Forearm motion assist with an exoskeleton adaptation to muscle activation patterns

Kazuo Kiguchi, Ryo Esaki, Toshio Fukuda

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

2 Citations (Scopus)

Abstract

This paper presents an exoskeleton for the assist of forearm motion (elbow flexion-extension and forearm pronation-supination motion) in daily activity and rehabilitation. The exoskeleton is controlled based on the activation patterns of the electromyogram (EMG) signals of the patient's muscles, which directly reflects the motion intention of the patient, in order to realize natural motion assist. The sophisticated real-time neuro-fuzzy control method, in which the effect of a muscle common to both motions is taken into account, is proposed. The proposed control method enables the cooperative motion of elbow and forearm of the patient by learning the muscle activation patterns of each patient. The effectiveness of the proposed method was evaluated by experiment.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages2948-2953
Number of pages6
Publication statusPublished - Dec 1 2004
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: Sep 28 2004Oct 2 2004

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume3

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period9/28/0410/2/04

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All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Kiguchi, K., Esaki, R., & Fukuda, T. (2004). Forearm motion assist with an exoskeleton adaptation to muscle activation patterns. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 2948-2953). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 3).