Skip to main content
Springer Nature Link
Log in

An Exoskeleton for Human Shoulder Rotation Motion Assist

  • Conference paper
Knowledge-Based Intelligent Information and Engineering Systems (KES 2004)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 3213))

  • 823 Accesses

Abstract

This paper presents a robotic exoskeleton which assists shoulder internal-external rotation motion as well as shoulder vertical and horizontal flexion-extension motion of physically weak persons such as elderly, injured, or disabled persons. The exoskeleton is supposed to be directly attached to the user and activated mainly based on user’s electromyogram (EMG) signals, which directly reflect the user’s motion intention, in order to realize natural power assist. Fuzzy control is applied to realize sophisticated real-time control. Experiment has been performed to evaluate the effectiveness of the proposed exoskeleton.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. Kiguchi, K., Kariya, S., Watanabe, K., Izumi, K., Fukuda, T.: An Exoskeletal Robot for Human Elbow Motion Support – Sensor Fusion, Adaptation, and Control. IEEE Trans. on Systems, Man, and Cybernetics, Part B 31(3), 353–361 (2001)

    Article  Google Scholar 

  2. Kiguchi, K., Iwami, K., Yasuda, M., Watanabe, K., Fukuda, T.: An Exoskeletal Robot for Human Shoulder Joint Motion Assist. IEEE/ASME Trans. on Mechatronics 8(1) (2003)

    Google Scholar 

  3. Kiguchi, K., Fukuda, T.: A 3DOF Exoskeleton for Upper-Limb Motion Assist – Consideration of the Effect of Bi-Articular Muscles. In: Proc. of IEEE International Conf. on Robotics and Automation, pp. 2424–2429 (2004)

    Google Scholar 

  4. Suryanarayanan, S.: An Intelligent System for Surface EMG-Based Position Tracking of Human Arm Movements for the Control of Manipulators, Ph.D. Dissertation, The University of Akron (1996)

    Google Scholar 

  5. Fukuda, O., Tsuji, T., Ohtsuka, A., Kaneko, M.: EMG-based Human-Robot Interface for Rehabilitation Aid. In: Proc. of IEEE International Conference on Robotics and Automation, pp. 3942–3947 (1998)

    Google Scholar 

  6. Nishikawa, D., Yu, W., Yokoi, H., Kakazu, Y.: EMG Prosthetic Hand Controller using Real-time Learning Method. In: Proc. of IEEE International Conference on Systems, Man, and Cybernetics, pp. I-153-I-158 (1999)

    Google Scholar 

  7. Murray, W.M., Delp, S.L., Buchanan, T.S.: Variation of Muscle Moment Arm with Elbow and Forearm Position. Journal of Biomechanics 28(5), 513–525 (1995)

    Article  Google Scholar 

  8. Graichen, H., Englmeier, K.-H., Reiser, M., Eckstein, F.: An In Vivo Technique for Determining 3D Muscular Moment Arms in Different Joint Positions and During Muscular Activation – Application to the Supraspinatus. Clinical Biomechanics 16, 389–394 (2001)

    Article  Google Scholar 

  9. Hudgins, B., Parker, P., Scott, R.N.: A New Strategy for Multifunction Myoelectric Control. IEEE Trans. on Biomedical Engineering 40(1), 82–94 (1993)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Dept. of Advanced Systems Control Engineering, Saga University, 1 Honjomachi, Saga-shi, Saga, 840-8502, Japan

    Kazuo Kiguchi

Authors
  1. Kazuo Kiguchi
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. KES International, 2nd Floor, 145-157 St John Street, EC1V 4PY, London, United Kingdom

    Mircea Gh. Negoita

  2. Centre for SMART systems Engineering Research Centre, University of Brighton, BN2 4GJ, Moulsecoomb, Brighton, UK

    Robert J. Howlett

  3. School of Electrical and Information Engineering, Knowledge Based Intelligent Engineering Systems Centre, University of South Australia, 5095, Mawson Lakes, SA, Australia

    Lakhmi C. Jain

Rights and permissions

Reprints and permissions

Copyright information

© 2004 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Kiguchi, K. (2004). An Exoskeleton for Human Shoulder Rotation Motion Assist. In: Negoita, M.G., Howlett, R.J., Jain, L.C. (eds) Knowledge-Based Intelligent Information and Engineering Systems. KES 2004. Lecture Notes in Computer Science(), vol 3213. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30132-5_148

Download citation

  • DOI: https://doi.org/10.1007/978-3-540-30132-5_148

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23318-3

  • Online ISBN: 978-3-540-30132-5

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics