Development of a 3DOF Exoskeleton Robot for Shoulder Motion Assist

Kiguchi, Kazuo; Ohtsubo, Tomonori; Shimokawa, Tsutomu; Watanabe, Keigo; Fukuda, Toshio

doi:10.1299/jsmermd.2003.18_4

Cited by 1 publication

(2 citation statements)

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“…MPF= ao+b (6) The coefficients a and b are identified by using the leastsquares method. The slope of the line is negative in the case of abduction and nearly zero in the case of external rotation.…”

Section: Classificationmentioning

confidence: 99%

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Estimation of Rotator Cuff Activity Using a Surface EMG during Shoulder External Rotation

Ando

Nihei

Fujie

2006

2006 IEEE International Conference on Robotics and Biomimetics

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There have been some studies of exoskeletal robots to support upper limb motion (especially for the physically weak). However, most robots don't completely support internal/external rotation, one of 3 DOF in the shoulder joint. This is because the internal/external rotation is performed by the activities of the rotator cuff, which consists of deep layer muscles. In other words, it is difficult to recognize the surface electromyogram (SEMG) signals, which are generated at muscles far from the skin. In this paper, our aim is to quantify the differences in the SEMG, between the surface layer and deep layer muscles and apply them to the discrimination of the external rotation under the experimental evaluation with twelve young subjects. Four kinds of parameters, such as Zero Crossing (ZC), were selected to express the characteristic of high frequency component in the EMG signal. Specifically, the classification was shown to be 97% successful by applying two features to the learning machine. Hence, it is almost possible to assume that either the deep or the surface muscle is active and discriminate the motions which their muscles involve.

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Section: Classificationmentioning

confidence: 99%

“…In this move, Kiguchi et al [5] [6] reported that they developed exoskeletal robots for shoulder motion support (especially for the physically weak), whose input information is infraspinatus's EMG obtained from the surface electrode. There are two muscles on the infra-spinatus: trapezius, and the posterior of the deltoid.…”

Section: Introductionmentioning

confidence: 99%