Abstract
In this paper; we introduce a 3-DOF exoskeleton system to assist the human upper-limb motion (shoulder flexion-extension motion, shoulder adduction-abduction motion, and elbow flexion-extension motion) for daily activity and rehabilitation. The electromyogram (EMG) signals of human muscles are important signals to understand how the patient intends to move. The proposed exoskeleton automatically assists the patient 's motion for daily activity and rehabilitation mainly based on the skin surface EMG signals. Even though the EMG signals contain very important information, however, it is not very easy to predict the patient upper-limb motion (elbow and shoulder motion) based on the EMG signals in a short time because of the difficulty in using the EMG signals as the controller input signals. In order to cope with this problem, fuzzy-neuro control has been applied to realize the sophisticated real-time control of the exoskeleton system for motion assist of the patient. Experiment has been performed to evaluate the proposed exoskeleton and its control system.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 926-931 |
| Number of pages | 6 |
| Volume | 2 |
| ISBN (Electronic) | 0780377591 |
| DOIs | |
| Publication status | Published - 2003 |
| Externally published | Yes |
| Event | 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan Duration: Jul 20 2003 → Jul 24 2003 |
Other
| Other | 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 |
|---|---|
| Country/Territory | Japan |
| City | Kobe |
| Period | 7/20/03 → 7/24/03 |
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
- Software