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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

ISBN: 978-989-758-263-9

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.

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Paper citation in several formats:
Faqihi, H.; Saad, M.; Benjelloun, K.; Benbrahim, M.; Benbrahim, M.; Kabbaj, M. and Kabbaj, M. (2017). Optimal 3D Kinematic Analysis for Human Lower Limb Rehabilitation.In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 177-185. DOI: 10.5220/0006477701770185

@conference{icinco17,
author={Hachmia Faqihi. and Maarouf Saad. and Khalid Benjelloun. and Mohammed Benbrahim. and Mohammed Benbrahim. and M. Nabil Kabbaj. and M. Nabil Kabbaj.},
title={Optimal 3D Kinematic Analysis for Human Lower Limb Rehabilitation},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={177-185},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006477701770185},
isbn={978-989-758-263-9},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Optimal 3D Kinematic Analysis for Human Lower Limb Rehabilitation
SN - 978-989-758-263-9
AU - Faqihi, H.
AU - Saad, M.
AU - Benjelloun, K.
AU - Benbrahim, M.
AU - Benbrahim, M.
AU - Kabbaj, M.
AU - Kabbaj, M.
PY - 2017
SP - 177
EP - 185
DO - 10.5220/0006477701770185

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