Exoskeleton for human upper-limb motion support

Kazuo Kiguchi, Takakazu Tanaka, Keigo Watanabe, Toshio Fukuda

Research output: Contribution to journalConference articlepeer-review

35 Citations (Scopus)


We have been developing exoskeletons (exoskeletal robots) for assisting the motion of physically weak persons such as elderly persons or slightly disabled persons in daily life. In this paper, we propose a 3 DOF exoskeleton and its control system to assist the human upper-limb motion (shoulder joint motion and elbow joint motion) of physically weak persons. The proposed robot automatically assists the human motion mainly based on the skin surface electromyogram (EMG) signals. Fuzzy control has been applied to realize the sophisticated real-time control of the exoskeleton. Experiment has been performed to evaluate the proposed exoskeleton.

Original languageEnglish
Pages (from-to)2206-2211
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sept 14 2003Sept 19 2003

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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