A Study of Human Motion Support with an Exoskeletal Robot: 1st Report, Fuzzy Control of a 1DOF Robot for Human Elbow Motion Support

Kazuo Kiguchi, Shingo Kariya, Keigo Watanabe, Kiyotaka Izumi, Toshio Fukuda

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

We are stepping into an aging society rapidly. In that society, it is important that physically weak people are able to take care of themselves. In this paper, we introduce an effective control method of a 1 DOF exoskeletal robot to support the elbow motion of physically weak people. Fuzzy control has been applied to control both the angular position and impedance of the exoskeltal robot system based on generated force signals and 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 fuzzy reasoned impedance controller. The experimental results show the effectiveness of the proposed control method of the exoskeletal robot.

Original languageEnglish
Pages (from-to)2905-2912
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume67
Issue number661
DOIs
Publication statusPublished - Jan 1 2001
Externally publishedYes

Fingerprint

Fuzzy control
Robots
Skin
Aging of materials
Controllers

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Cite this

A Study of Human Motion Support with an Exoskeletal Robot : 1st Report, Fuzzy Control of a 1DOF Robot for Human Elbow Motion Support. / Kiguchi, Kazuo; Kariya, Shingo; Watanabe, Keigo; Izumi, Kiyotaka; Fukuda, Toshio.

In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 67, No. 661, 01.01.2001, p. 2905-2912.

Research output: Contribution to journalArticle

@article{f7e00b105cbf4b2d809de80470dbe0c8,
title = "A Study of Human Motion Support with an Exoskeletal Robot: 1st Report, Fuzzy Control of a 1DOF Robot for Human Elbow Motion Support",
abstract = "We are stepping into an aging society rapidly. In that society, it is important that physically weak people are able to take care of themselves. In this paper, we introduce an effective control method of a 1 DOF exoskeletal robot to support the elbow motion of physically weak people. Fuzzy control has been applied to control both the angular position and impedance of the exoskeltal robot system based on generated force signals and 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 fuzzy reasoned impedance controller. The experimental results show the effectiveness of the proposed control method of the exoskeletal robot.",
author = "Kazuo Kiguchi and Shingo Kariya and Keigo Watanabe and Kiyotaka Izumi and Toshio Fukuda",
year = "2001",
month = "1",
day = "1",
doi = "10.1299/kikaic.67.2905",
language = "English",
volume = "67",
pages = "2905--2912",
journal = "Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",
issn = "0387-5024",
publisher = "The Japan Society of Mechanical Engineers",
number = "661",

}

TY - JOUR

T1 - A Study of Human Motion Support with an Exoskeletal Robot

T2 - 1st Report, Fuzzy Control of a 1DOF Robot for Human Elbow Motion Support

AU - Kiguchi, Kazuo

AU - Kariya, Shingo

AU - Watanabe, Keigo

AU - Izumi, Kiyotaka

AU - Fukuda, Toshio

PY - 2001/1/1

Y1 - 2001/1/1

N2 - We are stepping into an aging society rapidly. In that society, it is important that physically weak people are able to take care of themselves. In this paper, we introduce an effective control method of a 1 DOF exoskeletal robot to support the elbow motion of physically weak people. Fuzzy control has been applied to control both the angular position and impedance of the exoskeltal robot system based on generated force signals and 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 fuzzy reasoned impedance controller. The experimental results show the effectiveness of the proposed control method of the exoskeletal robot.

AB - We are stepping into an aging society rapidly. In that society, it is important that physically weak people are able to take care of themselves. In this paper, we introduce an effective control method of a 1 DOF exoskeletal robot to support the elbow motion of physically weak people. Fuzzy control has been applied to control both the angular position and impedance of the exoskeltal robot system based on generated force signals and 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 fuzzy reasoned impedance controller. The experimental results show the effectiveness of the proposed control method of the exoskeletal robot.

UR - http://www.scopus.com/inward/record.url?scp=79953223880&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79953223880&partnerID=8YFLogxK

U2 - 10.1299/kikaic.67.2905

DO - 10.1299/kikaic.67.2905

M3 - Article

AN - SCOPUS:79953223880

VL - 67

SP - 2905

EP - 2912

JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 661

ER -