Robotic exoskeleton for rehabilitation and motion assist

Mohammad Habibur Rahman, Kazuo Kiguchi, Md Mozasser Rahman, Makoto Sasaki

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

9 Citations (Scopus)

Abstract

For elderly and or physically disabled people who have lost their body functioning of motions due to geriatric disorders, and/or disease processes including trauma, sports injuries, spinal cord injuries, occupational injuries, and strokes, we have been developing a 3DOF mobile robotic exoskeleton for rehabilitation and for assisting motion of elbow and shoulder, since human shoulder and elbow motions are involved in a lot of activities of everyday life. The robotic exoskeleton is mainly activated and is controlled by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the user intends to move. This paper focused on the mechanism of mobile robotic exoskeleton and proposed passive and active assist mode of rehabilitation scheme in addition to assist daily upper-limb motion by the aid of robotic exoskeleton. The proportional derivative (PD) control has been applied to the controller for the passive mode of rehabilitation whereas neuro-fuzzy based biological controller is responsible for active assist mode of rehabilitation as well as to assist daily upper limb motion.

Original languageEnglish
Title of host publication1st International Conference on Industrial and Information Systems, ICIIS 2006
Pages241-246
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event1st International Conference on Industrial and Information Systems, ICIIS 2006 - Peradeniya, Sri Lanka
Duration: Aug 8 2006Aug 11 2006

Publication series

Name1st International Conference on Industrial and Information Systems, ICIIS 2006

Other

Other1st International Conference on Industrial and Information Systems, ICIIS 2006
Country/TerritorySri Lanka
CityPeradeniya
Period8/8/068/11/06

All Science Journal Classification (ASJC) codes

  • Information Systems
  • Information Systems and Management
  • Industrial and Manufacturing Engineering

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