A Study on Wearable Power Assist Robot Controlled Based on Biological Signals

基于生物信号控制的穿戴式助力机器人研究

• 批准号: 16560228
• 负责人: KIGUTI Kazuo
• 金额: $ 1.92万
• 依托单位: Saga University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2004
• 资助国家: 日本
• 起止时间: 2004 至 2005
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-16560228/
• 关键词: Service Robot; Power Assist; Electromyogram; Exoskeleton Robot; Motion Assist; ロボット; 医療・福祉システム; 生体信号

A study on exoskeleton (wearable) robot which is directly attached on human body and assists the human motion is carried out in order to assist daily activity or rehabilitation of physically weak persons such as elderly person or disabled person. In this study, power assist is performed based on electromyogram (EMG) signals which are biological signals reflecting human motion intention, since automatic power assist must be realized based on user's motion intention in this kind of power assist exoskeleton robot. Although it is not very easy to realize power assist with exoskeleton robot using EMG signals, many problems of the EMG-based power assist have been cleared by proposing fuzzy-neuro control which is a combination of flexible fuzzy control that is able to deal with uncertain signals and effective neuro control that has adaptive/learning ability.A 3DOF exoskeleton robot had been developed to assist human upper-limb motion (vertical and horizontal shoulder flexion/extension motion and elbow flexion/extension motion). In this study, a 2DOF exoskeleton robot that assists elbow flexion/extension motion and forearm pronation/supination motion simultaneously and a 4DOF exoskeleton robot that assists 3DOF shoulder motion and elbow flexion/extension motion simultaneously have been developed considering object taking motion and eating motion. Furthermore, a mobile exoskeleton robot, a combination of an electric mobile chair and a power assist exoskeleton robot, has been proposed considering practical application. The effectiveness of the proposed exoskeleton robots has been evaluated by experiment.

对直接附着在人体上并辅助人体运动的外骨骼（可穿戴）机器人进行研究，以辅助身体虚弱的人（例如老年人或残疾人）的日常活动或康复。由于这种助力外骨骼机器人必须根据用户的运动意图来实现自动助力，因此本研究基于反映人体运动意图的生物信号--肌电信号来进行助力。虽然利用肌电信号实现外骨骼机器人助力不是很容易，模糊神经网络控制是一种将模糊控制与神经网络控制相结合的控制方法，它具有灵活的模糊控制能力和自适应学习能力，克服了肌电助力存在的诸多问题，并研制了一种用于辅助人体上肢运动的三自由度外骨骼机器人（垂直和水平肩部屈曲/伸展运动和肘部屈曲/伸展运动）。在这项研究中，2DOF外骨骼机器人，同时协助肘关节屈曲/伸展运动和前臂旋前/旋后运动和4DOF外骨骼机器人，同时协助3DOF肩部运动和肘关节屈曲/伸展运动已被开发考虑到物体的运动和进食运动。此外，考虑到实际应用，已经提出了一种移动的外骨骼机器人，即电动移动的座椅和动力辅助外骨骼机器人的组合。通过实验对所提出的外骨骼机器人的有效性进行了评估。

项目成果

上肢運動補助用外骨格型ロボットの適応則

上肢运动辅助外骨骼机器人适应规则

• 发表时间: 2004
• 期刊: 第22回日本ロボット学会学術講演会予稿集 (CD-ROM)
• 作者: 木口量夫;Mohammad Habibur Rahman;山口武史
• 通讯作者: 山口武史

Design and Development of a Mobile Exoskeleton Robot for Human Upper Limb Motion Assist

一种用于人类上肢运动辅助的移动外骨骼机器人的设计与开发

• 发表时间: 2005
• 期刊: Proceedings of International Conference on Instrumentation, Control and Information Technology
• 作者: K.Kiguchi;M.H.Rahman
• 通讯作者: M.H.Rahman

Motion Control of a Robotic Exoskeleton

机器人外骨骼的运动控制

• 发表时间: 2005
• 期刊: Proceedings of International Conference on Information and Automation
• 作者: K.Kiguchi;M.H.Rahman;M.Sasaki
• 通讯作者: M.Sasaki

Development of a Wearable Exoskeleton for Daily Forearm Motion Assist

开发用于日常前臂运动辅助的可穿戴外骨骼

• 发表时间: 2005
• 期刊: Advanced Robotics 19・7
• 作者: K.Kiguchi;R.Esaki;T.Fukuda
• 通讯作者: T.Fukuda

Forearm Motion Assist with an Exoskeleton-Adaptation to Muscle Activation Patterns

前臂运动辅助外骨骼 - 适应肌肉激活模式

• 发表时间: 2004
• 期刊: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems 3
• 作者: Kazuo Kiguchi;Ryo Esaki;Toshio Fukuda
• 通讯作者: Toshio Fukuda