Journal
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
Volume 31, Issue 3, Pages 353-361Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/3477.931520
Keywords
electromyogram; exoskeletal robots; fuzzy-neuro control; human motion support; impedance control; sensor fusion
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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 subject'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.
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