EMG-based control for lower-limb power-assist exoskeletons

Kazuo Kiguchi; Yasunobu Imada

doi:10.1109/RIISS.2009.4937901

EMG-based control for lower-limb power-assist exoskeletons

Kazuo Kiguchi, Yasunobu Imada

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

27 Citations (Scopus)

Abstract

Power-Assist for lower-limb is expected by many physically weak persons to assist their daily activities. It is important for the power-assist robots that the assist motion is generated based on user's motion intention. This paper presents a muscle-model-oriented EMG-based (electromyogram-based) control method to activate a lower-limb power-assist robot according to the user's motion intention since the EMG directly reflects the user's muscle activities. In the proposed method, a matrix which expresses the relationship between the muscle activities and the generating joint torque is applied to estimate the user's motion intention in real-time. The effectiveness of the proposed control method was evaluated by performing experiments.

Original language	English
Title of host publication	2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Proceedings
Pages	19-24
Number of pages	6
DOIs	https://doi.org/10.1109/RIISS.2009.4937901
Publication status	Published - Jul 20 2009
Externally published	Yes
Event	2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Nashville, TN, United States Duration: Mar 30 2009 → Apr 2 2009

Publication series

Name	2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Proceedings

Other

Other	2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009
Country/Territory	United States
City	Nashville, TN
Period	3/30/09 → 4/2/09

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computational Theory and Mathematics
Computer Vision and Pattern Recognition

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10.1109/RIISS.2009.4937901

Cite this

Kiguchi, K., & Imada, Y. (2009). EMG-based control for lower-limb power-assist exoskeletons. In 2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Proceedings (pp. 19-24). [4937901] (2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Proceedings). https://doi.org/10.1109/RIISS.2009.4937901

EMG-based control for lower-limb power-assist exoskeletons. / Kiguchi, Kazuo; Imada, Yasunobu.

2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Proceedings. 2009. p. 19-24 4937901 (2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kiguchi, K & Imada, Y 2009, EMG-based control for lower-limb power-assist exoskeletons. in 2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Proceedings., 4937901, 2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Proceedings, pp. 19-24, 2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009, Nashville, TN, United States, 3/30/09. https://doi.org/10.1109/RIISS.2009.4937901

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EMG-based control for lower-limb power-assist exoskeletons

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