Intelligent interface of an exoskeletal robot for human elbow motion support considering subject's arm posture

Kazuo Kiguchi, Shingo Kariya, Takakazu Tanaka, Noritaka Hatao, Keigo Watanabe, Toshio Fukuda

研究成果: ジャーナルへの寄稿会議記事査読

1 被引用数 (Scopus)

抄録

We have been developing exoskeletal robots for human motion support in order to help physically weaken persons. In this study, human elbow motion is assisted by the exoskeletal robot system, since the elbow motion is one of the simplest and the most important motion of human beings in everyday life. The angular position and impedance of the exoskeltal robot system are controlled by multiple fuzzy-neuro controllers. The skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion have been used as input information of the controller. Since the activation level of working muscles tends to vary with the human subject's arm posture, an intelligent interface that cancels out the effect of posture changes of the human subject's arm is proposed in this paper. The experimental results show the effectiveness of the proposed intelligent interface.

本文言語英語
ページ(範囲)1532-1537
ページ数6
ジャーナルIEEE International Conference on Fuzzy Systems
2
出版ステータス出版済み - 12月 31 2002
外部発表はい
イベント2002 IEEE International Conference on Fuzzy Systems: FUZZ-IEEE'02 - Honolulu, HI, 米国
継続期間: 5月 12 20025月 17 2002

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 理論的コンピュータサイエンス
  • 人工知能
  • 応用数学

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