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

Kazuo Kiguchi, Yasunobu Imada

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

23 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 languageEnglish
Title of host publication2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Proceedings
Pages19-24
Number of pages6
DOIs
Publication statusPublished - Jul 20 2009
Externally publishedYes
Event2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Nashville, TN, United States
Duration: Mar 30 2009Apr 2 2009

Publication series

Name2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Proceedings

Other

Other2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009
CountryUnited States
CityNashville, TN
Period3/30/094/2/09

Fingerprint

Muscle
Robots
Torque
Experiments

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Computer Vision and Pattern Recognition

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