Neuro-fuzzy based motion control of a robotic exoskeleton: Considering end-effector force vectors

Kazuo Kiguchi, Mohammad Habibur Rahman, Makoto Sasaki

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

22 Citations (Scopus)

Abstract

To assist physically disabled, injured, and/or elderly persons, we have been developing a 3DOF exoskeleton robot for assisting upper-limb motion, since upper-limb motion is involved in a lot of activities of everyday life. The exoskeleton robot is mainly is controlled by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the user intends to move. This paper introduces the mechanism of the exoskeleton robot and also proposes a control method of the exoskeleton robot considering the generated end-effector force vectors.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages3146-3151
Number of pages6
DOIs
Publication statusPublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Kiguchi, K., Rahman, M. H., & Sasaki, M. (2006). Neuro-fuzzy based motion control of a robotic exoskeleton: Considering end-effector force vectors. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 3146-3151). [1642180] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642180