TY - JOUR
T1 - Development of a 3DOF mobile exoskeleton robot for human upper-limb motion assist
AU - Kiguchi, Kazuo
AU - Rahman, Mohammad Habibur
AU - Sasaki, Makoto
AU - Teramoto, Kenbu
N1 - Funding Information:
The authors gratefully acknowledge the support provided for this research by Japan Society of Promotion of Science (JSPS) Grant-in-Aid for Scientific Research (C) 16560228, and the Mazda Foundation. The authors also would like to thank Saga Arizono Prosthetics and Orthotics MFG. Ltd. for making the fine wrist orthosis used in the exoskeleton.
PY - 2008/8/31
Y1 - 2008/8/31
N2 - In order to assist physically disabled, injured, and/or elderly persons, we have been developing exoskeleton robots for assisting upper-limb motion, since upper-limb motion is involved in a lot of activities of everyday life. This paper proposes a mechanism and control method of a mobile exoskeleton robot for 3DOF upper-limb motion assist (shoulder vertical and horizontal flexion/extension, and elbow flexion/extension motion assist). The exoskeleton robot is mainly controlled by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the user intends to move. The force vector at the end-effector is taken into account to generate the natural and smooth hand trajectory of the user in the proposed control method. An obstacle avoidance algorithm is applied to prevent accidental collision between the user's upper-limb and the robot frame. The experiment was performed to evaluate the effectiveness of the proposed exoskeleton robot.
AB - In order to assist physically disabled, injured, and/or elderly persons, we have been developing exoskeleton robots for assisting upper-limb motion, since upper-limb motion is involved in a lot of activities of everyday life. This paper proposes a mechanism and control method of a mobile exoskeleton robot for 3DOF upper-limb motion assist (shoulder vertical and horizontal flexion/extension, and elbow flexion/extension motion assist). The exoskeleton robot is mainly controlled by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the user intends to move. The force vector at the end-effector is taken into account to generate the natural and smooth hand trajectory of the user in the proposed control method. An obstacle avoidance algorithm is applied to prevent accidental collision between the user's upper-limb and the robot frame. The experiment was performed to evaluate the effectiveness of the proposed exoskeleton robot.
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U2 - 10.1016/j.robot.2007.11.007
DO - 10.1016/j.robot.2007.11.007
M3 - Article
AN - SCOPUS:47249102137
SN - 0921-8890
VL - 56
SP - 678
EP - 691
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
IS - 8
ER -