TY - GEN
T1 - Neuro-fuzzy based motion control of a robotic exoskeleton
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
AU - Kiguchi, Kazuo
AU - Rahman, Mohammad Habibur
AU - Sasaki, Makoto
PY - 2006
Y1 - 2006
N2 - To assist physically disabled, injured, and/or elderly persons, we have been developing a 3DOF exoskeleton robot for assisting upper-limb motion, since upper-limb motion is involved in a lot of activities of everyday life. The exoskeleton robot is mainly is controlled by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the user intends to move. This paper introduces the mechanism of the exoskeleton robot and also proposes a control method of the exoskeleton robot considering the generated end-effector force vectors.
AB - To assist physically disabled, injured, and/or elderly persons, we have been developing a 3DOF exoskeleton robot for assisting upper-limb motion, since upper-limb motion is involved in a lot of activities of everyday life. The exoskeleton robot is mainly is controlled by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the user intends to move. This paper introduces the mechanism of the exoskeleton robot and also proposes a control method of the exoskeleton robot considering the generated end-effector force vectors.
UR - http://www.scopus.com/inward/record.url?scp=33845671873&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845671873&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1642180
DO - 10.1109/ROBOT.2006.1642180
M3 - Conference contribution
AN - SCOPUS:33845671873
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3146
EP - 3151
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -