TY - GEN
T1 - EMG-based control for lower-limb power-assist exoskeletons
AU - Kiguchi, Kazuo
AU - Imada, Yasunobu
PY - 2009/7/20
Y1 - 2009/7/20
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=67650364776&partnerID=8YFLogxK
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U2 - 10.1109/RIISS.2009.4937901
DO - 10.1109/RIISS.2009.4937901
M3 - Conference contribution
AN - SCOPUS:67650364776
SN - 9781424427536
T3 - 2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Proceedings
SP - 19
EP - 24
BT - 2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Proceedings
T2 - 2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009
Y2 - 30 March 2009 through 2 April 2009
ER -