Robot-aided rehabilitation task design for inner shoulder muscles

Author

Pei, Yanli ; Kim, Youngjae ; Obinata, G. ; Genda, Eiichi ; Stefanov, Dimitar

Author_Institution

Grad. Sch. of Eng., Nagoya Univ., Nagoya, Japan

fYear

2012

fDate

Aug. 28 2012-Sept. 1 2012

Firstpage

3922

Lastpage

3925

Abstract

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.

Keywords

biomechanics; force control; genetic algorithms; medical robotics; motion control; muscle; patient rehabilitation; trajectory control; external force trajectory; genetic algorithm; inner shoulder muscles; motion force trajectory; patient body biomechanical analysis; rehabilitation efficiency evaluation function; robot-aided rehabilitation task design; spline curves parameter structure; Force; Genetic algorithms; Joints; Muscles; Robots; Shoulder; Trajectory; Biomechanical Phenomena; Computer Simulation; Humans; Models, Anatomic; Muscle, Skeletal; Range of Motion, Articular; Rehabilitation; Robotics; Shoulder; Task Performance and Analysis; Therapy, Computer-Assisted;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE

Conference_Location

San Diego, CA

ISSN

1557-170X

Print_ISBN

978-1-4244-4119-8

Electronic_ISBN

1557-170X

Type

conf

DOI

10.1109/EMBC.2012.6346824

Filename

6346824