A Study of Human Motion Support with an Exoskeletal Robot: 1st Report, Fuzzy Control of a 1DOF Robot for Human Elbow Motion Support

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

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

We are stepping into an aging society rapidly. In that society, it is important that physically weak people are able to take care of themselves. In this paper, we introduce an effective control method of a 1 DOF exoskeletal robot to support the elbow motion of physically weak people. Fuzzy control has been applied to control both the angular position and impedance of the exoskeltal robot system based on generated force signals and vague biological signals that reflect the human subject's intention. Skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion have been used as input information of the fuzzy reasoned impedance controller. The experimental results show the effectiveness of the proposed control method of the exoskeletal robot.

Original languageEnglish
Pages (from-to)2905-2912
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume67
Issue number661
DOIs
Publication statusPublished - 2001

Keywords

  • Bio-Robotics
  • Exoskeletal Robot
  • Fuzzy Reasoning
  • Human Motion Support
  • Impedance Control
  • Sensor Fusion

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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