Title :
Exoskeleton for human upper-limb motion support
Author :
Kiguchi, Kazuo ; Tanaka, Takakazu ; Watanabe, Keigo ; Fukuda, Toshio
Author_Institution :
Dept. of Adv. Syst. Control Eng., Saga Univ., Japan
Abstract :
We have been developing exoskeletons (exoskeletal robots) for assisting the motion of physically weak persons such as elderly persons or slightly disabled persons in daily life. In this paper, we propose a 3 DOF exoskeleton and its control system to assist the human upper-limb motion (shoulder joint motion and elbow joint motion) of physically weak persons. The proposed robot automatically assists the human motion mainly based on the skin surface electromyogram (EMG) signals. Fuzzy control has been applied to realize the sophisticated real-time control of the exoskeleton. Experiment has been performed to evaluate the proposed exoskeleton.
Keywords :
electromyography; fuzzy control; medical robotics; motion control; patient rehabilitation; 3-DOF; 3-degrees of freedom; EMG signals; control system; elbow joint motion; electromyogram; exoskeletal robots; exoskeleton; fuzzy control; human motion; human upper limb motion support; physically weak persons assistance; real time control; shoulder joint motion; skin surface; Automatic control; Control systems; Elbow; Exoskeletons; Humans; Motion control; Robotics and automation; Robots; Senior citizens; Shoulder;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241921
