Title :
Intelligent interface and control of an exoskeletal robot for human shoulder motion support considering subject´s arm posture
Author :
Kiguchi, Kazuo ; Iwami, Koya ; Yasuda, Makoto ; Kurata, Hideaki ; Watanabe, Keigo ; Fukuda, Toshio
Author_Institution :
Dept. of Adv. Syst. Control Eng, Saga Univ., Japan
Abstract :
We have been developing exoskeletal robots in order to support the motion of physically weak persons such as elderly persons or handicapped persons. In our previous research, the 2-DOF exoskeletal robots for shoulder motion support and its control method have been developed since the shoulder motion is especially important for people to take care of themselves in everyday life. In this paper, we propose intelligent interface, which realizes the fuzzy-neuro controller adjustment in accordance with the human subject´s arm posture, in order to effectively control the 2-DOF exoskeletal robot for shoulder motion support. The intelligent interface is realized by applying a neural network. The effectiveness of the proposed intelligent interface of the exoskeletal robot has been evaluated by experiment
Keywords :
fuzzy control; fuzzy neural nets; medical robotics; neurocontrollers; orthotics; user interfaces; 2-DOF exoskeletal robots; arm posture; elderly persons; fuzzy neurocontroller; handicapped persons; human shoulder motion support; intelligent control; intelligent interface; neural network; Electromyography; Humans; Intelligent control; Intelligent networks; Intelligent robots; Motion control; Muscles; Neural networks; Senior citizens; Shoulder;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013724
