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

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

doi:10.1109/IROS.2009.5353935

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 proceeding › Conference contribution

229 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 language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	1126-1131
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2009.5353935
Publication status	Published - Dec 11 2009
Externally published	Yes
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: Oct 11 2009 → Oct 15 2009

Publication series

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

Other

Other	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/Territory	United States
City	St. Louis, MO
Period	10/11/09 → 10/15/09

All Science Journal Classification (ASJC) codes

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

Access to Document

10.1109/IROS.2009.5353935

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 proceeding › Conference 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

@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 = dec,

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",

note = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 ; Conference date: 11-10-2009 Through 15-10-2009",

}

TY - GEN

T1 - SUEFUL-7

T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

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

Y2 - 11 October 2009 through 15 October 2009

ER -

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

Abstract

Publication series

Other

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this