Determination of Human Motion for Rehabilitation Based on Time-Scale Transformation

This paper presents a method to determine human motion for upper limb rehabilitation. In the rehabilitation training, appropriate load should be given to each part of the human body such as joints and muscles based on the patient´s conditions and symptom. Such load is changed according to the kinematic and dynamic properties of multi-link body motion. On the other hand, it is difficult for human to execute complex motion even if optimal motion trajectory for rehabilitation is instructed precisely. In this paper, we explore a method to determine human rehabilitation motion to realize appropriate load by understanding the characteristics of human body dynamics with application of the time-scale transformation characteristics of dynamics.