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 language | English |
|---|---|
| Pages | 2111-2116 |
| Number of pages | 6 |
| Publication status | Published - Dec 1 2001 |
| Externally published | Yes |
| Event | 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States Duration: Oct 29 2001 → Nov 3 2001 |
Other
| Other | 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country/Territory | United States |
| City | Maui, HI |
| Period | 10/29/01 → 11/3/01 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications