A study on control an upper-limb power-assist exoskeleton robot based the motion estimation with integrated information of EMG and force information

Abstract

Recently, the aging problem is attracting great attention in Japan. One of the important technologies to solve this problem is a power-assist system which is able to assist the motion of physically weak persons such as elderly or disabled persons in various situations. This paper presents a method to estimate the human motion intention based on integrated information of EMG and force information for an upper-limb power assist exoskeleton robot system. The effectiveness of proposed method is evaluated through experiments.