Muscle-Model-Oriented EMG-Based Control of an Upper-Limb Power-Assist Exoskeleton with a Neuro-Fuzzy Modifier

被引：0

作者：

Kiguchi, Kazuo ^{[1
]}

Quan, Qilong ^{[1
]}

机构：

[1] Saga Univ, Dept Adv Syst Control Engn, Saga 8408502, Japan

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-5 | 2008年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Many studies on power-assist exoskeleton robots have been carried out in order to assist daily activities and/or rehabilitation of physically weak persons. EMG-based control is one of the most effective control methods to realize the power-assist with the exoskeleton based on user's motion intention. In this paper, a muscle-model, which is adjusted by a neuro-fuzzy modifier according to the user's upper-limb posture, is introduced to realize an effective EMG-based controller of the power-assist exoskeleton. Force/torque generated between the user's wrist part and the tip of the exoskeleton is used to train the neuro-fuzzy modifier. The effectiveness of the proposed control method was evaluated by performing experiment.

引用

页码：1181 / 1186

页数：6

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