Design of an exoskeletal robot for human elbow motion support

Author

Kiguchi, Kazuo ; Kariga, S. ; Niwa, Tomohiko ; Watanabe, Keigo ; Izumi, Kiyotaka ; Fukuda, Toshio

Author_Institution

Dept. of Adv. Control, Saga Univ., Japan

Volume

1

fYear

2000

fDate

2000

Firstpage

383

Abstract

We are stepping into an aging society rapidly. In that society, it is important that physically weak people are able to take care of themselves. In this paper, we introduce a 1DOF exoskeletal robot to support the elbow motion of physically weak people. Fuzzy control has been applied to control the exoskeletal robot system based on vague biological signals that reflect the human subject´s intention. Skin surface electromyogram (EMG) signals and the generated force by the human subject´s wrist during the human elbow motion have been used as input information of the fuzzy controller

Keywords

electromyography; fuzzy control; robots; 1DOF exoskeletal robot; aging society; exoskeletal robot; fuzzy control; fuzzy controller; human elbow motion; human elbow motion support; human subject´s wrist; physically weak people; skin surface electromyogram signals; vague biological signals; Aging; Biological control systems; Control systems; Elbow; Electromyography; Fuzzy control; Humans; Robot control; Signal generators; Skin;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.894635

Filename

894635