An EMG-based control for an upper-limb power-assist exoskeleton robot

Kazuo Kiguchi, Yoshiaki Hayashi

Research output: Contribution to journalArticlepeer-review

455 Citations (Scopus)


Many kinds of power-assist robots have been developed in order to assist self-rehabilitation and/or daily life motions of physically weak persons. Several kinds of control methods have been proposed to control the power-assist robots according to user's motion intention. In this paper, an electromyogram (EMG)-based impedance control method for an upper-limb power-assist exoskeleton robot is proposed to control the robot in accordance with the user's motion intention. The proposed method is simple, easy to design, humanlike, and adaptable to any user. A neurofuzzy matrix modifier is applied to make the controller adaptable to any users. Not only the characteristics of EMG signals but also the characteristics of human body are taken into account in the proposed method. The effectiveness of the proposed method was evaluated by the experiments.

Original languageEnglish
Article number6151182
Pages (from-to)1064-1071
Number of pages8
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number4
Publication statusPublished - 2012
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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