The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Control of Upper-Limb Power-Assist Exoskeleton Using a Human-Robot Interface Based on Motion Intention Recognition
Abstract
Recognition of the wearer's motion intention plays an important role in the study of power-assist robots. In this paper, an intention-guided control strategy is proposed and applied to an upper-limb power-assist exoskeleton. Meanwhile, a human-robot interface comprised of force-sensing resistors (FSRs) is designed to estimate the motion intention of the wearer's upper limb in real time. Moreover, a new concept called the “intentional reaching direction (IRD)” is proposed to quantitatively describe this intention. Both the state model and the observation model of IRD are obtained by studying the upper limb behavior modes and analyzing the relationship between the measured force signals and the motion intention. Based on these two models, the IRD can be inferred online using an adapted filtering technique. Guided by the inferred IRD, an admittance control strategy is deployed to control the motions of three DC motors placed at the corresponding joints of the robotic arm. The effectiveness of the proposed approaches is finally confirmed by experiments on a 3 degree-of-freedom (DOF) upper-limb robotic exoskeleton.
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Cites
Enhancing brain-machine interface (BMI) control of a hand exoskeleton using electrooculography (EOG)
Witkowski, M., Cortese, M., Cempini, M., Mellinger, J., Vitiello, N., & Soekadar, S. R. (2014) · Journal of NeuroEngineering and Rehabilitation · doi:10.1186/1743-0003-11-165 · Cited by 83
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Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey
Shi, C., Luo, X., Qi, P., Li, T., Song, S., Najdovski, Z., Fukuda, T., & Ren, H. (2017) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2016.2622361 · Cited by 420
Robust Sensor Fusion and Biomimetic Control of a Lower-Limb Exoskeleton With Multimodal Sensors
Arceo, J. C., Yu, L., & Bai, S. (2025) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2024.3421318 · Cited by 19
Abidi, M. H. (2024) · Scientific Reports · doi:10.1038/s41598-024-82624-z · Cited by 20
Metadata
- Authors
- Huang, J., Huo, W., Xu, W., Mohammed, S., & Amirat, Y.
- Venue
- IEEE Transactions on Automation Science and Engineering
- Published
- 2015-10
- Volume
- 12
- Issue
- 4
- Pages
- 1257-1270
- ISSN
- 1545-5955 (ISSN-L)
- 1558-3783
- OpenAlex
- W1633007112
- Cited by
- 185
- References
- 1
- FWCI
- 6.29
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Control of Upper-Limb Power-Assist Exoskeleton Using a Human-Robot Interface Based on Motion Intention Recognition. https://app.cochat.ai/papers/10.1109/tase.2015.2466634
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- Huang, J., Huo, W., Xu, W., Mohammed, S., & Amirat, Y. (2015). Control of Upper-Limb Power-Assist Exoskeleton Using a Human-Robot Interface Based on Motion Intention Recognition. IEEE Transactions on Automation Science and Engineering. https://doi.org/10.1109/tase.2015.2466634
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