Authors:
Hachmia Faqihi
1
;
Maarouf Saad
2
;
Khalid Benjelloun
1
;
Mohammed Benbrahim
3
and
M. Nabil Kabbaj
3
Affiliations:
1
LAII, Ecole Mohammadia d’Ingnieurs and Mohammed V University, Morocco
;
2
Ecole de Technologie Suprieure, Canada
;
3
LISTA, Faculty of Sciences and University of Fez, Morocco
Keyword(s):
Robotics, Rehabilitation, Inverse Kinematic, Human Leg, Trajectory Generation, Optimization, Minimum Jerk.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Optimization Algorithms
Abstract:
The majority of the kinematics analysis carried out on the human body are usually available only for use in
the sagittal plane. Limited studies were interested in this analysis in all three planes (sagittal, transverse, and
frontal) where motions of all joints occur.
The aim of this paper is to develop a new optimal kinematic analysis of human lower limbs in three-dimensional
space for a rehabilitation end. The proposed approach is focused on optimizing the manipulability
and the human performance of the human leg, as being a physiologically constrained three-link arm. The obtained
forward kinematic model leads to define the feasible workspace of the human leg in the considered
configuration. Using an effective optimization-based human performance measure that incorporates a new
objective function of musculoskeletal discomfort, the optimal inverse kinematic (IK) model is obtained.