMG. The motion of stone-scissor-paper was successful on project of previous financial year. Also, we used support vector machine to identify motion. The support vector machine has high recognition rate in regard to new data. As a result, we could identify motion of stone-scissor-paper and flection and extension of wrist by EMG. However, this motion identification was less than perfect. In second semester, we aimed to develop the myoelectric hand that has a higher motion recognition rate than the first semester s one. If it is possible to identify accurate motion, myoelectric hand could perform stability motion. Therefore, when a patient use myoelectric hand, they feel less stress. To control stability motion, it is necessary to high motion identification by accurate force control. Thus, we extended movements of stone-scissor-paper, and we controled myoelectric hand motion of flection and extension of wrist. Myoelectric hand motion of flection and extension of wrist was controled by pressure sensor and strain gauge. Pressure sensor which was placed on tip of finger was used as tactile sense and strain gauge was used to keep wire tension. As a result, myoelectric hand could bring up breakable like a egg. However, this motion identification was less than perfect. Keyword motion identification, Support vector machine, pressure sensor, twist sensor, to catch the objective - ii -

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5 (SVM) , iv -

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15 MPLAB PIC Arduino ArduinoArduino PWM Processing ch PC, 6 7 Group Report of 2012 SISP Group Number 25-C

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18 2.6.2,. (1) (2) (3) (1), PC.,. (2) PC,.. (3).,. 3. Group Report of 2012 SISP Group Number 25-C

19 3 3.1,., (SVM). (,, ), 5.,, 5.,,.,.,.,.,, , ,, 5ch. ( 3.1) ( 3.2) 3.1 [4]. Group Report of 2012 SISP Group Number 25-C

20 Group Report of 2012 SISP Group Number 25-C

21 3.2.3, 16ch ( 3.3) ( 3.4) 3.2 [4]. 3.2 Group Report of 2012 SISP Group Number 25-C

22 Group Report of 2012 SISP Group Number 25-C

23 , 3.6 ch 3.3 [4] 3.3 ch 1ch 2ch 3ch 4ch 5ch 6ch 7ch 8ch 9ch 10ch 11ch 12ch 13ch 14ch 15ch 16ch Group Report of 2012 SISP Group Number 25-C

24 ch 16ch, Group Report of 2012 SISP Group Number 25-C

25 ch , 3.7,,., [5]., (SVM). (SVM).,,,,, 5.,,,,, 4 ( 3.8) PC Group Report of 2012 SISP Group Number 25-C

26 : (SVM), 2. ( D ) f(n) = sign λ i y i K(x i,x)+b (1) t=1 K(x i,x) = exp( γ x i x 2 ) (2) (1) y i i x i, λ i. K(x i,x), Radial basis function. (2) γ.,.,, 2 λ i,. [6].,,.,,., SVM,.,,,.,.,,., SVM,.,,.,,, RBF. SVM,,,,.,.,.,,.., SVM, Group Report of 2012 SISP Group Number 25-C

27 C. C,, C., C,. (SVM),. SVM, SVM LIBSVM[7]. : Arduino(GHEO Electronics ). Arduino, PC A/D. Arduino 0 5V., Arduino 1Byte A/D, PC., 0 5V 256, mV. Arduino 2, 1 PC, 1 PC,. 3.9 Arduino : PC, Processing., (,,,, ) 5 1 Group Report of 2012 SISP Group Number 25-C

28 3, PC100 (1 10msec ).., 3., , 2ch, 1ch, 2ch, 1ch, 2ch, 3.11., , ( 3.13), , 3.14,, ( 3.14)., Group Report of 2012 SISP Group Number 25-C

29 , ( 3.15)..,,. 3.15,., 3.16., : , Group Report of 2012 SISP Group Number 25-C

30 : ,.,.,.,,,,.,.28(kg cm), (11kg cm).,,.,,,.,, : 3.3.7, 3.19,.,.,.. Group Report of 2012 SISP Group Number 25-C

31 3.19, : 3.4,5ch 10., 16ch 32, 32.,.,,. 10mm. 8mm. 1m cm. L. 24cm 26cm. 25cm 18cm. 20cm,. : Group Report of 2012 SISP Group Number 25-C

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33 ,.,,,., L., ,, [8]. 3.22,,.,,.,,,. 16ch 16,,.,.,, 1.5cm., ( 3.24).,.,.,,.,., Group Report of 2012 SISP Group Number 25-C

34 .,.,. ( 3.23),,,.,,.,, : 3.5,,,,,. A1. Adobe Illustrator CS6. Adobe Photoshop CS6. : 3.5.1,,,.,,,,.,. Group Report of 2012 SISP Group Number 25-C

35 ,.,,.,.,.,,,,.,. Pro.,,.,.,,. 3.25,.,,.,,.,.,.,,,. Photoshop,.,.,,.,,.,,. : Group Report of 2012 SISP Group Number 25-C

36 Biological Information for Social Welfare Development of Myoelectric hand 図 メインポスター 筋電義手制御班のサブポスター 内容について 筋電義手制御班が何を行ったかがわかるよう, 内容の構成を考えた. また, メインポスター同様, ある程度の距離からポスターを見ることを前提として 盛り込む情報量の調節を行った. 説明の流れは, 以下の通りである. 識別の方法 識別を行うためにサポートベクターマシンを使用したことを記述することで, 次の識別のし くみの説明につなげられるようにした. また, サポートベクターマシンを使用した理由につ いて述べることで, サポートベクターマシンの機能や利点など, 読み手に理解してもらえる ようにした. 識別の仕組み 識別の仕組みを言葉だけで説明すると, 長い文章の羅列になってしまい, 読み手に負担を与 えかねない. このことから, 識別のしくみを8つの段階に分け, 図を利用することで最低限の 文章で理解できるように工夫した. 多次元の利用 識別の仕組みの説明では, 例として 2ch 2 次元 を使用した場合の説明を行ったが, 実際に は 16ch 16 次元 での識別を行った. このことを説明するために, 次元数を増やすことによ るメリットを踏まえながら, 16ch で識別を行ったことを説明した. また, ここで識別を可能 Group Report of 2012 SISP Group Number 25-C

37 .,.,,. Pro.,.,,,.,..,,.,,.,,..,,,,.,,.,,., ( 3.26).,,,.,,.,.,,,.,,. Group Report of 2012 SISP Group Number 25-C

38 3.26 : 3.6,,.,,. Adobe Illustrator CS6. OpenOffice.org Impress. : Group Report of 2012 SISP Group Number 25-C

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47 4.3.4,, 5ch.,, 2ch.,.,,., ch 5,.,,., 5., 4 16ch. 5, 4.,,.,.,,,,,.,,.,,. : Group Report of 2012 SISP Group Number 25-C

48 ., MPLAB PIC. MPLAB PIC Arduino Processing. Processing Arduino Processing 6. 5ch ch,, 16ch 5ch. 16ch 5.,,, 5ch 16ch 5ch 16ch 4.3.6,,. Illustrator Photoshop,.,, Illustrator.,,, 1 6,, Photoshop 1,,.,, Group Report of 2012 SISP Group Number 25-C

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50 5, (,, ),,,,., (SVM).,,, 5ch, 16ch,.,. cm,.,,.,,.,,. : Group Report of 2012 SISP Group Number 25-C

51 [1] ( ) :, Software available at d16316.html (Last Access : Des, 24th, 2012). [2] touchbionics: i-limb ultra, Software available at (Last Access : Des, 24th, 2012). [3],,,,, Vol46.No.3, [4] [ ], (Last Access : Jan, 14th, 2013) [5] Takehi Ando, Misato Nihei, Masakatsu G.Fujie, Estimation of Rotator Cuff Activity Using a Surface EMG during Shoulder External Rotation, IEEE, , 2006 [6] :,, 2011 [7] Chih-Chung Chang and Chih-jen Lin, LIBSVM : a library forsupport vector machines, Software available at cjlin/libsvm (Last Access : Jul, 16th, 2012). [8],,,,, , Dec.2007 Group Report of 2012 SISP Group Number 25-C

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