Title :
Robot-aided motion planning for knee joint rehabilitation with two robot-manipulators
Author :
Pei, Yanli ; Kim, Youngjae ; Obinata, G. ; Genda, Eiichi ; Stefanov, Dimitar
Author_Institution :
EcoTopia Sci. Inst., Nagoya Univ., Nagoya, Japan
Abstract :
In this paper, we propose a simultaneous design method of motion and external force trajectories for knee joint rehabilitation based on the biomechanical analysis of the lower limb. In this method we assume to use two robots manipulators which provide forces and moments at shank and thigh. We developed a 7 degree of freedom musculoskeletal model of lower limb with 19 muscles. The valuation function of rehabilitation efficiency e has been maximized by Genetic Algorithm (GA) that refers to the musculoskeletal model and tunes motion trajectory of the robots and forces acting on the shank and thigh.
Keywords :
biomechanics; bone; genetic algorithms; manipulators; medical robotics; muscle; path planning; patient rehabilitation; 7 degree of freedom musculoskeletal model; GA; biomechanical analysis; design method; external force trajectory; genetic algorithm; knee joint rehabilitation; lower limb; motion trajectory; robot-aided motion planning; robot-manipulators; shank; thigh; Force; Hip; Joints; Knee; Muscles; Robots; Trajectory;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE
Conference_Location :
Osaka
DOI :
10.1109/EMBC.2013.6610046
