Robot-aided rehabilitation task design for inner shoulder muscles

In this paper, we propose a simultaneous design method of motion and external force trajectories for shoulder inner muscles in the robot-aided rehabilitation system, based on a biomechanical analysis of patient's body. The rehabilitation efficiency evaluation function was maximized by Genetic A...

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Bibliographic Details
Published in:2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society 2012-01, Vol.2012, p.3922-3925
Main Authors: Pei, Y., Kim, Y., Obinata, G., Genda, E., Stefanov, D.
Format: Article
Language:English
Subjects:
Force
Genetic algorithms
Joints
Muscles
Robots
Shoulder
Trajectory
Online Access:Request full text
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Summary:In this paper, we propose a simultaneous design method of motion and external force trajectories for shoulder inner muscles in the robot-aided rehabilitation system, based on a biomechanical analysis of patient's body. The rehabilitation efficiency evaluation function was maximized by Genetic Algorithm (GA), where the structure of spline curves parameters are pre-defined, and the structural parameters are explored to design smooth rehabilitation motion and external force trajectories.
ISSN:1094-687X
1558-4615
2694-0604
DOI:10.1109/EMBC.2012.6346824