Pei Y, Kim Y, Obinata G, Genda E, Stefanov D
Annu Int Conf IEEE Eng Med Biol Soc. 2013;2013:2495-8. doi: 10.1109/EMBC.2013.6610046.
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.
在本文中，我们基于下肢生物力学分析，提出了一种用于膝关节康复的运动和外力轨迹同步设计方法。在该方法中，我们假设使用两个机器人操纵器，分别在小腿和大腿提供力和力矩。我们开发了一个具有19块肌肉的7自由度下肢肌肉骨骼模型。通过遗传算法（GA）最大化康复效率评估函数e，该算法参考肌肉骨骼模型并调整机器人的运动轨迹以及作用在小腿和大腿上的力。
