Intelligent Control of a 4DOF Upper-Limb Motion Assist Robot

Kazuo Kiguchi; Kazuya Miyamoto; Yasunobu Imada

doi:10.14864/softscis.2006.0.907.0

SCIS & ISIS 2006

Session ID : FR-F2-4

DOI https://doi.org/10.14864/softscis.2006.0.907.0

Conference information

Host: Japan SOciety for Fuzzy Theory and intelligent informatics

Co-host: The Korea Fuzzy Logic and Intelligent Systems Society, IEEE Computational Intelligence Society, The International Fuzzy Systems Association, 21th Century COE Program "Creation of Agent-Based Social Systems Sciences"

FR-F2 Intelligent Robotics

Intelligent Control of a 4DOF Upper-Limb Motion Assist Robot

*Kazuo Kiguchi, Kazuya Miyamoto, Yasunobu Imada

Author information

Keywords: Intelligent Control, Exoskelton Robot, Power Assist

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

This paper presents an intelligent fuzzy-neuro control method for a 4DOF exoskeleton robot for human upper-limb motion assist. The EMG signals of the related muscles are used as control inputs for the robot to be controlled in accordance with motion intention of the user. Although there are some difficulties in EMG-based control, the designed fuzzy-neuro controller moderately cope with them. The effectiveness of the proposed method has been evaluated by the experiment.

Corresponding author

Register with J-STAGE for free!