A study of an exoskeletal robot for human shoulder motion support

Author

Kiguchi, Kazuo ; Iwami, Koya ; Saza, Tomomi ; Kariya, Shingo ; Watanabe, Keigo ; Izumi, Kiyotaka ; Fukuda, Toshio

Author_Institution

Dept. of Adv. Sys. Ctrl. Eng, Saga Univ., Japan

Volume

4

fYear

2001

fDate

2001

Firstpage

2111

Abstract

We have been developing exoskeletal robots in order to realize the human motion support (especially for physically weak people). We propose a 2 DOF exoskeletal robot 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 controller has been designed to control the robot according to skin surface electromyogram (EMG) signals in which intention of the human subject is reflected. The proposed controller controls the flexion-extension and abduction-adduction motion of the human subject. The effectiveness of the proposed exoskeletal robot has been evaluated by experiment

Keywords

electromyography; fuzzy control; medical robotics; motion control; neurocontrollers; orthotics; EMG signals; abduction-adduction motions; exoskeletal robot; flexion-extension motions; fuzzy controller; human shoulder motion support; skin surface electromyogram signals; DC motors; Electromyography; Fuzzy control; Humans; Motion control; Robot control; Shoulder; Signal design; Skin; Wires;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976383

Filename

976383