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

30 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

Fingerprint

Neuro-fuzzy
Muscle
Rehabilitation
Patient rehabilitation
Torque
Person
Robot
Model
Robots
Controller
Controllers
Motion
Experiment
Experiments

All Science Journal Classification (ASJC) codes

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

Cite this

Kiguchi, K., & Quan, Q. (2008). Muscle-model-oriented EMG-based control of an upper-limb power-assist exoskeleton with a neuro-fuzzy modifier. In 2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008 (pp. 1179-1184). [4630520] https://doi.org/10.1109/FUZZY.2008.4630520

Muscle-model-oriented EMG-based control of an upper-limb power-assist exoskeleton with a neuro-fuzzy modifier. / Kiguchi, Kazuo; Quan, Qilong.

2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008. 2008. p. 1179-1184 4630520.

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

Kiguchi, K & Quan, Q 2008, Muscle-model-oriented EMG-based control of an upper-limb power-assist exoskeleton with a neuro-fuzzy modifier. in 2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008., 4630520, pp. 1179-1184, 2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008, Hong Kong, China, 6/1/08. https://doi.org/10.1109/FUZZY.2008.4630520
Kiguchi K, Quan Q. Muscle-model-oriented EMG-based control of an upper-limb power-assist exoskeleton with a neuro-fuzzy modifier. In 2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008. 2008. p. 1179-1184. 4630520 https://doi.org/10.1109/FUZZY.2008.4630520
Kiguchi, Kazuo ; Quan, Qilong. / Muscle-model-oriented EMG-based control of an upper-limb power-assist exoskeleton with a neuro-fuzzy modifier. 2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008. 2008. pp. 1179-1184
@inproceedings{65736683d8d24bf7a5eb7fc2f1445201,
title = "Muscle-model-oriented EMG-based control of an upper-limb power-assist exoskeleton with a neuro-fuzzy modifier",
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.",
author = "Kazuo Kiguchi and Qilong Quan",
year = "2008",
doi = "10.1109/FUZZY.2008.4630520",
language = "English",
isbn = "9781424418190",
pages = "1179--1184",
booktitle = "2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008",

}

TY - GEN

T1 - Muscle-model-oriented EMG-based control of an upper-limb power-assist exoskeleton with a neuro-fuzzy modifier

AU - Kiguchi, Kazuo

AU - Quan, Qilong

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=55249115124&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=55249115124&partnerID=8YFLogxK

U2 - 10.1109/FUZZY.2008.4630520

DO - 10.1109/FUZZY.2008.4630520

M3 - Conference contribution

AN - SCOPUS:55249115124

SN - 9781424418190

SP - 1179

EP - 1184

BT - 2008 IEEE International Conference on Fuzzy Systems, FUZZ 2008

ER -