Abstract
We have been developing a 4DOF exoskeleton robot system in order to assist shoulder vertical motion, shoulder horizontal motion, elbow motion, and forearm motion of physically weak persons such as elderly, injured, or disabled persons. The robot is directly attached to a user's body and activated based on EMG (Electromyogram) signals of the user's muscles, since the EMG signals directly reflect the user's motion intention. A fuzzy-neuro controller has been applied to control the exoskeleton robot system. In this paper, controller adaptation method to user's EMG signals is proposed. The experimental results show the effectiveness of the proposed method.
