Development of a 2DOF inner skeleton robot for forearm motion assist

Kazuo Kiguchi; Subrata Kumar Kundu

doi:10.1109/SICE.2006.315434

Development of a 2DOF inner skeleton robot for forearm motion assist

Kazuo Kiguchi, Subrata Kumar Kundu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

A 2 degree of freedom (DOF) inner skeleton robot (i.e. power assisted artificial joint) that is designed to assist human elbow flexion-extension motion and forearm supination-pronation motion for daily life activities is proposed. This paper presents a prototype of inner skeleton robot that is supposed to assist the motion from inside the human body for the elderly or physically disabled persons and acts as an actuated artificial joint. The proposed system is controlled based on the activation patterns of the muscles electromyogram signals by applying an effective fuzzy-neuro control method. We have developed an actuator and introduce a T-mechanism for the proposed system. The proposed system can be expected to be an artificial joint for the future generation. The effectiveness of the proposed system has been evaluated by experiment.

Original language	English
Title of host publication	2006 SICE-ICASE International Joint Conference
Pages	1260-1265
Number of pages	6
DOIs	https://doi.org/10.1109/SICE.2006.315434
Publication status	Published - 2006
Externally published	Yes
Event	2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of Duration: Oct 18 2006 → Oct 21 2006

Publication series

Name	2006 SICE-ICASE International Joint Conference

Other

Other	2006 SICE-ICASE International Joint Conference
Country/Territory	Korea, Republic of
City	Busan
Period	10/18/06 → 10/21/06

All Science Journal Classification (ASJC) codes

Computer Science Applications
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/SICE.2006.315434

Cite this

@inproceedings{b4f8540598554f36983e863202bbcccb,

title = "Development of a 2DOF inner skeleton robot for forearm motion assist",

abstract = "A 2 degree of freedom (DOF) inner skeleton robot (i.e. power assisted artificial joint) that is designed to assist human elbow flexion-extension motion and forearm supination-pronation motion for daily life activities is proposed. This paper presents a prototype of inner skeleton robot that is supposed to assist the motion from inside the human body for the elderly or physically disabled persons and acts as an actuated artificial joint. The proposed system is controlled based on the activation patterns of the muscles electromyogram signals by applying an effective fuzzy-neuro control method. We have developed an actuator and introduce a T-mechanism for the proposed system. The proposed system can be expected to be an artificial joint for the future generation. The effectiveness of the proposed system has been evaluated by experiment.",

author = "Kazuo Kiguchi and Kundu, {Subrata Kumar}",

year = "2006",

doi = "10.1109/SICE.2006.315434",

language = "English",

isbn = "8995003855",

series = "2006 SICE-ICASE International Joint Conference",

pages = "1260--1265",

booktitle = "2006 SICE-ICASE International Joint Conference",

note = "2006 SICE-ICASE International Joint Conference ; Conference date: 18-10-2006 Through 21-10-2006",

}

TY - GEN

T1 - Development of a 2DOF inner skeleton robot for forearm motion assist

AU - Kiguchi, Kazuo

AU - Kundu, Subrata Kumar

PY - 2006

Y1 - 2006

N2 - A 2 degree of freedom (DOF) inner skeleton robot (i.e. power assisted artificial joint) that is designed to assist human elbow flexion-extension motion and forearm supination-pronation motion for daily life activities is proposed. This paper presents a prototype of inner skeleton robot that is supposed to assist the motion from inside the human body for the elderly or physically disabled persons and acts as an actuated artificial joint. The proposed system is controlled based on the activation patterns of the muscles electromyogram signals by applying an effective fuzzy-neuro control method. We have developed an actuator and introduce a T-mechanism for the proposed system. The proposed system can be expected to be an artificial joint for the future generation. The effectiveness of the proposed system has been evaluated by experiment.

AB - A 2 degree of freedom (DOF) inner skeleton robot (i.e. power assisted artificial joint) that is designed to assist human elbow flexion-extension motion and forearm supination-pronation motion for daily life activities is proposed. This paper presents a prototype of inner skeleton robot that is supposed to assist the motion from inside the human body for the elderly or physically disabled persons and acts as an actuated artificial joint. The proposed system is controlled based on the activation patterns of the muscles electromyogram signals by applying an effective fuzzy-neuro control method. We have developed an actuator and introduce a T-mechanism for the proposed system. The proposed system can be expected to be an artificial joint for the future generation. The effectiveness of the proposed system has been evaluated by experiment.

UR - http://www.scopus.com/inward/record.url?scp=34250700991&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34250700991&partnerID=8YFLogxK

U2 - 10.1109/SICE.2006.315434

DO - 10.1109/SICE.2006.315434

M3 - Conference contribution

AN - SCOPUS:34250700991

SN - 8995003855

SN - 9788995003855

T3 - 2006 SICE-ICASE International Joint Conference

SP - 1260

EP - 1265

BT - 2006 SICE-ICASE International Joint Conference

T2 - 2006 SICE-ICASE International Joint Conference

Y2 - 18 October 2006 through 21 October 2006

ER -

Development of a 2DOF inner skeleton robot for forearm motion assist

Abstract

Publication series

Other

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this