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 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.
Graduate School of Engineering, Nagoya University Furo-cho, Chikusa-ku, Nagoya, Japan 464-8603. pei.yanling@f.mbox.nagoya-u.ac.jp
Y
Y
Pei
Y
Y
Kim
G
G
Obinata
E
E
Genda
D
D
Stefanov
D001696:Biomechanical Phenomena; D003198:Computer Simulation; D006801:Humans; D008953:Models, Anatomic; D018482:Muscle, Skeletal / Q000503:physiopathology*; D016059:Range of Motion, Articular; D012046:Rehabilitation / Q000379:methods*; D012371:Robotics; D012782:Shoulder / Q000503:physiopathology*; D013647:Task Performance and Analysis; D013813:Therapy, Computer-Assisted / Q000379:methods*