Muscle-model-oriented EMG-based control of an upper-limb power-assist exoskeleton with a neuro-fuzzy modifier

Kazuo Kiguchi, Qilong Quan

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

32 Citations (Scopus)

Abstract

Many studies on power-assist exoskeleton robots have been carried out in order to assist daily activities and/or rehabilitation of physically weak persons. EMG-based control is one of the most effective control methods to realize the power-assist with the exoskeleton based on user's motion intention. In this paper, a muscle-model, which is adjusted by a neuro-fuzzy modifier according to the user's upper-limb posture, is introduced to realize an effective EMG-based controller of the power-assist exoskeleton. Force/torque generated between the user's wrist part and the tip of the exoskeleton is used to train the neuro-fuzzy modifier. The effectiveness of the proposed control method was evaluated by performing experiment.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008
Pages1179-1184
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008 - Hong Kong, China
Duration: Jun 1 2008Jun 6 2008

Other

Other2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008
CountryChina
CityHong Kong
Period6/1/086/6/08

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Applied Mathematics
  • Theoretical Computer Science

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