ICRA 2012 Paper Abstract


Paper WeB210.5

Kiguchi, Kazuo (Saga University), Hayashi, Yoshiaki (Saga University)

A Study of EMG and EEG During Perception-Assist with an Upper-Limb Power-Assist Robot

Scheduled for presentation during the Interactive Session "Interactive Session WeB-2" (WeB210), Wednesday, May 16, 2012, 11:00−11:30, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Physical Human-Robot Interaction, Brain Machine Interface, Rehabilitation Robotics


In the case of some elderly or disabled persons, not only the motor ability, but also the environment perception ability is sometimes deteriorated. To assist the daily living motion of those people, power-assist robots with the perception-assist have been proposed. The power-assist robot with the perception-assist assists not only the userís motion but also the userís interaction with an environment, by applying the modification force to the userís motion if it is necessary. Since it is difficult for the robot to prepare all proper perception-assist for every task, tool, and environment previously, the robot needs to learn the proper perception-assist for each task, tool and environment by itself. The effectiveness of the performed perception-assist by the robot has been judged by the EMG signals. However, if the EMG signals do not change enough for the judgment, the learning of the robot might not succeed. In this paper, both EMG signals and EEG signals are measured at the same time to observe the features of these signals when users use the power-assist robot. EEG signals are used as the criteria of the effectiveness of the performed perception-assist in addition to EMG signals.



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