TY - JOUR
T1 - A 3DOF exoskeleton for upper-limb motion assist - Consideration of the effect of bi-articular muscles
AU - Kiguchi, Kazuo
AU - Fukuda, Toshio
PY - 2004
Y1 - 2004
N2 - We have been developing exoskeleton systems to assist the motion of physically weak persons such as elderly, disabled, and injured persons. The proposed exoskeletons are controlled basically based on the electromyogram (EMG) signals. Even though the EMG signals contain very important information, however, it is not very easy to predict the user's upper-limb motion (elbow and shoulder motion) based on the EMG signals in real-time because of the difficulty in using the EMG signals as the controller input signals. In this paper, we propose a control method for a 3DOF exoskeleton system for human upper-limb motion assist considering the effect of bi-articular muscles.
AB - We have been developing exoskeleton systems to assist the motion of physically weak persons such as elderly, disabled, and injured persons. The proposed exoskeletons are controlled basically based on the electromyogram (EMG) signals. Even though the EMG signals contain very important information, however, it is not very easy to predict the user's upper-limb motion (elbow and shoulder motion) based on the EMG signals in real-time because of the difficulty in using the EMG signals as the controller input signals. In this paper, we propose a control method for a 3DOF exoskeleton system for human upper-limb motion assist considering the effect of bi-articular muscles.
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U2 - 10.1109/robot.2004.1307424
DO - 10.1109/robot.2004.1307424
M3 - Conference article
AN - SCOPUS:3042622775
VL - 2004
SP - 2424
EP - 2429
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
SN - 1050-4729
IS - 3
T2 - Proceedings- 2004 IEEE International Conference on Robotics and Automation
Y2 - 26 April 2004 through 1 May 2004
ER -