Kazuo Kiguchi

Publications (4)3.01 Total impact

• Article: An EMG-Based Control for an Upper-Limb Power-Assist Exoskeleton Robot.

  Kazuo Kiguchi, Yoshiaki Hayashi
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  ABSTRACT: Many kinds of power-assist robots have been developed in order to assist self-rehabilitation and/or daily life motions of physically weak persons. Several kinds of control methods have been proposed to control the power-assist robots according to user's motion intention. In this paper, an electromyogram (EMG)-based impedance control method for an upper-limb power-assist exoskeleton robot is proposed to control the robot in accordance with the user's motion intention. The proposed method is simple, easy to design, humanlike, and adaptable to any user. A neurofuzzy matrix modifier is applied to make the controller adaptable to any users. Not only the characteristics of EMG signals but also the characteristics of human body are taken into account in the proposed method. The effectiveness of the proposed method was evaluated by the experiments.
  IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics: a publication of the IEEE Systems, Man, and Cybernetics Society 02/2012; · 3.01 Impact Factor
• Article: Control of a myoelectric arm considering cooperated motion of elbow and shoulder joints.

  Kazuo Kiguchi, Yoshiaki Hayashi
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  ABSTRACT: In order to improve the quality of life of persons who lost their limb due to an accident or a sickness, many myoelectric artificial arms have been proposed. To control the motion of the elbow joint of the myoelectric arm, the EMG signals of the biceps brachii and the triceps brachii muscles are frequently used as input signals. However, since both muscles are the biarticular muscles between the shoulder joint and elbow joint, the amount of the EMG signals of these muscles are affected by the motion of the shoulder joint. In this paper, a control method for a myoelectric arm is proposed in order to cancel the influence of the shoulder joint motion on EMG signals is removed by using the neuro-fuzzy modifier in order to realize proper elbow motion. The effectiveness of the proposed method has been evaluated by performing experiments.
  Conference proceedings: ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference 08/2011; 2011:1616-9.
• Conference Proceeding: Adaptive perception-assist to various tasks for an upper-limb power-assist exoskeleton robot.

  Kazuo Kiguchi, Yoshiaki Hayashi
  Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Anchorage, Alaska, USA, October 9-12, 2011; 01/2011
• Conference Proceeding: Stairs-ascending/descending assist for a lower-limb power-assist robot considering ZMP.

  Yoshiaki Hayashi, Kazuo Kiguchi
  2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011; 01/2011