TY - GEN
T1 - EMG-based neuro-fuzzy control of a 4DOF upper-limb power-assist exoskeleton
AU - Kiguchi, Kazuo
AU - Imada, Yasunobu
AU - Liyanage, Manoj
PY - 2007/12/1
Y1 - 2007/12/1
N2 - We have been developing a 4DOF exoskeleton robot system in order to assist shoulder vertical motion, shoulder horizontal motion, elbow motion, and forearm motion of physically weak persons such as elderly, injured, or disabled persons. The robot is directly attached to a user's body and activated based on EMG (Electromyogram) signals of the user's muscles, since the EMG signals directly reflect the user's motion intention. A neuro-fuzzy controller has been applied to control the exoskeleton robot system. In this paper, controller adaptation method to user's EMG signals is proposed. A motion indicator is introduced to indicate the motion intention of the user for the controller adaptation. The experimental results show the effectiveness of the proposed method.
AB - We have been developing a 4DOF exoskeleton robot system in order to assist shoulder vertical motion, shoulder horizontal motion, elbow motion, and forearm motion of physically weak persons such as elderly, injured, or disabled persons. The robot is directly attached to a user's body and activated based on EMG (Electromyogram) signals of the user's muscles, since the EMG signals directly reflect the user's motion intention. A neuro-fuzzy controller has been applied to control the exoskeleton robot system. In this paper, controller adaptation method to user's EMG signals is proposed. A motion indicator is introduced to indicate the motion intention of the user for the controller adaptation. The experimental results show the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=57649242596&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=57649242596&partnerID=8YFLogxK
U2 - 10.1109/IEMBS.2007.4352969
DO - 10.1109/IEMBS.2007.4352969
M3 - Conference contribution
C2 - 18002635
AN - SCOPUS:57649242596
SN - 1424407885
SN - 9781424407880
T3 - Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
SP - 3040
EP - 3043
BT - 29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07
T2 - 29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07
Y2 - 23 August 2007 through 26 August 2007
ER -