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    • 4. 发明授权
    • Machine control device, machine system, machine control method, and recording medium storing machine control program
    • 机器控制装置,机器系统,机器控制方法和记录介质存储机器控制程序
    • US08396546B2
    • 2013-03-12
    • US12799840
    • 2010-05-03
    • Masayuki HirataTakufumi YanagisawaYukiyasu KamitaniHiroshi YokoiToshiki YoshimineTetsu GotoRyohei FukumaRyu Kato
    • Masayuki HirataTakufumi YanagisawaYukiyasu KamitaniHiroshi YokoiToshiki YoshimineTetsu GotoRyohei FukumaRyu Kato
    • A61B5/04
    • A61B5/0402A61B5/7267
    • A machine control device includes: first decoders for estimating, from brain signal information, which one of body movements a user performs or images, based on learning using pairs of movements performed by the user and brain signal information, the body movements going toward one of first to nth body postures; second decoders for estimating from the brain signal information, an correct rate on the body movement estimation, based on learning using pairs of correct rates of the estimation of body movements and the brain signal information; and electric prosthetic arm control section for controlling an electric prosthetic arm to change stepwise its posture between first to nth postures via at least one intermediate posture therebetween, the first to nth postures corresponding to the first to nth body postures. The first decoders perform the estimation only when the estimated correct rate exceeds a threshold. When the first decoders estimate that the body movements goes toward a body posture different from the current one, the electric prosthetic arm control section changes the posture of the machine by performing a part of substeps of change from one of the first to nth body postures toward the posture associated with the body posture toward which the estimated body movement goes. This configuration allows a user to control a brain-signal-based machine to perform a natural movement without a long-term training and much brain information.
    • 一种机器控制装置包括:第一解码器,用于基于使用用户执行的运动对的学习和脑信号信息来估计来自脑信号信息,用户执行的身体运动中的哪一个或图像,身体运动朝向 第一到第n身体姿势; 第二解码器,用于基于使用身体运动的估计的正确速率和脑信号信息的学习来从脑信号信息估计身体运动估计的正确率; 以及电动假肢臂控制部,其用于控制​​电动假肢臂,通过其间的至少一个中间姿势,在第一至第n姿势之间逐步地改变其姿势,所述第一至第n姿势对应于所述第一至第n体姿势。 第一解码器仅在估计的正确率超过阈值时执行估计。 当第一解码器估计身体运动朝向与当前身体姿势不同的身体姿势时,电假肢臂控制部通过执行从第一至第n体姿势中的一个朝向的部分子步骤改变机器的姿势 与所估计的身体运动所对应的身体姿势相关联的姿势。 该配置允许用户控制基于脑信号的机器执行自然运动,而无需长期训练和大量信息。