Design of an exoskeletal robot for human elbow motion support

K. Kiguchi, S. Kariya, T. Niwa, Keigo Watanabe, K. Izumi, T. Fukuda

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

5 Citations (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 a 1DOF exoskeletal robot to support the elbow motion of physically weak people. Fuzzy control has been applied to control the exoskeletal robot system based on vague biological signals that reflect the human subject's intention. Skin surface electromyogram (EMG) signals and the generated force by the human subject's wrist during the human elbow motion have been used as input information of the fuzzy controller.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages383-388
Number of pages6
Volume1
Publication statusPublished - 2000
Externally publishedYes
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
Duration: Oct 31 2000Nov 5 2000

Other

Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryJapan
CityTakamatsu
Period10/31/0011/5/00

Fingerprint

Robots
Fuzzy control
Skin
Aging of materials
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Kiguchi, K., Kariya, S., Niwa, T., Watanabe, K., Izumi, K., & Fukuda, T. (2000). Design of an exoskeletal robot for human elbow motion support. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 383-388)

Design of an exoskeletal robot for human elbow motion support. / Kiguchi, K.; Kariya, S.; Niwa, T.; Watanabe, Keigo; Izumi, K.; Fukuda, T.

IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2000. p. 383-388.

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

Kiguchi, K, Kariya, S, Niwa, T, Watanabe, K, Izumi, K & Fukuda, T 2000, Design of an exoskeletal robot for human elbow motion support. in IEEE International Conference on Intelligent Robots and Systems. vol. 1, pp. 383-388, 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan, 10/31/00.
Kiguchi K, Kariya S, Niwa T, Watanabe K, Izumi K, Fukuda T. Design of an exoskeletal robot for human elbow motion support. In IEEE International Conference on Intelligent Robots and Systems. Vol. 1. 2000. p. 383-388
Kiguchi, K. ; Kariya, S. ; Niwa, T. ; Watanabe, Keigo ; Izumi, K. ; Fukuda, T. / Design of an exoskeletal robot for human elbow motion support. IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2000. pp. 383-388
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