Development of a 3DOF mobile exoskeleton robot for human upper-limb motion assist

Kazuo Kiguchi, Mohammad Habibur Rahman, Makoto Sasaki, Kenbu Teramoto

Research output: Contribution to journalArticle

110 Citations (Scopus)

Abstract

In order to assist physically disabled, injured, and/or elderly persons, we have been developing exoskeleton robots for assisting upper-limb motion, since upper-limb motion is involved in a lot of activities of everyday life. This paper proposes a mechanism and control method of a mobile exoskeleton robot for 3DOF upper-limb motion assist (shoulder vertical and horizontal flexion/extension, and elbow flexion/extension motion assist). The exoskeleton robot is mainly controlled by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the user intends to move. The force vector at the end-effector is taken into account to generate the natural and smooth hand trajectory of the user in the proposed control method. An obstacle avoidance algorithm is applied to prevent accidental collision between the user's upper-limb and the robot frame. The experiment was performed to evaluate the effectiveness of the proposed exoskeleton robot.

Original languageEnglish
Pages (from-to)678-691
Number of pages14
JournalRobotics and Autonomous Systems
Volume56
Issue number8
DOIs
Publication statusPublished - Aug 31 2008
Externally publishedYes

Fingerprint

Mobile Robot
Robot
Robots
Motion
Obstacle Avoidance
Muscle
Skin
Collision avoidance
End effectors
Person
Horizontal
Collision
Vertical
Trajectory
Trajectories
Human
Exoskeleton (Robotics)
Evaluate
Experiment
Experiments

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Mathematics(all)
  • Computer Science Applications

Cite this

Development of a 3DOF mobile exoskeleton robot for human upper-limb motion assist. / Kiguchi, Kazuo; Rahman, Mohammad Habibur; Sasaki, Makoto; Teramoto, Kenbu.

In: Robotics and Autonomous Systems, Vol. 56, No. 8, 31.08.2008, p. 678-691.

Research output: Contribution to journalArticle

Kiguchi, Kazuo ; Rahman, Mohammad Habibur ; Sasaki, Makoto ; Teramoto, Kenbu. / Development of a 3DOF mobile exoskeleton robot for human upper-limb motion assist. In: Robotics and Autonomous Systems. 2008 ; Vol. 56, No. 8. pp. 678-691.
@article{8fce5834ba8b4567b4788d723b10ef21,
title = "Development of a 3DOF mobile exoskeleton robot for human upper-limb motion assist",
abstract = "In order to assist physically disabled, injured, and/or elderly persons, we have been developing exoskeleton robots for assisting upper-limb motion, since upper-limb motion is involved in a lot of activities of everyday life. This paper proposes a mechanism and control method of a mobile exoskeleton robot for 3DOF upper-limb motion assist (shoulder vertical and horizontal flexion/extension, and elbow flexion/extension motion assist). The exoskeleton robot is mainly controlled by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the user intends to move. The force vector at the end-effector is taken into account to generate the natural and smooth hand trajectory of the user in the proposed control method. An obstacle avoidance algorithm is applied to prevent accidental collision between the user's upper-limb and the robot frame. The experiment was performed to evaluate the effectiveness of the proposed exoskeleton robot.",
author = "Kazuo Kiguchi and Rahman, {Mohammad Habibur} and Makoto Sasaki and Kenbu Teramoto",
year = "2008",
month = "8",
day = "31",
doi = "10.1016/j.robot.2007.11.007",
language = "English",
volume = "56",
pages = "678--691",
journal = "Robotics and Autonomous Systems",
issn = "0921-8890",
publisher = "Elsevier",
number = "8",

}

TY - JOUR

T1 - Development of a 3DOF mobile exoskeleton robot for human upper-limb motion assist

AU - Kiguchi, Kazuo

AU - Rahman, Mohammad Habibur

AU - Sasaki, Makoto

AU - Teramoto, Kenbu

PY - 2008/8/31

Y1 - 2008/8/31

N2 - In order to assist physically disabled, injured, and/or elderly persons, we have been developing exoskeleton robots for assisting upper-limb motion, since upper-limb motion is involved in a lot of activities of everyday life. This paper proposes a mechanism and control method of a mobile exoskeleton robot for 3DOF upper-limb motion assist (shoulder vertical and horizontal flexion/extension, and elbow flexion/extension motion assist). The exoskeleton robot is mainly controlled by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the user intends to move. The force vector at the end-effector is taken into account to generate the natural and smooth hand trajectory of the user in the proposed control method. An obstacle avoidance algorithm is applied to prevent accidental collision between the user's upper-limb and the robot frame. The experiment was performed to evaluate the effectiveness of the proposed exoskeleton robot.

AB - In order to assist physically disabled, injured, and/or elderly persons, we have been developing exoskeleton robots for assisting upper-limb motion, since upper-limb motion is involved in a lot of activities of everyday life. This paper proposes a mechanism and control method of a mobile exoskeleton robot for 3DOF upper-limb motion assist (shoulder vertical and horizontal flexion/extension, and elbow flexion/extension motion assist). The exoskeleton robot is mainly controlled by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the user intends to move. The force vector at the end-effector is taken into account to generate the natural and smooth hand trajectory of the user in the proposed control method. An obstacle avoidance algorithm is applied to prevent accidental collision between the user's upper-limb and the robot frame. The experiment was performed to evaluate the effectiveness of the proposed exoskeleton robot.

UR - http://www.scopus.com/inward/record.url?scp=47249102137&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=47249102137&partnerID=8YFLogxK

U2 - 10.1016/j.robot.2007.11.007

DO - 10.1016/j.robot.2007.11.007

M3 - Article

AN - SCOPUS:47249102137

VL - 56

SP - 678

EP - 691

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

SN - 0921-8890

IS - 8

ER -