Development of a 2DOF inner skeleton robot for forearm motion assist

Kazuo Kiguchi, Subrata Kumar Kundu

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

Abstract

A 2 degree of freedom (DOF) inner skeleton robot (i.e. power assisted artificial joint) that is designed to assist human elbow flexion-extension motion and forearm supination-pronation motion for daily life activities is proposed. This paper presents a prototype of inner skeleton robot that is supposed to assist the motion from inside the human body for the elderly or physically disabled persons and acts as an actuated artificial joint. The proposed system is controlled based on the activation patterns of the muscles electromyogram signals by applying an effective fuzzy-neuro control method. We have developed an actuator and introduce a T-mechanism for the proposed system. The proposed system can be expected to be an artificial joint for the future generation. The effectiveness of the proposed system has been evaluated by experiment.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages1260-1265
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: Oct 18 2006Oct 21 2006

Other

Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of
CityBusan
Period10/18/0610/21/06

Fingerprint

Robots
Disabled persons
Muscle
Actuators
Chemical activation
Experiments

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kiguchi, K., & Kundu, S. K. (2006). Development of a 2DOF inner skeleton robot for forearm motion assist. In 2006 SICE-ICASE International Joint Conference (pp. 1260-1265). [4109157] https://doi.org/10.1109/SICE.2006.315434

Development of a 2DOF inner skeleton robot for forearm motion assist. / Kiguchi, Kazuo; Kundu, Subrata Kumar.

2006 SICE-ICASE International Joint Conference. 2006. p. 1260-1265 4109157.

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

Kiguchi, K & Kundu, SK 2006, Development of a 2DOF inner skeleton robot for forearm motion assist. in 2006 SICE-ICASE International Joint Conference., 4109157, pp. 1260-1265, 2006 SICE-ICASE International Joint Conference, Busan, Korea, Republic of, 10/18/06. https://doi.org/10.1109/SICE.2006.315434
Kiguchi K, Kundu SK. Development of a 2DOF inner skeleton robot for forearm motion assist. In 2006 SICE-ICASE International Joint Conference. 2006. p. 1260-1265. 4109157 https://doi.org/10.1109/SICE.2006.315434
Kiguchi, Kazuo ; Kundu, Subrata Kumar. / Development of a 2DOF inner skeleton robot for forearm motion assist. 2006 SICE-ICASE International Joint Conference. 2006. pp. 1260-1265
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