Adaptation of the Exoskeletal Robot for Shoulder Motion Assist Under Consideration of Muscle Arrangement

Abstract

We have been developing exoskeletal robots in order to realize the human motion assist. Flexible and effective fuzzy neuro-controller has been applied for the control of the exoskeletal robots. In this paper, we propose an adaptation method of the exoskeletal robot for human shoulder motion assist under consideration of muscle arrangement. The effectiveness of the proposed adaptation method has been evaluated by experiment.