2002年
外骨格型ロボットによる人間動作補助の研究(第2報,複数のファジィ・ニューロ制御器を用いた人間肘運動補助用外骨格型ロボットの制御)(共著)
日本機械学会論文集C
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- 巻
- 68
- 号
- 668
- 開始ページ
- 1215
- 終了ページ
- 1222
- 記述言語
- 日本語
- 掲載種別
- DOI
- 10.1299/kikaic.68.1215
- 出版者・発行元
- 一般社団法人日本機械学会
We have been developing exoskeletal robots for human motion support. The exoskeletal robots enable physically weak people such as elderly people to take care of themselves. In this paper, we introduce an effective control method of a 1DOF exoskeletal robot for human elbow motion support. Multiple fuzzy-neuro controllers have been applied to control both the angular position and impedance of the exoskeltal robot system in any elbow angle based on force signals and biological signals that reflect the human subject's intention. Skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion have been used as input information of the controller. The proposed system is able to adapt itself to the physiological condition of any human subject because of the adaptation ability of the fuzzy-neuro controllers. The experimental results show the effectiveness of the proposed control method of the exoskeletal robot.
- リンク情報
- ID情報
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- DOI : 10.1299/kikaic.68.1215
- ISSN : 0387-5024
- ISSN : 1884-8354
- CiNii Articles ID : 110002378465
- CiNii Books ID : AN00187463