JRM Vol.14 No.5 pp. 439-452
doi: 10.20965/jrm.2002.p0439


An Interface between an Exoskeletal Elbow Motion Assistance Robot and the Human Upper Arm

Kazuo Kiguchi*, Shingo Kariya*, Takakazu Bnaka*, Keigo Watanabe* and Toshio Fukuda**

*Dept. of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1 Honjomachi, Saga-shi, Saga, 840-8502 Japan

**Dept. of Microsystem Engineering, Graduate school of Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya, 464-8603 Japan

April 8, 2002
August 2, 2002
October 20, 2002
exoskeletal robot, power assist, biorobotics, EMG, soft computing
We have been developing exoskeletal motion assistance robots for human motion support to help physically weak persons. Since elbow motion is one of the simplest and most important motion in daily activities, we have developed a exoskeletal robot for human elbow motion assistance. In this system, the angular position and impedance of the exoskeletal robot are controlled by multiple fuzzy-neuro controllers. Skin surface electromyography (EMG) signals and wrist force by the human subject during elbow joint motion have been used as input information for the controller. Since the activation of working muscles tends to vary with the human subject's upper arm posture, we propose an interface that cancels out the effect of posture changes of the human subject's upper arm. Experimental results show the effectiveness of the proposed interface.
Cite this article as:
K. Kiguchi, S. Kariya, T. Bnaka, K. Watanabe, and T. Fukuda, “An Interface between an Exoskeletal Elbow Motion Assistance Robot and the Human Upper Arm,” J. Robot. Mechatron., Vol.14 No.5, pp. 439-452, 2002.
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