Real-time Control for an Upper-limb Exoskeleton Robot using ANFIS

Abstract

In this paper, we propose a control system based on the Electromyography (EMG) to govern a two-DOF upper-limb exoskeleton robot developed in our laboratory, named as HAMEXO. Achieving real-time control is the main concern for the proposed system. In addition, the adaptive neural fuzzy inference system (ANFIS) is adopted for tackling the coupling present between joints during motion, and also providing the adaptability for various users. Experiments are conducted to verify its feasibility.