An upper-limb power-assist robot with tremor suppression control

Kazuo Kiguchi, Yoshiaki Hayashi, Toyoko Asami

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

10 被引用数 (Scopus)

抄録

A tremor is somewhat rhythmic motion that may occur in various body parts. An essential tremor is one of the most common tremor disorders of the arm and it may occur during a voluntary motion. If the essential tremor occurs in the arm, the person may not be able to achieve the target task properly since the human performs various sensitive tasks with certain tools. Suppressing the vibration of the grasped tool is important when the person uses the tool. Power-assist robots are useful for not only the physically weak persons but also for persons involved in physically-taxing work such as a care or a farm work. Although some power-assist robots are controlled by using electromyogram (EMG) signals, EMG signals are influenced by the essential tremor. Therefore, when the user who suffers from the tremor uses the power-assist robot controlled based on EMG signals, the robot might assist the vibration of the tremor. In this paper, the tremor suppression control method is proposed for upper-limb power-assist robot. In proposed method, the vibrations of the hand and the tip of the tool are suppressed. The validity of the proposed method was verified by the experiments.

本文言語英語
ホスト出版物のタイトル2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
DOI
出版ステータス出版済み - 11 2 2011
外部発表はい
イベントRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Zurich, スイス
継続期間: 6 27 20117 1 2011

出版物シリーズ

名前IEEE International Conference on Rehabilitation Robotics
ISSN(印刷版)1945-7898
ISSN(電子版)1945-7901

その他

その他Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
国/地域スイス
CityZurich
Period6/27/117/1/11

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • リハビリテーション
  • 電子工学および電気工学

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