A study of an exoskeletal robot for human shoulder motion support

Kazuo Kiguchi, Koya Iwami, Tomomi Saza, Shingo Kariya, Keigo Watanabe, Kiyotaka Izumi, Toshio Fukuda

研究成果: Contribution to conferencePaper査読

3 被引用数 (Scopus)

抄録

We have been developing exoskeletal robots in order to realize the human motion support (especially for physically weak people). In this paper, we propose a 2DOF exoskeletal robot to support the human shoulder motion. In this exoskeletal robot, the flexion-extension and abduction-adduction motions of shoulder are supported by activating the arm holder of the robot, which is attached to the upper arm of the human subject, using wires driven by DC motors. Fuzzy controller has been designed to control the robot according to skin surface electromyogram (EMG) signals in which intention of human subject is reflected. The proposed controller controls the flexion-extension and abduction-adduction motion of the human subject. The effectiveness of the proposed exoskeletal robot has been evaluated by experiment.

本文言語英語
ページ2111-2116
ページ数6
出版ステータス出版済み - 12 1 2001
外部発表はい
イベント2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, 米国
継続期間: 10 29 200111 3 2001

その他

その他2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域米国
CityMaui, HI
Period10/29/0111/3/01

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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