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1 Journal of Artificial Intelligence and Soft Computing Research

1 2011

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Control of a redundant 7DOF upper-limb power-assist exoskeleton robot

Hayashi Y., Kiguchi K., Dubey R.

Journal of Artificial Intelligence and Soft Computing Research

2011

Vol. 1, No. 3

207--214

Many kinds of power-assist robots have been developed in order to assist daily activities or rehabilitation of the elderly or physically weak persons. Upper-limb power-assist robots are important to assist in many daily life activities such as eating, drinking, etc.. A human upper-limb has 7 degrees of freedom to achieve various tasks dexterously. Therefore, to assist all upper-limb joint motions of a human, the upper-limb power-assist robot is required to have 7DOF. To achieve a desired task, a person moves the hand to the desired position and orientation and/or applies certain amount of force to the target. Therefore, it is important that the upper-limb power-assist robots help control the hand position/ orientation or hand force of the user. However, the hand position/orientation or hand force is 6-dimensional vector, so the 7DOF upper-limb power-assist robot has a redundancy and in general, a pseudo-inverse matrix is used in the control. In this paper, an optimal control method is proposed to deal with the redundancy of the upper-limb power-assist exoskeleton robot considering comfortable motion of the user. The motion intention and the comfort of the user are taken into account in the pro-posed method. The effectiveness of the proposed method was evaluated by the experiments.