書誌事項
- タイトル別名
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- Design of Motion Trajectory and External Force on Foot Based on Musculo-Skeletal Model in Robot-Assisted Lower Limb Rehabilitation
説明
Many methods for physical medicine and rehabilitation strategies have been developed for physically disabled people. Most of them have been determined by physical therapists based on anatomical and physiological assessment of the subject. With application of robot technology which allows smooth achievement of complex trajectories, and with loading or assisting designated muscles in an accurate manner, a better rehabilitation strategy can be developed. In this paper, we propose a new method to design the motion trajectory of lower limbs and the applied forces acting on the foot. In order to improve the rehabilitation effect in full consideration of biomechanical stability of the trajectory and musculo-skeletal model of each subject, we have applied genetic algorithm to search the parameters of spline curves for the trajectory and the applied force acting on subject's foot. The usefulness of the proposed method is confirmed through simulation results and the comparison with a conventional training trajectory.
収録刊行物
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- 日本機械学会論文集Ｃ編
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日本機械学会論文集Ｃ編 77 (781), 3439-3453, 2011
一般社団法人 日本機械学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390282681364049664
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- NII論文ID
- 130001055400
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- ISSN
- 18848354
- 03875024
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可
