A study on EMG-based control of exoskeleton robots for human lower-limb motion assist

H. He, K. Kiguchi

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

43 Citations (Scopus)

Abstract

An exoskeleton robot is an external structural mechanism with Joints and links corresponding to those of the human body. When it is worn, it transmits torques from actuators through rigid exoskeletal links to the human Joints. We have been developing exoskeleton robots for assisting the motions of physically weak persons such as elderly or disabled in dally life. In this paper, we propose an electromyogram (EMG) based control (i.e., control based on the skin surface EMG signais of the user) for the exoskeleton robot to assist physically weak person's lower-limb motions. The skin surface EMG signals are mainly used as the input information for the controller. In order to generate flexible and smooth motions and take into account the changing EMG signal levels according to the physical and psychological conditions of the user, fuzzy-neuro control method has been applied for the controller. The experimental results show the effectiveness of the designed EMG-based controller for the power-assist.

Original languageEnglish
Title of host publication6th International Special Topic Conference on ITAB, 2007
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages292-295
Number of pages4
ISBN (Print)9781424418688
DOIs
Publication statusPublished - Jan 1 2007
Externally publishedYes
Event6th International Special Topic Conference on ITAB, 2007 - Tokyo, Japan
Duration: Nov 8 2007Nov 11 2007

Publication series

NameProceedings of the IEEE/EMBS Region 8 International Conference on Information Technology Applications in Biomedicine, ITAB

Other

Other6th International Special Topic Conference on ITAB, 2007
CountryJapan
CityTokyo
Period11/8/0711/11/07

All Science Journal Classification (ASJC) codes

  • Engineering(all)
  • Computer Science(all)

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