An Exoskeleton for Human Elbow and Forearm Motion Assist

Kazuo Kiguchi, Ryo Esaki, Takashi Tsuruta, Keigo Watanabe, Toshio Fukuda

研究成果: Contribution to conferencePaper査読

41 被引用数 (Scopus)

抄録

We present an exoskeleton to assist elbow and forearm motion of physically weak persons such as elderly, injured, or disabled persons. The forearm pronation/supination motion and the elbow flexion/extension motion, which are essential motions for the activities of daily living, are assisted by the proposed exoskeleton. The electromyogram (EMG) signals of muscles in forearm and upper-arm of the exoskeleton's user and the wrist force are also used as input information for the controller. By applying the EMG signals as main input signals to the controller, automatic control can be realized for the physically weak persons without manipulating any equipment. Fuzzy control has been applied to realize the natural and flexible motion assist. Experiment has been performed to evaluate the effectiveness of the proposed exoskeleton.

本文言語英語
ページ3600-3605
ページ数6
出版ステータス出版済み - 12 26 2003
外部発表はい
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, 米国
継続期間: 10 27 200310 31 2003

その他

その他2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域米国
CityLas Vegas, NV
Period10/27/0310/31/03

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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