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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 Measurement of Myoelectric Group /Project No. 25-A /Project Leader Hitotaka Sasaki /Group Leader Katsunari Sakamoto /Group Member Kento Noro kouta Kishimoto Ayano Igarashi Advisor Shigeru Sakurazawa Toshiyuki Nakagaki Date of Submission January 16, 2013

25-A /Project Leader 1010093 Hitotaka Sasaki /Group Leader 1010198 Katsunari Sakamoto /Group Member 1009239 Kento Noro

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3 Abstract Artificial arms are made to help for people who have lost their arm in an accident and sickness. There are various kinds of artificial arms. For instance, cosmetic arms which was made for imitating human arms, working arms which was made to do a lot of works, active arms which was made for operating the movable parts such as joint of elbow and tools of the hand themselves. In addition, as particular artificial arms, myoelectric hand has been developed. Person who put on a myoelectric hand can move the hand as if it is own, because the control motors were controlled by their myoelectricity, and the myoelectricity occurred when the muscle at the cutting edge contracted. In fact, Chicago Rehabilitation Institute developed a myoelectric hand which called Bionic Arm in Thanks for the hands, the person who put it on was able to control the hand as he hoped. However, Bionic Arm is used noninvasive measurement. Noninvasive measurement is the method that electrode is directly implanted in the muscle. Also, it is necessary to operate and risky to catch the infectious disease. Therefore, in our project, we have developed a myoelectic hand using surfacemyoelectricity which is able to measure on surface of the skin. It is not necessary to operate and we can manufacture it cheaper and easier. Our project aimed to identify movements of the each fingers such as rock-paper-scissors and movements of wrist such as back and forward in the midterm. Also, our project aimed to movement of catching and pinching an object in the final term. In our project, we made three groups, measurement of myoelectric group, control of myoelectric hand group, manufacture of myoelectric hand group. This report is mainly written measurement of myoelectric group. Keyword myoelectiric hand, surface-myoelectricity - ii -

elbow and tools of the hand themselves. In addition, as particular artificial arms, myoelectric hand has been developed.

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6 1 1.1 [21] 50Hz 1.2 TouchBionics i-limb i-limb i-limb [14] Group Report of 2012 SISP Group Number 25-A

7 [15] [13] Group Report of 2012 SISP Group Number 25-A

8 2 2.1,,,,,.,., 50Hz,, Group Report of 2012 SISP Group Number 25-A

9 : : : : Group Report of 2012 SISP Group Number 25-A

10 Group Report of 2012 SISP Group Number 25-A

11 Group Report of 2012 SISP Group Number 25-A

12 Group Report of 2012 SISP Group Number 25-A

13 3.2 1 ( A) A B ( V) I(A) E(V) E = RI (3.1) R R ( ) 2 1 Q ( C) C ( F) V(V) Q = CV (3.2) Group Report of 2012 SISP Group Number 25-A

14 [2] Group Report of 2012 SISP Group Number 25-A

15 ( 3.2) I V in = R 1 I V out = R 2 I I [3] V out = R 2 R 1 V in (3.3) ( 3.3) I V in = R 1 I V out V in = R 2 I I [3] V out = (1+ R 2 R 1 )V in (3.4) Group Report of 2012 SISP Group Number 25-A

16 ( 3.4) 2 50Hz [3] V out = R 2 R 1 (V2 in V1 in ) (3.5) 3.4 Group Report of 2012 SISP Group Number 25-A

17 ( ) f c [4] f c (C) (R) f c = 1 2 RC 3.5 ( ) f c [4] f c (C) (R) f c = 1 2 RC 3.6 Group Report of 2012 SISP Group Number 25-A

18 1 (+) (-) 1 1 [1] 3.7 [1] 3.8 Group Report of 2012 SISP Group Number 25-A

19 ( ) R 1 I R1 I R1 = dq dt = CdV out dt I R1 dt = CdV out dv out = 1 C dt dv out = 1 I R1 dt C V out = 1 I R1 dt C 0 I C I R1 = I C I R1 = V in R 1 V out = 1 CR 1 V in dt (CR ) (3.6) CR 3.9 R 2 [4] 3.9 Group Report of 2012 SISP Group Number 25-A

20 Group Report of 2012 SISP Group Number 25-A

21 3.4 [17] Group Report of 2012 SISP Group Number 25-A

22 cm 3 [17] Group Report of 2012 SISP Group Number 25-A

23 (IN) (OUT) (GND) (COM) 3 2 ( ) ( ) F( ) F F F ( ) kV R L Group Report of 2012 SISP Group Number 25-A

24 ( ) [7] CCD CMOS MOS 3 MOS 3 MOS MOS MOS MOS MOS MOS MOS MOS MOS Group Report of 2012 SISP Group Number 25-A

25 MOS MOS [21] F DC DC F 0.22 F 0.1 F ESR F 0.1 F HiFi 50 F 4700pF ESR NFB 0.1 F F 2 ESR 0.1 F F OS CON ESR DC-DC, 1p 100p [22] Group Report of 2012 SISP Group Number 25-A

26 [23] (GND) Group Report of 2012 SISP Group Number 25-A

27 LED LED / LED 200mAh 9V ( 2 ) 3 [7] (E) (C) (B) 3 ( ) npn pnp 2 [7] (LED)2 (A) (K) 2 (2 ) ( ) A-K ( ) [7] 4 (5V47 F3 5V10 F) ( ) ( ) [7] 2 3 ( ) 2 (Male) (Female) [7] Group Report of 2012 SISP Group Number 25-A

28 DC5V IC 2 [13] 3.19 Group Report of 2012 SISP Group Number 25-A

29 [7] 50Hz Group Report of 2012 SISP Group Number 25-A

30 [13] 圧力センサ out [12] 3.21 : 510k 51k 2 : 1 F 1 : OP07 2 : FlexiForce 1 : 3 : 1 Group Report of 2012 SISP Group Number 25-A

31 : : Group Report of 2012 SISP Group Number 25-A

32 [13] out ひずみゲージ 5 V [9] 3.23 [10] 15 30mm 5mm 1 Group Report of 2012 SISP Group Number 25-A

33 1 [10] 3.24 E e e = R 1 R 3 R 2 R 4 (R 1 +R 2 )(R 3 +R 4 ) E R R = R1 = R2 = R3 = R4 [9] e = (R 1 + R)R 3 R 2 R 4 (R 1 + R+R 2 )(R 3 +R 4 ) E e = R2 +R R R 2 (2R+ R)2R E R1 R4 e R2 R3 E 3.24 L L = L L Group Report of 2012 SISP Group Number 25-A

34 R = ρl A R ρ A logr = logρ+logl loga R R = ρ ρ + L L A A ρ ρ = 0 σ A A = 2σ L L R R = ρ ρ + L L A A R R = (1+2σ) L L (1+2σ) K s = L L K s R R = K L s L = K s mω R R [9] : k 4 10k 2 100k 3 3.9k 1 : k 1 : 1 F 1 : OP07 6 : KFG C : 2 : 1 : : V Group Report of 2012 SISP Group Number 25-A

35 [9] 3.10 [9] 3.11 [9] (6 ) 1 1 : 12 : 1 : Group Report of 2012 SISP Group Number 25-A

36 [13] Group Report of 2012 SISP Group Number 25-A

37 [16] Group Report of 2012 SISP Group Number 25-A

38 ( 4.3) k 100k 5 500Hz 10 20Hz 7.5k 1 F 20Hz 100k Arduino 1k 2 51k 1 F 51 10k 500k ( 4.6) 1 Group Report of 2012 SISP Group Number 25-A

39 Group Report of 2012 SISP Group Number 25-A

40 Group Report of 2012 SISP Group Number 25-A

41 4.7 FlexiForce 51k 1 F 51ms 4.8 [13] 4.10 KFG C1-11 KFG C1-11 KFG C V 360 KFG C k Hz 40Hz 40Hz 1 F 3.9k 4.11 [13] [9] +5V 51 kω 510 kω 1 µf 圧力センサ OP07 51 kω OP07 out 4.7 Group Report of 2012 SISP Group Number 25-A

42 kω 100 kω OP07 1 kω ひずみゲージ 100 Ω 100 kω 10 kω OP kω OP kω OP07 OP07 out 300 Ω 100 kω 1 µf 1 kω 10 kω 360 Ω 360 Ω 1 kω OP07 5 V 4.10 Group Report of 2012 SISP Group Number 25-A

43 4.11 Group Report of 2012 SISP Group Number 25-A

44 13 50Hz 3 5ch 16ch [11] Group Report of 2012 SISP Group Number 25-A

45 ( 8 ) ( 4.12) 4.12 Group Report of 2012 SISP Group Number 25-A

46 OP OP OP OP497 Group Report of 2012 SISP Group Number 25-A

47 HCNR HCNR201 Group Report of 2012 SISP Group Number 25-A

48 Group Report of 2012 SISP Group Number 25-A

49 Group Report of 2012 SISP Group Number 25-A

50 V -5V (Arduino) Group Report of 2012 SISP Group Number 25-A

51 mAh 9V 2 Group Report of 2012 SISP Group Number 25-A

52 cm Group Report of 2012 SISP Group Number 25-A

53 Analog Devices OP07CSZ 2 DesignSpark PCB Illustrator 3 Group Report of 2012 SISP Group Number 25-A

54 5 1 FlexiForce KFG C Group Report of 2012 SISP Group Number 25-A

55 Group Report of 2012 SISP Group Number 25-A

56 Group Report of 2012 SISP Group Number 25-A

57 [1] 2002 [2] OP CQ 1998 [3] [4] OP 1998 [5] 2002 [6] 2006 [7] 1994 [8] ( ) OP OP [9] 2011 [10] 2002 [11] 1987 [12] [13] CQ 1985 [14] /1/15 [15] WIRED i-limb / 2013/1/15 [16] event/image/hosougu01.pdf 2013/1/15 [17] 2007 [18] 2007 [19] 1998 [20] /1/15 [21] /1/15 [22] /1/15 [23] /1/15 Group Report of 2012 SISP Group Number 25-A

2015 Future University Hakodate 2015 System Information Science Practice Group Report Project Name Development of myoelectric prosthetic hand with hap

2015 Future University Hakodate 2015 System Information Science Practice Group Report Project Name Development of myoelectric prosthetic hand with haptic sense Group Name The sensation of touch group /Project