TY - GEN
T1 - Fuzzy-neuro control of an exoskeletal robot for human elbow motion support
AU - Kiguchi, K.
AU - Kariya, S.
AU - Watanabe, K.
AU - Izumi, K.
AU - Fukuda, T.
PY - 2001
Y1 - 2001
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0034861067&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2001.933188
DO - 10.1109/ROBOT.2001.933188
M3 - Conference contribution
AN - SCOPUS:0034861067
SN - 0780365763
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3668
EP - 3673
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2001 IEEE International Conference on Robotics and Automation (ICRA)
Y2 - 21 May 2001 through 26 May 2001
ER -