Development of an exoskeleton robot for human wrist and forearm motion assist

R. A R C Gopura, Kazuo Kiguchi

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

14 Citations (Scopus)

Abstract

Exoskeleton is an external structural mechanism with joints and links corresponding to those of the human body. It transmits torques from actuators through rigid exoskeletal links to the human joints when it is worn. We have been developing exoskeleton robots for assisting the motion of physically weak individuals such as elderly or slightly disabled in daily life. In this paper we propose a three degree of freedom (3DOF) exoskeleton robot for the forearm pronation/supination motion, wrist flexion/ extension motion and ulnar/radial deviation. The paper describes wrist anatomy toward the development of the robot, the hardware design of the exoskeleton (mechanical structure and mechanism, sensors and actuators, power transmission and safety aspects) and potential control methods. Force control using force/torque sensors located at wrist and forearm and electromyographic (EMG) signals based control using skin surface EMG signals of forearm and wrist muscles are the potential control methods for the robot. Experiments have been performed to evaluate the proposed exoskeleton.

Original languageEnglish
Title of host publicationICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings
Pages535-540
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
EventICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007 - Peradeniya, Sri Lanka
Duration: Aug 9 2007Aug 11 2007

Other

OtherICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007
CountrySri Lanka
CityPeradeniya
Period8/9/078/11/07

All Science Journal Classification (ASJC) codes

  • Information Systems
  • Industrial and Manufacturing Engineering

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    Gopura, R. A. R. C., & Kiguchi, K. (2007). Development of an exoskeleton robot for human wrist and forearm motion assist. In ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings (pp. 535-540). [4579235] https://doi.org/10.1109/ICIINFS.2007.4579235