TY - JOUR
T1 - Development of a wearable exoskeleton for daily forearm motion assist
AU - Kiguchi, Kazuo
AU - Esaki, Ryo
AU - Fukuda, Toshio
N1 - Funding Information:
The authors gratefully acknowledge the support provided for this research by the Mazda Foundation’s Research Grant and Japan Society of Promotion of Science Grant-in-Aid for Scientific Research (C) 16560228. The authors also would like to thank Saga Arizono Prosthetics and Orthotics Mfg, Ltd for making the fine wrist orthosis used in the exoskeleton.
PY - 2005
Y1 - 2005
N2 - The paper presents a 2-d.o.f. wearable exoskeleton system designed for forearm motion assist in daily activity and rehabilitation. The proposed exoskeleton system is supposed to be directly attached to the lateral side of a patient's upper limb, and assist the forearm motion (elbow flexion-extension motion and forearm supination-pronation motion) of the patient for daily activity and rehabilitation. The proposed exoskeleton is controlled based on the activation patterns of the electromyogram signals of the patient's muscles, which directly reflect the motion intention of the patient, in order to realize natural automatic motion assist. A sophisticated real-time neuro-fuzzy control method, in which the effect of a muscle common to both motions is taken into account, is proposed. The proposed control method enables cooperative motion of the elbow and forearm of the patient by learning the muscle activation patterns of each patient. The effectiveness of the proposed exoskeleton system is evaluated by experiment.
AB - The paper presents a 2-d.o.f. wearable exoskeleton system designed for forearm motion assist in daily activity and rehabilitation. The proposed exoskeleton system is supposed to be directly attached to the lateral side of a patient's upper limb, and assist the forearm motion (elbow flexion-extension motion and forearm supination-pronation motion) of the patient for daily activity and rehabilitation. The proposed exoskeleton is controlled based on the activation patterns of the electromyogram signals of the patient's muscles, which directly reflect the motion intention of the patient, in order to realize natural automatic motion assist. A sophisticated real-time neuro-fuzzy control method, in which the effect of a muscle common to both motions is taken into account, is proposed. The proposed control method enables cooperative motion of the elbow and forearm of the patient by learning the muscle activation patterns of each patient. The effectiveness of the proposed exoskeleton system is evaluated by experiment.
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U2 - 10.1163/1568553054455086
DO - 10.1163/1568553054455086
M3 - Article
AN - SCOPUS:24344440278
SN - 0169-1864
VL - 19
SP - 751
EP - 771
JO - Advanced Robotics
JF - Advanced Robotics
IS - 7
ER -