Fuzzy-neuro control of an exoskeletal robot for human elbow motion support

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

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

4 Citations (Scopus)

Abstract

We are developing exoskeletal robots for human (especially for physically weak people) motion support. In this paper, we propose a fuzzy-neuro control method for a 1DOF exoskeletal robot to support the human elbow motion. The proposed controller controls the angular position and impedance of the exoskeltal robot system based on 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 controller. Because of the adaptation ability of the fuzzy-neuro control, the robot is flexible enough to deal with vague biological signal such as EMG. The experimental results show the effectiveness of the proposed controller.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3668-3673
Number of pages6
Volume4
DOIs
Publication statusPublished - 2001
Externally publishedYes
Event2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

Other

Other2001 IEEE International Conference on Robotics and Automation (ICRA)
CountryKorea, Republic of
CitySeoul
Period5/21/015/26/01

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Kiguchi, K., Kariya, S., Watanabe, K., Izumi, K., & Fukuda, T. (2001). Fuzzy-neuro control of an exoskeletal robot for human elbow motion support. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 4, pp. 3668-3673) https://doi.org/10.1109/ROBOT.2001.933188