An EMG-based control for an upper-limb power-assist exoskeleton robot

Kazuo Kiguchi, Yoshiaki Hayashi

研究成果: Contribution to journalArticle査読

356 被引用数 (Scopus)

抄録

Many kinds of power-assist robots have been developed in order to assist self-rehabilitation and/or daily life motions of physically weak persons. Several kinds of control methods have been proposed to control the power-assist robots according to user's motion intention. In this paper, an electromyogram (EMG)-based impedance control method for an upper-limb power-assist exoskeleton robot is proposed to control the robot in accordance with the user's motion intention. The proposed method is simple, easy to design, humanlike, and adaptable to any user. A neurofuzzy matrix modifier is applied to make the controller adaptable to any users. Not only the characteristics of EMG signals but also the characteristics of human body are taken into account in the proposed method. The effectiveness of the proposed method was evaluated by the experiments.

本文言語英語
論文番号6151182
ページ(範囲)1064-1071
ページ数8
ジャーナルIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
42
4
DOI
出版ステータス出版済み - 2012
外部発表はい

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • 情報システム
  • 人間とコンピュータの相互作用
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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