Intelligent interface and control of an exoskeletal robot for human shoulder motion support considering subject's arm posture

Kazuo Kiguchi, Koya Iwami, Makoto Yasuda, Hideaki Kurata, Keigo Watanabe, Toshio Fukuda

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

3 Citations (Scopus)

Abstract

We have been developing exoskeletal robots in order to support the motion of physically weak persons such as elderly persons or handicapped persons. In our previous research, the 2DOF exoskeletal robots for shoulder motion support and its control method have been developed since the shoulder motion is especially important for people to take care of themselves in everyday life. In this paper, we propose intelligent interface, which realizes the fuzzy-neuro controller adjustment in accordance with the human subject's arm posture, in order to effectively control the 2DOF exoskeletal robot for shoulder motion support. The intelligent interface is realized by applying a neural network. The effectiveness of the proposed intelligent interface of the exoskeletal robot has been evaluated by experiment.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3230-3235
Number of pages6
Volume3
Publication statusPublished - 2002
Externally publishedYes
Event2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States
Duration: May 11 2002May 15 2002

Other

Other2002 IEEE International Conference on Robotics adn Automation
CountryUnited States
CityWashington, DC
Period5/11/025/15/02

Fingerprint

Robots
Neural networks
Controllers
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Kiguchi, K., Iwami, K., Yasuda, M., Kurata, H., Watanabe, K., & Fukuda, T. (2002). Intelligent interface and control of an exoskeletal robot for human shoulder motion support considering subject's arm posture. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 3230-3235)

Intelligent interface and control of an exoskeletal robot for human shoulder motion support considering subject's arm posture. / Kiguchi, Kazuo; Iwami, Koya; Yasuda, Makoto; Kurata, Hideaki; Watanabe, Keigo; Fukuda, Toshio.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 2002. p. 3230-3235.

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

Kiguchi, K, Iwami, K, Yasuda, M, Kurata, H, Watanabe, K & Fukuda, T 2002, Intelligent interface and control of an exoskeletal robot for human shoulder motion support considering subject's arm posture. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 3, pp. 3230-3235, 2002 IEEE International Conference on Robotics adn Automation, Washington, DC, United States, 5/11/02.
Kiguchi K, Iwami K, Yasuda M, Kurata H, Watanabe K, Fukuda T. Intelligent interface and control of an exoskeletal robot for human shoulder motion support considering subject's arm posture. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3. 2002. p. 3230-3235
Kiguchi, Kazuo ; Iwami, Koya ; Yasuda, Makoto ; Kurata, Hideaki ; Watanabe, Keigo ; Fukuda, Toshio. / Intelligent interface and control of an exoskeletal robot for human shoulder motion support considering subject's arm posture. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 2002. pp. 3230-3235
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