Design and control of an exoskeleton system for human upper-limb motion assist

K. Kiguchi, T. Tanaka, K. Watanabe, T. Fukuda

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

24 Citations (Scopus)

Abstract

In this paper; we introduce a 3-DOF exoskeleton system to assist the human upper-limb motion (shoulder flexion-extension motion, shoulder adduction-abduction motion, and elbow flexion-extension motion) for daily activity and rehabilitation. The electromyogram (EMG) signals of human muscles are important signals to understand how the patient intends to move. The proposed exoskeleton automatically assists the patient 's motion for daily activity and rehabilitation mainly based on the skin surface EMG signals. Even though the EMG signals contain very important information, however, it is not very easy to predict the patient upper-limb motion (elbow and shoulder motion) based on the EMG signals in a short time because of the difficulty in using the EMG signals as the controller input signals. In order to cope with this problem, fuzzy-neuro control has been applied to realize the sophisticated real-time control of the exoskeleton system for motion assist of the patient. Experiment has been performed to evaluate the proposed exoskeleton and its control system.

Original languageEnglish
Title of host publicationProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages926-931
Number of pages6
ISBN (Electronic)0780377591
DOIs
Publication statusPublished - Jan 1 2003
Externally publishedYes
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: Jul 20 2003Jul 24 2003

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2

Other

Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
CountryJapan
CityKobe
Period7/20/037/24/03

Keywords

  • Control systems
  • Elbow
  • Electromyography
  • Exoskeletons
  • Humans
  • Motion control
  • Muscles
  • Performance evaluation
  • Real time systems
  • Skin

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Kiguchi, K., Tanaka, T., Watanabe, K., & Fukuda, T. (2003). Design and control of an exoskeleton system for human upper-limb motion assist. In Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 (pp. 926-931). [1225466] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225466