ABSTRACT
This paper proposes a guidance assistance control approach of upper-limb exoskeleton robot using electromyogram (EMG) signal. The user's torque model is first built with the detected motion state and EMG signal by using the fuzzy method. The robot assistance torque for guidance is then calculated with the guidance assistance method. The user can intuitively manipulate the upper-limb exoskeleton robot to complete tasks. Simulation and experiments are conducted to verify the effectiveness of the proposed upper-limb exoskeleton robot system.
