Robot-aided motion planning for knee joint rehabilitation with two robot-manipulators.

Authors :: Pei Y
Kim Y
Obinata G
Genda E
Stefanov D
Source :: Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference [Annu Int Conf IEEE Eng Med Biol Soc] 2013; Vol. 2013, pp. 2495-8.
Publication Year :: 2013
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.

Subjects :: Biomechanical Phenomena
Humans
Movement
Physical Therapy Modalities
Joint Diseases rehabilitation
Knee Joint physiopathology
Robotics

Language :: English
ISSN :: 2694-0604
Volume :: 2013
Database :: MEDLINE
Journal :: Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Publication Type :: Academic Journal
Accession number :: 24110233
Full Text :: https://doi.org/10.1109/EMBC.2013.6610046

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