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

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3 Author(s)
R. A. R. C. Gopura ; Saga University, 1 Honjo-machi, 840-8502, Japan ; Kazuo Kiguchi ; Yang Li

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.

Published in:

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

10-15 Oct. 2009