Robot-aided Rehabilitation Task Design for Inner Shoulder Muscles.

Y. Pei,Y. Kim,G. Obinata,E. Genda,D. Stefanov

Engineering in Medicine and Biology Society（2012）

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摘要

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.

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关键词

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

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