Title :
A study of a 4DOF upper-limb power-assist intelligent exoskeleton with visual information for perception-assist
Author :
Kiguchi, Kazuo ; Liyanage, Manoj
Author_Institution :
Dept. of Adv. Syst. Control Eng., Saga Univ., Saga
Abstract :
This paper presents a concept of an upper-limb power assist intelligent exoskeleton with visual information as a second stage of the research on power-assist exoskeleton systems in order to help daily activities of physically weak persons. The proposed exoskeleton assists not only the motion of the user but also the perception of the user using sensors and a stereo camera. In the proposed power-assist method, the assisted user´s motion can be modified based on the environmental information obtained by the sensors and the camera if problems are found in the user´s motion. The effectiveness of the proposed intelligent exoskeleton was evaluated by experiments.
Keywords :
handicapped aids; image motion analysis; image sensors; robot vision; 4DOF upper-limb power-assist intelligent exoskeleton; stereo camera; visual information; Digital cameras; Electromyography; Exoskeletons; Intelligent robots; Intelligent sensors; Motion detection; Robot sensing systems; Robotics and automation; Sonar detection; Stereo vision;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543773