3721 手首運動補助用外骨格型ロボットのファジィ・ニューロ制御(J26-1 メカニカルシステムとその知能化(1),ジョイントセッション,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

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In this paper, we presents a fuzzy-neuro control method for a three degree of freedom (3-DOF) power-assist exoskeleton robot (W-EXOS) for the forearm pronation/supination motion, wrist flexion/extension motion and ulnar/radial deviation motion based on EMG signals. The skin surface electromyographic (EMG) signals of muscles in forearm of the exoskeleton's user and the hand force/forearm torque are used as input information for the controller. By applying the skin surface EMG signals as main input signals to the controller, automatic control of the robot can be realized without manipulating any other equipment. Fuzzy-neuro control method has been applied to realize the natural and flexible motion assist. The controller is able to adapt the changing EMG signal levels of different users. Experiments performed to evaluate the proposed control method.
社団法人日本機械学会の論文
2008-08-02