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Kiguchi, Kazuo,Kariya, Shingo,Wantanabe, Keigo,Fukude, Toshio Institute of Control 2002 Transaction on control, automation and systems eng Vol.4 No.1
A decrease in the birthrate and aging are progressing in Japan and several countries. In that society, it is important that physically weak persons such as elderly persons are able to take care of themselves. We have been developing exoskeletal robots for human (especially for physically weak persons) motion support. In this study, the controller controls the angular position and impedance of the exoskeltal robot system using multiple fuzzy-neuro controllers based on biological signals that reflect the human subject's intention. Skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion have been used as input information of the controller. Since the activation level of working muscles tends to vary in accordance with the flexion angle of elbow, multiple fuzzy-neuro controllers are applied in the proposed method. The multiple fuzzy-neuro controllers are moderately switched in accordance with the elbow flexion angle. Because of the adaptation ability of the fuzzy-neuro controllers, the exoskeletal robot is flexible enough to deal with biological signal such as EMG. The experimental results show the effectiveness of the proposed controller.
An Assist Level Adjustment Method of an Active Shoulder Orthosis
Kazuo Kiguchi,Kiyotaka Izumi,Keigo Watanabe,Toshio Fukuda 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2003 International Journal of Assistive Robotics and Me Vol.4 No.2
The shoulder motion is an extremely important part of the self-hand motion. Concentrating on this fact, we have developed an exoskeleton type active shoulder orthotic system for the rehabilitation and motion assist activities for the physically handicapped people. The proposed active orthosis is supposed to be directly attached to a patient and automatically assist the shoulder flexion-extension and abduction-adduction motions of the patient in rehabilitation and daily activities. In the proposed active orthotic system, electromyogram (EMG) signals of the shoulder muscles are monitored and used to control the motion of the orthosis. Fuzzy-neuro control method has been applied for the control of the proposed active orthotic system so that the physical and physiological condition of individual patients can be taken into consideration. In this paper, an effective assist level (the support level) adjustment method for the active shoulder orthosis is proposed. In the controller adaptation process, the assist level can be adjusted until the amount of patient"s EMG signals of the shoulder muscles reaches the desired level. The desired EMG levels of the shoulder muscles are decided for each patient based on his/her physical and physiological condition. Consequently, the desired amount of power assist can be delivered for the patient to perform the shoulder flexion-extension and abduction-adduction motions in rehabilitation and daily activities.
Control of an Artificial-Hip-Joint Simulator to Evaluate Dislocation
Kazuo Kiguchi,Akira Yamashita,Makoto Sasaki,Masaru Ueno,Tsuneyuki Kobayashi,Masaaki Mawatari,Takao Hotokebuchi 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Total hip arthroplasty (THA) is performed to replace all or part of a human hip joint with an artificial joint for patients who have rheumatoid arthritis or osteoarthritis of the hip joint. Although THA might result in postoperative complications of dislocation, wear and/or loose, their mechanisms have not been analyzed enough. We have developed an artificial-hip-joint simulator that can generate the same joint posture and joint contact force as those in daily life motion in order to evaluate the performance of the artificial-hip-joint. Dislocation of the artificial-hip-joint during daily living activities was generated by the simulator in order to analyze its mechanism.