Pei Y, Kim Y, Obinata G, Genda E, Stefanov D
Graduate School of Engineering, Nagoya University Furo-cho, Chikusa-ku, Nagoya, Japan 464-8603.
Annu Int Conf IEEE Eng Med Biol Soc. 2012;2012:3922-5. doi: 10.1109/EMBC.2012.6346824.
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.
