Presentation Information
[8a-N304-7]Force Sensing for Myoelectric Prosthetic Hand Inspired by Sensory Mechanism
in Muscle Spindles
〇Yui Iida1, Zenji Yatabe1, Seiya Kasai1 (1.RCIQE and IST, Hokkaido Univ)
Keywords:
Prosthetic hands,Reservoir computing,Force senseing
An issue in the prosthetic hand controlled by electromyographic signals is that it is less controllable. A key challenge is implementation of somatosensory feedback mechanism in an artificial way. We proposed and have investigated to implement an artificial sensory system for force perception, involving sensing grip force and weight, by integrating the measurement of the servo motor power consumption and its analysis using reservoir computing. In this paper, to improve the discrimination accuracy for the load weight on the prosthetic hand, we investigate the system architecture mimicking the human muscle. We implement the system and characterize its discrimination accuracy.