Exoskeleton for human upper-limb motion support

Kazuo Kiguchi, Takakazu Tanaka, Keigo Watanabe, Toshio Fukuda

研究成果: ジャーナルへの寄稿会議記事査読

33 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月 9 2003
イベント2003 IEEE International Conference on Robotics and Automation - Taipei, 台湾
継続期間: 9月 14 20039月 19 2003

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学


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