Robot-Aided Rehabilitation Task Design For Inner Shoulder Muscles
Engineering in Medicine and Biology Society(2012)
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
muscle,motion control,genetic algorithms,biomechanics
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