Title :
Intelligent interface of an exoskeletal robot for human elbow motion support considering subject´s arm posture
Author :
Kiguchi, Kazuo ; Kariya, Shingo ; Tanaka, Takakazu ; Hatao, Noritaka ; Watanabe, Keigo ; Fukuda, Toshio
Author_Institution :
Dept. of Adv. Syst. Control Eng., Saga Univ., Japan
fDate :
6/24/1905 12:00:00 AM
Abstract :
We develop exoskeletal robots for the motion support of physically weak persons. In this study, the human elbow motion is assisted by the exoskeletal robot system, since the elbow motion is one of the simplest and the most important motion of human beings in everyday life activities. The angular position and impedance of the exoskeletal robot system are controlled by multiple fuzzy-neuro controllers. The skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion are used as input information of the controller. Since the activation level of working muscles tends to vary with the human subject´s arm posture, an intelligent interface that cancels out the effect of posture changes of the human subject´s arm is proposed in this paper. The experimental results show the effectiveness of the proposed intelligent interface
Keywords :
electromyography; fuzzy control; handicapped aids; intelligent control; motion control; neurocontrollers; position control; robot dynamics; user interfaces; EMG signals; angular position; arm posture; exoskeletal robot; fuzzy-neuro controllers; handicapped aids; human elbow motion support; impedance; intelligent interface; working muscle activation level; Control systems; Elbow; Electromyography; Humans; Intelligent robots; Robot control; Signal generators; Skin; Surface impedance; Wrist;
Conference_Titel :
Fuzzy Systems, 2002. FUZZ-IEEE'02. Proceedings of the 2002 IEEE International Conference on
Conference_Location :
Honolulu, HI
Print_ISBN :
0-7803-7280-8
DOI :
10.1109/FUZZ.2002.1006734