Abstract
In order to help everyday life of physically weak people, we are developing exoskeletal robots for human (especially for physically weak people) motion support. In this paper, we propose a one degree-of-freedom (1 DOF) exoskeletal robot and its control system to support the human elbow motion. The proposed controller controls the angular position and impedance of the exoskeletal robot system based on biological signals that reflect the human subjectq's intention. The skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion have been fused and used as input information of the controller. In order to make the robot flexible enough to deal with vague biological signal such as EMG, fuzzy neuro control has been applied to the controller. The experimental results show the effectiveness of the proposed exoskeletal robot system.
| Original language | English |
|---|---|
| Pages (from-to) | 353-361 |
| Number of pages | 9 |
| Journal | IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics |
| Volume | 31 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - Jun 2001 |
| Externally published | Yes |
Keywords
- Electromyogram
- Exoskeletal robots
- Fuzzy-neuro control
- Human motion support
- Impedance control
- Sensor fusion
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Information Systems
- Human-Computer Interaction
- Computer Science Applications
- Electrical and Electronic Engineering