TY - JOUR
T1 - EMG-based neuro-fuzzy control of a 4DOF upper-limb power-assist exoskeleton.
AU - Kiguchi, Kazuo
AU - Imada, Yasunobu
AU - Liyanage, Manoj
PY - 2007
Y1 - 2007
N2 - We have been developing a 4DOF exoskeleton robot system in order to assist shoulder vertical motion, shoulder horizontal motion, elbow motion, and forearm motion of physically weak persons such as elderly, injured, or disabled persons. The robot is directly attached to a user's body and activated based on EMG (Electromyogram) signals of the user's muscles, since the EMG signals directly reflect the user's motion intention. A neuro-fuzzy controller has been applied to control the exoskeleton robot system. In this paper, controller adaptation method to user's EMG signals is proposed. A motion indicator is introduced to indicate the motion intention of the user for the controller adaptation. The experimental results show the effectiveness of the proposed method.
AB - We have been developing a 4DOF exoskeleton robot system in order to assist shoulder vertical motion, shoulder horizontal motion, elbow motion, and forearm motion of physically weak persons such as elderly, injured, or disabled persons. The robot is directly attached to a user's body and activated based on EMG (Electromyogram) signals of the user's muscles, since the EMG signals directly reflect the user's motion intention. A neuro-fuzzy controller has been applied to control the exoskeleton robot system. In this paper, controller adaptation method to user's EMG signals is proposed. A motion indicator is introduced to indicate the motion intention of the user for the controller adaptation. The experimental results show the effectiveness of the proposed method.
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M3 - Article
C2 - 18002635
SP - 3040
EP - 3043
JO - Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
JF - Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
SN - 1557-170X
ER -