An exoskeletal robot for human elbow motion support - Sensor fusion, adaptation, and control

Kazuo Kiguchi, Shingo Kariya, Keigo Watanabe, Kiyotaka Izumi, Toshio Fukuda

Research output: Contribution to journalArticlepeer-review

142 Citations (Scopus)


In order to help everyday life of physically weak people, we are developing exoskeletal robots for human (especially for physically weak people) motion support. In this paper, we propose a one degree-of-freedom (1 DOF) exoskeletal robot and its control system to support the human elbow motion. The proposed controller controls the angular position and impedance of the exoskeletal robot system based on biological signals that reflect the human subjectq's intention. The skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion have been fused and used as input information of the controller. In order to make the robot flexible enough to deal with vague biological signal such as EMG, fuzzy neuro control has been applied to the controller. The experimental results show the effectiveness of the proposed exoskeletal robot system.

Original languageEnglish
Pages (from-to)353-361
Number of pages9
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number3
Publication statusPublished - Jun 2001
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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