An Assist Level Adjustment Method of an Active Shoulder Orthosis

• 영문명: An Assist Level Adjustment Method of an Active Shoulder Orthosis
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Kazuo Kiguchi Kiyotaka Izumi Keigo Watanabe Toshio Fukuda
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.4 No.2, 8~12쪽, 전체 5쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2003.06.01

영문 초록

  The shoulder motion is an extremely important part of the self-hand motion. Concentrating on this fact, we have developed an exoskeleton type active shoulder orthotic system for the rehabilitation and motion assist activities for the physically handicapped people. The proposed active orthosis is supposed to be directly attached to a patient and automatically assist the shoulder flexion-extension and abduction-adduction motions of the patient in rehabilitation and daily activities. In the proposed active orthotic system, electromyogram (EMG) signals of the shoulder muscles are monitored and used to control the motion of the orthosis. Fuzzy-neuro control method has been applied for the control of the proposed active orthotic system so that the physical and physiological condition of individual patients can be taken into consideration. In this paper, an effective assist level (the support level) adjustment method for the active shoulder orthosis is proposed. In the controller adaptation process, the assist level can be adjusted until the amount of patient"s EMG signals of the shoulder muscles reaches the desired level. The desired EMG levels of the shoulder muscles are decided for each patient based on his/her physical and physiological condition. Consequently, the desired amount of power assist can be delivered for the patient to perform the shoulder flexion-extension and abduction-adduction motions in rehabilitation and daily activities.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. ACTIVE SHOULDER ORTHOSIS
Ⅲ. THE CONTROLLER
Ⅳ. THE EXPERIMENT
Ⅴ. CONCLUSIONS
ACKNOWLEDGEMENT
REFERENCES