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開催日 2014/9/13
時間 14:00 - 15:00
会場 Poster / Exhibition(Event Hall B)

A BMI-based robotic exoskeleton for neurorehabilitation and daily actions: Reaching and grasping movements controlled by EEG and EMG signals

  • P3-370
  • 川瀬 利弘 / Toshihiro Kawase:1 神作 憲司 / Kenji Kansaku:1,2 
  • 1:国リハ研・脳機能部・脳神経 / Sys Neurosci Sect, Dept of Rehab for Brain Func, Res Inst of NRCD, Tokorozawa, Japan 2:電通大・脳科学 / Brain Sci Inspir Life Supp Res Cent, Univ of Electro-Communications, Chofu, Japan 

The brain-machine interface (BMI) or brain-computer interface (BCI) is an interface technology that utilizes neurophysiological signals from the brain to control external machines or computers, and we have developed a BMI-based occupational therapy-assist suit (BOTAS) for paralyzed upper extremities. Sensorimotor rhythm, P300 (Komatsu et al., 2010), steady-state visual evoked potential (SSVEP) (Sakurada et al., 2013) and electromyography (EMG) signals (Kawase et al., 2012, 2013) were used to drive the in-house assist suit for reaching and grasping movements. In this study, we developed a wearable BMI-based exoskeleton for neurorehabilitation and daily actions (BRENDA) for reaching and grasping movements.
The BRENDA had a torque-controlled motor to assist reaching movements with flexion/extension of an elbow and three position-controlled motors to assist grasping/opening movements. The motors were controlled based on signals extracted from EEG and EMG. A LED panel for eliciting SSVEP with 40Hz green/blue flickering stimuli was attached to a hand portion of the BRENDA. Electrodes for EMG measurement were attached to an arm sleeve beneath the BRENDA. An amplifier of the biological signals, batteries and a PC for controlling the whole system were stored in a case, and the user wore the case at the waist.
In an experiment, the BRENDA worn by an able-bodied subject (a 35-year-old female) realized reaching movements with flexion/extension of her elbow, which were triggered by EMG signals, and grasping/opening movements, which were triggered by SSVEP elicited by 40Hz green/blue flickering stimuli.
The new exoskeleton may be useful for practical rehabilitation and support of daily actions based on the users' intention.

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