An exoskeleton for human shoulder rotation motion assist

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Abstract

This paper presents a robotic exoskeleton which assists shoulder internal-external rotation motion as well as shoulder vertical and horizontal flexion-extension motion of physically weak persons such as elderly, injured, or disabled persons. The exoskeleton is supposed to be directly attached to the user and activated mainly based on user's electromyogram (EMG) signals, which directly reflect the user's motion intention, in order to realize natural power assist. Fuzzy control is applied to realize sophisticated real-time control. Experiment has been performed to evaluate the effectiveness of the proposed exoskeleton.

Original languageEnglish
Pages (from-to)1092-1099
Number of pages8
JournalLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume3213
Publication statusPublished - Dec 1 2004
Externally publishedYes

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All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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