Abstract
We have been developing exoskeletal robots to assist the motion of physically weak persons such as elderly persons or slightly disabled persons in daily life. In this paper, we propose a 3 DOF exoskeletal robot to assist the arm motion (shoulder joint motion and elbow joint motion) of physically weak persons. The proposed robot automatically assists the human motion mainly based on the skin surface electromyogram (EMG) signals. Fuzzy-neuro control has been applied to realize the sophisticated real-time control of the exoskeletal robot. Experiment has been performed to evaluate the proposed exoskeletal robot.
