EMG-based control of an exoskeleton robot for human forearm and wrist motion assist

Ranathunga Arachchilage Ruwan Chandra Gopura, Kazuo Kiguchi

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

34 Citations (Scopus)

Abstract

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 an EMG-Based control of a three degree of freedom (3-DOF) exoskeleton robot for the forearm pronation/ supination motion, wrist flexion/extension motion and ulnar/ radial deviation. The paper describes the hardware design of the exoskeleton robot and the control method. The skin surface electromyographic (EMG) signals of muscles in forearm of the exoskeleton's user and the hand force/forearm torque are used as input information for the proposed controller. By applying the skin surface EMG signals as main input signals to the controller, automatic control of the robot can be realized without manipulating any other equipment. Fuzzy control method has been applied to realize the natural and flexible motion assist. An experiment has been performed to evaluate the proposed exoskeleton robot.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages731-736
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: May 19 2008May 23 2008

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period5/19/085/23/08

Fingerprint

Robots
Skin
Controllers
Degrees of freedom (mechanics)
Fuzzy control
Muscle
Torque
Exoskeleton (Robotics)
Hardware
Experiments

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering

Cite this

Gopura, R. A. R. C., & Kiguchi, K. (2008). EMG-based control of an exoskeleton robot for human forearm and wrist motion assist. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 731-736). [4543292] https://doi.org/10.1109/ROBOT.2008.4543292

EMG-based control of an exoskeleton robot for human forearm and wrist motion assist. / Gopura, Ranathunga Arachchilage Ruwan Chandra; Kiguchi, Kazuo.

2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 731-736 4543292.

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

Gopura, RARC & Kiguchi, K 2008, EMG-based control of an exoskeleton robot for human forearm and wrist motion assist. in 2008 IEEE International Conference on Robotics and Automation, ICRA 2008., 4543292, pp. 731-736, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, United States, 5/19/08. https://doi.org/10.1109/ROBOT.2008.4543292
Gopura RARC, Kiguchi K. EMG-based control of an exoskeleton robot for human forearm and wrist motion assist. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 731-736. 4543292 https://doi.org/10.1109/ROBOT.2008.4543292
Gopura, Ranathunga Arachchilage Ruwan Chandra ; Kiguchi, Kazuo. / EMG-based control of an exoskeleton robot for human forearm and wrist motion assist. 2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. pp. 731-736
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