A Study of Human Motion Support with an Exoskeletal Robot: 1st Report, Fuzzy Control of a 1DOF Robot for Human Elbow Motion Support

Kazuo Kiguchi, Shingo Kariya, Keigo Watanabe, Kiyotaka Izumi, Toshio Fukuda

研究成果: Contribution to journalArticle査読

1 被引用数 (Scopus)

抄録

We are stepping into an aging society rapidly. In that society, it is important that physically weak people are able to take care of themselves. In this paper, we introduce an effective control method of a 1 DOF exoskeletal robot to support the elbow motion of physically weak people. Fuzzy control has been applied to control both the angular position and impedance of the exoskeltal robot system based on generated force signals and vague biological signals that reflect the human subject's intention. Skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion have been used as input information of the fuzzy reasoned impedance controller. The experimental results show the effectiveness of the proposed control method of the exoskeletal robot.

本文言語英語
ページ(範囲)2905-2912
ページ数8
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
67
661
DOI
出版ステータス出版済み - 2001
外部発表はい

All Science Journal Classification (ASJC) codes

  • 材料力学
  • 機械工学
  • 産業および生産工学

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