A study of an EMG-based exoskeletal robot for human shoulder motion support

Kazuo Kiguchi, Koya Iwami, Keigo Watanabe, Toshio Fukuda, Hiroshi Wada

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)


We have been developing exoskeletal robots in order to realize the human motion support (especially for physically weak people). In this paper, we propose a 2-DOF exoskeletal robot and its method of control to support the human shoulder motion. In this exoskeletal robot, the flexion-extension and abduction-adduction motions of the shoulder are supported by activating the arm holder of the robot, which is attached to the upper arm of the human subject, using wires driven by DC motors. A fuzzy-neuro controller is designed to control the robot according to the skin surface electromyogram (EMG) signals in which the intention of the human subject is reflected. The proposed controller controls the flexion-extention and abduction-adduction motion of the human subject. The effectiveness of the proposed exoskeletal robot has been evaluated experimentally.

Original languageEnglish
Pages (from-to)1133-1141
Number of pages9
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Issue number4
Publication statusPublished - Dec 2001
Externally publishedYes


  • EMG
  • Exoskeletal robots
  • Fuzzy-neuro control
  • Human motion support
  • Shoulder motion

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


Dive into the research topics of 'A study of an EMG-based exoskeletal robot for human shoulder motion support'. Together they form a unique fingerprint.

Cite this