Posture Control of a Muscle Suit for the Upper Limb

Author

Kobayashi, Hiroshi ; Iba, Masaya ; Suzuki, Hidetoshi

Author_Institution

Dept. of Mech. Eng., Science Univ. of Tokyo

fYear

2006

fDate

25-28 June 2006

Firstpage

7

Lastpage

12

Abstract

A "muscle suit" that will provide muscular support for the paralyzed or those otherwise unable to move unaided is being developed as a wearable robot. Using a new link mechanism for the shoulder joint which consists of two half-circle links with four universal joints in total mounted at both ends of each link, all motion for the upper limb has been realized. New structure for easy dressing and undressing is presented in this paper. Since five McKibben artificial muscles are employed for controlling the shoulder joint which has three DOF, nonlinear control method is required for posture control compensating load changes. Neural network is applied and posture control is well undertaken

Keywords

artificial limbs; handicapped aids; medical robotics; neurocontrollers; nonlinear control systems; position control; McKibben artificial muscles; muscle suit; muscular support; neural network; nonlinear control method; posture control; wearable robot; Artificial neural networks; Humans; Joints; Mechatronics; Motion control; Muscles; Pain; Rehabilitation robotics; Robots; Shoulder; McKibben artificial muscle; Muscle suit; Neural network; Posture control; Upper limb motion; Wearable robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257426

Filename

4026047