Controller Adjustment of an Exoskeleton Robot for Shoulder Motion Assistance | Zendy

Kazuo Kiguchi | Zendy; Koya Iwami | Zendy; Keigo Watanabe | Zendy; Toshio Fukuda | Zendy

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Controller Adjustment of an Exoskeleton Robot for Shoulder Motion Assistance

Author(s) -

Kazuo Kiguchi,

Koya Iwami,

Keigo Watanabe,

Toshio Fukuda

Publication year - 2004

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2004.p0245

Subject(s) - exoskeleton , motion (physics) , controller (irrigation) , robot , computer science , electromyography , range of motion , motion control , control theory (sociology) , simulation , artificial intelligence , physical medicine and rehabilitation , engineering , control (management) , medicine , physical therapy , agronomy , biology

We are developing exoskeleton robots to realize human shoulder motion assistance for the physically weak. In this paper, we propose controller adjustment for the controller of the exoskeleton robot for human shoulder motion assistance. Motion assistance in the entire movable range of the exoskeleton is realized with a few teaching motion patterns using the proposed controller adjustment. Muscle activity (electromyography) during shoulder motion and motion error between desired user shoulder motion and the measured assisted shoulder motion are evaluated.

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