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

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

研究成果: ジャーナルへの寄稿学術誌査読

142 被引用数 (Scopus)

抄録

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.

本文言語英語
ページ(範囲)353-361
ページ数9
ジャーナルIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
31
3
DOI
出版ステータス出版済み - 6月 2001
外部発表はい

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • 情報システム
  • 人間とコンピュータの相互作用
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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