Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Inverse kinematics of a 6 DoF human upper limb using ANFIS and ANN for anticipatory actuation in ADL-based physical Neurorehabilitation
Year:2012
Research Areas
  • Medicine,
  • Engineering
Information
Abstract
Objective: This research is focused in the creation and validation of a solution to the inverse kinematics problem for a 6 degrees of freedom human upper limb. This system is intended to work within a realtime dysfunctional motion prediction system that allows anticipatory actuation in physical Neurorehabilitation under the assisted-as-needed paradigm. For this purpose, a multilayer perceptron-based and an ANFIS-based solution to the inverse kinematics problem are evaluated. Materials and methods: Both the multilayer perceptron-based and the ANFIS-based inverse kinematics methods have been trained with three-dimensional Cartesian positions corresponding to the end-effector of healthy human upper limbs that execute two different activities of the daily life: ?serving water from a jar? and ?picking up a bottle?. Validation of the proposed methodologies has been performed by a 10 fold cross-validation procedure. Results: Once trained, the systems are able to map 3D positions of the end-effector to the corresponding healthy biomechanical configurations. A high mean correlation coefficient and a low root mean squared error have been found for both the multilayer perceptron and ANFIS-based methods. Conclusions: The obtained results indicate that both systems effectively solve the inverse kinematics problem, but, due to its low computational load, crucial in real-time applications, along with its high performance, a multilayer perceptron-based solution, consisting in 3 input neurons, 1 hidden layer with 3 neurons and 6 output neurons has been considered the most appropriated for the target application.
International
Si
JCR
Si
Title
Expert Systems With Applications
ISBN
0957-4174
Impact factor JCR
1,924
Impact info
Datos JCR del año 2010
Volume
39
10.1016/j.eswa.2012.02.143
Journal number
From page
9612
To page
9622
Month
SIN MES
Ranking
Participants
  • Autor: Rodrigo Perez Rodriguez (UPM)
  • Autor: Javier Solana Sanchez (UPM)
  • Autor: César Cáceres Taladriz (UPM)
  • Autor: Enrique Javier Gomez Aguilera (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Grupo de Bioingeniería y Telemedicina
  • Centro o Instituto I+D+i: Centro de tecnología Biomédica CTB
  • Departamento: Tecnología Fotónica y Bioingeniería
S2i 2019 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)