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

fYear

2013

fDate

3-7 July 2013

Firstpage

2495

Lastpage

2498

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE

Conference_Location

Osaka

ISSN

1557-170X

Type

conf

DOI

10.1109/EMBC.2013.6610046

Filename

6610046