A Study of an EMG-Based Exoskeletal Robot for Human Shoulder Motion Support
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概要
- 論文の詳細を見る
We have been developing exoskeletal robots in order to realize the human motion support (especially for physically weak people). In this paper, we propose a 2-DOF exoskeletal robot and its method of control 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-neuro controller is designed to control the robot according to the skin surface electromyogram (EMG) signals in which the 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 experimentally.
- 一般社団法人日本機械学会の論文
- 2001-12-15
著者
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WATANABE Keigo
Department of Intelligent Mechanical Systems, Okayama University
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KIGUCHI Kazuo
Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga
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FUKUDA TOSHIO
Center for Cooperative Research in Advnced Science and Technology, Nagoya University
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Fukuda Toshio
Center For Cooperative Research In Advnced Science And Technology Nagoya University
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Fukuda T
Center Of Cooperative Research In Adaanced Science And Technology Nagoya University
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Kiguchi Kazuo
Department Of Advanced Systems Control Engineering Graduate School Of Science And Engineering Saga U
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Watanabe Keigo
Department Of Advanced Systems Control Engineering Graduate School Of Science And Engineering Saga U
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IWAMI Koya
Department of Advanced Systems Control Engineering, Saga University
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Iwami Koya
Department Of Advanced Systems Control Engineering Saga University
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Kiguchi Kazuo
Department Of Advanced Systems Control Engineering Graduate School Of Science And Engineering Saga U
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Fukuda Toshio
Center For Cooperative Research In Advanced Science & Technology Nagoya University
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- Preface
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