• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1268-1271
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• 2005

This paper proposes a compact-sized surface myoelectric sensor for myoelectric hand prosthesis. To fit the surface myoelectric sensor in the socket of the myoelectric hand prosthesis, the sensor should be a compact size. The surface myoelectric sensor is composed of a skin interface and a single processing circuit that are mounted on a single package. Since the skin interface has one reference and two input electrodes, and the reference electrode is located in middle of two input electrodes, we propose two types of sensors with the circle- and bar-shaped reference electrode, but all input electrodes are the bar-shaped. The metal material used for the electrodes is the stainless steel (SUS440) that endures sweat and wet conditions. Considering conduction velocity and median frequency of the myoelectric signal, we select the inter-electrode distance (IED) between two input electrodes as 18mm, 20mm, and 22 mm. The signal processing circuit consists of a differential amplifier with band pass filter, a band rejection filter for rejecting 60Hz power-line noise, amplifiers, and a mean absolute value circuit. We evaluate the proposed sensor from the output characteristics according to the IED and the shape of the reference electrode. From the experimental results we show the surface myoelectric sensor with the 18mm IED and the bar-shaped reference electrode is suitable for the myoelectric hand prosthesis.

• 대한전기학회논문지:시스템및제어부문D
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• 제55권12호
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• pp.550-557
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• 2006

This paper proposes a dry-type surface myoelectric sensor for the myoelectric hand prosthesis. The designed surface myoelectric sensor is composed of skin interface and processing circuits. The skin interface has one reference and two input electrodes, and the reference electrode is located in the center of two input electrodes. In this paper is proposed two types of sensors with the circle- and bar-shaped reference electrode, but all input electrodes are the bar-shaped. The metal material of the electrodes is the stainless steel (SUS440) that endures sweat and wet conditions. Considering the conduction velocity and the median frequency of the myoelectric signal, the inter-electrode distance (IED) between two input electrodes as 18mm, 20mm, and 22mm is selected. The signal processing circuit consists of a differential amplifier with a band pass filter, a band rejection filter for rejecting 60Hz power-line noise, amplifiers, and a mean absolute value(MAV) circuit. Using SUS440, six prototype skin interface with different reference electrode shape and IED is fabricated, and their output characteristics are evaluated by output signal obtained from the forearm of a healthy subject. The experimental results show that the skin interface with parallel bar shape and the 18mm IED has a good output characteristics. The fabricated dry-type surface myoelectric sensor is evaluated for the upper-limb amputee.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2007년도 하계학술대회 논문집
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• pp.247-249
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• 2007

This paper proposes a dry-type surface myoelectric sensor for the myoelectric hand prosthesis. The designed surface myoelectric sensor is composed of skin interface and processing circuits. The skin interface has one reference and two input electrodes, and the reference electrode is located in the center of two input electrodes. Considering the conduction velocity and the median frequency of the myoelectric signal, the inter-electrode distance (IED) between two input electrodes as 18mm, 20mm, and 22mm is selected. The signal processing circuit consists of a differential amplifier with a band pass filter, a band rejection filter for rejecting 60㎐ power-line noise, amplifier, and a level circuit. Using SUS440, six prototype skin interface with different reference electrode shape and IED is fabricated, and their output characteristics are evaluated by output signal obtained from the forearm of a healthy subject. The experimental results show that the skin interface with parallel bar shape and the 18mm IED has a good output characteristics. The fabricated dry-type surface myoelectric sensor is evaluated for the upper-limb amputee.

• 전자공학회논문지SC
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• 제42권6호
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• pp.67-76
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• 2005

본 논문에서는 근전의수용 소형 근전위 센서를 제안한다. 근전의수용 근전위 센서를 의수 소켓에 내장시키기 위해서는 소형이어야 한다. 제안된 근전위 센서는 피부와 접촉하는 전극과 신호처리를 위한 회로부가 일체화된 형태로 소형화 하였다. 기준 전극은 두 입력전극의 가운데에 나란히 배치되고, 입력전극은 막대형, 기준전극은 막대형과 원형의 두 가지 형상으로 설계하였다. 두 입력전극 사이의 간격은 근섬유의 근전위 신호의 전도속도와 중심주파수를 고려하여 18mm, 20mm, 22mm 의 세 개의 서로 다른 간격을 가진 전극을 제작하였다. 사용된 전극의 재료는 땀이나 습기에 강한 SUS440 금속을 사용하였다. 신호처리 회로부는 대역통과 필터를 갖는 차동 증폭기, 전원노이즈를 제거하기 위한 대역저지 필터, 교류결합증폭기, 절대평균값 회로로 구성되어 있다. 실험에서는 정상인의 전완에서 근전위 신호를 취득하여 주파수 분석하고, 입력전극 사이의 간격과 기준전극의 형상에 따른 출력특성 평가하였다. 본 논문에서는 실험의 결과로부터 두 입력전극간의 거리가 18mm 이면서, 입력전극의 형상과 기준전극의 형상이 모두 막대형인 표면 근전위 센서가 근전의수에 최적임을 보인다.

• 전기학회논문지
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• 제56권1호
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• pp.214-221
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• 2007

This paper presents a myoelectric hand prosthesis(MHP) with two degree of freedom(2-DOF), which consists of a mechanical hand, a surface myoelectric sensor(SMES) for measuring myoelectric signal, a control system and a charging battery. The actuation for the 2-DOF hand functions such as grasping and wrist rotation was performed by two DC-motors, and controlled by myoelectric signal measured from the residual forearm muscle. The grip force of the MHP was automatically changed by a mechanical automatic speed reducer mounted on the hand. The skin interface of SMES was composed of the electrodes using the SUS440 metal in order to endure a wet condition due to the sweat. The sensor was embedded with a amplifier and a filter circuit for rejecting the offset voltage caused by power line noises. The control system was composed of the grip force sensor, the slip sensor, and the two controllers. The two controllers were made of a RISC-type microprocessor, and its software was executed on a real-time kernel. The control system used Force Sensing Resistors, FSR, as slip pick-ups at the fingertip of a thumb and the grip force information was obtained from a strain-gauge on the lever of the MHP. The experimental results were showed that the proposed control system is feasible for the MHP.

• 전력전자학회논문지
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• 제12권3호
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• pp.248-257
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• 2007

본 논문은 사람의 근육에서 발생하는 근전위 신호를 사용하여 2 자유도를 갖는 전동의수를 구동하기 위한 제어시스템을 제안한다. 근전위 신호를 측정하기 위한 표면 근전위 센서는 근전위 신호의 출력 특성을 이용하여 근전위 센서의 입력부와 회로부를 설계한다. 제어시스템은 전동의수를 구동하기 위하여 두 개의 제어기와 전동의수의 파지력을 측정하기 위한 파지력 센서와 파지한 물체의 미끌림을 감지하기 위한 미끌림 센서로 구성되어 있다. 가상의 근전위 신호를 이용한 실험과 정상인의 실험을 통하여 제안된 제어시스템의 신뢰성을 검증하였다.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2010년도 하계학술대회 논문집
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• pp.265-266
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• 2010

This paper propose the test method for performance of myoelectric hand prosthesis(MHP) according to myoelectric signal generated in the human muscle. The MHP consists of a mechanical hand, a surface myoelectric sensor(SMES) for measuring myoelectric signal, a control system and a charging battery. The propose test method is proved the reliability of MHP.

• 재활복지공학회논문지
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• 제5권1호
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• pp.11-15
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• 2011

본 논문은 사함의 근육에서 발생하는 근전위 신호에 의해서 제어되는 근전의수의 성능에 대한 시험방법을 제안한 것이다. 근전의수는 기계적인 의수, 근전위 신호를 측정하는 표면 근전위 센서, 제어시스템, 그리고 충전용 배터리로 구성되어 있다. 상용화 된 근전의수를 가지고 파지 내구성을 시험한 결과 소음과 파지력은 큰 차이가 없었다. 제안된 시험방법은 내구성 시험을 통하여 근전의수의 신뢰성을 검증하였다.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2007년도 하계학술대회 논문집
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• pp.250-252
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• 2007

In this paper presents a control algorism for myoelectric hand prosthesis(MHP) with 2 degree of freedom(DOF), which consists of a mechanical hand, a surface myoelectric sensor(SMES) for measuring myoelectric signal, a control system and a charging battery. The actuation for the 2-DOF hand functions such as grasping and wrist rotation was performed by two DC-motors, and controlled by myoelectric signal measured from the residual forearm muscle. The two controllers were made of a RISC-type microprocessor, and its software was executed on a real-time kernel. The experimental results were showed that the proposed a control algorism is feasible for the MHP.

• 로봇학회논문지
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• 제13권4호
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• pp.265-271
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• 2018

The recent prosthetic technologies pursue to control multi-DOFs (degrees-of-freedom) hand and wrist. However, challenges such as high cost, wear-ability, and motion intent recognition for feedback control still remain for the use in daily living activities. The paper proposes a multi-channel knit band sensor to worn easily for surface EMG-based prosthetic control. The knitted electrodes were fabricated with conductive yarn, and the band except the electrodes are knitted using non-conductive yarn which has moisture wicking property. Two types of the knit bands are fabricated such as sixteen-electrodes for eight-channels and thirty-two electrodes for sixteen-channels. In order to substantiate the performance of the biopotential signal acquisition, several experiments are conducted. Signal to noise ratio (SNR) value of the knit band sensor was 18.48 dB. According to various forearm motions including hand and wrist, sixteen-channels EMG signals could be clearly distinguishable. In addition, the pattern recognition performance to control myoelectric prosthesis was verified in that overall classification accuracy of the RMS (root mean squares) filtered EMG signals (97.84%) was higher than that of the raw EMG signals (87.06%).