An Exoskeleton for Human Elbow and Forearm Motion Assist

Kazuo Kiguchi, Ryo Esaki, Takashi Tsuruta, Keigo Watanabe, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

38 Citations (Scopus)

Abstract

We present an exoskeleton to assist elbow and forearm motion of physically weak persons such as elderly, injured, or disabled persons. The forearm pronation/supination motion and the elbow flexion/extension motion, which are essential motions for the activities of daily living, are assisted by the proposed exoskeleton. The electromyogram (EMG) signals of muscles in forearm and upper-arm of the exoskeleton's user and the wrist force are also used as input information for the controller. By applying the EMG signals as main input signals to the controller, automatic control can be realized for the physically weak persons without manipulating any equipment. Fuzzy control has been applied to realize the natural and flexible motion assist. Experiment has been performed to evaluate the effectiveness of the proposed exoskeleton.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages3600-3605
Number of pages6
Volume4
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period10/27/0310/31/03

Fingerprint

Disabled persons
Controllers
Fuzzy control
Muscle
Experiments
Assisted living

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Kiguchi, K., Esaki, R., Tsuruta, T., Watanabe, K., & Fukuda, T. (2003). An Exoskeleton for Human Elbow and Forearm Motion Assist. In IEEE International Conference on Intelligent Robots and Systems (Vol. 4, pp. 3600-3605)

An Exoskeleton for Human Elbow and Forearm Motion Assist. / Kiguchi, Kazuo; Esaki, Ryo; Tsuruta, Takashi; Watanabe, Keigo; Fukuda, Toshio.

IEEE International Conference on Intelligent Robots and Systems. Vol. 4 2003. p. 3600-3605.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kiguchi, K, Esaki, R, Tsuruta, T, Watanabe, K & Fukuda, T 2003, An Exoskeleton for Human Elbow and Forearm Motion Assist. in IEEE International Conference on Intelligent Robots and Systems. vol. 4, pp. 3600-3605, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States, 10/27/03.
Kiguchi K, Esaki R, Tsuruta T, Watanabe K, Fukuda T. An Exoskeleton for Human Elbow and Forearm Motion Assist. In IEEE International Conference on Intelligent Robots and Systems. Vol. 4. 2003. p. 3600-3605
Kiguchi, Kazuo ; Esaki, Ryo ; Tsuruta, Takashi ; Watanabe, Keigo ; Fukuda, Toshio. / An Exoskeleton for Human Elbow and Forearm Motion Assist. IEEE International Conference on Intelligent Robots and Systems. Vol. 4 2003. pp. 3600-3605
@inproceedings{76b2d18f98794f51abe76851b1255339,
title = "An Exoskeleton for Human Elbow and Forearm Motion Assist",
abstract = "We present an exoskeleton to assist elbow and forearm motion of physically weak persons such as elderly, injured, or disabled persons. The forearm pronation/supination motion and the elbow flexion/extension motion, which are essential motions for the activities of daily living, are assisted by the proposed exoskeleton. The electromyogram (EMG) signals of muscles in forearm and upper-arm of the exoskeleton's user and the wrist force are also used as input information for the controller. By applying the EMG signals as main input signals to the controller, automatic control can be realized for the physically weak persons without manipulating any equipment. Fuzzy control has been applied to realize the natural and flexible motion assist. Experiment has been performed to evaluate the effectiveness of the proposed exoskeleton.",
author = "Kazuo Kiguchi and Ryo Esaki and Takashi Tsuruta and Keigo Watanabe and Toshio Fukuda",
year = "2003",
language = "English",
volume = "4",
pages = "3600--3605",
booktitle = "IEEE International Conference on Intelligent Robots and Systems",

}

TY - GEN

T1 - An Exoskeleton for Human Elbow and Forearm Motion Assist

AU - Kiguchi, Kazuo

AU - Esaki, Ryo

AU - Tsuruta, Takashi

AU - Watanabe, Keigo

AU - Fukuda, Toshio

PY - 2003

Y1 - 2003

N2 - We present an exoskeleton to assist elbow and forearm motion of physically weak persons such as elderly, injured, or disabled persons. The forearm pronation/supination motion and the elbow flexion/extension motion, which are essential motions for the activities of daily living, are assisted by the proposed exoskeleton. The electromyogram (EMG) signals of muscles in forearm and upper-arm of the exoskeleton's user and the wrist force are also used as input information for the controller. By applying the EMG signals as main input signals to the controller, automatic control can be realized for the physically weak persons without manipulating any equipment. Fuzzy control has been applied to realize the natural and flexible motion assist. Experiment has been performed to evaluate the effectiveness of the proposed exoskeleton.

AB - We present an exoskeleton to assist elbow and forearm motion of physically weak persons such as elderly, injured, or disabled persons. The forearm pronation/supination motion and the elbow flexion/extension motion, which are essential motions for the activities of daily living, are assisted by the proposed exoskeleton. The electromyogram (EMG) signals of muscles in forearm and upper-arm of the exoskeleton's user and the wrist force are also used as input information for the controller. By applying the EMG signals as main input signals to the controller, automatic control can be realized for the physically weak persons without manipulating any equipment. Fuzzy control has been applied to realize the natural and flexible motion assist. Experiment has been performed to evaluate the effectiveness of the proposed exoskeleton.

UR - http://www.scopus.com/inward/record.url?scp=0348040196&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0348040196&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0348040196

VL - 4

SP - 3600

EP - 3605

BT - IEEE International Conference on Intelligent Robots and Systems

ER -