EMG-based neuro-fuzzy control of a 4DOF upper-limb power-assist exoskeleton

Kazuo Kiguchi, Yasunobu Imada, Manoj Liyanage

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

44 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07
Pages3040-3043
Number of pages4
DOIs
Publication statusPublished - Dec 1 2007
Externally publishedYes
Event29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07 - Lyon, France
Duration: Aug 23 2007Aug 26 2007

Publication series

NameAnnual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
ISSN (Print)0589-1019

Other

Other29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07
CountryFrance
CityLyon
Period8/23/078/26/07

All Science Journal Classification (ASJC) codes

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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