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

Kazuo Kiguchi, Shingo Kariya, Takakazu Tanaka, Noritaka Hatao, Keigo Watanabe, Toshio Fukuda

Research output: Contribution to journalConference article

1 Citation (Scopus)

Abstract

We have been developing exoskeletal robots for human motion support in order to help physically weaken persons. In this study, human elbow motion is assisted by the exoskeletal robot system, since the elbow motion is one of the simplest and the most important motion of human beings in everyday life. The angular position and impedance of the exoskeltal robot system are controlled by multiple fuzzy-neuro controllers. The 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. Since the activation level of working muscles tends to vary with the human subject's arm posture, an intelligent interface that cancels out the effect of posture changes of the human subject's arm is proposed in this paper. The experimental results show the effectiveness of the proposed intelligent interface.

Original languageEnglish
Pages (from-to)1532-1537
Number of pages6
JournalIEEE International Conference on Fuzzy Systems
Volume2
Publication statusPublished - Dec 31 2002
Externally publishedYes
Event2002 IEEE International Conference on Fuzzy Systems: FUZZ-IEEE'02 - Honolulu, HI, United States
Duration: May 12 2002May 17 2002

ASJC Scopus subject areas

  • Software
  • Theoretical Computer Science
  • Artificial Intelligence
  • Applied Mathematics

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