Title :
A study of an exoskeletal robot for human shoulder motion support
Author :
Kiguchi, Kazuo ; Iwami, Koya ; Saza, Tomomi ; Kariya, Shingo ; Watanabe, Keigo ; Izumi, Kiyotaka ; Fukuda, Toshio
Author_Institution :
Dept. of Adv. Sys. Ctrl. Eng, Saga Univ., Japan
Abstract :
We have been developing exoskeletal robots in order to realize the human motion support (especially for physically weak people). We propose a 2 DOF exoskeletal robot to support the human shoulder motion. In this exoskeletal robot, the flexion-extension and abduction-adduction motions of the shoulder are supported by activating the arm holder of the robot, which is attached to the upper arm of the human subject, using wires driven by DC motors. A fuzzy controller has been designed to control the robot according to skin surface electromyogram (EMG) signals in which intention of the human subject is reflected. The proposed controller controls the flexion-extension and abduction-adduction motion of the human subject. The effectiveness of the proposed exoskeletal robot has been evaluated by experiment
Keywords :
electromyography; fuzzy control; medical robotics; motion control; neurocontrollers; orthotics; EMG signals; abduction-adduction motions; exoskeletal robot; flexion-extension motions; fuzzy controller; human shoulder motion support; skin surface electromyogram signals; DC motors; Electromyography; Fuzzy control; Humans; Motion control; Robot control; Shoulder; Signal design; Skin; Wires;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976383
