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Accession number;02A0713932
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| Title;An Effective Controller Adaptation Method of Exoskeletal Robots for Human Motion Support. |
| Author;
KARIYA SHINGO
(Saga Univ., JPN)
KIGUCHI KAZUO
(Saga Univ., JPN)
WATANABE KEIGO
(Saga Univ., JPN)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu
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Journal Code:L0318A
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ISSN:
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VOL.2002;NO.Pt.5;PAGE.2P2.B04(1)-2P2.B04(2)(2002)
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| Figure&Table&Reference;FIG.5, REF.1 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;We have been developing for exoskeltal robot system for human elbow motion support. Skin surface electromyogram (EMG) signals reflecting human subject's intention are used as main inputs to the controller of this robot system. Activity levels of EMG signals are easily influenced by subject physical condition etc. Furthermore, another subject generates different level of the EMG signal. Consequently, it is important that the system has ability to adapt itself to the physical condition of each human subject on-line. Fuzzy neruo control has applied to the controller. In this paper, we proposed a more effective adaptation method. The experimental results show the effectiveness of the proposed controller. (author abst.) |
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