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

Kazuo Kiguchi; Yasunobu Imada; Manoj Liyanage

doi:10.1109/IEMBS.2007.4352969

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 proceeding › Conference 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 language	English
Title of host publication	29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07
Pages	3040-3043
Number of pages	4
DOIs	https://doi.org/10.1109/IEMBS.2007.4352969
Publication status	Published - Dec 1 2007
Externally published	Yes
Event	29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07 - Lyon, France Duration: Aug 23 2007 → Aug 26 2007

Publication series

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

Other

Other	29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07
Country	France
City	Lyon
Period	8/23/07 → 8/26/07

All Science Journal Classification (ASJC) codes

Signal Processing
Biomedical Engineering
Computer Vision and Pattern Recognition
Health Informatics

Access to Document

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Kiguchi, K., Imada, Y., & Liyanage, M. (2007). EMG-based neuro-fuzzy control of a 4DOF upper-limb power-assist exoskeleton. In 29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07 (pp. 3040-3043). [4352969] (Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings). https://doi.org/10.1109/IEMBS.2007.4352969

EMG-based neuro-fuzzy control of a 4DOF upper-limb power-assist exoskeleton. / Kiguchi, Kazuo; Imada, Yasunobu; Liyanage, Manoj.

29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07. 2007. p. 3040-3043 4352969 (Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kiguchi, K, Imada, Y & Liyanage, M 2007, EMG-based neuro-fuzzy control of a 4DOF upper-limb power-assist exoskeleton. in 29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07., 4352969, Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings, pp. 3040-3043, 29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07, Lyon, France, 8/23/07. https://doi.org/10.1109/IEMBS.2007.4352969

Kiguchi K, Imada Y, Liyanage M. EMG-based neuro-fuzzy control of a 4DOF upper-limb power-assist exoskeleton. In 29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07. 2007. p. 3040-3043. 4352969. (Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings). https://doi.org/10.1109/IEMBS.2007.4352969

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