1207 Control of an Exoskeleton Robot for Human Wrist Motion Support

In this paper we propose an EMG-Based control of a three degree of freedom {3-DOF) exoskeleton robot for the forearm pronationlsupination motion, xvrist tlexionlextension motion and uinar radial deviation. The skin surface eleetromyographic (EMG} signa]s of musc]es in forearm ofthe exoskeleton's user and the hand forcelfbrearm torque are used as input lnforrnation for the proposed controller. By applying the skin surface EMG signals as main input signals to the controller, automatic control of the robot can be realized without manipu]ating any other equipment, Fuzzy centrol method has been appl{ed to realize .the natural and flexib]e motion assist, An experiment has been performed to eva]uate the proposed exoskeleton rebot.

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