An Exoskeleton for Human Elbow and Forearm Motion Assist

Kazuo Kiguchi, Ryo Esaki, Takashi Tsuruta, Keigo Watanabe, Toshio Fukuda

Research output: Contribution to conferencePaper

38 Citations (Scopus)

Abstract

We present an exoskeleton to assist elbow and forearm motion of physically weak persons such as elderly, injured, or disabled persons. The forearm pronation/supination motion and the elbow flexion/extension motion, which are essential motions for the activities of daily living, are assisted by the proposed exoskeleton. The electromyogram (EMG) signals of muscles in forearm and upper-arm of the exoskeleton's user and the wrist force are also used as input information for the controller. By applying the EMG signals as main input signals to the controller, automatic control can be realized for the physically weak persons without manipulating any equipment. Fuzzy control has been applied to realize the natural and flexible motion assist. Experiment has been performed to evaluate the effectiveness of the proposed exoskeleton.

Original languageEnglish
Pages3600-3605
Number of pages6
Publication statusPublished - Dec 26 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period10/27/0310/31/03

Fingerprint

Disabled persons
Controllers
Fuzzy control
Muscle
Experiments
Assisted living

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Kiguchi, K., Esaki, R., Tsuruta, T., Watanabe, K., & Fukuda, T. (2003). An Exoskeleton for Human Elbow and Forearm Motion Assist. 3600-3605. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.

An Exoskeleton for Human Elbow and Forearm Motion Assist. / Kiguchi, Kazuo; Esaki, Ryo; Tsuruta, Takashi; Watanabe, Keigo; Fukuda, Toshio.

2003. 3600-3605 Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.

Research output: Contribution to conferencePaper

Kiguchi, K, Esaki, R, Tsuruta, T, Watanabe, K & Fukuda, T 2003, 'An Exoskeleton for Human Elbow and Forearm Motion Assist' Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States, 10/27/03 - 10/31/03, pp. 3600-3605.
Kiguchi K, Esaki R, Tsuruta T, Watanabe K, Fukuda T. An Exoskeleton for Human Elbow and Forearm Motion Assist. 2003. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.
Kiguchi, Kazuo ; Esaki, Ryo ; Tsuruta, Takashi ; Watanabe, Keigo ; Fukuda, Toshio. / An Exoskeleton for Human Elbow and Forearm Motion Assist. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.6 p.
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