대표근육 자극을 통한 EMS 기반 역감 제어방법론 제안 (EMS based Force Feedback Methodology through Major Muscle Group Activation)

서지정보

· 발행기관 : 한국로봇학회
· 수록지 정보 : 로봇학회 논문지 / 12권 / 3호 / 270 ~ 278페이지
· 저자명 : 김효민, 권재성, 오용환, 양우성

초록

The electrical muscle stimulator (EMS) based human machine interface (HMI) free to mechanical constraint and muscle fatigue problems are proposed for force feedback in a virtual reality.
The device was designed to provide force feedback up to 4.8 N and 2.6 N each to the thumb and forefingers. The main objective of the HMI is to make unnecessary mechanical structures to attach on the hand or fingers. It employs custom EMSs and an interface arranged in the forearm. In this work, major muscle groups such as extensor pollicis brevis (EPB), extensor indicis proprius (EIP), flexor pollicis longus (FPL) and flexor digitorum profundus (FDP) are selected for efficient force feedback and controlled individually. For this, a human muscular-skeletal analysis was performed and verified.
The validity of the proposed multi-channel EMS based HMI was evaluated thorough various experiments with ten human subjects, interacting with a virtual environment.

영어초록

The electrical muscle stimulator (EMS) based human machine interface (HMI) free to mechanical constraint and muscle fatigue problems are proposed for force feedback in a virtual reality.
The device was designed to provide force feedback up to 4.8 N and 2.6 N each to the thumb and forefingers. The main objective of the HMI is to make unnecessary mechanical structures to attach on the hand or fingers. It employs custom EMSs and an interface arranged in the forearm. In this work, major muscle groups such as extensor pollicis brevis (EPB), extensor indicis proprius (EIP), flexor pollicis longus (FPL) and flexor digitorum profundus (FDP) are selected for efficient force feedback and controlled individually. For this, a human muscular-skeletal analysis was performed and verified.
The validity of the proposed multi-channel EMS based HMI was evaluated thorough various experiments with ten human subjects, interacting with a virtual environment.

참고자료

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