Development of a 3DOF mobile exoskeleton robot for human upper-limb motion assist

Application of Surface Electromyographic Signals to Control Exoskeleton Robots

“…Applying the monitored muscle signals fuzzy if-then control rules were designed. Basically the fuzzy-rules designed for the W-EXOS (Gopura & Kiguchi, 2008a) and 3DOF exoskeleton robots (Kiguchi et al, 2008) were used with the modifications. Ten fuzzy if-then control rules were designed for the shoulder motions (Kiguchi et al, 2008).…”

“…Basically the fuzzy-rules designed for the W-EXOS (Gopura & Kiguchi, 2008a) and 3DOF exoskeleton robots (Kiguchi et al, 2008) were used with the modifications. Ten fuzzy if-then control rules were designed for the shoulder motions (Kiguchi et al, 2008). An additional eleven fuzzy ifthen control rules were designed for the elbow motion (Kiguchi et al, 2008).…”

“…Ten fuzzy if-then control rules were designed for the shoulder motions (Kiguchi et al, 2008). An additional eleven fuzzy ifthen control rules were designed for the elbow motion (Kiguchi et al, 2008). For the forearm and wrist motions the control rules designed for the EMG-based controller of the W-EXOS is basically used (explained in section 4) with the modification to eliminate the effect of shoulder and elbow motion muscles.…”

“…As an example, the modified fuzzy if-then rules for supination are shown in the Table 5. The fuzzy rules related to the shoulder and elbow motions are transferred to the fuzzy-neuro controller as explained in (Kiguchi et al, 2008). The fuzzy rules related to the forearm and wrist motions are transferred to the fuzzy-neuro controller as explain in section 4.…”

“…The arm holder is made of thin flexible plastic with magic tape ribbon to hold the user's upper-arm. The distance between the arm holder and the CR of the shoulder joint of the exoskeleton is moderately adjusted automatically in accordance with the shoulder motion, in order to cancel out the ill effects caused by the position difference between the CR of the robot shoulder and the human shoulder (Kiguchi et al, 2008). The distal end of the upper-arm link is attached to the elbow joint.…”