Real-time control for an upper-limb exoskeleton robot using ANFIS

Shao Fu Jiang, Kuu-Young Young, Chun Hsu Ko

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a control system based on the Electromyography (EMG) to govern a two-DOF upper-limb exoskeleton robot developed in our laboratory, named as HAMEXO. Achieving real-time control is the main concern for the proposed system. In addition, the adaptive neural fuzzy inference system (ANFIS) is adopted for tackling the coupling present between joints during motion, and also providing the adaptability for various users. Experiments are conducted to verify its feasibility.

Original languageEnglish
Title of host publication2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781538624197
DOIs
StatePublished - 20 Feb 2018
Event2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017 - Taipei, Taiwan
Duration: 6 Sep 20178 Sep 2017

Publication series

NameInternational Conference on Advanced Robotics and Intelligent Systems, ARIS
Volume2017-September
ISSN (Print)2374-3255
ISSN (Electronic)2572-6919

Conference

Conference2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
CountryTaiwan
CityTaipei
Period6/09/178/09/17

Keywords

  • ANFIS
  • Real-time control
  • Upper-limb exoskeleton

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    Jiang, S. F., Young, K-Y., & Ko, C. H. (2018). Real-time control for an upper-limb exoskeleton robot using ANFIS. In 2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017 [8297176] (International Conference on Advanced Robotics and Intelligent Systems, ARIS; Vol. 2017-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ARIS.2017.8297176