Design and control of an exoskeleton system for human upper-limb motion assist

K. Kiguchi, T. Tanaka, K. Watanabe, T. Fukuda

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

26 被引用数 (Scopus)

抄録

In this paper; we introduce a 3-DOF exoskeleton system to assist the human upper-limb motion (shoulder flexion-extension motion, shoulder adduction-abduction motion, and elbow flexion-extension motion) for daily activity and rehabilitation. The electromyogram (EMG) signals of human muscles are important signals to understand how the patient intends to move. The proposed exoskeleton automatically assists the patient 's motion for daily activity and rehabilitation mainly based on the skin surface EMG signals. Even though the EMG signals contain very important information, however, it is not very easy to predict the patient upper-limb motion (elbow and shoulder motion) based on the EMG signals in a short time because of the difficulty in using the EMG signals as the controller input signals. In order to cope with this problem, fuzzy-neuro control has been applied to realize the sophisticated real-time control of the exoskeleton system for motion assist of the patient. Experiment has been performed to evaluate the proposed exoskeleton and its control system.

本文言語英語
ホスト出版物のタイトルProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
出版社Institute of Electrical and Electronics Engineers Inc.
ページ926-931
ページ数6
ISBN(電子版)0780377591
DOI
出版ステータス出版済み - 2003
外部発表はい
イベント2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, 日本
継続期間: 7月 20 20037月 24 2003

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2

その他

その他2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
国/地域日本
CityKobe
Period7/20/037/24/03

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用

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