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

Kazuo Kiguchi, Yasunobu Imada

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

26 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
Country/TerritoryUnited States
CityNashville, TN
Period3/30/094/2/09

All Science Journal Classification (ASJC) codes

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

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