• Journal of KIISE
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• v.42 no.12
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• pp.1544-1550
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• 2015

Recently, the development of practical wearable robot interfaces has resulted in the emergence of wearable robots such as arm prosthetics or lower-limb exoskeletons. In this paper, we propose a novel method of wrist movement intention estimation based on a regression technique using electromyography of human bio-signals. In daily life, changes in user arm position changes cause decreases in performance by modulating EMG signals. Therefore, we propose an estimation method for robust wrist movement intention for arm position changes, combining several movement intention models based on the regression technique trained by different arm positions. In our experimental results, our method estimates wrist movement intention more accurately than previous methods.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.176-183
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• 2009

This paper proposes command signal generating method for a wearable robot using the force as the input signal. The basic concept of this system pursues the combination of the natural and sophisticated intelligence of human with the powerful motion capability of the robot. We define a task for the command signal generation to operate with the human body simultaneously, paying attention to comfort and ease of wear. In this study, we suggest a basic exoskeleton experimental system to evaluate a HRI(Human Robot Interface), selecting interfaces of arm braces on both wrists and a weight harness on the torso to connect the robot and human. We develop the HRI to provide a command for the robot motion. It connects between the human and the robot with the multi-axis load-cell, and it measures the relative force between the human and the robot. The control system calculates the trajectory of end-effector using this force signal. In this paper, we verify the performance of proposed system through the motion of elbow E/F(Extension/Flexion), the shoulder E/F and the shoulder Ab/Ad (Abduction/Adduction).