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

159 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
Externally publishedYes
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

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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