Abstract
We are stepping into an aging society rapidly. In that society, it is important that physically weak people are able to take care of themselves. In this paper, we introduce an effective control method of a 1 DOF exoskeletal robot to support the elbow motion of physically weak people. Fuzzy control has been applied to control both the angular position and impedance of the exoskeltal robot system based on generated force signals and vague biological signals that reflect the human subject's intention. 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 fuzzy reasoned impedance controller. The experimental results show the effectiveness of the proposed control method of the exoskeletal robot.
| Original language | English |
|---|---|
| Pages (from-to) | 2905-2912 |
| Number of pages | 8 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 67 |
| Issue number | 661 |
| DOIs | |
| Publication status | Published - 2001 |
| Externally published | Yes |
Keywords
- Bio-Robotics
- Exoskeletal Robot
- Fuzzy Reasoning
- Human Motion Support
- Impedance Control
- Sensor Fusion
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering