The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP
Online ISSN : 2424-3140
2010
Session ID : C-1
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C-1 EMG-based control for a lower-limb power-assist robot considering Japanese activitites of daily living
Kazuo KIGUCHIYoshiaki HAYASHIKeisuke TAKAHARA
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Abstract
Power-assist of the lower-limb movement is sometimes important for the physically weak persons such as elderly, disabled, or injured persons. A power-assist exoskeleton robot which is controlled based on user's electromyogram has been developed to realize the assist according to the user's movement intention. In this paper, we propose an EMG-based control method which provides the required joint torque for lower-limb power-assist to realize the posture of deep knee flexion in Japanese lifestyle. The proposed controller can be automatically trained with fuzzy-neurro modifier.
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© 2010 The Japan Society of Mechanical Engineers
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