Development of a 3DOF mobile exoskeleton robot for human upper-limb motion assist
Robotics and Autonomous Systems
Human-intent detection and physically interactive control of a robot without force sensors
IEEE Transactions on Robotics
An EMG-based robot control scheme robust to time-varying EMG signal features
IEEE Transactions on Information Technology in Biomedicine - Special section on new and emerging technologies in bioinformatics and bioengineering
Assisting manual welding with robot
Robotics and Computer-Integrated Manufacturing
Exoskeleton for Tele-Operation of Industrial Robot
Proceedings of Conference on Advances In Robotics
Markerless human-robot interface for dual robot manipulators using Kinect sensor
Robotics and Computer-Integrated Manufacturing
A force-feedback exoskeleton for upper-limb rehabilitation in virtual reality
Applied Bionics and Biomechanics
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In order to help everyday life of physically weak people, we are developing exoskeletal robots for human (especially for physically weak people) motion support. In this paper, we propose a one degree-of-freedom (1 DOF) exoskeletal robot and its control system to support the human elbow motion. The proposed controller controls the angular position and impedance of the exoskeletal robot system based on biological signals that reflect the human subject's intention. The skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion have been fused and used as input information of the controller. In order to make the robot flexible enough to deal with vague biological signal such as EMG, fuzzy neuro control has been applied to the controller. The experimental results show the effectiveness of the proposed exoskeletal robot system