TY - GEN
T1 - Development of a 2DOF inner skeleton robot for forearm motion assist
AU - Kiguchi, Kazuo
AU - Kundu, Subrata Kumar
PY - 2006
Y1 - 2006
N2 - A 2 degree of freedom (DOF) inner skeleton robot (i.e. power assisted artificial joint) that is designed to assist human elbow flexion-extension motion and forearm supination-pronation motion for daily life activities is proposed. This paper presents a prototype of inner skeleton robot that is supposed to assist the motion from inside the human body for the elderly or physically disabled persons and acts as an actuated artificial joint. The proposed system is controlled based on the activation patterns of the muscles electromyogram signals by applying an effective fuzzy-neuro control method. We have developed an actuator and introduce a T-mechanism for the proposed system. The proposed system can be expected to be an artificial joint for the future generation. The effectiveness of the proposed system has been evaluated by experiment.
AB - A 2 degree of freedom (DOF) inner skeleton robot (i.e. power assisted artificial joint) that is designed to assist human elbow flexion-extension motion and forearm supination-pronation motion for daily life activities is proposed. This paper presents a prototype of inner skeleton robot that is supposed to assist the motion from inside the human body for the elderly or physically disabled persons and acts as an actuated artificial joint. The proposed system is controlled based on the activation patterns of the muscles electromyogram signals by applying an effective fuzzy-neuro control method. We have developed an actuator and introduce a T-mechanism for the proposed system. The proposed system can be expected to be an artificial joint for the future generation. The effectiveness of the proposed system has been evaluated by experiment.
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U2 - 10.1109/SICE.2006.315434
DO - 10.1109/SICE.2006.315434
M3 - Conference contribution
AN - SCOPUS:34250700991
SN - 8995003855
SN - 9788995003855
T3 - 2006 SICE-ICASE International Joint Conference
SP - 1260
EP - 1265
BT - 2006 SICE-ICASE International Joint Conference
T2 - 2006 SICE-ICASE International Joint Conference
Y2 - 18 October 2006 through 21 October 2006
ER -