Document Detail

Trajectory planning of a robot for lower limb rehabilitation.
MedLine Citation:
PMID:  22254545     Owner:  NLM     Status:  MEDLINE    
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.
Y Pei; Y Kim; G Obinata; K Hase; D Stefanov
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Publication Detail:
Type:  Journal Article    
Journal Detail:
Title:  Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference     Volume:  2011     ISSN:  1557-170X     ISO Abbreviation:  Conf Proc IEEE Eng Med Biol Soc     Publication Date:  2011  
Date Detail:
Created Date:  2012-01-18     Completed Date:  2012-06-12     Revised Date:  2014-08-21    
Medline Journal Info:
Nlm Unique ID:  101243413     Medline TA:  Conf Proc IEEE Eng Med Biol Soc     Country:  United States    
Other Details:
Languages:  eng     Pagination:  1259-63     Citation Subset:  IM    
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MeSH Terms
Computer Simulation
Leg / physiopathology*
Man-Machine Systems*
Models, Biological
Motion Therapy, Continuous Passive / methods*
Movement Disorders / rehabilitation*
Muscle Contraction
Muscle, Skeletal / physiopathology*
Robotics / methods*
Therapy, Computer-Assisted / methods*

From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine

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