Robotic exoskeleton for rehabilitation and motion assist

Rahman, Md. Mozasser and Rahman, Mohammad Habibur and Kiguchi, Kazuo and Sasaki, Makoto (2006) Robotic exoskeleton for rehabilitation and motion assist. In: First International Conference on Industrial and Information Systems (ICIIS 2006), 8-11 Aug. 2006, Sri Lanka.

PDF - Published Version Restricted to Repository staff only Download (7MB) | Request a copy

Abstract

For elderly and or physically disabled people who have lost their body functioning of motions due to geriatric disorders, and/or disease processes including trauma, sports injuries, spinal cord injuries, occupational injuries, and strokes, we have been developing a 3DOF mobile robotic exoskeleton for rehabilitation and for assisting motion of elbow and shoulder, since human shoulder and elbow motions are involved in a lot of activities of everyday life. The robotic exoskeleton is mainly activated and is controlled by the skin surface electromyogram (EMG) signals,since EMG signals of muscles directly reflect how the user intends to move. This paper focused on the mechanism of mobile robotic exoskeleton and proposed passive and active assist mode of rehabilitation scheme in addition to assist daily upper-limb motion by the aid of robotic exoskeleton. The proportional derivative (PD) control has been applied to the controller for the passive mode of rehabilitation whereas neuro-fuzzy based biological controller is responsible for active assist mode of rehabilitation as well as to assist daily upper limb motion.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	5663/37545
Uncontrolled Keywords:	Robotic exoskeleton, rehabilitation, biological control, electromyogram, neuro-fuzzy control.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Md Mozasser Rahman
Date Deposited:	18 Aug 2014 10:50
Last Modified:	08 Jan 2015 18:10
URI:	http://irep.iium.edu.my/id/eprint/37545

Actions (login required)

View Item