Corpus ID: 17327565

Application of Multiple Fuzzy-Neuro Controllers of an Exoskeletal Robot for Human Elbow Motion Support

@article{Kiguchi2002ApplicationOM,
  title={Application of Multiple Fuzzy-Neuro Controllers of an Exoskeletal Robot for Human Elbow Motion Support},
  author={Kazuo Kiguchi and Shingo Kariya and Keigo Watanabe and Toshio Fukuda},
  journal={Transaction on Control, Automation and Systems Engineering},
  year={2002},
  volume={4},
  pages={49-55}
}
A decrease in the birthrate and aging are progressing in Japan and several countries. In that society, it is important that physically weak persons such as elderly persons are able to take care of themselves. We have been developing exoskeletal robots for human (especially for physically weak persons) motion support. In this study, the controller controls the angular position and imped- ance of the exoskeltal robot system using multiple fuzzy-neuro controllers based on biological signals that… Expand
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TLDR
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  • R. Gopura, K. Kiguchi
  • Engineering
  • 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
  • 2008
In this paper, an EMG-based fuzzy-neuro control method is proposed for a three degree of freedom (3 DOF) human forearm and wrist motion assist exoskeleton robot (W-EXOS). The W-EXOS assists humanExpand
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TLDR
Intelligent interface is proposed, which realizes the fuzzy-neuro controller adjustment in accordance with the human subject's arm posture, in order to effectively control the 2-DOF exoskeletal robot for shoulder motion support. Expand
A study of an exoskeletal robot for human shoulder motion support
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  • Engineering, Computer Science
  • Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
  • 2001
TLDR
A 2 DOF exoskeletal robot to support the human shoulder motion is proposed and 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. Expand
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In order to help the physical activities of the elderly or physically disabled persons, we propose a new concept of a power-assist inner skeleton robot (i.e., actuated artificial joint) that isExpand
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TLDR
A mechanism of the moving center of rotation of the shoulder joint of the exoskeletal robot for human shoulder motion support is presented in order to fit the center of rotated of the robot shoulder joint to that of the physiological human shoulder joint during the shoulder motion. Expand
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TLDR
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