A 3DOF exoskeleton for upper-limb motion assist - Consideration of the effect of bi-articular muscles

Kazuo Kiguchi, Toshio Fukuda

Research output: Contribution to journalConference articlepeer-review

30 Citations (Scopus)

Abstract

We have been developing exoskeleton systems to assist the motion of physically weak persons such as elderly, disabled, and injured persons. The proposed exoskeletons are controlled basically based on the electromyogram (EMG) signals. Even though the EMG signals contain very important information, however, it is not very easy to predict the user's upper-limb motion (elbow and shoulder motion) based on the EMG signals in real-time because of the difficulty in using the EMG signals as the controller input signals. In this paper, we propose a control method for a 3DOF exoskeleton system for human upper-limb motion assist considering the effect of bi-articular muscles.

Original languageEnglish
Pages (from-to)2424-2429
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number3
DOIs
Publication statusPublished - 2004
Externally publishedYes
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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