Presentation Information
[10p-N106-5]Study on Artificial Force Sensing for Myoelectric Prosthetic Hand Based on Power Consumption of Servo Motor Drive System
〇Yui Iida1, Seiya Kasai1 (1.RCIQE and IST, Hokkaido Univ)
Keywords:
Prosthetic hands,Reservoir computing,Force senseing
Prosthetic hands are important devices for amputees to support their daily lives. One of the issues in the prosthetic hand is a somatosensory feedback mechanism. In this study, we propose and demonstrate a compact artificial sensory system for force perception involved in grip strength and load weight, which is based on analysis of power consumption of the driving motors using reservoir computing. The experimental results using a hand robot demonstrated the feasibility of the proposed method, although the generalization performance was low and should be improved.