An Intelligent ANFIS-Based Control System for Upper-limb Exoskeleton Robot

Abstract

As the aging population continues to grow, the exoskeleton robots are developed for assistance of rehabilitation and daily activities for the elderly. In this paper, we propose an assistive motion control system based on user intention for the upper-limb exoskeleton robot. The system detects user intention through electromyography (EMG) signal analysis first, and then utilizes an adaptive neural fuzzy inference system (ANFIS) to estimate proper torque to assist user’s motion. The experimental results show that the proposed system allows the users to manipulate the exoskeleton robot according to their intention with lesser effort, thus demonstrating its effectiveness.