Kiguchi, Hayashi - 2012 - An EMG-based control for an upper-limb power-assist exoskeleton robot英文文献资料.pdfVIP

1064 IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS—PART B: CYBERNETICS, VOL. 42, NO. 4, AUGUST 2012 An EMG-Based Control for an Upper-Limb Power-Assist Exoskeleton Robot Kazuo Kiguchi and Yoshiaki Hayashi Abstract—Many kinds of power-assist robots have been devel- assist robot according to the user’s intention since it directly oped in order to assist self-rehabilitation and/or daily life motions reflects the user’s muscle activity level in real time [2]–[11]. of physically weak persons. Several kinds of control methods The robot can perform the effective power assist if the motion have been proposed to control the power-assist robots according to user’s motion intention. In this paper, an electromyogram intention of the user is precisely estimated based on the EMG (EMG)-based impedance control method for an upper-limb pow- signals in real time. However, realizing the precise motion er-assist exoskeleton robot is proposed to control the robot in estimation for the power-assist based on EMG signals is not accordance with the user’s motion intention. The proposed method very easy because of the following: 1) Obtaining the same is simple, easy to design, humanlike, and adaptable to any user. EMG signals for the same motion is difficult even with the A neurofuzzy matrix modifier is applied to make the controller adaptable to any users. Not only the characteristics of EMG same person since the EMG signal is a biologically generated signals but also the characteristics of human body are taken into signal. 2) The activity level of each muscle and the way of using account in the proposed method. The effe