This study presents the development of a dexterity support system for stabilizing operation of pendulum using electromyogram(EMG) as input signal. When muscles a joint is flexed or extended, EMG signals are generated in the muscles. In case of controlling unstable systems by using EMG, unskilled operations might cause serious instability and drastic accident. And it is difficult for beginners to keep the system stable for a long time and to train the operation successively. Thus, to overcome those problems, a support system utilizing the Safe Manual Control is proposed. The effectiveness of the support system for beginners is discussed from the viewpoint of the operation support and the accident avoidance.
This study focuses on the stabilizing operation of a pendulum by using myoelectricity as the control signal. Recently myoelectricity is highlighted in the control application fields such as artificial hands and powered suits. However, even expert operators fail in stabilization of the pendulum because controlling of the target system by using myoelectricity is a difficult task. To deal with such a situation, introducing of an operation assistance by an automatic control is one of useful solutions, however, in general, the design of such automatic control system requires the model of myoelectricity. Thus it is still challenging task to achieve modeling and identification of myoelectricity. This paper tries to make a model of the dynamical system of the myoelectricity by utilizing the nonlinear ARX models proposed by Furuta and verifies the effectiveness of the model through some experiments.
A final purpose of this study is to design a dexterity assistance system for operating a machine. In order to design a dexterity assistance system, analysis of human characteristics is necessary. And the study of stabilizing operation of an inverted pendulum is important for understanding the neural control of balance and skill acquisition. Therefore, this study focuses on stabilizing operation of an inverted pendulum, and analyzes the dexterity process of human operation. This paper assumes that the human operation is PD control. And feedback gains are identified at each danger in the operation, and relationship between the results of identification and skill level is discussed. Furthermore, we verify the proposed operation analysis technique by the variation of the order of the human controller.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.