SUEFUL-7: A 7DOF upper-limb exoskeleton robot with muscle-model-oriented EMG-based control

R. A.R.C. Gopura, Kazuo Kiguchi, Yang Yi

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

145 Citations (Scopus)

Abstract

This paper proposes an electromyography (EMG) signal based control method for a seven degrees of freedom (7DOF) upper-limb motion assist exoskeleton robot (SUEFUL-7). The SUEFUL-7 is able to assist the motions of shoulder vertical and horizontal flexion/extension, shoulder internal/external rotation, elbow flexion/extension, forearm supination/pronation, wrist flexion/extension, and wrist radial/ulnar deviation of physically weak individuals. In the proposed control method, an impedance controller is applied to the muscle-model-oriented control method by considering the end effecter force vector. Impedance parameters are adjusted in real time by considering the upper-limb posture and EMG activity levels. Experiments have been performed to evaluate the effectiveness of the proposed robotic system.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages1126-1131
Number of pages6
DOIs
Publication statusPublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

Fingerprint

Electromyography
Muscle
Robots
Robotics
Controllers
Exoskeleton (Robotics)
Experiments

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Gopura, R. A. R. C., Kiguchi, K., & Yi, Y. (2009). SUEFUL-7: A 7DOF upper-limb exoskeleton robot with muscle-model-oriented EMG-based control. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 1126-1131). [5353935] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5353935

SUEFUL-7 : A 7DOF upper-limb exoskeleton robot with muscle-model-oriented EMG-based control. / Gopura, R. A.R.C.; Kiguchi, Kazuo; Yi, Yang.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 1126-1131 5353935 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

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

Gopura, RARC, Kiguchi, K & Yi, Y 2009, SUEFUL-7: A 7DOF upper-limb exoskeleton robot with muscle-model-oriented EMG-based control. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5353935, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 1126-1131, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 10/11/09. https://doi.org/10.1109/IROS.2009.5353935
Gopura RARC, Kiguchi K, Yi Y. SUEFUL-7: A 7DOF upper-limb exoskeleton robot with muscle-model-oriented EMG-based control. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 1126-1131. 5353935. (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5353935
Gopura, R. A.R.C. ; Kiguchi, Kazuo ; Yi, Yang. / SUEFUL-7 : A 7DOF upper-limb exoskeleton robot with muscle-model-oriented EMG-based control. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. pp. 1126-1131 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).
@inproceedings{fffbfef6100e415c9be02e29fac58d40,
title = "SUEFUL-7: A 7DOF upper-limb exoskeleton robot with muscle-model-oriented EMG-based control",
abstract = "This paper proposes an electromyography (EMG) signal based control method for a seven degrees of freedom (7DOF) upper-limb motion assist exoskeleton robot (SUEFUL-7). The SUEFUL-7 is able to assist the motions of shoulder vertical and horizontal flexion/extension, shoulder internal/external rotation, elbow flexion/extension, forearm supination/pronation, wrist flexion/extension, and wrist radial/ulnar deviation of physically weak individuals. In the proposed control method, an impedance controller is applied to the muscle-model-oriented control method by considering the end effecter force vector. Impedance parameters are adjusted in real time by considering the upper-limb posture and EMG activity levels. Experiments have been performed to evaluate the effectiveness of the proposed robotic system.",
author = "Gopura, {R. A.R.C.} and Kazuo Kiguchi and Yang Yi",
year = "2009",
month = "12",
day = "11",
doi = "10.1109/IROS.2009.5353935",
language = "English",
isbn = "9781424438044",
series = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",
pages = "1126--1131",
booktitle = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",

}

TY - GEN

T1 - SUEFUL-7

T2 - A 7DOF upper-limb exoskeleton robot with muscle-model-oriented EMG-based control

AU - Gopura, R. A.R.C.

AU - Kiguchi, Kazuo

AU - Yi, Yang

PY - 2009/12/11

Y1 - 2009/12/11

N2 - This paper proposes an electromyography (EMG) signal based control method for a seven degrees of freedom (7DOF) upper-limb motion assist exoskeleton robot (SUEFUL-7). The SUEFUL-7 is able to assist the motions of shoulder vertical and horizontal flexion/extension, shoulder internal/external rotation, elbow flexion/extension, forearm supination/pronation, wrist flexion/extension, and wrist radial/ulnar deviation of physically weak individuals. In the proposed control method, an impedance controller is applied to the muscle-model-oriented control method by considering the end effecter force vector. Impedance parameters are adjusted in real time by considering the upper-limb posture and EMG activity levels. Experiments have been performed to evaluate the effectiveness of the proposed robotic system.

AB - This paper proposes an electromyography (EMG) signal based control method for a seven degrees of freedom (7DOF) upper-limb motion assist exoskeleton robot (SUEFUL-7). The SUEFUL-7 is able to assist the motions of shoulder vertical and horizontal flexion/extension, shoulder internal/external rotation, elbow flexion/extension, forearm supination/pronation, wrist flexion/extension, and wrist radial/ulnar deviation of physically weak individuals. In the proposed control method, an impedance controller is applied to the muscle-model-oriented control method by considering the end effecter force vector. Impedance parameters are adjusted in real time by considering the upper-limb posture and EMG activity levels. Experiments have been performed to evaluate the effectiveness of the proposed robotic system.

UR - http://www.scopus.com/inward/record.url?scp=76349114493&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=76349114493&partnerID=8YFLogxK

U2 - 10.1109/IROS.2009.5353935

DO - 10.1109/IROS.2009.5353935

M3 - Conference contribution

AN - SCOPUS:76349114493

SN - 9781424438044

T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

SP - 1126

EP - 1131

BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

ER -