SUEFUL-7: A 7DOF upper-limb exoskeleton robot with muscle-model-oriented EMG-based control

This paper proposes an electromyography (EMG) signal based control method for a seven degrees of freedom (7DOF) upper-limb motion assist exoskeleton robot (SUEFUL-7). The SUEFUL-7 is able to assist the motions of shoulder vertical and horizontal flexion/extension, shoulder internal/external rotation...

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Bibliographic Details
Main Authors: Gopura, R.A.R.C., Kiguchi, K., Yang Li
Format: Conference Proceeding
Language:English
Subjects:
Elbow
Electromyography
End effectors
Exoskeletons
Force control
Impedance
Motion control
Performance evaluation
Robots
Wrist
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Summary:This paper proposes an electromyography (EMG) signal based control method for a seven degrees of freedom (7DOF) upper-limb motion assist exoskeleton robot (SUEFUL-7). The SUEFUL-7 is able to assist the motions of shoulder vertical and horizontal flexion/extension, shoulder internal/external rotation, elbow flexion/extension, forearm supination/pronation, wrist flexion/extension, and wrist radial/ulnar deviation of physically weak individuals. In the proposed control method, an impedance controller is applied to the muscle-model-oriented control method by considering the end effector force vector. Impedance parameters are adjusted in real time by considering the upper-limb posture and EMG activity levels. Experiments have been performed to evaluate the effectiveness of the proposed robotic system.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2009.5353935