Exoskeleton for human upper-limb motion support

Kazuo Kiguchi, Takakazu Tanaka, Keigo Watanabe, Toshio Fukuda

研究成果: Contribution to journalConference article査読

32 被引用数 (Scopus)


We have been developing exoskeletons (exoskeletal robots) for assisting the motion of physically weak persons such as elderly persons or slightly disabled persons in daily life. In this paper, we propose a 3 DOF exoskeleton and its control system to assist the human upper-limb motion (shoulder joint motion and elbow joint motion) of physically weak persons. The proposed robot automatically assists the human motion mainly based on the skin surface electromyogram (EMG) signals. Fuzzy control has been applied to realize the sophisticated real-time control of the exoskeleton. Experiment has been performed to evaluate the proposed exoskeleton.

ジャーナルProceedings - IEEE International Conference on Robotics and Automation
出版ステータス出版済み - 12 9 2003
イベント2003 IEEE International Conference on Robotics and Automation - Taipei, 台湾省、中華民国
継続期間: 9 14 20039 19 2003

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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