TY - JOUR
T1 - An exoskeletal robot for human shoulder joint motion assist
AU - Kiguchi, Kazuo
AU - Iwami, Koya
AU - Yasuda, Makoto
AU - Watanabe, Keigo
AU - Fukuda, Toshio
N1 - Funding Information:
Manuscript received November 1, 2002; revised December 21, 2002. Recommended by Technical Editor T. Nakamura. The work was supported by the Tateisi Science and Technology Foundation, Japan under Grant 1021006. K. Kiguchi, K. Iwami, M. Yasuda , and K. Watanabe are with the Department of Advanced Systems Control Engineering, Saga University, Saga 840-8502, Japan (e-mail: kiguchi@ieee.org). T. Fukuda is with the Department of Micro System Engineering, Nagoya University, Chikusa-ku, Nagoya 464-8603, Japan. Digital Object Identifier 10.1109/TMECH.2003.809168
PY - 2003/3
Y1 - 2003/3
N2 - We have been developing exoskeletal robots in order to assist the motion of physically weak persons such as elderly persons or handicapped persons. In our previous research, a prototype of a two degree of freedom exoskeletal robots for shoulder joint motion assist have been developed since the shoulder motion is especially important for people to take care of themselves in everyday life. In this paper, we propose an effective fuzzy-neuro controller, a moving mechanism of the center of rotation (CR) of the shoulder joint of the exoskeletal robot, and intelligent interface in order to realize a practical and effective exoskeletal robot for shoulder joint motion assist. The fuzzy-neuro controller enables the robot to assist any person's shoulder motion. The moving mechanism of the CR of the robot shoulder joint is used to fit the CR of the robot shoulder joint to that of the physiological human shoulder joint during the shoulder motion. The intelligent interface is realized by applying a neural network and used to cancel out the effect the human subject's arm posture change. The effectiveness of the proposed method has been evaluated by experiment.
AB - We have been developing exoskeletal robots in order to assist the motion of physically weak persons such as elderly persons or handicapped persons. In our previous research, a prototype of a two degree of freedom exoskeletal robots for shoulder joint motion assist have been developed since the shoulder motion is especially important for people to take care of themselves in everyday life. In this paper, we propose an effective fuzzy-neuro controller, a moving mechanism of the center of rotation (CR) of the shoulder joint of the exoskeletal robot, and intelligent interface in order to realize a practical and effective exoskeletal robot for shoulder joint motion assist. The fuzzy-neuro controller enables the robot to assist any person's shoulder motion. The moving mechanism of the CR of the robot shoulder joint is used to fit the CR of the robot shoulder joint to that of the physiological human shoulder joint during the shoulder motion. The intelligent interface is realized by applying a neural network and used to cancel out the effect the human subject's arm posture change. The effectiveness of the proposed method has been evaluated by experiment.
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U2 - 10.1109/TMECH.2003.809168
DO - 10.1109/TMECH.2003.809168
M3 - Article
AN - SCOPUS:0037353146
VL - 8
SP - 125
EP - 135
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
SN - 1083-4435
IS - 1
ER -