TY - JOUR
T1 - Intelligent interface of an exoskeletal robot for human elbow motion support considering subject's arm posture
AU - Kiguchi, Kazuo
AU - Kariya, Shingo
AU - Tanaka, Takakazu
AU - Hatao, Noritaka
AU - Watanabe, Keigo
AU - Fukuda, Toshio
PY - 2002/12/31
Y1 - 2002/12/31
N2 - 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.
AB - 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.
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M3 - Conference article
AN - SCOPUS:0036458583
SN - 1098-7584
VL - 2
SP - 1532
EP - 1537
JO - IEEE International Conference on Fuzzy Systems
JF - IEEE International Conference on Fuzzy Systems
T2 - 2002 IEEE International Conference on Fuzzy Systems: FUZZ-IEEE'02
Y2 - 12 May 2002 through 17 May 2002
ER -