Development of a Muscle Suit for the Upper Limb - Proposal of Posture Control Methods

Author

Kobayashi, Hiroshi ; Iba, Masaya ; Suzuki, Hidetoshi

Author_Institution

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

fYear

2006

fDate

Oct. 2006

Firstpage

1056

Lastpage

1061

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. 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

handicapped aids; medical robotics; motion control; neurocontrollers; prosthetics; McKibben artificial muscles; muscle suit; muscular support; nonlinear control method; posture control methods; wearable robot; Artificial neural networks; Control systems; Humans; Intelligent robots; Motion control; Muscles; Proposals; Rehabilitation robotics; Service robots; Shoulder; McKibben artificial muscle; Muscle suit; Neural network; Posture control; Upper limb motion; Wearable robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0259-X

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.281810

Filename

4058504