Abstract
We have been studying 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 measurement and control methods of the exoskeletal robot for upper-limb motion (shoulder joint motion and elbow joint motion) assist of physically weak persons. The proposed methods enable the robot to automatically assist the human motion mainly based on the skin surface electromyogram (EMG) signals. Fuzzy-neuro control has been applied to realize the sophisticated control of the exoskeletal robot. Experiment has been performed to evaluate the proposed methods.
