Pei Y, Kim Y, Obinata G, Hase K, Stefanov D
Graduate School of Engineering, Nagoya University Furo-cho, Chikusa-ku, Nagoya 464-8603.
Annu Int Conf IEEE Eng Med Biol Soc. 2011;2011:1259-63. doi: 10.1109/IEMBS.2011.6090296.
We introduce a method for lower-limb physical rehabilitation by means of a robot that applies preliminary defined forces to a patient's foot while moving it on a preliminary defined trajectory. We developed a special musculoskeletal model that takes into consideration the generated muscle forces of 27 musculotendon actuators and joint stiffness of the leg and allows the calculation of the motion trajectory of the robot and the forces that the robot needs to apply to the foot in each moment of the therapeutic exercise. Robotic treatment programs are customized for the individual patient by using a genetic algorithm (GA) that refers to the musculoskeletal model and calculates the parameters of the spline curves of the motion trajectory of the robot and forces acting on the foot.
我们介绍了一种通过机器人进行下肢物理康复的方法，该机器人在按照预先定义的轨迹移动患者足部时，会施加预先定义的力。我们开发了一种特殊的肌肉骨骼模型，该模型考虑了27个肌肉肌腱致动器产生的肌肉力以及腿部的关节刚度，并能够计算机器人的运动轨迹以及在治疗运动的每个时刻机器人需要施加在足部的力。通过使用遗传算法（GA）为个体患者定制机器人治疗方案，该算法参考肌肉骨骼模型并计算机器人运动轨迹的样条曲线参数以及作用在足部的力。
