A study of human motion support with an exoskeletal robot (2nd report, control of an exoskeletal robot for human elbow motion support using multiple fuzzy-neuro controllers)

Kazuo Kiguchi, Shingo Kariya, Keigo Watanabe, Toshio Fukuda

研究成果: Contribution to journalArticle査読

抄録

We have been developing exoskeletal robots for human motion support. The exoskeletal robots enable physically weak people such as elderly people to take care of themselves. In this paper, we introduce an effective control method of a 1DOF exoskeletal robot for human elbow motion support. Multiple fuzzy-neuro controllers have been applied to control both the angular position and impedance of the exoskeltal robot system in any elbow angle based on force signals and 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 controller. The proposed system is able to adapt itself to the physiological condition of any human subject because of the adaptation ability of the fuzzy neuro controllers. 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)1215-1222
ページ数8
ジャーナルNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
68
4
DOI
出版ステータス出版済み - 4 2002
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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