A 3DOF exoskeleton for upper-limb motion assist - Consideration of the effect of bi-articular muscles

Kazuo Kiguchi; Toshio Fukuda

doi:10.1109/robot.2004.1307424

A 3DOF exoskeleton for upper-limb motion assist - Consideration of the effect of bi-articular muscles

Kazuo Kiguchi, Toshio Fukuda

Research output: Contribution to journal › Conference article › peer-review

31 Citations (Scopus)

Abstract

We have been developing exoskeleton systems to assist the motion of physically weak persons such as elderly, disabled, and injured persons. The proposed exoskeletons are controlled basically based on the electromyogram (EMG) signals. Even though the EMG signals contain very important information, however, it is not very easy to predict the user's upper-limb motion (elbow and shoulder motion) based on the EMG signals in real-time because of the difficulty in using the EMG signals as the controller input signals. In this paper, we propose a control method for a 3DOF exoskeleton system for human upper-limb motion assist considering the effect of bi-articular muscles.

Original language	English
Pages (from-to)	2424-2429
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	3
DOIs	https://doi.org/10.1109/robot.2004.1307424
Publication status	Published - 2004
Externally published	Yes
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/robot.2004.1307424

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title = "A 3DOF exoskeleton for upper-limb motion assist - Consideration of the effect of bi-articular muscles",

abstract = "We have been developing exoskeleton systems to assist the motion of physically weak persons such as elderly, disabled, and injured persons. The proposed exoskeletons are controlled basically based on the electromyogram (EMG) signals. Even though the EMG signals contain very important information, however, it is not very easy to predict the user's upper-limb motion (elbow and shoulder motion) based on the EMG signals in real-time because of the difficulty in using the EMG signals as the controller input signals. In this paper, we propose a control method for a 3DOF exoskeleton system for human upper-limb motion assist considering the effect of bi-articular muscles.",

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language = "English",

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number = "3",

note = "Proceedings- 2004 IEEE International Conference on Robotics and Automation ; Conference date: 26-04-2004 Through 01-05-2004",

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T1 - A 3DOF exoskeleton for upper-limb motion assist - Consideration of the effect of bi-articular muscles

AU - Kiguchi, Kazuo

AU - Fukuda, Toshio

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N2 - We have been developing exoskeleton systems to assist the motion of physically weak persons such as elderly, disabled, and injured persons. The proposed exoskeletons are controlled basically based on the electromyogram (EMG) signals. Even though the EMG signals contain very important information, however, it is not very easy to predict the user's upper-limb motion (elbow and shoulder motion) based on the EMG signals in real-time because of the difficulty in using the EMG signals as the controller input signals. In this paper, we propose a control method for a 3DOF exoskeleton system for human upper-limb motion assist considering the effect of bi-articular muscles.

AB - We have been developing exoskeleton systems to assist the motion of physically weak persons such as elderly, disabled, and injured persons. The proposed exoskeletons are controlled basically based on the electromyogram (EMG) signals. Even though the EMG signals contain very important information, however, it is not very easy to predict the user's upper-limb motion (elbow and shoulder motion) based on the EMG signals in real-time because of the difficulty in using the EMG signals as the controller input signals. In this paper, we propose a control method for a 3DOF exoskeleton system for human upper-limb motion assist considering the effect of bi-articular muscles.

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M3 - Conference article

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SN - 1050-4729

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SP - 2424

EP - 2429

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

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Y2 - 26 April 2004 through 1 May 2004

ER -

A 3DOF exoskeleton for upper-limb motion assist - Consideration of the effect of bi-articular muscles

Abstract

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