A study of an exoskeletal robot for human shoulder motion support

Kazuo Kiguchi, Koya Iwami, Tomomi Saza, Shingo Kariya, Keigo Watanabe, Kiyotaka Izumi, Toshio Fukuda

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

We have been developing exoskeletal robots in order to realize the human motion support (especially for physically weak people). In this paper, we propose a 2DOF exoskeletal robot to support the human shoulder motion. In this exoskeletal robot, the flexion-extension and abduction-adduction motions of shoulder are supported by activating the arm holder of the robot, which is attached to the upper arm of the human subject, using wires driven by DC motors. Fuzzy controller has been designed to control the robot according to skin surface electromyogram (EMG) signals in which intention of human subject is reflected. The proposed controller controls the flexion-extension and abduction-adduction motion of the human subject. The effectiveness of the proposed exoskeletal robot has been evaluated by experiment.

Original languageEnglish
Pages2111-2116
Number of pages6
Publication statusPublished - Dec 1 2001
Externally publishedYes
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: Oct 29 2001Nov 3 2001

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period10/29/0111/3/01

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'A study of an exoskeletal robot for human shoulder motion support'. Together they form a unique fingerprint.

  • Cite this

    Kiguchi, K., Iwami, K., Saza, T., Kariya, S., Watanabe, K., Izumi, K., & Fukuda, T. (2001). A study of an exoskeletal robot for human shoulder motion support. 2111-2116. Paper presented at 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States.