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

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。在这项研究中，助力是基于肌电图（EMG）信号，这是反映人体运动意图的生物信号，因为自动助力必须实现基于用户的运动意图，在这种助力外骨骼机器人。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。

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.