tailieunhanh - IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 12, NO. 4

The human species' use of technology began with the conversion of natural resources into simple tools. The prehistorical discovery of the ability to control fire increased the available sources of food and the invention of the wheel helped humans in travelling in and controlling their environment. Recent technological developments, including the printing press, the telephone, and the Internet, have lessened physical barriers to communication and allowed humans to interact freely on a global scale. However, not all technology has been used for peaceful purposes; the development of weapons of ever-increasing destructive power has progressed throughout history, from clubs to nuclear. | IEEE TRANSACTIONS ON FUZZY SYSTEMS VOL. 12 NO. 4 AUGUST 2004 481 Neuro-Fuzzy Control of a Robotic Exoskeleton With EMG Signals Kazuo Kiguchi Member IEEE Takakazu Tanaka and Toshio Fukuda Fellow IEEE Abstract We have been developing robotic exoskeletons to assist motion of physically weak persons such as elderly disabled and injured persons. The robotic exoskeleton is controlled basically based on the electromyogram EMG signals since the EMG signals of human muscles are important signals to understand how the user intends to move. Even though the EMG signals contain very important information however it is not very easy to predict the user s upper-limb motion elbow and shoulder motion based on the EMG signals in real-time because of the difficulty in using the EMG signals as the controller input signals. In this paper we propose a robotic exoskeleton for human upper-limb motion assist a hierarchical neuro-fuzzy controller for the robotic exoskeleton and its adaptation method. Index Terms Biomedical signal analysis electromyography exoskeleton power amplifiers robots. I. Introduction Due to a decrease in birthrate and progress of aging society role of robotics technology becomes important in the field of medicine and welfare. We have been developing robotic exoskeletons 1 - 3 to assist motion of physically weak persons such as elderly disabled and injured persons. These kinds of robotic systems can be used for power assist of physically weak persons in daily activity and rehabilitation. It is important for the robotic exoskeleton especially that for medical or welfare use to move according to the user s intention. The skin surface electromyogram EMG is one of the most important biological signals in which the human motion intention is directly reflected. Consequently it is often used as a control command signal for a robot system 4 - 6 . In this paper a robotic exoskeleton for human upper-limb motion assist which is controlled with the EMG signals and its control .