Bilateral Control of Elbow and Shoulder Joints Using Functional Electrical Stimulation Between Human and Robot

摘要

When humans operate robots by wearing an exoskeleton system, they may feel a sense of restraint due to thesystem. To overcome the issue, we are developing a system using functional electrical stimulation (FES), which iswith less restraint. In this paper, we applied FES to bilateral control with two degree of freedom: the elbow jointand the scapulohumeral joint. As a result, we succeeded in wearing a character 'A' using the bilateral control withFES.