- - A New Control Method for Power-assisted Wheelchair based on the Surface Myoelectric Signal 2024 : 66427

1 3 1.1...................................... 3 1.2................................... 4 1.3................................... 6 2 7 2.1................................... 7 2.1.1............................... 7 2.1.2...................... 8 2.2............................ 9 3 11 3.1............................ 11 3.2............................... 12 3.3................................. 14 4 15 4.1................................. 15 4.1.1.................................. 15 4.1.2......................... 15 4.2............................. 16 4.2.1...................... 18 4.2.2......... 18 5 20 5.1.............................. 20 5.2................................... 22 5.3................................... 23 5.3.1............................... 23 5.3.2................... 24 6 27 6.1.................................. 27 6.2..................... 28-1 -

7 30 7.1............. 30 7.2... 32 8 37 8.1............................ 37 8.1.1.............................. 37 8.1.2........................... 39 8.1.3.................................. 40 8.2............................ 41 8.2.1................... 41 8.2.2.................................. 42 8.2.3.................................. 43 8.2.4............................. 44 9 46 9.1........................................ 46 9.2................................. 47 49 51-2 -

1 1.1 1.1 1970 65 739 7.1%1994 14%2007 20.8% 5 1 [1] 50 40.5% 5 2 65 2025 680 1.1: 1.1 [2] - 3 -

1.2 60 (%) () 25.6 1.3 25.3 1.3 24.8 1.3 13.3 1.2 20.9 2.0 16.5 2.0 1.1: The world health report 2006(2006 4 WHO ) 2000 [4] 1.2 4 3.7 12 1995 8655 2005 12118 1.5 380 1060 3 [3] 2000 11 2006 5000 63% 17.7% 1.3% 1.2-4 -

1.2 1.2: - 5 -

1.3 1.3-6 -

2 2.1 2.1.1 2.1 2.1: 2.1 2.1 KAL-40B - 7 -

2.1 2.1 NEO-P1 2.1.2 2.2 2.2: JWII - 8 -

2.2 2.2 YAMAHA JWII DSP 2.3 2.3: DSP AD PWMCAN Texas Instruments ezdsp2808 ezdsp2808 RAM 36KB TAC SH3 SH7706LAN 2.4: 24V90W DC DSP 40[µs] PWM 20[µs] DSP - 9 -

2.2 AD 0[V] 3[V] 0[V ] 5[V ] DSP 16chAD 160[ns] 12bit DSP DSP SH3 16 SH3 SD SH3 DSP 1[ms] DSP 1[ms] AD Duty SH3 2.1 YAMAHA JWII DSP Texas Instruments ezdsp2808 TAC SH7706LAN MES-01 RE20F-100-200 STL Japan HS-EG3 21 2.1: 26[kg] 2.2, 2.3 2.3 60[kg] 1[kg]([%]) 1[kg]([%]) 11[kg]([%]) 13[kg]([%]) 16[kg]([%]) 18[kg]([%]) 25[kg]([%]) 27[kg]([%]) 2.2: 2.3: 24[V]4.5[Ah] - 10 -

3 3.1 3.1 τ assist = ɛ P A 1 + τs τ human (3.1) 3.1 3.1: τ human τ assist ɛ P A τ - 11 -

3.2 (3.1) (3.2) τ = { τ1 = 0.1[s] τ human > 0 τ 2 = 0.5[s] τ human < 0 (3.2) 3.2 3.2 3.3 3.4 3.5 3.2: 3.3: 3.4: 3.5: 3.4 3.2 1.5 3.5 3.3 2 3-12 -

3.2 τ 1 3.6 3.7 3.6: τ 1 = 0.01[s], τ 2 = 0.5[s] 3.7: τ 1 = 0.5[s], τ 2 = 0.5[s] 3.6 3.7 τ 2 3.8 3.9 3.8: τ 1 = 0.1[s], τ 2 = 0.05[s] 3.9: τ 1 = 0.1[s], τ 2 = 2[s] 3.8-13 -

3.3 3.9 3.3-14 -

4 4.1 4.1.1 [9] 10[µV ] 20[mV ] 2 1000[Hz] 4.1.2 4.1: 4.1 SH-2-15 -

4.2 [11] [12] 4.1 EMOS PX 4.1 CYBERDYNE HAL [13] ON OFF 4.2 4.1 4.1: EMG 4.2 [21] 4.2 MES-01-16 -

4.2 4.2: EMG 4.2: semg V 1200 12bit AD 1 khz AD 2.5[V] 4.3 4.4 4.3: 4.4: - 17 -

4.2 4.2.1 4.4 4.5 4.7 4.5: 4.6: 4.7: 4.5 2.543[V] 0.0004[V] 2.5[V] 4.6 2.012[V] 0.2344[V] 4.7 0[V] 5[V] 4.2.2 1. 2. 3. 1. electoromechanical delay:emd [ms] [10] 2. - 18 -

4.2 3. 1. 2. 3. - 19 -

5 5.1 5.1 5.1 5.1: 5.1 500[ms] FFT 5.2 5.2 50[Hz] 300[Hz] STFT - 20 -

5.1 5.2: (5.1) [6] X(b, ω) = w(t b)e jωt x(t)dt (5.1) w 5.1 5.3 1 10 5.3: 5.3 50[Hz] - 21 -

5.2 5.2 iemg [5] 5.4 () 10[Hz] [7]iEMG 5.4: 10[Hz] 3[Hz] iemg 5.5, 5.6 5.5: 10[Hz] 5.6: 3[Hz] 5.5 5.6-22 -

5.3 5.3 5.3.1 5.7 5.7: 100Hz 5.9 5.10 50ms 5.11 5.8: 5.9: 5.10: 5.11: - 23 -

5.3 5.12, 5.13 5.12 100[Hz] 5.13 10[Hz] 5.12: 100[Hz] 5.13: 10[Hz] 5.12 5.13 100[Hz] 5.3.2 5.14 5.14: 5.14 demg 5.7 τ (5.2) { τ1 = 0.1[s] v > 0 τ = (5.2) τ 2 = 0.5[s] v < 0-24 -

5.3 5.14 5.15 5.18 5.15, 5.16 ɛ = 1.2 5.17, 5.18 ɛ = 0.8 5.15: 5.16: 5.17: 5.18: 5.15 5.16 5.17 5.18 5.16-25 -

5.3-26 -

6 [8] 6.1 6.1 J n, B n T a LPF 6.1 J n (s) (6.1) T a = 0.01, B n = 0.2 J n = { 0.5 v > 0 0.05 v < 0 (6.1) 6.1: - 27 -

6.2 6.2 6.2: 6.2 6.2 6.3 6.3 DisturbanceObserver 6.1 K 6.4, 6.5 6.5 6.3: - 28 -

6.2 6.4: 6.5: ( ) 6.4 0.2[s] - 29 -

7 7.1 7.1 7.1: 7.1 FuzzyController 7.2 F 1 F 2 7.3 7.4 v α F 1 F 2 K1, τ 1 K1 τ 1-30 -

7.1 7.3: F 1, F 2 7.2: 7.4: v β F 1 F 2 K2, τ 2 K2 τ 2 v α v β F 2 F 1 v α v β τ 1 = τ 2 = 0.5[s] - 31 -

7.2 7.2 7.5,7.6 v α = 0.3, v beta = 0.8, K 1 : K 2 = 4 : 1τ 7.1 τ = { τ1fast = τ 2fast = 0.1[s] v > 0 τ 1slow = τ 2slow = 0.5[s] v < 0 (7.1) 7.5: 7.6: 7.5 7.6 300500[ms] 3.2 3.3-32 -

7.2 K 1, K 2 K 1, K 2 7.7, 7.8 K 1 : K 2 = 7 : 1 7.9, 7.10 K 1 : K 2 = 1 : 1 7.7: (K1:K2=7:1) 7.8: (K1:K2=7:1) 7.9: (K1:K2=1:1) 7.10: (K1:K2=1:1) K 1 7.7, 7.8 K 2 K 1-33 -

7.2 K 1 7.9, 7.10 K 2 K 1 v α, v beta v α, v beta??,?? v α = 0.1, v beta = 1.5??,?? v α = 1.0, v beta = 1.05 7.11: (v α = 0.1, v beta = 1.5) 7.12: (v α = 0.1, v beta = 1.5) 7.14: 7.13: (v α = (v α = 1.0, v beta = 1.05) 1.0, v beta = 1.05) - 34 -

7.2 v α v β 7.13, 7.14 v α v β v α v α v β 7.11, 7.12 τ 1, τ 2 τ 1, τ 2 7.15, 7.16 7.2 7.17, 7.18 7.3 τ = { τ1fast = τ 2fast = 0.05[s] v > 0 τ 1slow = τ 2slow = 0.2[s] v < 0 (7.2) τ = { τ1fast = τ 2fast = 0.5[s] v > 0 τ 1slow = τ 2slow = 1.125[s] v < 0 (7.3) 7.15: (7.2) 7.16: ( 7.2) 7.2 7.15, 7.16 7.2 7.17, 7.18 7.16-35 -

7.2 7.18: 7.17: ( (7.3) 7.3) 7.18 τ - 36 -

8 8.1 8.1.1 8.1 8.2 8.1: 8.2: 8.3 8.3 8.4-37 -

8.1 8.3: 8.4: - 38 -

8.1 8.1.2 8.5 8.5: 8.5 8.6 8.6 7.2 direction direction + direction - 39 -

8.1 8.6: 8.1.3 8.7 8.8 8.9 8.7: 8.8: 8.7 8.8-40 -

8.2 8.9: 8.9 8.2 8.2.1 8.10 8.11 8.10 8.11-41 -

8.2 8.10: 8.2.2 8.11: 8.12 8.12: 8.12-42 -

8.2 0.2 10[ms] 0.5[Nm] 8.1 demg τ assist = τ stop exp β demgmax t (8.1) τ stop demg demg max demg max demg β?? 8.2.3 8.13 8.14 8.15 8.16 8.13: 8.14: - 43 -

8.2 8.15: 8.16: 8.13 8.15 8.14 2[s] 8.15 8.16 0.5[s] 8.16 8.2.4-44 -

8.2 8.17 8.18 8.17: 8.18: 8.17 8.18 8.17 8.18-45 -

9 9.1-46 -

9.2 9.2 1. 2. 3. - 47 -

LotfiMostefai WuEric - 48 -

[1],http://www.mhlw.go.jp [2] WHO The world health report 2006,http://www.who.int/whr/2006/en/ [3], 2005,, 2007 5 [4] WAM NET,,,http://www2.wam.go.jp/, 2005 8 [5],,, :, C,Vol.124, No.2, pp.431-435, 2004. [6] Du, S., Vuskovic, M.: Temporal vs. Spectral approach to Feature Extraction from Pre-hensile EMG Signals, The IEEE Int. Conf. on Information Reuse and Integration (IEEE IRI-2004), Las Vegas, Nevada pp.344-350(2004). [7] M. Yoshida, M.Terao : Suitable Cutoff Frequency of Low-pass Filter for Estimating Muscle Force by Surface Eectromyogram, Proceedings of 25th Annual International Conference of the IEEE EMBS pp.1709-1711,2003 [8] Y. Kaida and T. Murakami: Power-Assist Motion of an Electric Wheelchair for a Caregiver, Proceedings of the 9th International Workshop on Advanced Motion Control, AMC 06, pp. 350-355, 2006 [9] Peter Konrad: The ABC of EMG : A Practical Introduction to Kinesiological Electromyography Version 1.0 April 2005. [10] L. Li, B. Baum: Electromechanical delay estimated by using electromyography during cycling at different pedaling frequencies. Journal of Electromyography and Kinesiology, Volume 14, Issue 6, Pages 647-652,2004 [11] Gordon K.E., Ferris D.P.: Proportional myoelectric control of a virtual object to investigate human efferent control Experimental Brain Research, Vol.159, pp.478-486,2004. [12],,, : EMG, Vol.29, No.10, pp.1213-1220,1993. - 49 -

[13] H. Kawamoto, S. Lee, S. Kanbe, Y. Sankai: Power assist method for HAL-3 using EMG-based feedback controller, IEEE International Conference on Systems, Man and Cybernetics 2003, vol. 2, pp. 1648-1653, 2003. [14] Sehoon Oh, Naoki Hata, Yoichi Hori: Integrated motion control of a wheelchair in the longitudinal, lateral and pitch directions, Proc. of AMC-2006, 2006.3.27-29, Istanbul [15] Takeaki Sugimoto, Hirokazu Seki, Susumu Tadakuma: Rectilinear Driving Improvement of Power Assisted Wheelchair Based on Disturbance Estimation of Right and Left Wheels, Japan Industry Applications Society Conference 2004, Y-35, 2004. [16] : ( 2): D 124 7 699-7052004 [17] :,,40,5,pp.357-362, 2001-5 [18] Yuichi Kurita, Mitsunori Tada, Yoshio Matsumoto, Tsukasa Ogasawara: Simultaneous Measurement of the Grip/Load Force and the Finger EMG :Effects of the Object Weight, Proceedings of IEEE International Conference on Systems, Man and Cybernetics (SMC2002), TP1B6, Tunisia, 2002.10. [19] Kyuwan Choi, Makoto Sato, Yasuharu Koike: A new, human-centered wheelchair system controlled by the EMG signal, WCCI2006, 2006 7. [20] T.Saitoh, T.C. Hwa, Y. Hori: Realtime generation of smart speed pattern for EVs taking driver s command change into account, Proc.of The IEEE International Workshop on Advanced Motion Control, 2004 [21] :,, WIT2006-13, pp.71-76, 2006. - 50 -

[1] :, IIC-07-72, 2007 3 6,7, [2] :, 19, 2007.8.20-22, [3] :,,Vol.59,No.6,pp.32-35,2007 [4] :, IIC-08-72, 2008 3 10,11, () [5]Yuusuke Oonishi, Sehoon Oh and Yoichi Hori: A New Control Method for Powerassisted Wheelchair based on the Surface Myoelectric Signal, IECON 2007, 2007.11.5-8, Taipei [6]Yuusuke Oonishi, Sehoon Oh and Yoichi Hori: New Control Method for Power-assisted Wheelchair Based on Upper Extremity Movement Using Surface Myoelectric Signal, AMC 2008, 2008.3.26-28, Torrent() - 51 -