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 language | English |
|---|---|
| Title of host publication | 1st International Conference on Industrial and Information Systems, ICIIS 2006 |
| Pages | 241-246 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - Dec 1 2006 |
| Externally published | Yes |
| Event | 1st International Conference on Industrial and Information Systems, ICIIS 2006 - Peradeniya, Sri Lanka Duration: Aug 8 2006 → Aug 11 2006 |
Publication series
| Name | 1st International Conference on Industrial and Information Systems, ICIIS 2006 |
|---|
Other
| Other | 1st International Conference on Industrial and Information Systems, ICIIS 2006 |
|---|---|
| Country | Sri Lanka |
| City | Peradeniya |
| Period | 8/8/06 → 8/11/06 |
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All Science Journal Classification (ASJC) codes
- Information Systems
- Information Systems and Management
- Industrial and Manufacturing Engineering
Cite this
Robotic exoskeleton for rehabilitation and motion assist. / Rahman, Mohammad Habibur; Kiguchi, Kazuo; Rahman, Md Mozasser; Sasaki, Makoto.
1st International Conference on Industrial and Information Systems, ICIIS 2006. 2006. p. 241-246 4155186 (1st International Conference on Industrial and Information Systems, ICIIS 2006).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Robotic exoskeleton for rehabilitation and motion assist
AU - Rahman, Mohammad Habibur
AU - Kiguchi, Kazuo
AU - Rahman, Md Mozasser
AU - Sasaki, Makoto
PY - 2006/12/1
Y1 - 2006/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=50249096655&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50249096655&partnerID=8YFLogxK
U2 - 10.1109/ICIINFS.2006.347157
DO - 10.1109/ICIINFS.2006.347157
M3 - Conference contribution
AN - SCOPUS:50249096655
SN - 1424403219
SN - 9781424403219
T3 - 1st International Conference on Industrial and Information Systems, ICIIS 2006
SP - 241
EP - 246
BT - 1st International Conference on Industrial and Information Systems, ICIIS 2006
ER -